From ad42b61427117295bb8add75db610c0d767c742b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 7 Jun 2024 23:09:41 -0700
Subject: [PATCH 0001/1243] test_encoder: adjust file size tolerance
 old-commit-hash: b51472048ce5b37f4069ad14a60fc911e47b724e

---
 system/loggerd/tests/test_encoder.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index 7289d9ede3..75862a9d45 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -27,7 +27,7 @@ CAMERAS = [
 ]
 
 # we check frame count, so we don't have to be too strict on size
-FILE_SIZE_TOLERANCE = 0.5
+FILE_SIZE_TOLERANCE = 0.7
 
 
 @pytest.mark.tici # TODO: all of loggerd should work on PC

From 945c6b94fab79215ed6011a2cc96d577c14705e7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 7 Jun 2024 23:38:51 -0700
Subject: [PATCH 0002/1243] remove old fingerprints test (#32654)

* is this even used?

* remove
old-commit-hash: 90523b3b000e355599a1f2c7d3c90cb6b8498c66
---
 selfdrive/car/tests/test_fingerprints.py | 95 ------------------------
 1 file changed, 95 deletions(-)
 delete mode 100644 selfdrive/car/tests/test_fingerprints.py

diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py
deleted file mode 100644
index 6575d3e5c5..0000000000
--- a/selfdrive/car/tests/test_fingerprints.py
+++ /dev/null
@@ -1,95 +0,0 @@
-import os
-import sys
-
-from openpilot.common.basedir import BASEDIR
-
-# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can)
-# (addr, len)
-CAN_IGNITION_MSGS = {
-  'gm': [(0x1F1, 8), (0x160, 5)],
-  #'tesla' : [(0x348, 8)],
-}
-
-def _get_fingerprints():
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car names that which we have a fingerprint dict for
-  # - values are dicts of fingeprints for each trim
-  fingerprints = {}
-  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
-    car_name = car_folder.split('/')[-1]
-    try:
-      fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS
-    except (ImportError, OSError, AttributeError):
-      pass
-
-  return fingerprints
-
-
-def check_fingerprint_consistency(f1, f2):
-  # return false if it finds a fingerprint fully included in another
-  # max message worth checking is 1800, as above that they usually come too infrequently and not
-  # usable for fingerprinting
-
-  max_msg = 1800
-
-  is_f1_in_f2 = True
-  for k in f1:
-    if (k not in f2 or f1[k] != f2[k]) and k < max_msg:
-      is_f1_in_f2 = False
-
-  is_f2_in_f1 = True
-  for k in f2:
-    if (k not in f1 or f2[k] != f1[k]) and k < max_msg:
-      is_f2_in_f1 = False
-
-  return not is_f1_in_f2 and not is_f2_in_f1
-
-
-def check_can_ignition_conflicts(fingerprints, brands):
-  # loops through all the fingerprints and exits if CAN ignition dedicated messages
-  # are found in unexpected fingerprints
-
-  for brand_can, msgs_can in CAN_IGNITION_MSGS.items():
-    for i, f in enumerate(fingerprints):
-      for msg_can in msgs_can:
-        if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]:
-          print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i]))
-          print("TEST FAILED")
-          sys.exit(1)
-
-
-
-if __name__ == "__main__":
-  fingerprints = _get_fingerprints()
-
-  fingerprints_flat: list[dict] = []
-  car_names = []
-  brand_names = []
-  for brand in fingerprints:
-    for car in fingerprints[brand]:
-      fingerprints_flat += fingerprints[brand][car]
-      for _ in range(len(fingerprints[brand][car])):
-        car_names.append(car)
-        brand_names.append(brand)
-
-  # first check if CAN ignition specific messages are unexpectedly included in other fingerprints
-  check_can_ignition_conflicts(fingerprints_flat, brand_names)
-
-  valid = True
-  for idx1, f1 in enumerate(fingerprints_flat):
-    for idx2, f2 in enumerate(fingerprints_flat):
-      if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
-        valid = False
-        print(f"Those two fingerprints are inconsistent {car_names[idx1]} {car_names[idx2]}")
-        print("")
-        print(', '.join("%d: %d" % v for v in sorted(f1.items())))
-        print("")
-        print(', '.join("%d: %d" % v for v in sorted(f2.items())))
-        print("")
-
-  print(f"Found {len(fingerprints_flat)} individual fingerprints")
-  if not valid or len(fingerprints_flat) == 0:
-    print("TEST FAILED")
-    sys.exit(1)
-  else:
-    print("TEST SUCCESSFUL")

From ae8f9da48deb369bd650a9494b6873e600634065 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 7 Jun 2024 23:58:14 -0700
Subject: [PATCH 0003/1243] pandad: fix loopback test (#32656)

* pandad: fix loopback test

* clear all params

* try this

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 57f21abb4fe3ae81842adc07fb79a1d2c056fee0
---
 selfdrive/pandad/tests/test_pandad_loopback.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 365bb7611b..d2b6d047d5 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -20,10 +20,11 @@ from openpilot.selfdrive.test.helpers import phone_only, with_processes
 @retry(attempts=3)
 def setup_pandad(num_pandas):
   params = Params()
+  params.clear_all()
   params.put_bool("IsOnroad", False)
 
+  sm = messaging.SubMaster(['pandaStates'])
   with Timeout(90, "pandad didn't start"):
-    sm = messaging.SubMaster(['pandaStates'])
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
       sm.update(1000)
@@ -44,6 +45,9 @@ def setup_pandad(num_pandas):
   params.put_bool("ControlsReady", True)
   params.put("CarParams", cp.to_bytes())
 
+  with Timeout(90, "pandad didn't set safety mode"):
+    while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
+      sm.update(1000)
 
 def send_random_can_messages(sendcan, count, num_pandas=1):
   sent_msgs = defaultdict(set)
@@ -73,10 +77,11 @@ class TestBoarddLoopback:
   def test_loopback(self):
     num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
     setup_pandad(num_pandas)
+
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     sm = messaging.SubMaster(['pandaStates'])
-    time.sleep(0.5)
+    time.sleep(1)
 
     n = 200
     for i in range(n):

From dfd43747397774c11850203cad2927c3ac72f694 Mon Sep 17 00:00:00 2001
From: Nelson Chen <crazysim@gmail.com>
Date: Sat, 8 Jun 2024 09:18:00 -0700
Subject: [PATCH 0004/1243] Change the term "Non-US" to "South America" for the
 "Corolla Hybrid (Non-US only) 2020-23" entry (#32658)

The term "Non-US" in cars.md for the "Corolla Hybrid (Non-US only) 2020-23" is not precise enough and should be changed to South America

Users may think "Non-US" includes Europe or Canada, which is not the case for this entry.

It has two issues:

* The 2023 Corolla Hybrid in Europe and Canada include a new Toyota Safety Sense 3.0 that has yet to be supported due to it being a new version and the presence of Toyota Security Key.
* The 2020-2022 Corolla Hybrid in Europe is the same as the 2020-2022 Corolla Hybrid in North America, which is supported by Openpilot and has full-speed ACC due to the presence of an electronic parking brake which is not present in the 2020-2022 Corolla Hybrid in South America and the reason why it is listed as not having full-speed ACC.

The entry should be reverted to at least "Corolla Hybrid (South America) 2020-23" which was proposed but not merged in the pull request:

https://github.com/commaai/openpilot/commit/28454c04cc93dc241da3b004a7154e44313e85c9

Pull request for that change that does not include that commit: https://github.com/commaai/openpilot/pull/26943

Examples of confusion throughout the community:

comma.ai Discord:

https://discord.com/channels/469524606043160576/524327905937850394/1235264758580772996

https://discord.com/channels/469524606043160576/524327905937850394/1228090600272691370

https://discord.com/channels/469524606043160576/954493346250887168/1209952008329633813

https://discord.com/channels/469524606043160576/524327905937850394/1182093384647721140

https://discord.com/channels/469524606043160576/954493346250887168/1147751657543848017

openpilot community Discord:

https://discord.com/channels/771493367246094347/771495215570747403/1247737844727021629

> I think that the supported cars list (https://github.com/commaai/openpilot/blob/master/docs/CARS.md) is incorrect.
>
> I have a UK 2020 Toyota Corolla Hybrid
>
> In the cars list it's listed as "no accel below" 17 mph and no resume from > stop.
>
> This is not my experience. For me it works just fine down to a complete stop and it can resume from a stop too.
>
>

CC: @AlexandreSato
old-commit-hash: 3b6862030a550b92e8ecc5a51de61811ad12d6b9
---
 docs/CARS.md                   | 2 +-
 selfdrive/car/toyota/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 7861bb6542..c79206f84c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -237,7 +237,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
 |Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index dbab2e9255..2e781ad0aa 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -161,7 +161,7 @@ class CAR(Platforms):
       ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
       # Hybrid platforms
       ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"),
-      ToyotaCarDocs("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
+      ToyotaCarDocs("Toyota Corolla Hybrid (South America only) 2020-23", min_enable_speed=7.5),
       ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
       ToyotaCarDocs("Lexus UX Hybrid 2019-23"),
     ],

From 8472df65eab839f759886ea1fd64a1b31709bb09 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 8 Jun 2024 09:18:28 -0700
Subject: [PATCH 0005/1243] tools/sim: remove special docker image (#32659)

old-commit-hash: 541b5cbf1387df07e76da55d3e332170d9e756f0
---
 .github/workflows/tools_tests.yaml | 19 ---------------
 selfdrive/test/docker_common.sh    |  3 ---
 tools/sim/Dockerfile.sim           | 38 ------------------------------
 3 files changed, 60 deletions(-)
 delete mode 100644 tools/sim/Dockerfile.sim

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 10c5b70910..ba597f7000 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -20,25 +20,6 @@ env:
 
 
 jobs:
-  simulator_build:
-    name: simulator docker build
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Setup to push to repo
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - name: Build and push sim image
-      run: |
-        selfdrive/test/docker_build.sh sim
-
   simulator_driving:
     name: simulator driving
     runs-on: ubuntu-latest
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
index f8a423762d..2887fff74b 100644
--- a/selfdrive/test/docker_common.sh
+++ b/selfdrive/test/docker_common.sh
@@ -1,9 +1,6 @@
 if [ "$1" = "base" ]; then
   export DOCKER_IMAGE=openpilot-base
   export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ "$1" = "sim" ]; then
-  export DOCKER_IMAGE=openpilot-sim
-  export DOCKER_FILE=tools/sim/Dockerfile.sim
 elif [ "$1" = "prebuilt" ]; then
   export DOCKER_IMAGE=openpilot-prebuilt
   export DOCKER_FILE=Dockerfile.openpilot
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
deleted file mode 100644
index bd83c119b0..0000000000
--- a/tools/sim/Dockerfile.sim
+++ /dev/null
@@ -1,38 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt-get update && apt-get install -y --no-install-recommends \
-      tmux \
-      vim \
-    && rm -rf /var/lib/apt/lists/*
-
-# get same tmux config used on NEOS for debugging
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
-
-ENV OPENPILOT_PATH /tmp/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./body ${OPENPILOT_PATH}/body
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-
-RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
-
-RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"

From 92ad30cbd618632448ee3e3df2c5ac6e7fedb8f7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 8 Jun 2024 15:39:26 -0700
Subject: [PATCH 0006/1243] Replace markdown-it-py with small function in
 common/ (#32664)

* Replace markdown-it-py with small function in common/

* simple test

* unused

* lock

* linting fixes
old-commit-hash: 5265d13fe087972311592febd4071c16cece65e0
---
 common/markdown.py            | 45 +++++++++++++++++++++++++++++++++++
 common/tests/test_markdown.py | 15 ++++++++++++
 poetry.lock                   |  2 +-
 pyproject.toml                |  1 -
 system/updated/updated.py     |  4 ++--
 5 files changed, 63 insertions(+), 4 deletions(-)
 create mode 100644 common/markdown.py
 create mode 100644 common/tests/test_markdown.py

diff --git a/common/markdown.py b/common/markdown.py
new file mode 100644
index 0000000000..f0f056d963
--- /dev/null
+++ b/common/markdown.py
@@ -0,0 +1,45 @@
+HTML_REPLACEMENTS = [
+  (r'&', r'&amp;'),
+  (r'"', r'&quot;'),
+]
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: list[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str
diff --git a/common/tests/test_markdown.py b/common/tests/test_markdown.py
new file mode 100644
index 0000000000..d3c7e02c69
--- /dev/null
+++ b/common/tests/test_markdown.py
@@ -0,0 +1,15 @@
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.markdown import parse_markdown
+
+
+class TestMarkdown:
+  def test_all_release_notes(self):
+    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+      release_notes = f.read().split("\n\n")
+      assert len(release_notes) > 10
+
+      for rn in release_notes:
+        md = parse_markdown(rn)
+        assert len(md) > 0
diff --git a/poetry.lock b/poetry.lock
index 23f58ec691..93bf1ae6a0 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:84ac396fe236ffaf09f9a865fa3bae19ac961db726bdc19b79e52c2f45db6abe
+oid sha256:c803c02c1a5b9bb67b70a847c862464f49481e0edf44226ec1aeb3f107c5d790
 size 618064
diff --git a/pyproject.toml b/pyproject.toml
index 8642eff4cd..34f1e97ab2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -121,7 +121,6 @@ casadi = "*"
 future-fstrings = "*"
 
 # these should be removed
-markdown-it-py = "*"
 timezonefinder = "*"
 setproctitle = "*"
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index c1af41bd92..d43f439af5 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -11,11 +11,11 @@ import time
 import threading
 from collections import defaultdict
 from pathlib import Path
-from markdown_it import MarkdownIt
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.time import system_time_valid
+from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import AGNOS, HARDWARE
@@ -89,7 +89,7 @@ def parse_release_notes(basedir: str) -> bytes:
     with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
       r = f.read().split(b'\n\n', 1)[0]  # Slice latest release notes
     try:
-      return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8")
+      return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
     except Exception:
       return r + b"\n"
   except FileNotFoundError:

From eaeff91d2a7aefee859959ee39ad10a7c11f6fc2 Mon Sep 17 00:00:00 2001
From: Nelson Chen <crazysim@gmail.com>
Date: Sat, 8 Jun 2024 16:10:58 -0700
Subject: [PATCH 0007/1243] Update BOUNTIES.md re. Toyota SecOC and community
 bounty. (#32661)

old-commit-hash: 5e1c54a887e28edc555369df89d5082850237834
---
 docs/BOUNTIES.md | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index 9d0718c572..31e19e1206 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -57,10 +57,6 @@ The control doesn't have to be perfect, but it should generally do what it's sup
 Get a Rivian driving with openpilot.
 Requires a merged port with lateral control and at least a POC of longitudinal control.
 
-#### Toyota SecOc - $5000
-
-We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932).
-
 #### Chevy Bolt with SuperCruise - $2500
 
 The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.

From a05ec1f4deeaac520864e0edba026e10c744522a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 8 Jun 2024 16:29:41 -0700
Subject: [PATCH 0008/1243] python dependency notes (#32668)

old-commit-hash: 284512b2cae581e004fb56291fb8c2eb7c737bf6
---
 poetry.lock    |  4 ++--
 pyproject.toml | 53 ++++++++++++++++++++++++++++++++------------------
 2 files changed, 36 insertions(+), 21 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 93bf1ae6a0..6cc3d61da4 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c803c02c1a5b9bb67b70a847c862464f49481e0edf44226ec1aeb3f107c5d790
-size 618064
+oid sha256:c31b95cf06d05594bad1cf4f09b581497cb41f8b6c8fe93ee8f0bd2ad01f93c6
+size 618381
diff --git a/pyproject.toml b/pyproject.toml
index 34f1e97ab2..4ac01f6582 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -86,34 +86,47 @@ readme = "README.md"
 repository = "https://github.com/commaai/openpilot"
 documentation = "https://docs.comma.ai"
 
-
 [tool.poetry.dependencies]
 python = "~3.11"
-aiohttp = "*"
-aiortc = "*"
+
+# multiple users
+sounddevice = "*"  # micd + soundd
+pyserial = "*"     # pigeond + qcomgpsd
+requests = "*"     # many one-off uses
+sympy = "*"        # rednose + friends
+crcmod = "*"       # cars + qcomgpsd
+
+# hardwared
+smbus2 = "*"  # configuring amp
+
+# core
 cffi = "*"
-crcmod = "*"
+scons = "*"
+pycapnp = "*"
 Cython = "*"
-json-rpc = "*"
-libusb1 = "*"
 numpy = "*"
+
+# body / webrtcd
+aiohttp = "*"
+aiortc = "*"
+pyaudio = "*"
+
+# panda
+libusb1 = "*"
+spidev = { version = "*", platform = "linux" }
+
+# modeld
 onnx = ">=1.14.0"
 onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
 onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
-psutil = "*"
-pyaudio = "*"
-pycapnp = "*"
-pycryptodome = "*"
-PyJWT = "*"
-pyserial = "*"
+
+# logging
 pyzmq = "*"
-requests = "*"
-scons = "*"
 sentry-sdk = "*"
-smbus2 = "*"
-sounddevice = "*"
-spidev = { version = "*", platform = "linux" }
-sympy = "*"
+
+# athena
+PyJWT = "*"
+json-rpc = "*"
 websocket_client = "*"
 
 # acados deps
@@ -121,8 +134,10 @@ casadi = "*"
 future-fstrings = "*"
 
 # these should be removed
-timezonefinder = "*"
+psutil = "*"
+timezonefinder = "*"  # just used for nav ETA
 setproctitle = "*"
+pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
 [tool.poetry.group.dev.dependencies]
 av = "*"

From 8da4e94289c83891abbbf4b5c561dae543235280 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 8 Jun 2024 20:43:25 -0700
Subject: [PATCH 0009/1243] pandad: fix receive buffer size on failed transfer
 (#32670)

old-commit-hash: 1093a4ac8217030ae4a0c73ba54bc734a6010acc
---
 selfdrive/pandad/panda.cc | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index f0645584a9..4ec5b79f12 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -220,12 +220,13 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
   if (!comms_healthy()) {
     return false;
   }
-  if (recv == RECV_SIZE) {
-    LOGW("Panda receive buffer full");
-  }
-  receive_buffer_size += recv;
 
-  return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
+  bool ret = true;
+  if (recv > 0) {
+    receive_buffer_size += recv;
+    ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
+  }
+  return ret;
 }
 
 void Panda::can_reset_communications() {

From 2e6ca5dd05a3c804884525729f74f57b2784e552 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 8 Jun 2024 21:01:39 -0700
Subject: [PATCH 0010/1243] debug: add summary to check_timings

old-commit-hash: 20a44bb4e9e36e525e0caa6694c6cb863a23b538
---
 selfdrive/debug/check_timings.py | 31 +++++++++++++++++++++----------
 1 file changed, 21 insertions(+), 10 deletions(-)

diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 24c467659d..fc527cd81b 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -1,25 +1,36 @@
 #!/usr/bin/env python3
-
 import sys
 import time
 import numpy as np
+import datetime
 from collections.abc import MutableSequence
-from collections import defaultdict, deque
+from collections import defaultdict
 
 import cereal.messaging as messaging
 
-socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-ts: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
-  while True:
-    print()
+  ts: defaultdict[str, MutableSequence[float]] = defaultdict(list)
+  socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
+  try:
+    st = time.monotonic()
+    while True:
+      print()
+      for s, sock in socks.items():
+        msgs = messaging.drain_sock(sock)
+        for m in msgs:
+          ts[s].append(m.logMonoTime / 1e6)
+
+        if len(ts[s]) > 2:
+          d = np.diff(ts[s])[-100:]
+          print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
+      time.sleep(1)
+  except KeyboardInterrupt:
+    print("\n")
+    print("="*5, "timing summary", "="*5)
     for s, sock in socks.items():
       msgs = messaging.drain_sock(sock)
-      for m in msgs:
-        ts[s].append(m.logMonoTime / 1e6)
-
       if len(ts[s]) > 2:
         d = np.diff(ts[s])
         print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-    time.sleep(1)
+    print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5)

From 8bdeb04e727fe3d4ff7d6f3efb2060f3ce82d624 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 10 Jun 2024 02:04:10 +0800
Subject: [PATCH 0011/1243] cabana: fix potential dangling pointer Issue
 (#32672)

Fix Potential Dangling Pointer Issue
old-commit-hash: 6688d7b91c2ee6fad93d292edc0661a4522e9b10
---
 tools/cabana/videowidget.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index cd412f7271..7fca45c393 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -151,7 +151,7 @@ QWidget *VideoWidget::createCameraWidget() {
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
   QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
-  QObject::connect(can, &AbstractStream::eventsMerged, [this]() { slider->update(); });
+  QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);

From 40de8d615f48dbbcd731753b33ef2ca16f92e9ba Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 10 Jun 2024 02:04:21 +0800
Subject: [PATCH 0012/1243] replay: add stop() function (#32673)

add stop() func
old-commit-hash: 3f84fe3557099ba74895241e8f4059b1001cd6ec
---
 tools/cabana/streams/replaystream.cc | 4 +++-
 tools/replay/replay.cc               | 6 +++++-
 tools/replay/replay.h                | 1 +
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index b1768fcdce..5fda6b0487 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -65,7 +65,9 @@ void ReplayStream::start() {
 }
 
 void ReplayStream::stop() {
-  replay.reset(nullptr);
+  if (replay) {
+    replay->stop();
+  }
 }
 
 bool ReplayStream::eventFilter(const Event *event) {
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index f477e327ee..8616437188 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -46,11 +46,15 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
 }
 
 Replay::~Replay() {
+  stop();
+}
+
+void Replay::stop() {
   if (!stream_thread_ && segments_.empty()) return;
 
   rInfo("shutdown: in progress...");
   if (stream_thread_ != nullptr) {
-    exit_ =true;
+    exit_ = true;
     paused_ = true;
     stream_cv_.notify_one();
     stream_thread_->quit();
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index e3f321e1d7..4adbc14df8 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -54,6 +54,7 @@ public:
   ~Replay();
   bool load();
   void start(int seconds = 0);
+  void stop();
   void pause(bool pause);
   void seekToFlag(FindFlag flag);
   void seekTo(double seconds, bool relative);

From 8c82ecbe3da690c061a579bf7add9ebe9a548486 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 9 Jun 2024 11:18:47 -0700
Subject: [PATCH 0013/1243] bump version to 0.9.8

old-commit-hash: 2cfb4df82c973fd93bc6750227e5628f1eb9bf2d
---
 RELEASES.md      | 4 ++++
 common/version.h | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 31fdd1561b..aa0ab182ec 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,7 @@
+Version 0.9.8 (2024-XX-XX)
+========================
+* Always on driver monitoring toggle
+
 Version 0.9.7 (2024-06-11)
 ========================
 * New driving model
diff --git a/common/version.h b/common/version.h
index 177882e31d..1f651fb392 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.7"
+#define COMMA_VERSION "0.9.8"

From a4745aa158c1136166d581cee76d37931c1a8022 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 9 Jun 2024 11:51:43 -0700
Subject: [PATCH 0014/1243] tici: improve power save test (#32674)

* tici: improve power save test

* Update system/hardware/tici/tests/test_hardware.py
old-commit-hash: da1cb2276bf28ee906e61a717da2e2699bdba34d
---
 system/hardware/tici/tests/test_hardware.py | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
index 30eed7e0d7..75f53e7cdb 100644
--- a/system/hardware/tici/tests/test_hardware.py
+++ b/system/hardware/tici/tests/test_hardware.py
@@ -11,12 +11,16 @@ HARDWARE = Tici()
 class TestHardware:
 
   def test_power_save_time(self):
-    ts = []
+    ts = {True: [], False: []}
     for _ in range(5):
       for on in (True, False):
         st = time.monotonic()
         HARDWARE.set_power_save(on)
-        ts.append(time.monotonic() - st)
+        ts[on].append(time.monotonic() - st)
 
-    assert 0.1 < np.mean(ts) < 0.25
-    assert max(ts) < 0.3
+    # disabling power save is the main time-critical one
+    assert 0.1 < np.mean(ts[False]) < 0.15
+    assert max(ts[False]) < 0.2
+
+    assert 0.1 < np.mean(ts[True]) < 0.35
+    assert max(ts[True]) < 0.4

From 189679e6e95419d75823104ca6a58810b8fcc927 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 9 Jun 2024 12:02:55 -0700
Subject: [PATCH 0015/1243] CI: move build_release to a namespace runner
 (#32675)

old-commit-hash: 43a97c590723f61cf049cd95f2edd9aea8f2c346
---
 .github/workflows/selfdrive_tests.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 0ccf1844d9..417fe20449 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -26,7 +26,9 @@ env:
 jobs:
   build_release:
     name: build release
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:

From eb2e5e335dbfadbb74928f627ad89ce503cea060 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 9 Jun 2024 14:49:20 -0700
Subject: [PATCH 0016/1243] Sim: don't need nvidia docker anymore (#32676)

Dont need nvidia docker anymore
old-commit-hash: b573a4cc48e4508a37f01a800b09b1fa8895d367
---
 tools/sim/Dockerfile.sim_nvidia | 21 ---------------------
 1 file changed, 21 deletions(-)
 delete mode 100644 tools/sim/Dockerfile.sim_nvidia

diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia
deleted file mode 100644
index 5e5dd263da..0000000000
--- a/tools/sim/Dockerfile.sim_nvidia
+++ /dev/null
@@ -1,21 +0,0 @@
-FROM ubuntu:20.04
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-      apt-utils \
-      sudo \
-      ssh \
-      curl \
-      ca-certificates \
-      git \
-      git-lfs && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN curl -fsSL https://get.docker.com -o get-docker.sh && \
-    sudo sh get-docker.sh && \
-    distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \
-    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \
-    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \
-    sudo apt-get update && \
-    sudo apt-get install -y nvidia-docker2

From 05ed3d8c150ce79fc405b0a0617690b9223fefb8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 9 Jun 2024 17:44:34 -0700
Subject: [PATCH 0017/1243] Restructure msgq (#32652)

* Update ref

* Compiles

* compiles

* Refactor rest of libs

* import all

* small fiex

* cleanup import

* Need msgq simlink too

* Add to openpilot docker too

* try repo

* Updates

* Fix lint

* fix docs

* Try blank slate

* Revert "Try blank slate"

This reverts commit f078ce04acacfe115c19e23e86038b01e2b84a6d.

* Maybe scons needs this to clear cache

* fix tests

* Disable test for now

* Update SConstruct

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Fix whitespace

* Write skip normal

* small fixes

* add test path

* Revert repo

* linting

* whitespace

* Bump msgq

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: e70dc90a452e7c045d9a207f3680d846406ef789
---
 .gitmodules                                   |   2 +-
 Dockerfile.openpilot                          |   1 +
 SConstruct                                    |   8 +-
 cereal/SConscript                             |   6 +-
 cereal/messaging/__init__.py                  |  60 +-----
 cereal/messaging/bridge.cc                    |   4 +-
 cereal/messaging/messaging.h                  |   2 +-
 cereal/messaging/tests/test_fake.py           | 193 ------------------
 cereal/messaging/tests/test_messaging.py      |  54 +----
 cereal/messaging/tests/test_poller.py         | 142 -------------
 docs/c_docs.rst                               |   4 +-
 msgq                                          |   2 +-
 msgq_repo                                     |   1 +
 pyproject.toml                                |   3 +-
 .../controls/lib/lateral_mpc_lib/SConscript   |   4 +-
 .../lib/longitudinal_mpc_lib/SConscript       |   4 +-
 selfdrive/locationd/SConscript                |   4 +-
 selfdrive/navd/SConscript                     |   6 +-
 selfdrive/pandad/SConscript                   |   4 +-
 selfdrive/ui/SConscript                       |  12 +-
 system/camerad/SConscript                     |   4 +-
 system/logcatd/SConscript                     |   4 +-
 system/loggerd/SConscript                     |   9 +-
 system/proclogd/SConscript                    |   4 +-
 system/sensord/SConscript                     |   4 +-
 system/ubloxd/SConscript                      |   4 +-
 system/webrtc/tests/test_stream_session.py    |   4 +-
 system/webrtc/tests/test_webrtcd.py           |   1 +
 tools/cabana/SConscript                       |   4 +-
 tools/replay/SConscript                       |   6 +-
 tools/sim/Dockerfile.sim                      |  39 ++++
 31 files changed, 103 insertions(+), 496 deletions(-)
 delete mode 100644 cereal/messaging/tests/test_fake.py
 delete mode 100644 cereal/messaging/tests/test_poller.py
 mode change 160000 => 120000 msgq
 create mode 160000 msgq_repo
 create mode 100644 tools/sim/Dockerfile.sim

diff --git a/.gitmodules b/.gitmodules
index 4952fcbeae..e33902db52 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -5,7 +5,7 @@
   path = opendbc
   url = ../../commaai/opendbc.git
 [submodule "msgq"]
-  path = msgq
+  path = msgq_repo
   url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 9aa1aa8b74..5d8f958c48 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -20,6 +20,7 @@ COPY ./release ${OPENPILOT_PATH}/release
 COPY ./common ${OPENPILOT_PATH}/common
 COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
 COPY ./msgq ${OPENPILOT_PATH}/msgq
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
diff --git a/SConstruct b/SConstruct
index e827d66413..1b6b9464c8 100644
--- a/SConstruct
+++ b/SConstruct
@@ -358,9 +358,13 @@ gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# Build cereal and messaging
-SConscript(['msgq/SConscript'])
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
+SConscript(['msgq_repo/SConscript'])
 SConscript(['cereal/SConscript'])
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
+Export('messaging')
+
 
 # Build other submodules
 SConscript([
diff --git a/cereal/SConscript b/cereal/SConscript
index 5a71abbb81..be5f161dea 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,10 +1,10 @@
-Import('env', 'envCython', 'arch', 'common', 'messaging')
+Import('env', 'envCython', 'arch', 'common', 'msgq')
 
 import shutil
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-other_dir = Dir('#msgq/messaging')
+other_dir = Dir('#msgq')
 
 # Build cereal
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
@@ -22,7 +22,7 @@ env.SharedLibrary('cereal_shared', cereal_objects)
 # Build messaging
 
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
 
 
 socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index d8115d1818..4ba55cf7b9 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -1,7 +1,8 @@
 # must be built with scons
-from msgq.messaging.messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.messaging.messaging_pyx import MultiplePublishersError, MessagingError
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
 
 import os
 import capnp
@@ -13,27 +14,8 @@ from collections import deque
 from cereal import log
 from cereal.services import SERVICE_LIST
 
-assert MultiplePublishersError
-assert MessagingError
-assert toggle_fake_events
-assert set_fake_prefix
-assert get_fake_prefix
-assert delete_fake_prefix
-assert wait_for_one_event
-
 NO_TRAVERSAL_LIMIT = 2**64-1
 
-context = Context()
-
-
-def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
-  identifier = identifier or get_fake_prefix()
-  handle = SocketEventHandle(endpoint, identifier, override)
-  if override:
-    handle.enabled = enable
-
-  return handle
-
 
 def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
   with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
@@ -55,42 +37,6 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def pub_sock(endpoint: str) -> PubSocket:
-  sock = PubSocket()
-  sock.connect(context, endpoint)
-  return sock
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  sock = SubSocket()
-  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
-
-  if timeout is not None:
-    sock.setTimeout(timeout)
-
-  if poller is not None:
-    poller.registerSocket(sock)
-  return sock
-
-
-def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
-  """Receive all message currently available on the queue"""
-  ret: List[bytes] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:
-      break
-
-    ret.append(dat)
-
-  return ret
-
-
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index b16548314b..8619c1e226 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -8,8 +8,8 @@
 typedef void (*sighandler_t)(int sig);
 
 #include "cereal/services.h"
-#include "msgq/messaging/impl_msgq.h"
-#include "msgq/messaging/impl_zmq.h"
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_zmq.h"
 
 std::atomic<bool> do_exit = false;
 static void set_do_exit(int sig) {
diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h
index b0f8b55355..f3850130e6 100644
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@@ -10,7 +10,7 @@
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "msgq/messaging/messaging.h"
+#include "msgq/ipc.h"
 
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
diff --git a/cereal/messaging/tests/test_fake.py b/cereal/messaging/tests/test_fake.py
deleted file mode 100644
index 1d3521745d..0000000000
--- a/cereal/messaging/tests/test_fake.py
+++ /dev/null
@@ -1,193 +0,0 @@
-import os
-import unittest
-import multiprocessing
-import platform
-from parameterized import parameterized_class
-from typing import Optional
-
-import cereal.messaging as messaging
-
-WAIT_TIMEOUT = 5
-
-
-@unittest.skipIf(platform.system() == "Darwin", "Events not supported on macOS")
-class TestEvents(unittest.TestCase):
-
-  def test_mutation(self):
-    handle = messaging.fake_event_handle("carState")
-    event = handle.recv_called_event
-
-    self.assertFalse(event.peek())
-    event.set()
-    self.assertTrue(event.peek())
-    event.clear()
-    self.assertFalse(event.peek())
-
-    del event
-
-  def test_wait(self):
-    handle = messaging.fake_event_handle("carState")
-    event = handle.recv_called_event
-
-    event.set()
-    try:
-      event.wait(WAIT_TIMEOUT)
-      self.assertTrue(event.peek())
-    except RuntimeError:
-      self.fail("event.wait() timed out")
-
-  def test_wait_multiprocess(self):
-    handle = messaging.fake_event_handle("carState")
-    event = handle.recv_called_event
-
-    def set_event_run():
-      event.set()
-
-    try:
-      p = multiprocessing.Process(target=set_event_run)
-      p.start()
-      event.wait(WAIT_TIMEOUT)
-      self.assertTrue(event.peek())
-    except RuntimeError:
-      self.fail("event.wait() timed out")
-
-    p.kill()
-
-  def test_wait_zero_timeout(self):
-    handle = messaging.fake_event_handle("carState")
-    event = handle.recv_called_event
-
-    try:
-      event.wait(0)
-      self.fail("event.wait() did not time out")
-    except RuntimeError:
-      self.assertFalse(event.peek())
-
-
-@unittest.skipIf(platform.system() == "Darwin", "FakeSockets not supported on macOS")
-@unittest.skipIf("ZMQ" in os.environ, "FakeSockets not supported on ZMQ")
-@parameterized_class([{"prefix": None}, {"prefix": "test"}])
-class TestFakeSockets(unittest.TestCase):
-  prefix: Optional[str] = None
-
-  def setUp(self):
-    messaging.toggle_fake_events(True)
-    if self.prefix is not None:
-      messaging.set_fake_prefix(self.prefix)
-    else:
-      messaging.delete_fake_prefix()
-
-  def tearDown(self):
-    messaging.toggle_fake_events(False)
-    messaging.delete_fake_prefix()
-
-  def test_event_handle_init(self):
-    handle = messaging.fake_event_handle("controlsState", override=True)
-
-    self.assertFalse(handle.enabled)
-    self.assertGreaterEqual(handle.recv_called_event.fd, 0)
-    self.assertGreaterEqual(handle.recv_ready_event.fd, 0)
-
-  def test_non_managed_socket_state(self):
-    # non managed socket should have zero state
-    _ = messaging.pub_sock("ubloxGnss")
-
-    handle = messaging.fake_event_handle("ubloxGnss", override=False)
-
-    self.assertFalse(handle.enabled)
-    self.assertEqual(handle.recv_called_event.fd, 0)
-    self.assertEqual(handle.recv_ready_event.fd, 0)
-
-  def test_managed_socket_state(self):
-    # managed socket should not change anything about the state
-    handle = messaging.fake_event_handle("ubloxGnss")
-    handle.enabled = True
-
-    expected_enabled = handle.enabled
-    expected_recv_called_fd = handle.recv_called_event.fd
-    expected_recv_ready_fd = handle.recv_ready_event.fd
-
-    _ = messaging.pub_sock("ubloxGnss")
-
-    self.assertEqual(handle.enabled, expected_enabled)
-    self.assertEqual(handle.recv_called_event.fd, expected_recv_called_fd)
-    self.assertEqual(handle.recv_ready_event.fd, expected_recv_ready_fd)
-
-  def test_sockets_enable_disable(self):
-    carState_handle = messaging.fake_event_handle("ubloxGnss", enable=True)
-    recv_called = carState_handle.recv_called_event
-    recv_ready = carState_handle.recv_ready_event
-
-    pub_sock = messaging.pub_sock("ubloxGnss")
-    sub_sock = messaging.sub_sock("ubloxGnss")
-
-    try:
-      carState_handle.enabled = True
-      recv_ready.set()
-      pub_sock.send(b"test")
-      _ = sub_sock.receive()
-      self.assertTrue(recv_called.peek())
-      recv_called.clear()
-
-      carState_handle.enabled = False
-      recv_ready.set()
-      pub_sock.send(b"test")
-      _ = sub_sock.receive()
-      self.assertFalse(recv_called.peek())
-    except RuntimeError:
-      self.fail("event.wait() timed out")
-
-  def test_synced_pub_sub(self):
-    def daemon_repub_process_run():
-      pub_sock = messaging.pub_sock("ubloxGnss")
-      sub_sock = messaging.sub_sock("carState")
-
-      frame = -1
-      while True:
-        frame += 1
-        msg = sub_sock.receive(non_blocking=True)
-        if msg is None:
-          print("none received")
-          continue
-
-        bts = frame.to_bytes(8, 'little')
-        pub_sock.send(bts)
-
-    carState_handle = messaging.fake_event_handle("carState", enable=True)
-    recv_called = carState_handle.recv_called_event
-    recv_ready = carState_handle.recv_ready_event
-
-    p = multiprocessing.Process(target=daemon_repub_process_run)
-    p.start()
-
-    pub_sock = messaging.pub_sock("carState")
-    sub_sock = messaging.sub_sock("ubloxGnss")
-
-    try:
-      for i in range(10):
-        recv_called.wait(WAIT_TIMEOUT)
-        recv_called.clear()
-
-        if i == 0:
-          sub_sock.receive(non_blocking=True)
-
-        bts = i.to_bytes(8, 'little')
-        pub_sock.send(bts)
-
-        recv_ready.set()
-        recv_called.wait(WAIT_TIMEOUT)
-
-        msg = sub_sock.receive(non_blocking=True)
-        self.assertIsNotNone(msg)
-        self.assertEqual(len(msg), 8)
-
-        frame = int.from_bytes(msg, 'little')
-        self.assertEqual(frame, i)
-    except RuntimeError:
-      self.fail("event.wait() timed out")
-    finally:
-      p.kill()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index 381cec03ff..429c2d3c53 100755
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -34,6 +34,7 @@ def zmq_expected_failure(func):
   else:
     return func
 
+
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
   fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
@@ -56,61 +57,8 @@ def delayed_send(delay, sock, dat):
     sock.send(dat)
   threading.Timer(delay, send_func).start()
 
-class TestPubSubSockets(unittest.TestCase):
-
-  def setUp(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
-  def test_pub_sub(self):
-    sock = random_sock()
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, conflate=False, timeout=None)
-    zmq_sleep(3)
-
-    for _ in range(1000):
-      msg = random_bytes()
-      pub_sock.send(msg)
-      recvd = sub_sock.receive()
-      self.assertEqual(msg, recvd)
-
-  def test_conflate(self):
-    sock = random_sock()
-    pub_sock = messaging.pub_sock(sock)
-    for conflate in [True, False]:
-      for _ in range(10):
-        num_msgs = random.randint(3, 10)
-        sub_sock = messaging.sub_sock(sock, conflate=conflate, timeout=None)
-        zmq_sleep()
-
-        sent_msgs = []
-        for __ in range(num_msgs):
-          msg = random_bytes()
-          pub_sock.send(msg)
-          sent_msgs.append(msg)
-        time.sleep(0.1)
-        recvd_msgs = messaging.drain_sock_raw(sub_sock)
-        if conflate:
-          self.assertEqual(len(recvd_msgs), 1)
-        else:
-          # TODO: compare actual data
-          self.assertEqual(len(recvd_msgs), len(sent_msgs))
-
-  def test_receive_timeout(self):
-    sock = random_sock()
-    for _ in range(10):
-      timeout = random.randrange(200)
-      sub_sock = messaging.sub_sock(sock, timeout=timeout)
-      zmq_sleep()
-
-      start_time = time.monotonic()
-      recvd = sub_sock.receive()
-      self.assertLess(time.monotonic() - start_time, 0.2)
-      assert recvd is None
 
 class TestMessaging(unittest.TestCase):
-
   def setUp(self):
     # TODO: ZMQ tests are too slow; all sleeps will need to be
     # replaced with logic to block on the necessary condition
diff --git a/cereal/messaging/tests/test_poller.py b/cereal/messaging/tests/test_poller.py
deleted file mode 100644
index bcff5e40ca..0000000000
--- a/cereal/messaging/tests/test_poller.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import unittest
-import time
-import cereal.messaging as messaging
-
-import concurrent.futures
-
-
-def poller():
-  context = messaging.Context()
-
-  p = messaging.Poller()
-
-  sub = messaging.SubSocket()
-  sub.connect(context, 'controlsState')
-  p.registerSocket(sub)
-
-  socks = p.poll(10000)
-  r = [s.receive(non_blocking=True) for s in socks]
-
-  return r
-
-
-class TestPoller(unittest.TestCase):
-  def test_poll_once(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-
-      # Send message
-      pub.send(b"a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_poll_and_create_many_subscribers(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-      c = messaging.Context()
-      for _ in range(10):
-        messaging.SubSocket().connect(c, 'controlsState')
-
-      time.sleep(0.1)
-
-      # Send message
-      pub.send(b"a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_multiple_publishers_exception(self):
-    context = messaging.Context()
-
-    with self.assertRaises(messaging.MultiplePublishersError):
-      pub1 = messaging.PubSocket()
-      pub1.connect(context, 'controlsState')
-
-      pub2 = messaging.PubSocket()
-      pub2.connect(context, 'controlsState')
-
-      pub1.send(b"a")
-
-    del pub1
-    del pub2
-    context.term()
-
-  def test_multiple_messages(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState')
-
-    time.sleep(0.1)  # Slow joiner
-
-    for i in range(1, 100):
-      pub.send(b'a'*i)
-
-    msg_seen = False
-    i = 1
-    while True:
-      r = sub.receive(non_blocking=True)
-
-      if r is not None:
-        self.assertEqual(b'a'*i, r)
-
-        msg_seen = True
-        i += 1
-
-      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
-        break
-
-    del pub
-    del sub
-    context.term()
-
-  def test_conflate(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState', conflate=True)
-
-    time.sleep(0.1)  # Slow joiner
-    pub.send(b'a')
-    pub.send(b'b')
-
-    self.assertEqual(b'b', sub.receive())
-
-    del pub
-    del sub
-    context.term()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 1027bac1be..3b89fe9874 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -14,12 +14,12 @@ cereal
 messaging
 ^^^^^^^^^
 .. autodoxygenindex::
-   :project: msgq_messaging
+   :project: msgq_repo_msgq
 
 visionipc
 ^^^^^^^^^
 .. autodoxygenindex::
-   :project: msgq_visionipc
+   :project: msgq_repo_msgq_visionipc
 
 
 selfdrive
diff --git a/msgq b/msgq
deleted file mode 160000
index 615aea9b55..0000000000
--- a/msgq
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 615aea9b5519d2a3631fce4753bed29287fc4f9b
diff --git a/msgq b/msgq
new file mode 120000
index 0000000000..df09146f62
--- /dev/null
+++ b/msgq
@@ -0,0 +1 @@
+msgq_repo/msgq
\ No newline at end of file
diff --git a/msgq_repo b/msgq_repo
new file mode 160000
index 0000000000..381fc3d9df
--- /dev/null
+++ b/msgq_repo
@@ -0,0 +1 @@
+Subproject commit 381fc3d9dfe7d2ff40a075ff8c1f980ae2a62d19
diff --git a/pyproject.toml b/pyproject.toml
index 4ac01f6582..6bc567921c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,7 +39,8 @@ testpaths = [
   "system/webrtc",
   "tools/lib/tests",
   "tools/replay",
-  "tools/cabana"
+  "tools/cabana",
+  "cereal/messaging/tests",
 ]
 
 [tool.mypy]
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index b6603e69fc..630f873341 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 
@@ -60,7 +60,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_lat = lenv.Command(generated_files,
                              source_list,
                              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, [messaging_python, common_python, opendbc_python])
+lenv.Depends(generated_lat, [msgq_python, common_python, opendbc_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index c00d5cb5a7..852631c5ab 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [messaging_python, common_python, opendbc_python])
+lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index d3cfeb2c3a..27cd4d5b40 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,6 +1,6 @@
-Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations', 'socketmaster')
+Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations')
 
-loc_libs = [cereal, socketmaster, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl']
+loc_libs = [messaging, common, 'pthread', 'dl']
 
 # build ekf models
 rednose_gen_dir = 'models/generated'
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index 7f5d948b77..295e8127db 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -1,8 +1,8 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations', 'socketmaster')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 map_env = qt_env.Clone()
-libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, socketmaster, messaging, cereal, visionipc, transformations,
-        'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
+libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
+        'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
 if arch == 'larch64':
   libs.append(':libEGL_mesa.so.0')
 
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index 48187c4325..63a2c1e650 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -1,6 +1,6 @@
-Import('env', 'envCython', 'common', 'cereal', 'messaging', 'socketmaster')
+Import('env', 'envCython', 'common', 'messaging')
 
-libs = ['usb-1.0', common, cereal, messaging, socketmaster, 'pthread', 'zmq', 'capnp', 'kj']
+libs = ['usb-1.0', common, messaging, 'pthread']
 panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
 env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 5bd33f35f0..f59da1bce3 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,10 +1,9 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc',
-       'cereal', 'transformations', 'socketmaster')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
-base_libs = [common, socketmaster, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, visionipc, transformations,
+             'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 if arch == 'larch64':
   base_libs.append('EGL')
@@ -126,5 +125,6 @@ if GetOption('extras') and arch != "Darwin":
     assert f[0].get_size() < 350*1e3
 
 # build watch3
-if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
+#FIXME
+#if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
+#  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'msgq'])
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 67530c57e4..511664c275 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'socketmaster')
+Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, socketmaster, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
+libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic']
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
                          'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript
index cd34e39566..ac2a79a1f2 100644
--- a/system/logcatd/SConscript
+++ b/system/logcatd/SConscript
@@ -1,3 +1,3 @@
-Import('env', 'cereal', 'messaging', 'common', 'socketmaster')
+Import('env', 'messaging', 'common')
 
-env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, socketmaster, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11'])
+env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd', 'json11'])
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index bcf941655a..196d18476a 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -1,9 +1,8 @@
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'socketmaster')
+Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
-libs = [common, cereal, socketmaster, messaging, visionipc,
-        'zmq', 'capnp', 'kj', 'z',
-        'avformat', 'avcodec', 'swscale', 'avutil',
-        'yuv', 'OpenCL', 'pthread']
+libs = [common, messaging, visionipc,
+        'z', 'avformat', 'avcodec', 'swscale',
+        'avutil', 'yuv', 'OpenCL', 'pthread']
 
 src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc']
 if arch != "larch64":
diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript
index 05cdb73c65..9ca8e73542 100644
--- a/system/proclogd/SConscript
+++ b/system/proclogd/SConscript
@@ -1,5 +1,5 @@
-Import('env', 'cereal', 'messaging', 'common', 'socketmaster')
-libs = [cereal, socketmaster, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11']
+Import('env', 'messaging', 'common')
+libs = [messaging, 'pthread', 'common', 'zmq', 'json11']
 env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs)
 
 if GetOption('extras'):
diff --git a/system/sensord/SConscript b/system/sensord/SConscript
index 1808a31541..e2dfb522c6 100644
--- a/system/sensord/SConscript
+++ b/system/sensord/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'arch', 'common', 'cereal', 'messaging', 'socketmaster')
+Import('env', 'arch', 'common', 'messaging')
 
 sensors = [
   'sensors/i2c_sensor.cc',
@@ -11,7 +11,7 @@ sensors = [
   'sensors/lsm6ds3_temp.cc',
   'sensors/mmc5603nj_magn.cc',
 ]
-libs = [common, socketmaster, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread']
+libs = [common, messaging, 'pthread']
 if arch == "larch64":
   libs.append('i2c')
 env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript
index d6bea57238..ce09e235e6 100644
--- a/system/ubloxd/SConscript
+++ b/system/ubloxd/SConscript
@@ -1,6 +1,6 @@
-Import('env', 'common', 'cereal', 'messaging', 'socketmaster')
+Import('env', 'common', 'messaging')
 
-loc_libs = [cereal, messaging, socketmaster, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
+loc_libs = [messaging, common, 'kaitai', 'pthread']
 
 if GetOption('kaitai'):
   generated = Dir('generated').srcnode().abspath
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index fa22915dbc..bcc9d64927 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -8,7 +8,7 @@ from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
 import pyaudio
-
+import pytest
 from cereal import messaging, log
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
@@ -68,6 +68,8 @@ class TestStreamSession:
 
       mocked_pubmaster.reset_mock()
 
+  # FIXME, hangs for some reason
+  @pytest.mark.skip("Hangs forever")
   def test_livestream_track(self, mocker):
     fake_msg = messaging.new_message("livestreamDriverEncodeData")
 
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
index 309058fb75..d4b659a3aa 100644
--- a/system/webrtc/tests/test_webrtcd.py
+++ b/system/webrtc/tests/test_webrtcd.py
@@ -61,3 +61,4 @@ class TestWebrtcdProc:
     assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
     _, session = mock_request.app["streams"].__setitem__.call_args.args
     await self.assertCompletesWithTimeout(session.post_run_cleanup())
+
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 4ce4c27a05..ba4a142451 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,7 +1,7 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets', 'socketmaster')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, socketmaster, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 813f7808f3..cf9d74a894 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -1,8 +1,8 @@
-Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'socketmaster')
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, socketmaster, messaging, cereal, visionipc, 'zmq',
-             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc,
+             'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
new file mode 100644
index 0000000000..e0d38596ca
--- /dev/null
+++ b/tools/sim/Dockerfile.sim
@@ -0,0 +1,39 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      tmux \
+      vim \
+    && rm -rf /var/lib/apt/lists/*
+
+# get same tmux config used on NEOS for debugging
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
+
+ENV OPENPILOT_PATH /tmp/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY SConstruct ${OPENPILOT_PATH}
+
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
+COPY ./body ${OPENPILOT_PATH}/body
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
+COPY ./msgq ${OPENPILOT_PATH}/msgq
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+
+RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
+
+RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"

From 802aef0212c6c80a1fe5fddcc58bd4d8468015e2 Mon Sep 17 00:00:00 2001
From: Metalbird1997 <45519048+Metalbird1997@users.noreply.github.com>
Date: Mon, 10 Jun 2024 09:22:34 +0200
Subject: [PATCH 0018/1243] Update fingerprints.py for 2024 MAN TGE (#32657)

* Update fingerprints.py for 2024 MAN TGE

* add TGE chassis codes

* unsure about the others

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 19e0fa3094ca407f0c6023b0e26aebb7068db3fa
---
 docs/CARS.md                             | 2 +-
 selfdrive/car/volkswagen/fingerprints.py | 2 ++
 selfdrive/car/volkswagen/values.py       | 4 ++--
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c79206f84c..c0070f18fa 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -186,7 +186,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index fdc375fc8d..68f6d8f6ac 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -119,6 +119,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
       b'\xf1\x8705L906023BC\xf1\x892688',
+      b'\xf1\x8705L906023MH\xf1\x892588',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
@@ -128,6 +129,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
       b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
+      b'\xf1\x872N0909143H \xf1\x897045\xf1\x82\x05263AZ309A2',
       b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 4d317176be..51346e0727 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -247,11 +247,11 @@ class CAR(Platforms):
       VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
       VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
       VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"),
       VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
     ],
     VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
-    chassis_codes={"SY", "SZ"},
+    chassis_codes={"SY", "SZ", "UY", "UZ"},
     wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN},
   )
   VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig(

From 196aaf01d68bb2d2d94da3f060d88dd9e22a0573 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Jun 2024 00:28:43 -0700
Subject: [PATCH 0019/1243] fix hypothesis warning (#32678)

fix
old-commit-hash: 43ebf367ef37d949952301f2e240359b451a7043
---
 selfdrive/test/fuzzy_generation.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
index 0dc2e44eee..94eb0dfaa6 100644
--- a/selfdrive/test/fuzzy_generation.py
+++ b/selfdrive/test/fuzzy_generation.py
@@ -16,7 +16,7 @@ class FuzzyGenerator:
 
   def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]:
     value_func = self.native_type_map.get(field)
-    if value_func:
+    if value_func is not None:
       return value_func
     else:
       raise NotImplementedError(f'Invalid type: {field}')

From 7e4edcc8d5ba91bd37b96ff3361021fd103bc24f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 10 Jun 2024 13:18:47 -0700
Subject: [PATCH 0020/1243] MSGQ refactor: cleanup outstanding issues (#32685)

* Rm sim dockerfile from bad merge

* Add watch back

* Fix watch3 compilation
old-commit-hash: 1b2bd205b81bb473bbe176b58250fe038963d1f6
---
 SConstruct                                    |  4 +-
 .../controls/lib/lateral_mpc_lib/SConscript   |  2 +-
 .../lib/longitudinal_mpc_lib/SConscript       |  2 +-
 selfdrive/ui/SConscript                       |  5 +--
 tools/sim/Dockerfile.sim                      | 39 -------------------
 5 files changed, 5 insertions(+), 47 deletions(-)
 delete mode 100644 tools/sim/Dockerfile.sim

diff --git a/SConstruct b/SConstruct
index 1b6b9464c8..944d650d74 100644
--- a/SConstruct
+++ b/SConstruct
@@ -224,10 +224,8 @@ env = Environment(
   CFLAGS=["-std=gnu11"] + cflags,
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
-    "#cereal",
-    "#msgq",
+    "#msgq_repo",
     "#third_party",
-    "#opendbc/can",
     "#selfdrive/pandad",
     "#common",
     "#rednose/helpers",
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 630f873341..73242cb8f9 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 852631c5ab..592c1c2c2d 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index f59da1bce3..e181cb9abd 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -125,6 +125,5 @@ if GetOption('extras') and arch != "Darwin":
     assert f[0].get_size() < 350*1e3
 
 # build watch3
-#FIXME
-#if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-#  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'msgq'])
+if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'msgq', 'visionipc'])
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
deleted file mode 100644
index e0d38596ca..0000000000
--- a/tools/sim/Dockerfile.sim
+++ /dev/null
@@ -1,39 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt-get update && apt-get install -y --no-install-recommends \
-      tmux \
-      vim \
-    && rm -rf /var/lib/apt/lists/*
-
-# get same tmux config used on NEOS for debugging
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
-
-ENV OPENPILOT_PATH /tmp/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./body ${OPENPILOT_PATH}/body
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-
-RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
-
-RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"

From d2e3a0ea41732ed018b17dbed0d41c6737d6bf98 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 10 Jun 2024 13:37:39 -0700
Subject: [PATCH 0021/1243] [bot] Bump submodules (#32681)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: a09ccd59cba03ac0824ad1b900116c364f93d591
---
 teleoprtc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/teleoprtc_repo b/teleoprtc_repo
index f2e5a6dd9e..fdcff87aaf 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit f2e5a6dd9e13a184b2f0e95a6c8afd308ec2da89
+Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5

From 061deaa80f07fe68c5e39653374657132726571f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 11 Jun 2024 04:37:50 +0800
Subject: [PATCH 0022/1243] common/ratekeeper: change frame() return type from
 double to uint64_t (#32679)

old-commit-hash: a4f0f6ca3627c9a8a805ec3f20c17d68a710b7f8
---
 common/ratekeeper.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/ratekeeper.h b/common/ratekeeper.h
index b6e8ac66a6..e7323c6ec3 100644
--- a/common/ratekeeper.h
+++ b/common/ratekeeper.h
@@ -9,7 +9,7 @@ public:
   ~RateKeeper() {}
   bool keepTime();
   bool monitorTime();
-  inline double frame() const { return frame_; }
+  inline uint64_t frame() const { return frame_; }
   inline double remaining() const { return remaining_; }
 
 private:

From 3fe2a3d3383a0a6f562854d92e59d89241c9926a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Jun 2024 13:39:02 -0700
Subject: [PATCH 0023/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32683)

old-commit-hash: cf100f740e07824e1367a65c74e2b99f5c3b4458
---
 selfdrive/car/chrysler/fingerprints.py   | 1 +
 selfdrive/car/subaru/fingerprints.py     | 7 ++++++-
 selfdrive/car/volkswagen/fingerprints.py | 1 +
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 01faa49bf7..5072aad5c0 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -410,6 +410,7 @@ FW_VERSIONS = {
       b'68453483AD',
       b'68453487AD',
       b'68453491AC',
+      b'68453491AD',
       b'68453499AD',
       b'68453503AC',
       b'68453503AD',
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index 10c713501f..b53ac8ac69 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -112,6 +112,7 @@ FW_VERSIONS = {
       b'\x00\x00d\xb5\x1f@ \x0e',
       b'\x00\x00d\xdc\x00\x00\x00\x00',
       b'\x00\x00d\xdc\x1f@ \x0e',
+      b'\x00\x00e\x02\x00\x00\x00\x00',
       b'\x00\x00e\x02\x1f@ \x14',
       b'\x00\x00e\x1c\x00\x00\x00\x00',
       b'\x00\x00e\x1c\x1f@ \x14',
@@ -125,6 +126,7 @@ FW_VERSIONS = {
       b'\xaa!au\x07',
       b'\xaa!av\x07',
       b'\xaa!aw\x07',
+      b'\xaa!dp\x07',
       b'\xaa!dq\x07',
       b'\xaa!ds\x07',
       b'\xaa!dt\x07',
@@ -179,6 +181,7 @@ FW_VERSIONS = {
       b'\x00\x00eb\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00eq\x1f@ "',
+      b'\x00\x00e\x87\x1f@ "',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x1f@ )',
       b'\x00\x00e\x92\x00\x00\x00\x00',
@@ -196,6 +199,7 @@ FW_VERSIONS = {
       b'\xcc!fp\x07',
       b'\xcc"f0\x07',
       b'\xe6!`@\x07',
+      b'\xe6!`p\x07',
       b'\xe6!fp\x07',
       b'\xe6"f0\x07',
       b'\xe6"fp\x07',
@@ -319,8 +323,8 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
-      b'\xda\xf2`\x80\x00',
       b'\xda\xf2`p\x00',
+      b'\xda\xf2`\x80\x00',
       b'\xda\xfd\xe0\x80\x00',
       b'\xdc\xf2@`\x00',
       b'\xdc\xf2``\x00',
@@ -486,6 +490,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xbc"`@\x07',
+      b'\xbc"`p\x07',
       b'\xbc"`q\x07',
       b'\xbc,\xa0q\x07',
       b'\xbc,\xa0u\x07',
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index 68f6d8f6ac..fea530b29b 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -591,6 +591,7 @@ FW_VERSIONS = {
       b'\xf1\x8783A907115Q \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158DS\xf1\x893699',
       b'\xf1\x8709G927158DT\xf1\x893698',
       b'\xf1\x8709G927158FM\xf1\x893757',
       b'\xf1\x8709G927158GC\xf1\x893821',

From 086a4fa3a204bdd7b4a14caa0ae86e72b4f6daea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Jun 2024 13:42:27 -0700
Subject: [PATCH 0024/1243] Revert "[bot] Fingerprints: add missing FW versions
 from new users" (#32688)

Revert "[bot] Fingerprints: add missing FW versions from new users (#32683)"

This reverts commit f47ea264ba9b0177acc86b4cd77fd003dcb85328.
old-commit-hash: 26e52a4aedb172999ce796bd39df5ba5594a3cf7
---
 selfdrive/car/chrysler/fingerprints.py   | 1 -
 selfdrive/car/subaru/fingerprints.py     | 7 +------
 selfdrive/car/volkswagen/fingerprints.py | 1 -
 3 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5072aad5c0..01faa49bf7 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -410,7 +410,6 @@ FW_VERSIONS = {
       b'68453483AD',
       b'68453487AD',
       b'68453491AC',
-      b'68453491AD',
       b'68453499AD',
       b'68453503AC',
       b'68453503AD',
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index b53ac8ac69..10c713501f 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -112,7 +112,6 @@ FW_VERSIONS = {
       b'\x00\x00d\xb5\x1f@ \x0e',
       b'\x00\x00d\xdc\x00\x00\x00\x00',
       b'\x00\x00d\xdc\x1f@ \x0e',
-      b'\x00\x00e\x02\x00\x00\x00\x00',
       b'\x00\x00e\x02\x1f@ \x14',
       b'\x00\x00e\x1c\x00\x00\x00\x00',
       b'\x00\x00e\x1c\x1f@ \x14',
@@ -126,7 +125,6 @@ FW_VERSIONS = {
       b'\xaa!au\x07',
       b'\xaa!av\x07',
       b'\xaa!aw\x07',
-      b'\xaa!dp\x07',
       b'\xaa!dq\x07',
       b'\xaa!ds\x07',
       b'\xaa!dt\x07',
@@ -181,7 +179,6 @@ FW_VERSIONS = {
       b'\x00\x00eb\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00eq\x1f@ "',
-      b'\x00\x00e\x87\x1f@ "',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x1f@ )',
       b'\x00\x00e\x92\x00\x00\x00\x00',
@@ -199,7 +196,6 @@ FW_VERSIONS = {
       b'\xcc!fp\x07',
       b'\xcc"f0\x07',
       b'\xe6!`@\x07',
-      b'\xe6!`p\x07',
       b'\xe6!fp\x07',
       b'\xe6"f0\x07',
       b'\xe6"fp\x07',
@@ -323,8 +319,8 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
-      b'\xda\xf2`p\x00',
       b'\xda\xf2`\x80\x00',
+      b'\xda\xf2`p\x00',
       b'\xda\xfd\xe0\x80\x00',
       b'\xdc\xf2@`\x00',
       b'\xdc\xf2``\x00',
@@ -490,7 +486,6 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xbc"`@\x07',
-      b'\xbc"`p\x07',
       b'\xbc"`q\x07',
       b'\xbc,\xa0q\x07',
       b'\xbc,\xa0u\x07',
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index fea530b29b..68f6d8f6ac 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -591,7 +591,6 @@ FW_VERSIONS = {
       b'\xf1\x8783A907115Q \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158DS\xf1\x893699',
       b'\xf1\x8709G927158DT\xf1\x893698',
       b'\xf1\x8709G927158FM\xf1\x893757',
       b'\xf1\x8709G927158GC\xf1\x893821',

From 7acd2e61592e36197a97d77adfc26397f4830094 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 10 Jun 2024 14:22:47 -0700
Subject: [PATCH 0025/1243] webrtc: fix patch in tests (#32686)

* Fix patch

* Fix it again
old-commit-hash: 2b1ac1ffa145543ac62075479123d71806bd3f62
---
 system/webrtc/tests/test_stream_session.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index bcc9d64927..e89e42e440 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -8,7 +8,6 @@ from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
 import pyaudio
-import pytest
 from cereal import messaging, log
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
@@ -68,13 +67,11 @@ class TestStreamSession:
 
       mocked_pubmaster.reset_mock()
 
-  # FIXME, hangs for some reason
-  @pytest.mark.skip("Hangs forever")
   def test_livestream_track(self, mocker):
     fake_msg = messaging.new_message("livestreamDriverEncodeData")
 
     config = {"receive.return_value": fake_msg.to_bytes()}
-    mocker.patch("cereal.messaging.SubSocket", spec=True, **config)
+    mocker.patch("msgq.SubSocket", spec=True, **config)
     track = LiveStreamVideoStreamTrack("driver")
 
     assert track.id.startswith("driver")

From 7d79a17b1a46bb1f893a9464e971653f32ec0b06 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Jun 2024 14:36:42 -0700
Subject: [PATCH 0026/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32689)

Export fingerprints
old-commit-hash: c514ee7212f7ef43c7451d6e638dd54ec0643dcc
---
 selfdrive/car/chrysler/fingerprints.py   | 1 +
 selfdrive/car/subaru/fingerprints.py     | 2 +-
 selfdrive/car/volkswagen/fingerprints.py | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 01faa49bf7..5072aad5c0 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -410,6 +410,7 @@ FW_VERSIONS = {
       b'68453483AD',
       b'68453487AD',
       b'68453491AC',
+      b'68453491AD',
       b'68453499AD',
       b'68453503AC',
       b'68453503AD',
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index 10c713501f..7f3ae73163 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -319,8 +319,8 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
-      b'\xda\xf2`\x80\x00',
       b'\xda\xf2`p\x00',
+      b'\xda\xf2`\x80\x00',
       b'\xda\xfd\xe0\x80\x00',
       b'\xdc\xf2@`\x00',
       b'\xdc\xf2``\x00',
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index 68f6d8f6ac..fea530b29b 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -591,6 +591,7 @@ FW_VERSIONS = {
       b'\xf1\x8783A907115Q \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158DS\xf1\x893699',
       b'\xf1\x8709G927158DT\xf1\x893698',
       b'\xf1\x8709G927158FM\xf1\x893757',
       b'\xf1\x8709G927158GC\xf1\x893821',

From 49c036919fbdd6e82aa08e95c6774d57f2923c11 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 10 Jun 2024 16:06:37 -0700
Subject: [PATCH 0027/1243] Pin pytools (#32684)

* bump opencl

* pin pytools
old-commit-hash: 1f7c5bcd50ae64281ea9cb1de48131b59efdeb1f
---
 poetry.lock    | 4 ++--
 pyproject.toml | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 6cc3d61da4..66485b17d9 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c31b95cf06d05594bad1cf4f09b581497cb41f8b6c8fe93ee8f0bd2ad01f93c6
-size 618381
+oid sha256:f15594de9ee8d67839f4cc7ae6d5c25ae254046716900bce80fc6904a63951f8
+size 618404
diff --git a/pyproject.toml b/pyproject.toml
index 6bc567921c..007245540f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -166,6 +166,7 @@ pprofile = "*"
 polyline = "*"
 pre-commit = "*"
 pyautogui = "*"
+pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools
 pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
 pygame = "*"
 pywinctl = "*"

From 6022ca899a103ea19cd934c06318106a46ea3a83 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Jun 2024 16:23:20 -0700
Subject: [PATCH 0028/1243] VW: bump model year of all CRAFTER_MK2 models

old-commit-hash: e3f18b9f95fc4de2a71127d87bc262ee698ae0a0
---
 docs/CARS.md                       | 8 ++++----
 selfdrive/car/volkswagen/values.py | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c0070f18fa..3b163dcee3 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -185,7 +185,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -269,8 +269,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
 |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
 |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
 |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
@@ -279,7 +279,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
 |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
 |Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
 |Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 51346e0727..8b58769b3f 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -244,11 +244,11 @@ class CAR(Platforms):
   )
   VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
     [
-      VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("Volkswagen Crafter 2017-24", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("Volkswagen e-Crafter 2018-24", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("Volkswagen Grand California 2019-24", video_link="https://youtu.be/4100gLeabmo"),
       VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("MAN eTGE 2020-24", video_link="https://youtu.be/4100gLeabmo"),
     ],
     VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
     chassis_codes={"SY", "SZ", "UY", "UZ"},

From c34f76bc1a5402f733b3c6ceb47a2504aa6eb7f4 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Mon, 10 Jun 2024 19:58:51 -0400
Subject: [PATCH 0029/1243] tools/rerun: correct reset to defined default
 blueprint (#32692)

old-commit-hash: 1e3d62c88a9805de6799f742ca4998b36b5e51e8
---
 tools/rerun/run.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 1c3c0a59e3..9975478a73 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -53,9 +53,9 @@ def log_thumbnail(thumbnailMsg):
   rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
 
 @rr.shutdown_at_exit
-def process(lr):
+def process(blueprint, lr):
   rr.init("rerun_test")
-  rr.connect()
+  rr.connect(default_blueprint=blueprint)
 
   ret = []
   for msg in lr:
@@ -80,10 +80,10 @@ if __name__ == '__main__':
   args = parser.parse_args()
 
   blueprint = createBlueprint()
-  rr.init("rerun_test", default_blueprint=blueprint)
+  rr.init("rerun_test")
   rr.spawn(connect=False) # child processes stream data to Viewer
 
   route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
   print("Getting route log paths")
   lr = LogReader(route_or_segment_name)
-  lr.run_across_segments(NUM_CPUS, partial(process))
+  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))

From 0ee93c6a908eca13cca8258ab7a94704d1a60297 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 10 Jun 2024 17:19:01 -0700
Subject: [PATCH 0030/1243] [bot] Update Python packages and pre-commit hooks
 (#32682)

* Update Python packages and pre-commit hooks

* fix linter

* poetry lock

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: 71063d66cd526bf1e498618e1aec3440736ab5b7
---
 .pre-commit-config.yaml  | 8 ++++----
 poetry.lock              | 2 +-
 system/webrtc/webrtcd.py | 2 +-
 tools/mac_setup.sh       | 4 ++--
 tools/sim/lib/common.py  | 2 +-
 5 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 75ddcfb616..61b7823644 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -24,16 +24,16 @@ repos:
         - --maxkb=120
         - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
     -   id: codespell
         exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.4
+    rev: v0.4.8
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.3
+    rev: 0.28.4
     hooks:
     -   id: check-github-workflows
diff --git a/poetry.lock b/poetry.lock
index 66485b17d9..8f8ba48cf9 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f15594de9ee8d67839f4cc7ae6d5c25ae254046716900bce80fc6904a63951f8
+oid sha256:0d9f6a97cc9f69ab14aaa50e64ee4bd0da11fa1b2fa8314d7b7ec4a380fe9e8f
 size 618404
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 76c3cd8470..afd346857f 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -24,7 +24,7 @@ from cereal import messaging, log
 class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
     self.sm = sm
-    self.channels: list['RTCDataChannel'] = []
+    self.channels: list[RTCDataChannel] = []
 
   def add_channel(self, channel: 'RTCDataChannel'):
     self.channels.append(channel)
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index d26ec3cfe2..b7f7cb93a2 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -6,7 +6,7 @@ if [ -z "$SKIP_PROMPT" ]; then
   echo "---------------   macOS support   ---------------"
   echo "Running openpilot natively on macOS is not officially supported."
   echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
-  echo 
+  echo
   echo "Check out devcontainers for a seamless experience (see tools/README.md)."
   echo "-------------------------------------------------"
   echo -n "Are you sure you want to continue? [y/N] "
@@ -28,7 +28,7 @@ fi
 
 # Install brew if required
 if [[ $(command -v brew) == "" ]]; then
-  echo "Installing Hombrew"
+  echo "Installing Homebrew"
   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
   echo "[ ] installed brew t=$SECONDS"
 
diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py
index 168b3aa324..1324932131 100644
--- a/tools/sim/lib/common.py
+++ b/tools/sim/lib/common.py
@@ -17,7 +17,7 @@ class GPSState:
     self.altitude = 0
 
   def from_xy(self, xy):
-    """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?"""
+    """Simulates a lat/lon from an xy coordinate on a plane, for simple simulation. TODO: proper global projection?"""
     BASE_LAT = 32.75308505188913
     BASE_LON = -117.2095393365393
     DEG_TO_METERS = 100000

From 50dd024081496cc5f036a99c8f62d2887112dbb7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 10 Jun 2024 18:04:24 -0700
Subject: [PATCH 0031/1243] pandad/SPI: ensure slave is in a consistent state
 (#32645)

* maxout

* get ready for the next one

* really get ready

* much better

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: f8cb04e4a8b032b72a909f68b808a50936184bee
---
 selfdrive/pandad/panda.cc                 |  5 +++
 selfdrive/pandad/spi.cc                   | 45 ++++++++++++++++-------
 selfdrive/pandad/tests/test_pandad_spi.py |  2 +-
 3 files changed, 37 insertions(+), 15 deletions(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 4ec5b79f12..a404ad3880 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -221,6 +221,11 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
     return false;
   }
 
+  if (getenv("PANDAD_MAXOUT") != NULL) {
+    static uint8_t junk[RECV_SIZE];
+    handle->bulk_read(0xab, junk, RECV_SIZE - recv);
+  }
+
   bool ret = true;
   if (recv > 0) {
     receive_buffer_size += recv;
diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc
index f4882addf9..8f1e29689b 100644
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@@ -50,8 +50,9 @@ private:
 
 #define SPILOG(fn, fmt, ...) do {  \
       fn(fmt, ## __VA_ARGS__);     \
-      fn("  %d / 0x%x / %d / %d", \
-         xfer_count, header.endpoint, header.tx_len, header.max_rx_len); \
+      fn("  %d / 0x%x / %d / %d / tx: %s", \
+         xfer_count, header.endpoint, header.tx_len, header.max_rx_len, \
+         util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \
       } while (0)
 
 PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
@@ -238,6 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
         // due to full TX buffers
         nack_count += 1;
         if (nack_count > 3) {
+          SPILOG(LOGE, "NACK sleep %d", nack_count);
           usleep(std::clamp(nack_count*10, 200, 2000));
         }
       }
@@ -256,14 +258,14 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   if (timeout == 0) {
     timeout = SPI_ACK_TIMEOUT;
   }
-  timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT);
+  timeout = std::clamp(timeout, 20U, SPI_ACK_TIMEOUT);
 
   spi_ioc_transfer transfer = {
     .tx_buf = (uint64_t)tx_buf,
     .rx_buf = (uint64_t)rx_buf,
-    .len = length
+    .len = length,
   };
-  tx_buf[0] = tx;
+  memset(tx_buf, tx, length);
 
   while (true) {
     int ret = lltransfer(transfer);
@@ -275,13 +277,13 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
     if (rx_buf[0] == ack) {
       break;
     } else if (rx_buf[0] == SPI_NACK) {
-      SPILOG(LOGD, "SPI: got NACK");
+      SPILOG(LOGD, "SPI: got NACK, waiting for 0x%x", ack);
       return SpiError::NACK;
     }
 
     // handle timeout
     if (millis_since_boot() - start_millis > timeout) {
-      SPILOG(LOGW, "SPI: timed out waiting for ACK");
+      SPILOG(LOGW, "SPI: timed out waiting for ACK, waiting for 0x%x", ack);
       return SpiError::ACK_TIMEOUT;
     }
   }
@@ -352,13 +354,13 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   ret = lltransfer(transfer);
   if (ret < 0) {
     SPILOG(LOGE, "SPI: failed to send header");
-    return ret;
+    goto fail;
   }
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
   if (ret < 0) {
-    return ret;
+    goto fail;
   }
 
   // Send data
@@ -370,20 +372,20 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   ret = lltransfer(transfer);
   if (ret < 0) {
     SPILOG(LOGE, "SPI: failed to send data");
-    return ret;
+    goto fail;
   }
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
   if (ret < 0) {
-    return ret;
+    goto fail;
   }
 
   // Read data
   rx_data_len = *(uint16_t *)(rx_buf+1);
   if (rx_data_len >= SPI_BUF_SIZE) {
     SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len);
-    return -1;
+    goto fail;
   }
 
   transfer.len = rx_data_len + 1;
@@ -391,11 +393,11 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   ret = lltransfer(transfer);
   if (ret < 0) {
     SPILOG(LOGE, "SPI: failed to read rx data");
-    return ret;
+    goto fail;
   }
   if (!check_checksum(rx_buf, rx_data_len + 4)) {
     SPILOG(LOGE, "SPI: bad checksum");
-    return -1;
+    goto fail;
   }
 
   if (rx_data != NULL) {
@@ -403,5 +405,20 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   return rx_data_len;
+
+fail:
+  // ensure slave is in a consistent state
+  // and ready for the next transfer
+  int nack_cnt = 0;
+  while (nack_cnt < 3) {
+    if (wait_for_ack(SPI_NACK, 0x14, 1, SPI_BUF_SIZE/2) == 0) {
+      nack_cnt += 1;
+    } else {
+      nack_cnt = 0;
+    }
+  }
+
+  if (ret > 0) ret = -1;
+  return ret;
 }
 #endif
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index ed81c1ea26..11e20e72cc 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -97,7 +97,7 @@ class TestBoarddSpi:
       with subtests.test(msg="timing check", service=service):
         edt = 1e3 / SERVICE_LIST[service].frequency
         assert edt*0.9 < np.mean(dts) < edt*1.1
-        assert np.max(dts) < edt*20
+        assert np.max(dts) < edt*8
         assert np.min(dts) < edt
         assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
 

From afea57ae2a895d20f02875344ea098150984c64c Mon Sep 17 00:00:00 2001
From: schlimeszn <138847413+schlimeszn@users.noreply.github.com>
Date: Mon, 10 Jun 2024 21:59:01 -0400
Subject: [PATCH 0032/1243] Custom setproctitle (#32667)

* add custom setproctitle

* add test

* Update poetry.lock

* fix lint

* support only Linux

* test only Linux

* final lint

* Update test_setproctitle.py

* Update setproctitle.py

* convert to threadnames

* delete proctitles

* Check str len and use PR_GET_NAME

* fix poetry.lock

* lint fix

* Update common/threadname.py

---------

Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3365ed5effa48d34ffe0e2e9bbe9f6941336bed5
---
 common/realtime.py              |  6 +++---
 common/tests/test_threadname.py |  8 ++++++++
 common/threadname.py            | 19 +++++++++++++++++++
 poetry.lock                     |  4 ++--
 pyproject.toml                  |  1 -
 scripts/waste.py                |  4 ++--
 selfdrive/modeld/modeld.py      | 12 ++++++------
 system/manager/process.py       |  4 ++--
 8 files changed, 42 insertions(+), 16 deletions(-)
 create mode 100644 common/tests/test_threadname.py
 create mode 100644 common/threadname.py

diff --git a/common/realtime.py b/common/realtime.py
index dd97ea3d78..e7265406ac 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -4,7 +4,7 @@ import os
 import time
 from collections import deque
 
-from setproctitle import getproctitle
+from openpilot.common.threadname import getthreadname
 
 from openpilot.system.hardware import PC
 
@@ -52,7 +52,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._process_name = getproctitle()
+    self._thread_name = getthreadname()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -87,7 +87,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining
diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py
new file mode 100644
index 0000000000..38e5e1d498
--- /dev/null
+++ b/common/tests/test_threadname.py
@@ -0,0 +1,8 @@
+from openpilot.common.threadname import setthreadname, getthreadname, LINUX
+
+class TestThreadName:
+  def test_set_get_threadname(self):
+    if LINUX:
+      name = 'TESTING'
+      setthreadname(name)
+      assert name == getthreadname()
diff --git a/common/threadname.py b/common/threadname.py
new file mode 100644
index 0000000000..3db7a7d013
--- /dev/null
+++ b/common/threadname.py
@@ -0,0 +1,19 @@
+import ctypes
+import os
+
+LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
+
+if LINUX:
+  libc = ctypes.CDLL('libc.so.6')
+
+def setthreadname(name: str) -> None:
+  if LINUX:
+    name = name[:15] + '\0'
+    libc.prctl(15, str.encode(name), 0, 0, 0)
+
+def getthreadname() -> str:
+  if LINUX:
+    name = ctypes.create_string_buffer(16)
+    libc.prctl(16, name)
+    return name.value.decode('utf-8')
+  return ""
diff --git a/poetry.lock b/poetry.lock
index 8f8ba48cf9..37e6c78e10 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0d9f6a97cc9f69ab14aaa50e64ee4bd0da11fa1b2fa8314d7b7ec4a380fe9e8f
-size 618404
+oid sha256:e3c0ed6349feb2a75a11fab5939e40b757c735855c617b9147de3d614e0b6c50
+size 603428
diff --git a/pyproject.toml b/pyproject.toml
index 007245540f..e1635728fe 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,7 +137,6 @@ future-fstrings = "*"
 # these should be removed
 psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
-setproctitle = "*"
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
 [tool.poetry.group.dev.dependencies]
diff --git a/scripts/waste.py b/scripts/waste.py
index 0764ff77c3..bf92710fee 100755
--- a/scripts/waste.py
+++ b/scripts/waste.py
@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 
 def waste(core):
   os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setthreadname("%3d: %8d" % (core, i))
       lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 3ac80aad91..b037d1861f 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -6,7 +6,7 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+THREAD_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 MODEL_PATHS = {
@@ -114,9 +114,9 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
+  sentry.set_tag("daemon", THREAD_NAME)
+  cloudlog.bind(daemon=THREAD_NAME)
+  setthreadname(THREAD_NAME)
   config_realtime_process(7, 54)
 
   cloudlog.warning("setting up CL context")
@@ -286,7 +286,7 @@ if __name__ == "__main__":
     args = parser.parse_args()
     main(demo=args.demo)
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+    cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
     raise
diff --git a/system/manager/process.py b/system/manager/process.py
index 36f299ae62..9214e417c1 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 
 from cereal import car, log
 import cereal.messaging as messaging
@@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
     mod = importlib.import_module(proc)
 
     # rename the process
-    setproctitle(proc)
+    setthreadname(proc)
 
     # create new context since we forked
     messaging.context = messaging.Context()

From 9bacbb05c1bf66ab823bb2d1ad38a24a3273a6b8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 10 Jun 2024 19:16:50 -0700
Subject: [PATCH 0033/1243] always on DM isn't in 0.9.7 old-commit-hash:
 efd744e03e53c0069796c9ba65bfe1eb2c532b35

---
 RELEASES.md | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index aa0ab182ec..18c011e111 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,15 +1,14 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* Always on driver monitoring toggle
+* Added toggle to enable driver monitoring even when openpilot is not engaged
 
-Version 0.9.7 (2024-06-11)
+Version 0.9.7 (2024-06-13)
 ========================
 * New driving model
   * Inputs the past curvature for smoother and more accurate lateral control
   * Simplified neural network architecture in the model's last layers
   * Minor fixes to desire augmentation and weight decay
 * Adjust driving personality with the follow distance button
-* Added toggle to enable driver monitoring even when openpilot is not engaged
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
 

From 9233bc496547d10e715a10801fd9cb68bcda08a4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 10 Jun 2024 19:26:48 -0700
Subject: [PATCH 0034/1243] Bump pyopencl and disable on arm64 (#32695)

bump pyopencl
old-commit-hash: 84dd8ad4a3c0542505f19f73cf95ebae7938b412
---
 poetry.lock    | 4 ++--
 pyproject.toml | 3 +--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 37e6c78e10..441653a7f2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e3c0ed6349feb2a75a11fab5939e40b757c735855c617b9147de3d614e0b6c50
-size 603428
+oid sha256:da98b0584bc30e1278748b20d04651e660e9264e4c932474650e845331f6f4ad
+size 600759
diff --git a/pyproject.toml b/pyproject.toml
index e1635728fe..37dfd8e6f8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -165,8 +165,7 @@ pprofile = "*"
 polyline = "*"
 pre-commit = "*"
 pyautogui = "*"
-pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools
-pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
+pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
 pygame = "*"
 pywinctl = "*"
 pyprof2calltree = "*"

From 83350bbd22c68b0a5b90b5f64491091d6a748792 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 10 Jun 2024 19:45:03 -0700
Subject: [PATCH 0035/1243] test_onroad: update modeld proc name

old-commit-hash: 4684651dc55dd0fb95fe33686ad519309f988bfd
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 75585e2f14..f80df5ac4f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -309,7 +309,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.model"}
 
   def test_camera_processing_time(self):
     result = "\n"

From e920e57530bfbbca6e02458e2095fefd18703566 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 10 Jun 2024 19:55:41 -0700
Subject: [PATCH 0036/1243] Revert "Custom setproctitle (#32667)"

This reverts commit 1f45e163559baa2a6127d5a5e8deb7067e32f813.

old-commit-hash: 5b51f039675edbbdfbeac72cd9c518450a85bc04
---
 common/realtime.py              |  6 +++---
 common/tests/test_threadname.py |  8 --------
 common/threadname.py            | 19 -------------------
 pyproject.toml                  |  1 +
 scripts/waste.py                |  4 ++--
 selfdrive/modeld/modeld.py      | 12 ++++++------
 system/manager/process.py       |  4 ++--
 7 files changed, 14 insertions(+), 40 deletions(-)
 delete mode 100644 common/tests/test_threadname.py
 delete mode 100644 common/threadname.py

diff --git a/common/realtime.py b/common/realtime.py
index e7265406ac..dd97ea3d78 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -4,7 +4,7 @@ import os
 import time
 from collections import deque
 
-from openpilot.common.threadname import getthreadname
+from setproctitle import getproctitle
 
 from openpilot.system.hardware import PC
 
@@ -52,7 +52,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._thread_name = getthreadname()
+    self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -87,7 +87,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining
diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py
deleted file mode 100644
index 38e5e1d498..0000000000
--- a/common/tests/test_threadname.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from openpilot.common.threadname import setthreadname, getthreadname, LINUX
-
-class TestThreadName:
-  def test_set_get_threadname(self):
-    if LINUX:
-      name = 'TESTING'
-      setthreadname(name)
-      assert name == getthreadname()
diff --git a/common/threadname.py b/common/threadname.py
deleted file mode 100644
index 3db7a7d013..0000000000
--- a/common/threadname.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import ctypes
-import os
-
-LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
-
-if LINUX:
-  libc = ctypes.CDLL('libc.so.6')
-
-def setthreadname(name: str) -> None:
-  if LINUX:
-    name = name[:15] + '\0'
-    libc.prctl(15, str.encode(name), 0, 0, 0)
-
-def getthreadname() -> str:
-  if LINUX:
-    name = ctypes.create_string_buffer(16)
-    libc.prctl(16, name)
-    return name.value.decode('utf-8')
-  return ""
diff --git a/pyproject.toml b/pyproject.toml
index 37dfd8e6f8..01885c7ac3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,6 +137,7 @@ future-fstrings = "*"
 # these should be removed
 psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
+setproctitle = "*"
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
 [tool.poetry.group.dev.dependencies]
diff --git a/scripts/waste.py b/scripts/waste.py
index bf92710fee..0764ff77c3 100755
--- a/scripts/waste.py
+++ b/scripts/waste.py
@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 
 def waste(core):
   os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setthreadname("%3d: %8d" % (core, i))
+      setproctitle("%3d: %8d" % (core, i))
       lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index b037d1861f..3ac80aad91 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -6,7 +6,7 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
-THREAD_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 MODEL_PATHS = {
@@ -114,9 +114,9 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  sentry.set_tag("daemon", THREAD_NAME)
-  cloudlog.bind(daemon=THREAD_NAME)
-  setthreadname(THREAD_NAME)
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
   cloudlog.warning("setting up CL context")
@@ -286,7 +286,7 @@ if __name__ == "__main__":
     args = parser.parse_args()
     main(demo=args.demo)
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
     raise
diff --git a/system/manager/process.py b/system/manager/process.py
index 9214e417c1..36f299ae62 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 
 from cereal import car, log
 import cereal.messaging as messaging
@@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
     mod = importlib.import_module(proc)
 
     # rename the process
-    setthreadname(proc)
+    setproctitle(proc)
 
     # create new context since we forked
     messaging.context = messaging.Context()

From 328079f8add9c5b44b78cb5ece7787fd690e2575 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 10 Jun 2024 19:55:48 -0700
Subject: [PATCH 0037/1243] Revert "test_onroad: update modeld proc name"

This reverts commit 65f37bb46982c73d8c84ca576d7dd48edacea5d1.

old-commit-hash: 00388ca7958d7dd9b4d505927ee57df77bdb16d7
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f80df5ac4f..75585e2f14 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -309,7 +309,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.model"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
 
   def test_camera_processing_time(self):
     result = "\n"

From 0d7286a7c4e852c868d82f047406a5284c7c1103 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 10 Jun 2024 21:52:36 -0700
Subject: [PATCH 0038/1243] update poetry lock

old-commit-hash: 3e332071e7c6b2ba975de301567e9d25e40d65b5
---
 poetry.lock | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 441653a7f2..2ba149bcc3 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:da98b0584bc30e1278748b20d04651e660e9264e4c932474650e845331f6f4ad
-size 600759
+oid sha256:33726e51a423d7a936f090c33b34d590f74e0694df99b8220e7d0a648b1ac9a6
+size 615418

From d9fb61da16bf9671e4778f16f97c31f93e153932 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 10 Jun 2024 22:29:17 -0700
Subject: [PATCH 0039/1243] Long control: Double delay is super complicated
 (#32694)

* Double delay is super complicated

* No more upper bound

* DEAD

* Update ref
old-commit-hash: 965415135ac7db4c67ea248ac52535eac537f3bf
---
 cereal/car.capnp                         |  4 ++--
 selfdrive/car/gm/interface.py            |  2 +-
 selfdrive/car/honda/interface.py         |  2 +-
 selfdrive/car/hyundai/interface.py       |  3 +--
 selfdrive/car/interfaces.py              |  3 +--
 selfdrive/car/tesla/interface.py         |  2 +-
 selfdrive/controls/lib/longcontrol.py    | 12 +++---------
 selfdrive/test/process_replay/ref_commit |  2 +-
 8 files changed, 11 insertions(+), 19 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 8d76f0ead8..7f3f64c911 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -490,8 +490,7 @@ struct CarParams {
   startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
-  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
@@ -703,4 +702,5 @@ struct CarParams {
   brakeMaxVDEPRECATED @16 :List(Float32);
   directAccelControlDEPRECATED @30 :Bool;
   maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 358bc9e5ba..2e194b12f2 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
+    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate == CAR.CHEVROLET_VOLT:
       ret.lateralTuning.pid.kpBP = [0., 40.]
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2026c385c2..43a4454b90 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
     if candidate in HONDA_BOSCH:
       ret.longitudinalTuning.kpV = [0.25]
       ret.longitudinalTuning.kiV = [0.05]
-      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+      ret.longitudinalActuatorDelay = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 22c54bce6b..0ba4dcb5e3 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -94,8 +94,7 @@ class CarInterface(CarInterfaceBase):
     ret.startingState = True
     ret.vEgoStarting = 0.1
     ret.startAccel = 1.0
-    ret.longitudinalActuatorDelayLowerBound = 0.5
-    ret.longitudinalActuatorDelayUpperBound = 0.5
+    ret.longitudinalActuatorDelay = 0.5
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a3572238ba..5eac6062aa 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -210,8 +210,7 @@ class CarInterfaceBase(ABC):
     ret.longitudinalTuning.kiBP = [0.]
     ret.longitudinalTuning.kiV = [1.]
     # TODO estimate car specific lag, use .15s for now
-    ret.longitudinalActuatorDelayLowerBound = 0.15
-    ret.longitudinalActuatorDelayUpperBound = 0.15
+    ret.longitudinalActuatorDelay = 0.15
     ret.steerLimitTimer = 1.0
     return ret
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index e039859263..09de10b54d 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kpV = [0]
     ret.longitudinalTuning.kiBP = [0]
     ret.longitudinalTuning.kiV = [0]
-    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    ret.longitudinalActuatorDelay = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 
     # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index d08ee05035..a619c47634 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -73,16 +73,10 @@ class LongControl:
       v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
       a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
 
-      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
+      v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds)
+      a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now
 
-      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
-
-      v_target = min(v_target_lower, v_target_upper)
-      a_target = min(a_target_lower, a_target_upper)
-
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
+      v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
     else:
       v_target = 0.0
       v_target_now = 0.0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 70178b8ea3..eaf61ccb81 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e536df5586a71b22baa789dc584d7eab67f1fbbb
+0ba779ec9f624872b1d038acb15095b726ff8983

From 5ef789daf50ec22b37d48b1f98b85daa0f0a0e10 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Tue, 11 Jun 2024 17:57:56 +0300
Subject: [PATCH 0040/1243] compressed_vipc.py fixes (#32699)

* Restored VISION_STREAM_* to original index order

* Register exit handler
old-commit-hash: 4581f6c36812c535b3e63b258296ed920fb486e6
---
 tools/camerastream/compressed_vipc.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index ea427816ef..6c27e861ff 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -6,6 +6,7 @@ import argparse
 import numpy as np
 import multiprocessing
 import time
+import signal
 
 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
@@ -18,8 +19,8 @@ V4L2_BUF_FLAG_KEYFRAME = 8
 
 ENCODE_SOCKETS = {
   VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
-  VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
+  VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
 }
 
 def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
@@ -147,10 +148,14 @@ if __name__ == "__main__":
 
   vision_streams = [
     VisionStreamType.VISION_STREAM_ROAD,
-    VisionStreamType.VISION_STREAM_WIDE_ROAD,
     VisionStreamType.VISION_STREAM_DRIVER,
+    VisionStreamType.VISION_STREAM_WIDE_ROAD,
   ]
 
   vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
   cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+
+  # register exit handler
+  signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
+
   cvipc.join()

From 792ce9896ecf0b82a526a74bd7bcd84544405f2b Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Tue, 11 Jun 2024 11:03:47 -0700
Subject: [PATCH 0041/1243] Update `.gitignore` with recommended VSCode config
 (#32696)

* add .vscode into .gitignore

* use recommended gitignore config for .vscode
old-commit-hash: 6fa5d7c3b575faf90e4edadd35e8f2f8cfbe42a5
---
 .gitignore | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/.gitignore b/.gitignore
index 370335e6a0..f067893c77 100644
--- a/.gitignore
+++ b/.gitignore
@@ -83,3 +83,22 @@ build/
 
 poetry.toml
 Pipfile
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
\ No newline at end of file

From 669888878dfde898c2a0d11224a09a7ff50199da Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 11 Jun 2024 11:29:39 -0700
Subject: [PATCH 0042/1243] little more release blacklist

old-commit-hash: c2be8a55533c7d9efb0a7b1510a839289bda3584
---
 release/release_files.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/release/release_files.py b/release/release_files.py
index 2d279e97a4..031b51737d 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -33,16 +33,22 @@ blacklist = [
 
   "matlab.*.md",
 
-  ".git$",  # for submodules
   ".git/",
   ".github/",
   ".devcontainer/",
   "Darwin/",
   ".vscode",
 
-  # no LFS
+  # common things
+  "LICENSE",
+  "Dockerfile",
+  ".pre-commit",
+
+  # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
+  ".git$",
+  ".gitmodules",
 ]
 
 # gets you through the blacklist

From 008008b03a1173b8122c3f605cd33043cd568baa Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Tue, 11 Jun 2024 13:45:15 -0700
Subject: [PATCH 0043/1243] Update to Python 3.12 (#32548)

* 3.12

* pprofile is broken

* use modified metadrivepy3-12

* 0.3.0 metadrive

* add metadrive/commaai git dependency

* metadrive git set

* pin sounddevice 0.4.6

* datetime.utcnow() deprecation

* poetry lock

* make datetime not aware

* poetry lock

* pin pytools

* google_crc32c wheel

* unpin sounddevice

* clean metadrive

* use python crc

* mypy

* 3.12.4

* allow python3.11

* test

* no pip

* poetry

* better

* better

* merge

* remove

* try

* test

* try  this

* snok

* python

* simpler

* setuptools

* lower

* try

* try

* work?

* ubuntu deps

* ubuntu

* try

* remove

* move

* remove this

* names

* Update .github/workflows/tools_tests.yaml

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* python<4

* <3.13

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: 148eaf8fa6c9b23cdd346e926f58fad61f79ff1d
---
 .github/workflows/tools_tests.yaml         | 19 +++++++++++++++++++
 .python-version                            |  2 +-
 Dockerfile.openpilot_base                  |  4 ++--
 common/api/__init__.py                     |  4 ++--
 poetry.lock                                |  4 ++--
 pyproject.toml                             |  7 +++----
 selfdrive/test/test_updated.py             |  2 +-
 system/athena/registration.py              |  4 ++--
 system/manager/manager.py                  |  2 +-
 system/qcomgpsd/qcomgpsd.py                |  2 +-
 system/qcomgpsd/tests/test_qcomgpsd.py     |  2 +-
 system/statsd.py                           |  2 +-
 system/ubloxd/pigeond.py                   |  4 ++--
 system/updated/updated.py                  | 10 +++++-----
 system/webrtc/tests/test_stream_session.py |  1 +
 system/webrtc/tests/test_webrtcd.py        |  1 +
 system/webrtc/webrtcd.py                   |  1 +
 tools/lib/azure_container.py               |  4 ++--
 18 files changed, 48 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index ba597f7000..c2f7d86e69 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -39,6 +39,25 @@ jobs:
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
+  test_python311:
+    name: test python3.11 support
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    steps:
+    - uses: actions/checkout@v4
+    - name: Installing ubuntu dependencies
+      run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
+    - name: Installing python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.11.4'
+    - name: Installing pip
+      run: pip install pip==24.0
+    - name: Installing poetry
+      run: pip install poetry==1.7.0
+    - name: Installing python dependencies
+      run: poetry install --no-cache --no-root
+
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
diff --git a/.python-version b/.python-version
index 0c7d5f5f5d..455808f8e1 100644
--- a/.python-version
+++ b/.python-version
@@ -1 +1 @@
-3.11.4
+3.12.4
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 0789a39c3e..6818195d72 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -64,7 +64,7 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
+ENV PYENV_VERSION=3.12.4
 ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
@@ -76,7 +76,7 @@ RUN cd /tmp && \
     rm -rf /tmp/* && \
     rm -rf /home/$USER/.cache && \
     find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
+    rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/common/api/__init__.py b/common/api/__init__.py
index f3a7d83842..ac231400a4 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -1,7 +1,7 @@
 import jwt
 import os
 import requests
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
@@ -23,7 +23,7 @@ class Api:
     return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def get_token(self, expiry_hours=1):
-    now = datetime.utcnow()
+    now = datetime.now(UTC).replace(tzinfo=None)
     payload = {
       'identity': self.dongle_id,
       'nbf': now,
diff --git a/poetry.lock b/poetry.lock
index 2ba149bcc3..acbd3209d4 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:33726e51a423d7a936f090c33b34d590f74e0694df99b8220e7d0a648b1ac9a6
-size 615418
+oid sha256:08bec056de9bb978a9b50680c699f5a604d7405d105997c0a60be522dcfc7eb5
+size 629836
diff --git a/pyproject.toml b/pyproject.toml
index 01885c7ac3..6e4741ddaf 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,7 +88,7 @@ repository = "https://github.com/commaai/openpilot"
 documentation = "https://docs.comma.ai"
 
 [tool.poetry.dependencies]
-python = "~3.11"
+python = ">=3.11, <3.13"
 
 # multiple users
 sounddevice = "*"  # micd + soundd
@@ -154,15 +154,14 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
-metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
 natsort = "*"
 opencv-python-headless = "*"
 parameterized = "^0.8"
-pprofile = "*"
+#pprofile = "*"
 polyline = "*"
 pre-commit = "*"
 pyautogui = "*"
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index f8eae94823..ea945d94c2 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -164,7 +164,7 @@ class TestUpdated:
     # make sure LastUpdateTime is recent
     t = self._read_param("LastUpdateTime")
     last_update_time = datetime.datetime.fromisoformat(t)
-    td = datetime.datetime.utcnow() - last_update_time
+    td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time
     assert td.total_seconds() < 10
     self.params.remove("LastUpdateTime")
 
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 6574d9ac20..97289e4199 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -4,7 +4,7 @@ import json
 import jwt
 from pathlib import Path
 
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
@@ -66,7 +66,7 @@ def register(show_spinner=False) -> str | None:
     start_time = time.monotonic()
     while True:
       try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256')
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                        imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 6d1b8d9c22..2a173ac90e 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -42,7 +42,7 @@ def manager_init() -> None:
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
   if not PC:
-    default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
+    default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))
 
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 21c7995a77..43ddb89939 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -173,7 +173,7 @@ def setup_quectel(diag: ModemDiag) -> bool:
     os.remove(ASSIST_DATA_FILE)
   #at_cmd("AT+QGPSXTRADATA?")
   if system_time_valid():
-    time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
+    time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
     at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
 
   at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index ef23737dd7..716bc33ed2 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -85,7 +85,7 @@ class TestRawgpsd:
     if should_be_loaded:
       assert valid_duration == "10080"  # should be max time
       injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.utcnow() - injected_time).total_seconds()) < 60*60*12
+      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
     else:
       valid_duration, injected_time_str = out.split(",", 1)
       injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
diff --git a/system/statsd.py b/system/statsd.py
index 2b5a7bb3a7..5e76b73ae9 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -133,7 +133,7 @@ def main() -> NoReturn:
       # flush when started state changes or after FLUSH_TIME_S
       if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
         result = ""
-        current_time = datetime.utcnow().replace(tzinfo=UTC)
+        current_time = datetime.now(UTC)
         tags['started'] = sm['deviceState'].started
 
         for key, value in gauges.items():
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 5711992cfb..8809689dcd 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -6,7 +6,7 @@ import serial
 import struct
 import requests
 import urllib.parse
-from datetime import datetime
+from datetime import datetime, UTC
 
 from cereal import messaging
 from openpilot.common.params import Params
@@ -196,7 +196,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
         cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
 
       # sending time to ublox
-      t_now = datetime.utcnow()
+      t_now = datetime.now(UTC).replace(tzinfo=None)
       if t_now >= datetime(2021, 6, 1):
         cloudlog.warning("Sending current time to ublox")
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index d43f439af5..005c52bc8b 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -60,7 +60,7 @@ class WaitTimeHelper:
     self.ready_event.wait(timeout=t)
 
 def write_time_to_param(params, param) -> None:
-  t = datetime.datetime.utcnow()
+  t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
   params.put(param, t.isoformat().encode('utf8'))
 
 def read_time_from_param(params, param) -> datetime.datetime | None:
@@ -279,7 +279,7 @@ class Updater:
     if len(self.branches):
       self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
 
-    last_update = datetime.datetime.utcnow()
+    last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
     if update_success:
       write_time_to_param(self.params, "LastUpdateTime")
     else:
@@ -323,7 +323,7 @@ class Updater:
     for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
       set_offroad_alert(alert, False)
 
-    now = datetime.datetime.utcnow()
+    now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
     dt = now - last_update
     build_metadata = get_build_metadata()
     if failed_count > 15 and exception is not None and self.has_internet:
@@ -429,7 +429,7 @@ def main() -> None:
       cloudlog.event("update installed")
 
     if not params.get("InstallDate"):
-      t = datetime.datetime.utcnow().isoformat()
+      t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat()
       params.put("InstallDate", t.encode('utf8'))
 
     updater = Updater()
@@ -469,7 +469,7 @@ def main() -> None:
 
         # download update
         last_fetch = read_time_from_param(params, "UpdaterLastFetchTime")
-        timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3))
+        timed_out = last_fetch is None or (datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_fetch > datetime.timedelta(days=3))
         user_requested_fetch = wait_helper.user_request == UserRequest.FETCH
         if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch:
           cloudlog.info("skipping fetch, connection metered")
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index e89e42e440..46d55ecd90 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -3,6 +3,7 @@ import json
 # for aiortc and its dependencies
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
+warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
 from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
index d4b659a3aa..4fa6d8953f 100644
--- a/system/webrtc/tests/test_webrtcd.py
+++ b/system/webrtc/tests/test_webrtcd.py
@@ -4,6 +4,7 @@ import json
 # for aiortc and its dependencies
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
+warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
 from openpilot.system.webrtc.webrtcd import get_stream
 
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index afd346857f..79c5b4888f 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -11,6 +11,7 @@ from typing import Any, TYPE_CHECKING
 # aiortc and its dependencies have lots of internal warnings :(
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
+warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
 import capnp
 from aiohttp import web
diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py
index f5a3a8bfb1..a5d650e98f 100644
--- a/tools/lib/azure_container.py
+++ b/tools/lib/azure_container.py
@@ -1,5 +1,5 @@
 import os
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from functools import lru_cache
 from pathlib import Path
 from typing import IO
@@ -20,7 +20,7 @@ def get_azure_credential():
 @lru_cache
 def get_container_sas(account_name: str, container_name: str):
   from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas
-  start_time = datetime.utcnow()
+  start_time = datetime.now(UTC).replace(tzinfo=None)
   expiry_time = start_time + timedelta(hours=1)
   blob_service = BlobServiceClient(
     account_url=f"https://{account_name}.blob.core.windows.net",

From 56d0c4f0e2dbee5f4a6b9eb392ad841daf9abaf5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 11 Jun 2024 14:47:39 -0700
Subject: [PATCH 0044/1243] release checklist (#32709)

old-commit-hash: c9475ed2f2c2687edc957af8a50d271e043a0bb6
---
 release/README.md | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 release/README.md

diff --git a/release/README.md b/release/README.md
new file mode 100644
index 0000000000..1d3e784936
--- /dev/null
+++ b/release/README.md
@@ -0,0 +1,36 @@
+# openpilot releases
+
+## release checklist
+
+**Go to `devel-staging`**
+- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
+- [ ] open a pull request from `devel-staging` to `devel`
+
+**Go to `devel`**
+- [ ] update RELEASES.md
+- [ ] close out milestone
+- [ ] post on Discord dev channel
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] merge the pull request
+
+tests:
+- [ ] update from previous release -> new release
+- [ ] update from new release -> previous release
+- [ ] fresh install with `openpilot-test.comma.ai`
+- [ ] drive on fresh install
+- [ ] comma body test
+- [ ] no submodules or LFS
+- [ ] check sentry, MTBF, etc.
+
+**Go to `release3`**
+- [ ] publish the blog post
+- [ ] `git reset --hard origin/release3-staging`
+- [ ] tag the release
+```
+git tag v0.X.X <commit-hash>
+git push origin v0.X.X
+```
+- [ ] create GitHub release
+- [ ] final test install on `openpilot.comma.ai`
+- [ ] update production
+- [ ] Post on Discord, X, etc.

From 3551e82f5155f7e3ece1b8717559ed1d8374ce9c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Jun 2024 14:57:47 -0700
Subject: [PATCH 0045/1243] add Ford and Volkswagen fuzzy fingerprinting

old-commit-hash: df87ce3709cad7bfa392973c8eee2114d63c6a92
---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index 18c011e111..21cf208ce9 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -11,6 +11,7 @@ Version 0.9.7 (2024-06-13)
 * Adjust driving personality with the follow distance button
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
 
 Version 0.9.6 (2024-02-27)
 ========================

From 3fdbbcbc2e4a5d5b61b766e3f5f79b35d3da3fd5 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 11 Jun 2024 15:55:18 -0700
Subject: [PATCH 0046/1243] DM model notes old-commit-hash:
 0e39d5bcf267b9db53f6e363356d17ca79662210

---
 RELEASES.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/RELEASES.md b/RELEASES.md
index 21cf208ce9..57f6979117 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -8,6 +8,8 @@ Version 0.9.7 (2024-06-13)
   * Inputs the past curvature for smoother and more accurate lateral control
   * Simplified neural network architecture in the model's last layers
   * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
 * Adjust driving personality with the follow distance button
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars

From 38d3b09c89ad09684fb025721445c48137ff3f6c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 11 Jun 2024 16:14:24 -0700
Subject: [PATCH 0047/1243] bump msgq: fix body web streaming (#32713)

* bump msgq: fix body web streaming

* bump msgq
old-commit-hash: 188843533f620b8d80c5c21afd17b92224ec112e
---
 msgq_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/msgq_repo b/msgq_repo
index 381fc3d9df..74074d650f 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 381fc3d9dfe7d2ff40a075ff8c1f980ae2a62d19
+Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537

From a5aa89fe69e292afa6441ca076b0165e4b965df5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 11 Jun 2024 16:17:25 -0700
Subject: [PATCH 0048/1243] Update cereal README.md old-commit-hash:
 05669df1027fbb296884772b15876aff1191f61e

---
 cereal/README.md | 15 +++------------
 1 file changed, 3 insertions(+), 12 deletions(-)

diff --git a/cereal/README.md b/cereal/README.md
index e3326aab0e..ad940facdc 100644
--- a/cereal/README.md
+++ b/cereal/README.md
@@ -1,11 +1,6 @@
-# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
+# What is cereal?
 
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
 
 
 ## Messaging Spec
@@ -32,11 +27,7 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi
 spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
-
-## Pub Sub Backends
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
 Example
 ---

From 632060c0dc9999d0a9998b730f1602c65add9bd3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 11 Jun 2024 16:25:24 -0700
Subject: [PATCH 0049/1243] remove .python-version (#32714)

* remove .python-version

* no cp
old-commit-hash: ddfb31f1bfa241aee1c250f5da5f2d364c51f610
---
 .python-version                      | 1 -
 Dockerfile.openpilot_base            | 2 +-
 tools/install_python_dependencies.sh | 2 +-
 3 files changed, 2 insertions(+), 3 deletions(-)
 delete mode 100644 .python-version

diff --git a/.python-version b/.python-version
deleted file mode 100644
index 455808f8e1..0000000000
--- a/.python-version
+++ /dev/null
@@ -1 +0,0 @@
-3.12.4
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 6818195d72..45b29bdcb1 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -68,7 +68,7 @@ ENV PYENV_VERSION=3.12.4
 ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER pyproject.toml poetry.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 RUN cd /tmp && \
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index df815b582f..af25ec6424 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -41,7 +41,7 @@ fi
 
 export MAKEFLAGS="-j$(nproc)"
 
-PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version)
+PYENV_PYTHON_VERSION="3.12.4"
 if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
   # no pyenv update on mac
   if [ "$(uname)" == "Linux" ]; then

From ee2235056865092e439fc62e2b0de7595719061a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 11 Jun 2024 17:27:47 -0700
Subject: [PATCH 0050/1243] Remove aarch64 ci test (#32715)

* remove aarch64

* comment + remove test
old-commit-hash: 0bdab824231a9ba3069777791e7dff76cfce838e
---
 .github/workflows/selfdrive_tests.yaml | 24 ++----------------------
 1 file changed, 2 insertions(+), 22 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 417fe20449..35bab255cb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -69,11 +69,8 @@ jobs:
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
       with:
@@ -90,23 +87,6 @@ jobs:
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&

From 272216b2a8b553d6aaae0eb521082f71dc75a8f0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Jun 2024 21:31:10 -0700
Subject: [PATCH 0051/1243] remove uiPlan (#32721)

* remove uiPlan from ui

* remove publishing

* Update log.capnp

* Update services.py

* no uiPlan here

* Update ref_commit
old-commit-hash: 684209e077d77da0c3a12e8fda528649c5fe9edc
---
 cereal/log.capnp                              |  2 +-
 cereal/services.py                            |  1 -
 selfdrive/controls/plannerd.py                | 14 ++------------
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc    |  5 ++---
 selfdrive/ui/ui.cc                            | 19 +++++++------------
 selfdrive/ui/ui.h                             |  3 +--
 8 files changed, 15 insertions(+), 33 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 36ca692dcc..67c6f836a4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2244,7 +2244,6 @@ struct Event {
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
-    uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
     qcomGnss @31 :QcomGnss;
@@ -2365,5 +2364,6 @@ struct Event {
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
+    uiPlanDEPRECATED @106 :UiPlan;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index 2ab28f6d52..ca9139c431 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -66,7 +66,6 @@ _services: dict[str, tuple] = {
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
-  "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index eeeeda050e..681518be19 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -6,16 +6,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 import cereal.messaging as messaging
 
-def publish_ui_plan(sm, pm, longitudinal_planner):
-  ui_send = messaging.new_message('uiPlan')
-  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
-  uiPlan = ui_send.uiPlan
-  uiPlan.frameId = sm['modelV2'].frameId
-  uiPlan.position.x = list(sm['modelV2'].position.x)
-  uiPlan.position.y = list(sm['modelV2'].position.y)
-  uiPlan.position.z = list(sm['modelV2'].position.z)
-  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
-  pm.send('uiPlan', ui_send)
 
 def plannerd_thread():
   config_realtime_process(5, Priority.CTRL_LOW)
@@ -27,7 +17,7 @@ def plannerd_thread():
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
@@ -36,7 +26,7 @@ def plannerd_thread():
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      publish_ui_plan(sm, pm, longitudinal_planner)
+
 
 def main():
   plannerd_thread()
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 739efcb985..a55396002b 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -505,7 +505,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
-    subs=["longitudinalPlan", "uiPlan"],
+    subs=["longitudinalPlan"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index eaf61ccb81..227202839f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0ba779ec9f624872b1d038acb15095b726ff8983
+6438bd5edad674c2de3c7e2d126271cb2576383d
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index f7fb6b480f..241bb6ed34 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -235,8 +235,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   QLinearGradient bg(0, height(), 0, 0);
   if (sm["controlsState"].getControlsState().getExperimentalMode()) {
     // The first half of track_vertices are the points for the right side of the path
-    // and the indices match the positions of accel from uiPlan
-    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
     const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
 
     for (int i = 0; i < max_len; ++i) {
@@ -403,7 +402,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setPen(Qt::NoPen);
 
   if (s->scene.world_objects_visible) {
-    update_model(s, model, sm["uiPlan"].getUiPlan());
+    update_model(s, model);
     drawLaneLines(painter, s);
 
     if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c70b7594c9..06b8b13bc1 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -77,14 +77,10 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
 }
 
 void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model,
-                  const cereal::UiPlan::Reader &plan) {
+                  const cereal::ModelDataV2::Reader &model) {
   UIScene &scene = s->scene;
-  auto plan_position = plan.getPosition();
-  if (plan_position.getX().size() < model.getPosition().getX().size()) {
-    plan_position = model.getPosition();
-  }
-  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
+  auto model_position = model.getPosition();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines
@@ -110,8 +106,8 @@ void update_model(UIState *s,
     const float lead_d = lead_one.getDRel() * 2.;
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
-  max_idx = get_path_length_idx(plan_position, max_distance);
-  update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
+  max_idx = get_path_length_idx(model_position, max_distance);
+  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
 }
 
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -212,8 +208,7 @@ static void update_state(UIState *s) {
   scene.world_objects_visible = scene.world_objects_visible ||
                                 (scene.started &&
                                  sm.rcv_frame("liveCalibration") > scene.started_frame &&
-                                 sm.rcv_frame("modelV2") > scene.started_frame &&
-                                 sm.rcv_frame("uiPlan") > scene.started_frame);
+                                 sm.rcv_frame("modelV2") > scene.started_frame);
 }
 
 void ui_update_params(UIState *s) {
@@ -249,7 +244,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks",
   });
 
   Params params;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 7238159dda..9ef79b2eff 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -184,8 +184,7 @@ Device *device();
 void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model,
-                  const cereal::UiPlan::Reader &plan);
+                  const cereal::ModelDataV2::Reader &model);
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,

From e3c7bdf0a4a2de59de35d3849f265e24e91b21b6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Jun 2024 21:36:13 -0700
Subject: [PATCH 0052/1243] Fixup qlog size (#32719)

* stash

* Revert "stash"

This reverts commit 5a22b44919d4cb8681cc08d99656954423abda93.

* improvements

* rm

* method 2

* Revert "method 2"

This reverts commit 7112d95b3eead8bfdd8efb1dcefd4edbe9107680.

* unreal for now

* stash

* Revert "stash"

This reverts commit a7c5b31d8043b8da96c21a8d40281cece3cada61.

* clean up

* update description
old-commit-hash: 81dc33e56994c364a2100978654c5abf4cacbe4e
---
 selfdrive/debug/internal/qlog_size.py | 39 ++++++++++-----------------
 1 file changed, 14 insertions(+), 25 deletions(-)

diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index b51cb3af2f..0b816604aa 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -5,24 +5,30 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route
 
 MIN_SIZE = 0.5  # Percent size of total to show as separate entry
 
 
 def make_pie(msgs, typ):
-  compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs.items()}
+  msgs_by_type = defaultdict(list)
+  for m in msgs:
+    msgs_by_type[m.which()].append(m.as_builder().to_bytes())
+
+  length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
+  compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs_by_type.items()}
 
   total = sum(compressed_length_by_type.values())
+  uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs]))
 
   sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1])
 
-  print(f"{typ} - Total {total / 1024:.2f} kB")
+  print("name - comp. size (uncomp. size)")
   for (name, sz) in sizes:
-    print(f"{name} - {sz / 1024:.2f} kB")
+    print(f"{name:<22} - {sz / 1024:.2f} kB ({length_by_type[name] / 1024:.2f} kB)")
   print()
+  print(f"{typ} - Total {total / 1024:.2f} kB")
+  print(f"{typ} - Uncompressed total {uncompressed_total / 1024 / 1024:.2f} MB")
 
   sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100]
   sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))]
@@ -35,28 +41,11 @@ def make_pie(msgs, typ):
 
 
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description='Check qlog size based on a rlog')
+  parser = argparse.ArgumentParser(description='View log size breakdown by message type')
   parser.add_argument('route', help='route to use')
-  parser.add_argument('segment', type=int, help='segment number to use')
   args = parser.parse_args()
 
-  r = Route(args.route)
-  rlog = r.log_paths()[args.segment]
-  msgs = list(LogReader(rlog))
-
-  msgs_by_type = defaultdict(list)
-  for m in msgs:
-    msgs_by_type[m.which()].append(m.as_builder().to_bytes())
-
-  qlog_by_type = defaultdict(list)
-  for name, service in SERVICE_LIST.items():
-    if service.decimation is None:
-      continue
-
-    for i, msg in enumerate(msgs_by_type[name]):
-      if i % service.decimation == 0:
-        qlog_by_type[name].append(msg)
+  msgs = list(LogReader(args.route))
 
-  make_pie(msgs_by_type, 'rlog')
-  make_pie(qlog_by_type, 'qlog')
+  make_pie(msgs, 'qlog')
   plt.show()

From 9cfdd6200dbe189f8ba915230214f48a10c79da9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 11 Jun 2024 21:57:32 -0700
Subject: [PATCH 0053/1243] Remove `setproctitle` (#32716)

* Custom setproctitle (#32667)

* add custom setproctitle

* add test

* Update poetry.lock

* fix lint

* support only Linux

* test only Linux

* final lint

* Update test_setproctitle.py

* Update setproctitle.py

* convert to threadnames

* delete proctitles

* Check str len and use PR_GET_NAME

* fix poetry.lock

* lint fix

* Update common/threadname.py

---------

Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* revert that for now

* use last 15

* fix

* use name

* update those

* and modeld

* rm

---------

Co-authored-by: schlimeszn <138847413+schlimeszn@users.noreply.github.com>
Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 83ac80c6c899dbf4b5b2d422947b02b57d83bccd
---
 common/realtime.py              |  6 +++---
 common/tests/test_threadname.py |  8 ++++++++
 common/threadname.py            | 19 +++++++++++++++++++
 poetry.lock                     |  4 ++--
 pyproject.toml                  |  1 -
 scripts/waste.py                |  4 ++--
 selfdrive/modeld/modeld.py      | 12 ++++++------
 selfdrive/test/test_onroad.py   | 32 ++++++++++++++++----------------
 system/manager/process.py       |  4 ++--
 9 files changed, 58 insertions(+), 32 deletions(-)
 create mode 100644 common/tests/test_threadname.py
 create mode 100644 common/threadname.py

diff --git a/common/realtime.py b/common/realtime.py
index dd97ea3d78..e7265406ac 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -4,7 +4,7 @@ import os
 import time
 from collections import deque
 
-from setproctitle import getproctitle
+from openpilot.common.threadname import getthreadname
 
 from openpilot.system.hardware import PC
 
@@ -52,7 +52,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._process_name = getproctitle()
+    self._thread_name = getthreadname()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -87,7 +87,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining
diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py
new file mode 100644
index 0000000000..38e5e1d498
--- /dev/null
+++ b/common/tests/test_threadname.py
@@ -0,0 +1,8 @@
+from openpilot.common.threadname import setthreadname, getthreadname, LINUX
+
+class TestThreadName:
+  def test_set_get_threadname(self):
+    if LINUX:
+      name = 'TESTING'
+      setthreadname(name)
+      assert name == getthreadname()
diff --git a/common/threadname.py b/common/threadname.py
new file mode 100644
index 0000000000..7c415721f4
--- /dev/null
+++ b/common/threadname.py
@@ -0,0 +1,19 @@
+import ctypes
+import os
+
+LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
+
+if LINUX:
+  libc = ctypes.CDLL('libc.so.6')
+
+def setthreadname(name: str) -> None:
+  if LINUX:
+    name = name[-15:] + '\0'
+    libc.prctl(15, str.encode(name), 0, 0, 0)
+
+def getthreadname() -> str:
+  if LINUX:
+    name = ctypes.create_string_buffer(16)
+    libc.prctl(16, name)
+    return name.value.decode('utf-8')
+  return ""
diff --git a/poetry.lock b/poetry.lock
index acbd3209d4..06d2ff3162 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:08bec056de9bb978a9b50680c699f5a604d7405d105997c0a60be522dcfc7eb5
-size 629836
+oid sha256:6181d338c8da4314745ebb305485a8c22130288f3faa9740fb1782288c06bc0b
+size 614543
diff --git a/pyproject.toml b/pyproject.toml
index 6e4741ddaf..7b780c87f0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,7 +137,6 @@ future-fstrings = "*"
 # these should be removed
 psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
-setproctitle = "*"
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
 [tool.poetry.group.dev.dependencies]
diff --git a/scripts/waste.py b/scripts/waste.py
index 0764ff77c3..bf92710fee 100755
--- a/scripts/waste.py
+++ b/scripts/waste.py
@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 
 def waste(core):
   os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setthreadname("%3d: %8d" % (core, i))
       lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 3ac80aad91..1e33b7b3f0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -6,7 +6,7 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+THREAD_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 MODEL_PATHS = {
@@ -114,9 +114,9 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
+  sentry.set_tag("daemon", THREAD_NAME)
+  cloudlog.bind(daemon=THREAD_NAME)
+  setthreadname("modeld")
   config_realtime_process(7, 54)
 
   cloudlog.warning("setting up CL context")
@@ -286,7 +286,7 @@ if __name__ == "__main__":
     args = parser.parse_args()
     main(demo=args.demo)
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+    cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
     raise
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 75585e2f14..7b44a3b80e 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,26 +36,26 @@ PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
   "selfdrive.car.card": 22.0,
-  "./loggerd": 14.0,
-  "./encoderd": 17.0,
-  "./camerad": 14.5,
-  "./locationd": 11.0,
+  "loggerd": 14.0,
+  "encoderd": 17.0,
+  "camerad": 14.5,
+  "locationd": 11.0,
   "selfdrive.controls.plannerd": 11.0,
-  "./ui": 18.0,
+  "ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
-  "./sensord": 7.0,
+  "sensord": 7.0,
   "selfdrive.controls.radard": 7.0,
-  "selfdrive.modeld.modeld": 13.0,
+  "modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 1.54,
+  "proclogd": 1.54,
   "system.logmessaged": 0.2,
   "system.tombstoned": 0,
-  "./logcatd": 0,
+  "logcatd": 0,
   "system.micd": 6.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
@@ -67,12 +67,12 @@ PROCS = {
 
 PROCS.update({
   "tici": {
-    "./pandad": 4.0,
-    "./ubloxd": 0.02,
+    "pandad": 4.0,
+    "ubloxd": 0.02,
     "system.ubloxd.pigeond": 6.0,
   },
   "tizi": {
-     "./pandad": 19.0,
+     "pandad": 19.0,
     "system.qcomgpsd.qcomgpsd": 1.0,
   }
 }.get(HARDWARE.get_device_type(), {}))
@@ -247,8 +247,7 @@ class TestOnroad:
     for pl in self.service_msgs['procLog']:
       for x in pl.procLog.procs:
         if len(x.cmdline) > 0:
-          n = list(x.cmdline)[0]
-          plogs_by_proc[n].append(x)
+          plogs_by_proc[x.name].append(x)
     print(plogs_by_proc.keys())
 
     cpu_ok = True
@@ -256,8 +255,9 @@ class TestOnroad:
     for proc_name, expected_cpu in PROCS.items():
 
       err = ""
+      exp = "???"
       cpu_usage = 0.
-      x = plogs_by_proc[proc_name]
+      x = plogs_by_proc[proc_name[-15:]]
       if len(x) > 2:
         cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
         cpu_usage = cpu_time / dt * 100.
@@ -309,7 +309,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"}
 
   def test_camera_processing_time(self):
     result = "\n"
diff --git a/system/manager/process.py b/system/manager/process.py
index 36f299ae62..9214e417c1 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 
 from cereal import car, log
 import cereal.messaging as messaging
@@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
     mod = importlib.import_module(proc)
 
     # rename the process
-    setproctitle(proc)
+    setthreadname(proc)
 
     # create new context since we forked
     messaging.context = messaging.Context()

From 338a4b6d8f84055aa163d7a9b074f5288c84d5e9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Jun 2024 22:55:42 -0700
Subject: [PATCH 0054/1243] qlog_size.py: more accurate msg size breakdown
 (#32723)

* grouping changes outcome

* clean up

* clean up

* clean up

* clean up

* clean up
old-commit-hash: e798caa3e5c44ed5aa7e480101a052d59612ad95
---
 selfdrive/debug/internal/qlog_size.py | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 0b816604aa..2d17a1ee28 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -6,6 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt
 
 from openpilot.tools.lib.logreader import LogReader
+from tqdm import tqdm
 
 MIN_SIZE = 0.5  # Percent size of total to show as separate entry
 
@@ -15,19 +16,23 @@ def make_pie(msgs, typ):
   for m in msgs:
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
-  length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
-  compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs_by_type.items()}
-
-  total = sum(compressed_length_by_type.values())
+  total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs])))
   uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs]))
 
+  length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
+  # calculate compressed size by calculating diff when removed from the segment
+  compressed_length_by_type = {}
+  for k in tqdm(msgs_by_type.keys(), desc="Compressing"):
+    compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k])))
+
   sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1])
 
   print("name - comp. size (uncomp. size)")
   for (name, sz) in sizes:
     print(f"{name:<22} - {sz / 1024:.2f} kB ({length_by_type[name] / 1024:.2f} kB)")
   print()
-  print(f"{typ} - Total {total / 1024:.2f} kB")
+  print(f"{typ} - Real total {total / 1024:.2f} kB")
+  print(f"{typ} - Breakdown total {sum(compressed_length_by_type.values()) / 1024:.2f} kB")
   print(f"{typ} - Uncompressed total {uncompressed_total / 1024 / 1024:.2f} MB")
 
   sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100]

From ebd34eff9d1bb84d6f59a6d02efde429d073753b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 12 Jun 2024 16:48:09 +0800
Subject: [PATCH 0055/1243] pandad: removed the redundant .c_str() call
 (#32724)

Removed the redundant .c_str() call
old-commit-hash: 8065b454c9dd57f1c61ac1a9e8475e694bb38bf1
---
 selfdrive/pandad/panda_comms.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc
index 4e8a0a27ba..59908f0cde 100644
--- a/selfdrive/pandad/panda_comms.cc
+++ b/selfdrive/pandad/panda_comms.cc
@@ -120,7 +120,7 @@ std::vector<std::string> PandaUsbHandle::list() {
       libusb_close(handle);
       if (ret < 0) { goto finish; }
 
-      serials.push_back(std::string((char *)desc_serial, ret).c_str());
+      serials.push_back(std::string((char *)desc_serial, ret));
     }
   }
 

From 450d012166354a482518529b6236c70fa31c05ff Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 13 Jun 2024 05:20:06 +0800
Subject: [PATCH 0056/1243] logreader.py: optimize event loading and sorting in
 _LogFileReader (#32729)

* improve logfilereader

* less changes
old-commit-hash: c64bca97bac68462a63b47d33aedf869d21ac97e
---
 tools/lib/logreader.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 669c1520db..48a04b28de 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -46,15 +46,15 @@ class _LogFileReader:
 
     ents = capnp_log.Event.read_multiple_bytes(dat)
 
-    _ents = []
+    self._ents = []
     try:
       for e in ents:
-        _ents.append(e)
+        self._ents.append(e)
     except capnp.KjException:
       warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
-    self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
-    self._ts = [x.logMonoTime for x in self._ents]
+    if sort_by_time:
+      self._ents.sort(key=lambda x: x.logMonoTime)
 
   def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
     for ent in self._ents:

From 0837d2512b3dbb7c118b4204161fcfd1b6c43d06 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 17:16:30 -0700
Subject: [PATCH 0057/1243] controlsd: exit on any exception (#32730)

* exit on any exception

* finally so we don't catch
old-commit-hash: 7dbf60b4bce04a071eafcbc3eb0815e968e401be
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4f5bd19405..aeeb3489b5 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -835,7 +835,7 @@ class Controls:
       while True:
         self.step()
         self.rk.monitor_time()
-    except SystemExit:
+    finally:
       e.set()
       t.join()
 

From a7f2b486a9daa2c0a862f0d0fe037d009b715ff9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 19:26:34 -0700
Subject: [PATCH 0058/1243] Hyundai: add note about fwdRadar FW (#32733)

comment
old-commit-hash: 742a3a94e39440706c8ccff7ad1dcdce506a0c8a
---
 selfdrive/car/hyundai/fingerprints.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index d115283dd5..c3d3dcd037 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -2,6 +2,9 @@
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
+# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
+# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
+
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {

From f19bfe36a8deedeaf30b3554cac499a83e4e7902 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 19:36:26 -0700
Subject: [PATCH 0059/1243] Improve ECU address finder script (#32734)

* put pandad in good state

* obd option

* fix

* it's rx
old-commit-hash: 4539c973491bedabb4cd6cf8791d090987c56629
---
 selfdrive/car/ecu_addrs.py | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index e7a9fbcf2c..756cd7f963 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -71,25 +71,35 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 
 if __name__ == "__main__":
   import argparse
+  from openpilot.common.params import Params
+  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
 
   parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
   parser.add_argument('--debug', action='store_true')
   parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
 
-  time.sleep(1.0)
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  set_obd_multiplexing(params, not args.no_obd)
 
   print("Getting ECU addresses ...")
   ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
-  print("Found ECUs on addresses:")
+  print("Found ECUs on rx addresses:")
   for addr, subaddr, _ in ecu_addrs:
-    msg = f"  0x{hex(addr)}"
+    msg = f"  {hex(addr)}"
     if subaddr is not None:
       msg += f" (sub-address: {hex(subaddr)})"
     print(msg)

From e88cbb016281c79088a6a56b32ba737b72a4c045 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Jun 2024 21:14:23 -0700
Subject: [PATCH 0060/1243] add zstd Python library (#32731)

* add zstd

* fix

* uploader

* logreader: zst support

* caps

* only logreader
old-commit-hash: 04a93dd849461df7a3496706c6172d95e83149c9
---
 poetry.lock            | 4 ++--
 pyproject.toml         | 1 +
 tools/lib/logreader.py | 8 ++++++--
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 06d2ff3162..532a43c6a1 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6181d338c8da4314745ebb305485a8c22130288f3faa9740fb1782288c06bc0b
-size 614543
+oid sha256:35ddb7f95b0443e48f540d6b7ec0b01b4d35da2c7b758de47fb6f0040dac527d
+size 627912
diff --git a/pyproject.toml b/pyproject.toml
index 7b780c87f0..edc515771a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -187,6 +187,7 @@ tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
+zstd = "*"
 
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 48a04b28de..2430f1542c 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -10,6 +10,7 @@ import sys
 import tqdm
 import urllib.parse
 import warnings
+import zstd
 
 from collections.abc import Callable, Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
@@ -34,8 +35,8 @@ class _LogFileReader:
     ext = None
     if not dat:
       _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
-      if ext not in ('', '.bz2'):
-        # old rlogs weren't bz2 compressed
+      if ext not in ('', '.bz2', '.zst'):
+        # old rlogs weren't compressed
         raise Exception(f"unknown extension {ext}")
 
       with FileReader(fn) as f:
@@ -43,6 +44,9 @@ class _LogFileReader:
 
     if ext == ".bz2" or dat.startswith(b'BZh9'):
       dat = bz2.decompress(dat)
+    elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
+      # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
+      dat = zstd.decompress(dat)
 
     ents = capnp_log.Event.read_multiple_bytes(dat)
 

From af76a68aee815787e2fe9a1234cf1553bfd1c954 Mon Sep 17 00:00:00 2001
From: markalan020 <mhayescurry@outlook.com>
Date: Thu, 13 Jun 2024 03:55:52 -0400
Subject: [PATCH 0061/1243] Hyundai: add fwdCamera FW for Ioniq 5 2024 (US)
 (#32623)

* Update fingerprints.py

Add Support for 2024 Hyundai Ioniq 5

* docs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: f449ed144ea47d8d5f558254c9c4cf04e959fbee
---
 docs/CARS.md                          | 4 ++--
 selfdrive/car/hyundai/fingerprints.py | 1 +
 selfdrive/car/hyundai/values.py       | 4 ++--
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 3b163dcee3..2feabb5574 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -91,8 +91,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index c3d3dcd037..b1e50f8358 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -998,6 +998,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c489ea0042..b6f8da2189 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -307,8 +307,8 @@ class CAR(Platforms):
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,

From a2c002d1d60bc52b00257909ec49dec585f67d89 Mon Sep 17 00:00:00 2001
From: Mustafa Akcanca <MAkcanca@users.noreply.github.com>
Date: Thu, 13 Jun 2024 11:06:45 +0300
Subject: [PATCH 0062/1243] Hyundai docs: change Ioniq 5 Southeast Asia only to
 Non-US only (#32701)

* Update values.py

* ev6 too is probably the same

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 0319379431732ec3855fc7a60ddaa7e5ddb30def
---
 docs/CARS.md                    | 4 ++--
 selfdrive/car/hyundai/values.py | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2feabb5574..c0b6e15468 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -127,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index b6f8da2189..f34c45f770 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -306,7 +306,7 @@ class CAR(Platforms):
   )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
       HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
       HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
@@ -478,7 +478,7 @@ class CAR(Platforms):
   )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
       HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
       HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],

From fd85d472f4f9b6de99c0deeaf9582664514aa06b Mon Sep 17 00:00:00 2001
From: Mustafa Akcanca <MAkcanca@users.noreply.github.com>
Date: Thu, 13 Jun 2024 11:08:03 +0300
Subject: [PATCH 0063/1243] Hyundai: add fwdCamera FW for Ioniq 5 2024 (EUR)
 (#32648)

* Update fingerprints.py

Adding FW fingerprints for Ioniq 5 2024 EU, non-HDA, fwd camera

* bump my!

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 06828f1e80435fbc3a27781b096e3e2bbc86da69
---
 docs/CARS.md                          | 2 +-
 selfdrive/car/hyundai/fingerprints.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c0b6e15468..43bd8a8b30 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Non-US only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index b1e50f8358..e489a3cf64 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -999,6 +999,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {

From 4a9358f3f0395700e0447c6348ab1c0763d735b9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 01:39:17 -0700
Subject: [PATCH 0064/1243] Update docs

old-commit-hash: 4708332abee61116e13da7a4a186ca1b77511dd9
---
 selfdrive/car/hyundai/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f34c45f770..8cb29c803c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -306,7 +306,7 @@ class CAR(Platforms):
   )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
       HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
       HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],

From 7cd75b8290af492e408ca64e6fd30cca2f51ea2c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 13 Jun 2024 10:29:57 -0700
Subject: [PATCH 0065/1243] pandad: update test thresholds

old-commit-hash: f08137f6182d2667803ac6e75e86fb605d0a8b1c
---
 selfdrive/pandad/tests/test_pandad_spi.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 11e20e72cc..9c5990cd3f 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -84,8 +84,8 @@ class TestBoarddSpi:
             ps = m.peripheralState
             assert ps.pandaType == "tres"
             assert 4000 < ps.voltage < 14000
-            assert 100 < ps.current < 1000
-            assert ps.fanSpeedRpm < 8000
+            assert 50 < ps.current < 1000
+            assert ps.fanSpeedRpm < 10000
 
       time.sleep(0.5)
     et = time.monotonic() - st

From 7007dae55654966ff43ed3a25a0d619f53211b8b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 13 Jun 2024 13:41:32 -0700
Subject: [PATCH 0066/1243] Separate python dep into groups (#32739)

* split

* only zstd
old-commit-hash: 9ffd973be9bdfe1be1097f9a2618ba76991616e4
---
 poetry.lock    |  4 ++--
 pyproject.toml | 48 +++++++++++++++++++++++++++---------------------
 2 files changed, 29 insertions(+), 23 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 532a43c6a1..1c60a2140c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35ddb7f95b0443e48f540d6b7ec0b01b4d35da2c7b758de47fb6f0040dac527d
-size 627912
+oid sha256:679471ca12c6a741705ce235dd6c8995672f3dea43835e0b498e36796d69dc85
+size 628402
diff --git a/pyproject.toml b/pyproject.toml
index edc515771a..e46f7d51a2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -139,55 +139,61 @@ psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
+[tool.poetry.group.docs.dependencies]
+Jinja2 = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+
+[tool.poetry.group.testing.dependencies]
+coverage = "*"
+hypothesis = "~6.47"
+mypy = "*"
+pre-commit = "*"
+pytest = "*"
+pytest-cov = "*"
+pytest-cpp = "*"
+pytest-subtests = "*"
+pytest-xdist = "*"
+pytest-timeout = "*"
+pytest-randomly = "*"
+pytest-asyncio = "*"
+pytest-mock = "*"
+pytest-repeat = "*"
+ruff = "*"
+
+[tool.poetry.group.tools.dependencies]
+zstd = "*"
+
 [tool.poetry.group.dev.dependencies]
 av = "*"
 azure-identity = "*"
 azure-storage-blob = "*"
 breathe = "*"
 control = "*"
-coverage = "*"
 dictdiffer = "*"
 flaky = "*"
-hypothesis = "~6.47"
 inputs = "*"
-Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
 metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
-mypy = "*"
 myst-parser = "*"
 natsort = "*"
 opencv-python-headless = "*"
 parameterized = "^0.8"
 #pprofile = "*"
 polyline = "*"
-pre-commit = "*"
 pyautogui = "*"
-pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
 pygame = "*"
+pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
 pywinctl = "*"
 pyprof2calltree = "*"
-pytest = "*"
-pytest-cov = "*"
-pytest-cpp = "*"
-pytest-subtests = "*"
-pytest-xdist = "*"
-pytest-timeout = "*"
-pytest-randomly = "*"
-pytest-asyncio = "*"
-pytest-mock = "*"
-pytest-repeat = "*"
 rerun-sdk = "*"
-ruff = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
 tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
-zstd = "*"
 
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux

From 2cdbfac5a65b27ff34c954c72c0e8732485eb1a7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 13 Jun 2024 14:46:19 -0700
Subject: [PATCH 0067/1243] Move zstd to normal deps (#32741)

move zstd
old-commit-hash: 6552d4ecb87211b91310ca5d7a7bcb918df36021
---
 poetry.lock    | 2 +-
 pyproject.toml | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 1c60a2140c..7b0ec5504e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:679471ca12c6a741705ce235dd6c8995672f3dea43835e0b498e36796d69dc85
+oid sha256:1942e0da6676d1824168a8343c38805d1e325474c2cdf3d5c10af02002b3c73d
 size 628402
diff --git a/pyproject.toml b/pyproject.toml
index e46f7d51a2..5353b39887 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -139,6 +139,9 @@ psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
+#logreader
+zstd = "*"
+
 [tool.poetry.group.docs.dependencies]
 Jinja2 = "*"
 sphinx = "*"
@@ -162,9 +165,6 @@ pytest-mock = "*"
 pytest-repeat = "*"
 ruff = "*"
 
-[tool.poetry.group.tools.dependencies]
-zstd = "*"
-
 [tool.poetry.group.dev.dependencies]
 av = "*"
 azure-identity = "*"

From ed80e9357a033a5823653998b67d3cdb219c8a69 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 22:37:00 -0700
Subject: [PATCH 0068/1243] LogReader: improve error messages (#32747)

* better error messages

* clean up
old-commit-hash: 3ede1e2a7c850622beef2549315f320aa018105a
---
 tools/lib/logreader.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 2430f1542c..737ef46152 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -166,7 +166,8 @@ def get_invalid_files(files):
 
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
-  assert next(get_invalid_files(files), False) is False
+  assert len(files) > 0, "No files on source"
+  assert not any(get_invalid_files(files)), f"Invalid files: {files}"
   return files
 
 
@@ -175,7 +176,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
     return comma_car_segments_source(sr, mode)
 
   SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
-  exceptions = []
+  exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
   if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
@@ -190,9 +191,10 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
     try:
       return check_source(source, sr, mode)
     except Exception as e:
-      exceptions.append(e)
+      exceptions[source.__name__] = e
 
-  raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}")
+  raise Exception("auto_source could not find any valid source, exceptions for sources:\n  - " +
+                  "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
 
 def parse_useradmin(identifier: str):

From cd8d440c86f868d9e32c9aea9e287a648e1ded2e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 22:43:24 -0700
Subject: [PATCH 0069/1243] LogReader: support reading zst logs from Azure
 (#32745)

* staging api

* other stuff

* ugh this should really not be duplicated, we already check the max segnum in Route class

* better error message!!

* more better

* clean up

* clean up

* breaks again
old-commit-hash: a0bbc005b62f1e6183ce4fd167e78b4fedb06df0
---
 tools/lib/route.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lib/route.py b/tools/lib/route.py
index d5fd41108b..5734d1c74a 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -9,7 +9,7 @@ from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.api import CommaApi
 from openpilot.tools.lib.helpers import RE
 
-QLOG_FILENAMES = ['qlog', 'qlog.bz2']
+QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
 QCAMERA_FILENAMES = ['qcamera.ts']
 LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2']
 CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']

From 8f402f29a361f08e046af2b74c7b08f7d0ac9517 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jun 2024 23:19:32 -0700
Subject: [PATCH 0070/1243] SegmentRange: remove timestamp (#32750)

* add deprecation warning

* remove timestamp

* Update logreader.py
old-commit-hash: d5ce4b308588f2bd4eee300110ddcd66e787a110
---
 tools/lib/logreader.py | 2 +-
 tools/lib/route.py     | 4 ----
 2 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 737ef46152..0f7ae0dba1 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -135,7 +135,7 @@ def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
     raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
+    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.bz2"
 
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 5734d1c74a..6ff5d19208 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -260,10 +260,6 @@ class SegmentRange:
   def dongle_id(self) -> str:
     return self.m.group("dongle_id")
 
-  @property
-  def timestamp(self) -> str:
-    return self.m.group("timestamp")
-
   @property
   def log_id(self) -> str:
     return self.m.group("log_id")

From a85487849975ce528fbb60e85cde455fa67ca89b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 14 Jun 2024 14:38:02 +0800
Subject: [PATCH 0071/1243] cabana: Fix visibility issue for a single data
 point in series (#32749)

Fix visibility issue for a single data point in series
old-commit-hash: 38529c5057a6146768a71654a05e5c552695d805
---
 tools/cabana/chart/chart.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index fcf171a858..c8537845b1 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -277,7 +277,7 @@ void ChartView::updateSeriesPoints() {
         }
         ((QScatterSeries *)s.series)->setMarkerSize(size);
       } else {
-        s.series->setPointsVisible(pixels_per_point > 20);
+        s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20);
       }
     }
   }

From 47d5601d8af810da9eb4eecc07557c19a262843b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 14 Jun 2024 00:08:58 -0700
Subject: [PATCH 0072/1243] long control: new API (#32706)

* Simplify long control

* Seperate

* Rename

* Try new api for toyota

* rm v_pid everywhere

* No speed in reset

* 0 is better default

* unassigned variable

* Update other cars

* Update gm

* SIMPLIFY

* simplify more

* fix API boundry

* Fix stopping bug

* Small fixes

* Update ref
old-commit-hash: bc303df6a0a4a9d52a2e92e5976b6c7aa5138b95
---
 cereal/car.capnp                              |  4 +-
 cereal/log.capnp                              |  8 +-
 selfdrive/car/ford/interface.py               |  4 -
 selfdrive/car/gm/interface.py                 | 12 +--
 selfdrive/car/honda/interface.py              |  8 +-
 selfdrive/car/hyundai/interface.py            |  4 -
 selfdrive/car/interfaces.py                   |  6 +-
 selfdrive/car/subaru/interface.py             |  5 --
 selfdrive/car/tesla/interface.py              |  5 --
 selfdrive/car/tests/test_car_interfaces.py    |  1 -
 selfdrive/car/toyota/interface.py             | 21 ++---
 selfdrive/car/volkswagen/interface.py         |  2 -
 selfdrive/controls/controlsd.py               |  6 +-
 selfdrive/controls/lib/drive_helpers.py       | 10 ---
 selfdrive/controls/lib/longcontrol.py         | 78 +++++--------------
 .../controls/lib/longitudinal_planner.py      | 33 +++++++-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 tools/replay/ui.py                            |  1 -
 18 files changed, 74 insertions(+), 136 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 7f3f64c911..c17e1c063f 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -541,8 +541,8 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @6 :Float32;
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
   }
 
   struct LateralINDITuning {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 67c6f836a4..3c720d4526 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vPid @2 :Float32;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;  # actual set speed
   vCruiseCluster @63 :Float32;  # set speed to display in the UI
@@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
+  vPidDEPRECATED @2 :Float32;
 }
 
 # All SI units and in device frame
@@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   accels @32 :List(Float32);
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
+  aTarget @18 :Float32;
+  shouldStop @37: Bool;
+  allowThrottle @38: Bool;
+  allowBrake @39: Bool;
+
 
   solverExecutionTime @35 :Float32;
 
@@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   aCruiseDEPRECATED @17 :Float32;
   vTargetDEPRECATED @3 :Float32;
   vTargetFutureDEPRECATED @14 :Float32;
-  aTargetDEPRECATED @18 :Float32;
   vStartDEPRECATED @26 :Float32;
   aStartDEPRECATED @27 :Float32;
   vMaxDEPRECATED @20 :Float32;
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 2ef5d427e6..54cf865109 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -22,10 +22,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 2e194b12f2..5ea2b19891 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -94,11 +94,7 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.15]
-
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiBP = [5., 35.]
 
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
@@ -110,8 +106,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kpV = [2.0, 1.5]
-      ret.longitudinalTuning.kiV = [0.72]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
@@ -131,8 +126,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kpV = [2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.36]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 43a4454b90..fdcba8bb81 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -72,17 +72,13 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
-      ret.longitudinalTuning.kpV = [0.25]
-      ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelay = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
       # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.longitudinalTuning.kiBP = [0., 5., 35.]
+      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
 
     eps_modified = False
     for fw in car_fw:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 0ba4dcb5e3..ecedf3fd7c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -80,12 +80,8 @@ class CarInterface(CarInterfaceBase):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.longitudinalTuning.kpV = [0.1]
-      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
-      ret.longitudinalTuning.kpV = [0.5]
-      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5eac6062aa..e5762ed52a 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -202,13 +202,11 @@ class CarInterfaceBase(ABC):
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.stoppingControl = True
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
     ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [1.]
+    ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [1.]
+    ret.longitudinalTuning.kiV = [0.]
     # TODO estimate car specific lag, use .15s for now
     ret.longitudinalActuatorDelay = 0.15
     ret.steerLimitTimer = 1.0
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 1aa4bd95ea..cb00934376 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -91,11 +91,6 @@ class CarInterface(CarInterfaceBase):
       ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
-
       ret.stoppingControl = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 09de10b54d..deb0e00230 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -18,11 +18,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
-    ret.longitudinalTuning.kpBP = [0]
-    ret.longitudinalTuning.kpV = [0]
-    ret.longitudinalTuning.kiBP = [0]
-    ret.longitudinalTuning.kiV = [0]
     ret.longitudinalActuatorDelay = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 19096c23e5..a6f74d685f 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -75,7 +75,6 @@ class TestCarInterfaces:
     # Longitudinal sanity checks
     assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
     assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-    assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP)
 
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3ea05f9fef..98f63597ec 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -142,22 +142,15 @@ class CarInterface(CarInterfaceBase):
     ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
 
     tune = ret.longitudinalTuning
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
     if candidate in TSS2_CAR:
-      tune.kpBP = [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7]
-      tune.kiBP = [0., 5., 12., 20., 27.]
-      tune.kiV = [.35, .23, .20, .17, .1]
-      if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      tune.kpV = [0.0]
+      tune.kiV = [0.5]
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     else:
-      tune.kpBP = [0., 5., 35.]
-      tune.kiBP = [0., 35.]
-      tune.kpV = [3.6, 2.4, 1.5]
-      tune.kiV = [0.54, 0.36]
+      tune.kiBP = [0., 5., 35.]
+      tune.kiV = [3.6, 2.4, 1.5]
 
     return ret
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 91cd300e92..77e56875bf 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -96,8 +96,6 @@ class CarInterface(CarInterfaceBase):
     ret.stopAccel = -0.55
     ret.vEgoStarting = 0.1
     ret.vEgoStopping = 0.5
-    ret.longitudinalTuning.kpV = [0.1]
-    ret.longitudinalTuning.kiV = [0.0]
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
     return ret
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index aeeb3489b5..f147766c91 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -563,13 +563,12 @@ class Controls:
     if not CC.latActive:
       self.LaC.reset()
     if not CC.longActive:
-      self.LoC.reset(v_pid=CS.vEgo)
+      self.LoC.reset()
 
     if not self.joystick_mode:
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
 
       # Steering PID loop and lateral MPC
       self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
@@ -752,7 +751,6 @@ class Controls:
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
-    controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 6a5b22f686..cfc6374a1d 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -141,16 +141,6 @@ class VCruiseHelper:
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
 
-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
-
-
 def apply_center_deadzone(error, deadzone):
   if (error > - deadzone) and (error < deadzone):
     error = 0.
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index a619c47634..e4841c705f 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,7 +1,7 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -10,18 +10,10 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
-                             v_target_1sec, brake_pressed, cruise_standstill):
-  accelerating = v_target_1sec > v_target
-  planned_stop = (v_target < CP.vEgoStopping and
-                  v_target_1sec < CP.vEgoStopping and
-                  not accelerating)
-  stay_stopped = (v_ego < CP.vEgoStopping and
-                  (brake_pressed or cruise_standstill))
-  stopping_condition = planned_stop or stay_stopped
-
-  starting_condition = (v_target_1sec > CP.vEgoStarting and
-                        accelerating and
+def long_control_state_trans(CP, active, long_control_state, v_ego,
+                             should_stop, brake_pressed, cruise_standstill):
+  stopping_condition = should_stop
+  starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
   started_condition = v_ego > CP.vEgoStarting
@@ -34,7 +26,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
       long_control_state = LongCtrlState.pid
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
-
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition and CP.startingState:
         long_control_state = LongCtrlState.starting
@@ -49,78 +40,45 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
 
   return long_control_state
 
-
 class LongControl:
   def __init__(self, CP):
     self.CP = CP
-    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
-    self.v_pid = 0.0
     self.last_output_accel = 0.0
 
-  def reset(self, v_pid):
-    """Reset PID controller and change setpoint"""
+  def reset(self):
     self.pid.reset()
-    self.v_pid = v_pid
 
-  def update(self, active, CS, long_plan, accel_limits, t_since_plan):
+  def update(self, active, CS, a_target, should_stop, accel_limits):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
-    # Interp control trajectory
-    speeds = long_plan.speeds
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
-
-      v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now
-
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target, v_target_1sec, CS.brakePressed,
+                                                       should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
-
     if self.long_control_state == LongCtrlState.off:
-      self.reset(CS.vEgo)
+      self.reset()
       output_accel = 0.
 
     elif self.long_control_state == LongCtrlState.stopping:
+      output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         output_accel -= self.CP.stoppingDecelRate * DT_CTRL
-      self.reset(CS.vEgo)
+      self.reset()
 
     elif self.long_control_state == LongCtrlState.starting:
       output_accel = self.CP.startAccel
-      self.reset(CS.vEgo)
-
-    elif self.long_control_state == LongCtrlState.pid:
-      self.v_pid = v_target_now
+      self.reset()
 
-      # Toyota starts braking more when it thinks you want to stop
-      # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      # TODO too complex, needs to be simplified and tested on toyotas
-      prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
-      deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
-      freeze_integrator = prevent_overshoot
-
-      error = self.v_pid - CS.vEgo
-      error_deadzone = apply_deadzone(error, deadzone)
-      output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
-                                     feedforward=a_target,
-                                     freeze_integrator=freeze_integrator)
+    else:  # LongCtrlState.pid
+      error = a_target - CS.aEgo
+      output_accel = self.pid.update(error, speed=CS.vEgo,
+                                     feedforward=a_target)
 
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
-
     return self.last_output_accel
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index ff5f901b52..8772fadb47 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,6 +19,7 @@ LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -34,7 +35,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
   this should avoid accelerating when losing the target in turns
   """
-
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
   a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
@@ -44,6 +44,26 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
+def get_accel_from_plan(CP, long_plan):
+    speeds = long_plan.speeds
+    if len(speeds) == CONTROL_N:
+      v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
+
+      v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+
+      v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+    else:
+      v_target = 0.0
+      v_target_now = 0.0
+      v_target_1sec = 0.0
+      a_target = 0.0
+    should_stop = (v_target < CP.vEgoStopping and
+                    v_target_1sec < CP.vEgoStopping)
+    return a_target, should_stop
+
+
 class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
@@ -142,9 +162,14 @@ class LongitudinalPlanner:
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
+
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
+    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True
 
     longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
@@ -154,6 +179,10 @@ class LongitudinalPlanner:
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
+    longitudinalPlan.aTarget = a_target
+    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 227202839f..96161a42de 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6438bd5edad674c2de3c7e2d126271cb2576383d
+8737e368e17f859291164286feb4246e00c0b4a5
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index a790f14ff0..b1fe70ef3c 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -158,7 +158,6 @@ def ui_thread(addr):
     # TODO brake is deprecated
     plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
 

From 644156420b9fec2002fd57059fd5a85f5b677a8c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Jun 2024 00:29:59 -0700
Subject: [PATCH 0073/1243] LogReader: revert broken check

it returns files OR None

old-commit-hash: 68e22faa296d335f2d497c52339f536f761602c3
---
 tools/lib/logreader.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 0f7ae0dba1..e524a152fb 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -167,7 +167,7 @@ def get_invalid_files(files):
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
   assert len(files) > 0, "No files on source"
-  assert not any(get_invalid_files(files)), f"Invalid files: {files}"
+  assert next(get_invalid_files(files), False) is False, "Some files are invalid"
   return files
 
 

From 9f50db15c0103102fe876f736d613b86b7760a65 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Jun 2024 01:12:19 -0700
Subject: [PATCH 0074/1243] LogReader: try zst on internal source (#32751)

* internal source list files like azure api

* messy but works

* no limit

* simpler

* clean up

* clean up

* clean up

* that's obvious

* better

* we need to unfortunately return a url, so best to take a naive approach for now

* todo

* fix

* clean up
old-commit-hash: b45caf403366ed4161516e49b9e433805d9de6c4
---
 tools/lib/logreader.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index e524a152fb..98c10941bb 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -130,12 +130,12 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)
 
 
-def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
   if not internal_source_available():
     raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.bz2"
+    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"
 
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
@@ -143,6 +143,10 @@ def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
 
+def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> LogPaths:
+  return internal_source(sr, mode, file_ext)
+
+
 def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs]
@@ -175,7 +179,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source

From c390a678e7462c81d89229244f9aee24415ac8d9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 16 Jun 2024 12:20:15 -0700
Subject: [PATCH 0075/1243] sim: remove docker script

old-commit-hash: 02ed9c584c7d04d53d3c0f0955e95ab2a58de5de
---
 tools/sim/start_openpilot_docker.sh | 37 -----------------------------
 1 file changed, 37 deletions(-)
 delete mode 100755 tools/sim/start_openpilot_docker.sh

diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
deleted file mode 100755
index 3dce660579..0000000000
--- a/tools/sim/start_openpilot_docker.sh
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/bin/bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-OPENPILOT_DIR="/tmp/openpilot"
-if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
-  OPENPILOT_DIR="$(dirname $(dirname $DIR))"
-  EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
-fi
-
-if [[ "$CI" ]]; then
-  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
-else
-  # expose X to the container
-  xhost +local:root
-
-  docker pull ghcr.io/commaai/openpilot-sim:latest
-  CMD="./tmux_script.sh $*"
-  EXTRA_ARGS="${EXTRA_ARGS} -it"
-fi
-
-docker kill openpilot_client || true
-docker run --net=host\
-  --name openpilot_client \
-  --rm \
-  --gpus all \
-  --device=/dev/dri:/dev/dri \
-  --device=/dev/input:/dev/input \
-  -v /tmp/.X11-unix:/tmp/.X11-unix \
-  --shm-size 1G \
-  -e DISPLAY=$DISPLAY \
-  -e QT_X11_NO_MITSHM=1 \
-  -w "$OPENPILOT_DIR/tools/sim" \
-  $EXTRA_ARGS \
-  ghcr.io/commaai/openpilot-sim:latest \
-  /bin/bash -c "$CMD"

From 06aed0617a015737c98c07b93258891e4a26b1ac Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 17 Jun 2024 03:32:45 +0800
Subject: [PATCH 0076/1243] cabana: avoid dead locks and improve responsiveness
 (#32740)

avoid dead locks and improve responsive
old-commit-hash: 865b98a5c45335dcdf736ab38e89b5a1dcde2d59
---
 tools/cabana/chart/chart.cc            |  2 +-
 tools/cabana/chart/chartswidget.cc     | 24 ++++---
 tools/cabana/chart/chartswidget.h      | 16 ++---
 tools/cabana/mainwin.cc                |  1 -
 tools/cabana/streams/abstractstream.cc | 22 ++++++-
 tools/cabana/streams/abstractstream.h  |  8 ++-
 tools/cabana/streams/replaystream.cc   |  7 +-
 tools/cabana/streams/replaystream.h    |  3 -
 tools/cabana/videowidget.cc            | 23 ++++---
 tools/cabana/videowidget.h             |  8 +--
 tools/replay/camera.cc                 |  1 -
 tools/replay/logreader.cc              |  6 +-
 tools/replay/replay.cc                 | 88 +++++++++++++++-----------
 tools/replay/replay.h                  | 11 ++--
 tools/replay/util.cc                   | 36 ++++-------
 tools/replay/util.h                    |  2 +-
 16 files changed, 135 insertions(+), 123 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index c8537845b1..7a056c7674 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -513,7 +513,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
     } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
-      charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
+      charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max}));
     } else {
       viewport()->update();
     }
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index a7bdd74646..59c188afbc 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -103,6 +103,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &ChartsWidget::timeRangeChanged);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -159,16 +161,13 @@ void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
   }
 }
 
-void ChartsWidget::setZoom(double min, double max) {
-  zoomed_range = {min, max};
-  is_zoomed = zoomed_range != display_range;
+void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   updateToolBar();
   updateState();
-  emit rangeChanged(min, max, is_zoomed);
 }
 
 void ChartsWidget::zoomReset() {
-  setZoom(display_range.first, display_range.second);
+  can->setTimeRange(std::nullopt);
   zoom_undo_stack->clear();
 }
 
@@ -186,8 +185,9 @@ void ChartsWidget::showValueTip(double sec) {
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
+  const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
-  if (!is_zoomed) {
+  if (!time_range.has_value()) {
     double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
@@ -195,13 +195,9 @@ void ChartsWidget::updateState() {
     double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
-  } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
-    // loop in zoomed range
-    QTimer::singleShot(0, [ts = zoomed_range.first]() { can->seekTo(ts);});
-    return;
   }
 
-  const auto &range = is_zoomed ? zoomed_range : display_range;
+  const auto &range = time_range ? *time_range : display_range;
   for (auto c : charts) {
     c->updatePlot(cur_sec, range.first, range.second);
   }
@@ -217,12 +213,14 @@ void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
+
+  bool is_zoomed = can->timeRange().has_value();
   range_lb_action->setVisible(!is_zoomed);
   range_slider_action->setVisible(!is_zoomed);
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -252,7 +250,7 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
 }
 
 ChartView *ChartsWidget::createChart() {
-  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
+  auto chart = new ChartView(can->timeRange().value_or(display_range), this);
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a39b4d73a5..a9ac05db23 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -46,11 +46,10 @@ public:
 public slots:
   void setColumnCount(int n);
   void removeAll();
-  void setZoom(double min, double max);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
 
 signals:
   void dock(bool floating);
-  void rangeChanged(double min, double max, bool is_zommed);
   void seriesChanged();
 
 private:
@@ -102,9 +101,7 @@ private:
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
-  bool is_zoomed = false;
   std::pair<double, double> display_range;
-  std::pair<double, double> zoomed_range;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
@@ -119,12 +116,11 @@ private:
 
 class ZoomCommand : public QUndoCommand {
 public:
-  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
-    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+  ZoomCommand(std::pair<double, double> range) : range(range), QUndoCommand() {
+    prev_range = can->timeRange();
     setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
-  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
-  void redo() override { charts->setZoom(range.first, range.second); }
-  ChartsWidget *charts;
-  std::pair<double, double> prev_range, range;
+  void undo() override { can->setTimeRange(prev_range); }
+  void redo() override { can->setTimeRange(range); }
+  std::optional<std::pair<double, double>> prev_range, range;
 };
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index e6c9b49ca1..d099fcec99 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -192,7 +192,6 @@ void MainWindow::createDockWidgets() {
   video_splitter = new QSplitter(Qt::Vertical, this);
   video_widget = new VideoWidget(this);
   video_splitter->addWidget(video_widget);
-  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange);
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2e6ca9662e..2584106ce4 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -92,13 +92,23 @@ void AbstractStream::updateLastMessages() {
   std::set<MessageId> msgs;
   {
     std::lock_guard lk(mutex_);
+    double max_sec = 0;
     for (const auto &id : new_msgs_) {
       const auto &can_data = messages_[id];
-      current_sec_ = std::max(current_sec_, can_data.ts);
+      max_sec = std::max(max_sec, can_data.ts);
       last_msgs[id] = can_data;
       sources.insert(id.source);
     }
-    msgs = std::move(new_msgs_);
+
+    if (!new_msgs_.empty()) {
+      msgs = std::move(new_msgs_);
+      current_sec_ = max_sec;
+    }
+  }
+
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+    return;
   }
 
   if (sources.size() != prev_src_size) {
@@ -108,6 +118,14 @@ void AbstractStream::updateLastMessages() {
   emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
 }
 
+void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>> &range) {
+  time_range_ = range;
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+  }
+  emit timeRangeChanged(time_range_);
+}
+
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
   std::lock_guard lk(mutex_);
   messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index cfd423b368..822dd03d84 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -3,8 +3,10 @@
 #include <array>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <set>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <QColor>
@@ -77,6 +79,8 @@ public:
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
+  void setTimeRange(const std::optional<std::pair<double, double>> &range);
+  const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
   inline const MessageEventsMap &eventsMap() const { return events_; }
@@ -91,8 +95,9 @@ public:
 signals:
   void paused();
   void resume();
-  void seekingTo(double sec);
+  void seeking(double sec);
   void seekedTo(double sec);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
   void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
@@ -110,6 +115,7 @@ protected:
 
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
+  std::optional<std::pair<double, double>> time_range_;
   uint64_t lastest_event_ts = 0;
 
 private:
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 5fda6b0487..5d4925a67a 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,9 +53,9 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                           {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
+  QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
   return replay->load();
 }
 
@@ -92,12 +92,7 @@ bool ReplayStream::eventFilter(const Event *event) {
 }
 
 void ReplayStream::seekTo(double ts) {
-  // Update timestamp and notify receivers of the time change.
   current_sec_ = ts;
-  std::set<MessageId> new_msgs;
-  msgsReceived(&new_msgs, false);
-
-  // Seek to the specified timestamp
   replay->seekTo(std::max(double(0), ts), false);
 }
 
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 049ccddafb..ced78680d1 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -34,9 +34,6 @@ public:
   void pause(bool pause) override;
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
-signals:
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
-
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 7fca45c393..d2f78babc1 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -38,6 +38,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &VideoWidget::timeRangeChanged);
 
   updatePlayBtnState();
   setWhatsThis(tr(R"(
@@ -150,14 +152,16 @@ QWidget *VideoWidget::createCameraWidget() {
 
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
   QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
+
+  auto replay = static_cast<ReplayStream*>(can)->getReplay();
+  QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(replay, &Replay::totalSecondsUpdated, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   return w;
 }
 
@@ -198,13 +202,13 @@ void VideoWidget::setMaximumTime(double sec) {
   slider->setTimeRange(0, sec);
 }
 
-void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
+void VideoWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   if (can->liveStreaming()) {
-    skip_to_end_btn->setEnabled(!is_zoomed);
+    skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
-  is_zoomed ? slider->setTimeRange(min, max)
-            : slider->setTimeRange(0, maximum_time);
+  time_range ? slider->setTimeRange(time_range->first, time_range->second)
+             : slider->setTimeRange(0, maximum_time);
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -255,12 +259,7 @@ void Slider::setTimeRange(double min, double max) {
   setRange(min * factor, max * factor);
 }
 
-void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
- const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
-  if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
-    emit updateMaximumTime(qlog->events.back().mono_time / 1e9 - can->routeStartTime());
-  }
-
+void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
   QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
     if (e.which == cereal::Event::Which::THUMBNAIL) {
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index b2039e09a4..7bd55cbce4 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -3,6 +3,7 @@
 #include <map>
 #include <memory>
 #include <set>
+#include <utility>
 
 #include <QHBoxLayout>
 #include <QFrame>
@@ -40,13 +41,10 @@ public:
   void setTimeRange(double min, double max);
   AlertInfo alertInfo(double sec);
   QPixmap thumbnail(double sec);
-  void parseQLog(int segnum, std::shared_ptr<LogReader> qlog);
+  void parseQLog(std::shared_ptr<LogReader> qlog);
 
   const double factor = 1000.0;
 
-signals:
-  void updateMaximumTime(double);
-
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
@@ -63,11 +61,11 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void updateTimeRange(double min, double max, bool is_zommed);
   void setMaximumTime(double sec);
 
 protected:
   QString formatTime(double sec, bool include_milliseconds = false);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 9e711149c5..b6d4ddc3a2 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -60,7 +60,6 @@ void CameraServer::cameraThread(Camera &cam) {
     capnp::FlatArrayMessageReader reader(event->data);
     auto evt = reader.getRoot<cereal::Event>();
     auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-    if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
 
     int segment_id = eidx.getSegmentId();
     uint32_t frame_id = eidx.getFrameId();
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 0f1638145f..9b726e067d 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -42,10 +42,10 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
           evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
         auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-        if (uint64_t sof = idx.getTimestampSof()) {
-          mono_time = sof;
+        if (idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+          uint64_t sof = idx.getTimestampSof();
+          events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
-        events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
       }
     }
   } catch (const kj::Exception &e) {
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 8616437188..c5ad2aa548 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -55,11 +55,11 @@ void Replay::stop() {
   rInfo("shutdown: in progress...");
   if (stream_thread_ != nullptr) {
     exit_ = true;
-    paused_ = true;
+    pauseStreamThread();
     stream_cv_.notify_one();
     stream_thread_->quit();
     stream_thread_->wait();
-    delete stream_thread_;
+    stream_thread_->deleteLater();
     stream_thread_ = nullptr;
   }
   timeline_future.waitForFinished();
@@ -104,28 +104,40 @@ void Replay::updateEvents(const std::function<bool()> &update_events_function) {
 
 void Replay::seekTo(double seconds, bool relative) {
   updateEvents([&]() {
-    seeking_to_seconds_ = relative ? seconds + currentSeconds() : seconds;
-    seeking_to_seconds_ = std::max(double(0.0), seeking_to_seconds_);
-    int target_segment = (int)seeking_to_seconds_ / 60;
+    double target_time = relative ? seconds + currentSeconds() : seconds;
+    target_time = std::max(double(0.0), target_time);
+    int target_segment = (int)target_time / 60;
     if (segments_.count(target_segment) == 0) {
-      rWarning("can't seek to %d s segment %d is invalid", (int)seeking_to_seconds_, target_segment);
+      rWarning("Can't seek to %d s segment %d is invalid", (int)target_time, target_segment);
       return true;
     }
 
-    rInfo("seeking to %d s, segment %d", (int)seeking_to_seconds_, target_segment);
+    rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
     current_segment_ = target_segment;
-    cur_mono_time_ = route_start_ts_ + seeking_to_seconds_ * 1e9;
-    bool segment_merged = isSegmentMerged(target_segment);
-    if (segment_merged) {
-      emit seekedTo(seeking_to_seconds_);
-      // Reset seeking_to_seconds_ to indicate completion of seek
-      seeking_to_seconds_ = -1;
-    }
-    return segment_merged;
+    cur_mono_time_ = route_start_ts_ + target_time * 1e9;
+    seeking_to_ = target_time;
+    return false;
   });
+
+  checkSeekProgress();
   updateSegmentsCache();
 }
 
+void Replay::checkSeekProgress() {
+  if (seeking_to_) {
+    auto it = segments_.find(int(*seeking_to_ / 60));
+    if (it != segments_.end() && it->second && it->second->isLoaded()) {
+      emit seekedTo(*seeking_to_);
+      seeking_to_ = std::nullopt;
+      // wake up stream thread
+      updateEvents([]() { return true; });
+    } else {
+      // Emit signal indicating the ongoing seek operation
+      emit seeking(*seeking_to_);
+    }
+  }
+}
+
 void Replay::seekToFlag(FindFlag flag) {
   if (auto next = find(flag)) {
     seekTo(*next - 2, false);  // seek to 2 seconds before next
@@ -150,8 +162,9 @@ void Replay::buildTimeline() {
   const auto &route_segments = route_->segments();
   for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
     std::shared_ptr<LogReader> log(new LogReader());
-    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
+    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
 
+    std::vector<std::tuple<double, double, TimelineType>> timeline;
     for (const Event &e : log->events) {
       if (e.which == cereal::Event::Which::CONTROLS_STATE) {
         capnp::FlatArrayMessageReader reader(e.data);
@@ -160,7 +173,6 @@ void Replay::buildTimeline() {
 
         if (engaged != cs.getEnabled()) {
           if (engaged) {
-            std::lock_guard lk(timeline_lock);
             timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged});
           }
           engaged_begin = e.mono_time;
@@ -169,7 +181,6 @@ void Replay::buildTimeline() {
 
         if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
           if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
-            std::lock_guard lk(timeline_lock);
             timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
           }
           alert_begin = e.mono_time;
@@ -178,12 +189,20 @@ void Replay::buildTimeline() {
           alert_status = cs.getAlertStatus();
         }
       } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        std::lock_guard lk(timeline_lock);
         timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag});
       }
     }
-    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
-    emit qLogLoaded(it->first, log);
+
+    {
+      std::lock_guard lk(timeline_lock);
+      timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
+      std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
+    }
+
+    if (it->first == route_segments.rbegin()->first) {
+      emit totalSecondsUpdated(toSeconds(log->events.back().mono_time));
+    }
+    emit qLogLoaded(log);
   }
 }
 
@@ -260,14 +279,13 @@ void Replay::updateSegmentsCache() {
   const auto &cur_segment = cur->second;
   if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
     startStream(cur_segment.get());
-    emit streamStarted();
   }
 }
 
 void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
-  auto loadNext = [this](auto begin, auto end) {
-    auto it = std::find_if(begin, end, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
-    if (it != end && !it->second) {
+  auto loadNextSegment = [this](auto first, auto last) {
+    auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
+    if (it != last && !it->second) {
       rDebug("loading segment %d...", it->first);
       it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
       QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
@@ -276,9 +294,9 @@ void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator
     return false;
   };
 
-  // Load forward segments, then try reverse
-  if (!loadNext(cur, end)) {
-    loadNext(std::make_reverse_iterator(cur), segments_.rend());
+  // Try loading forward segments, then reverse segments
+  if (!loadNextSegment(cur, end)) {
+    loadNextSegment(std::make_reverse_iterator(cur), std::make_reverse_iterator(begin));
   }
 }
 
@@ -316,15 +334,10 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
   updateEvents([&]() {
     events_.swap(new_events);
     merged_segments_ = segments_to_merge;
-    // Check if seeking is in progress
-    int target_segment = int(seeking_to_seconds_ / 60);
-    if (seeking_to_seconds_ >= 0 && segments_to_merge.count(target_segment) > 0) {
-      emit seekedTo(seeking_to_seconds_);
-      seeking_to_seconds_ = -1;  // Reset seeking_to_seconds_ to indicate completion of seek
-    }
     // Wake up the stream thread if the current segment is loaded or invalid.
-    return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0);
+    return !seeking_to_ && (isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0));
   });
+  checkSeekProgress();
 }
 
 void Replay::startStream(const Segment *cur_segment) {
@@ -379,6 +392,7 @@ void Replay::startStream(const Segment *cur_segment) {
   stream_thread_->start();
 
   timeline_future = QtConcurrent::run(this, &Replay::buildTimeline);
+  emit streamStarted();
 }
 
 void Replay::publishMessage(const Event *e) {
@@ -473,6 +487,7 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
      // Skip events if socket is not present
     if (!sockets_[evt.which]) continue;
 
+    cur_mono_time_ = evt.mono_time;
     const uint64_t current_nanos = nanos_since_boot();
     const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts);
 
@@ -484,12 +499,11 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
     } else if (time_diff > 0) {
-      precise_nano_sleep(time_diff);
+      precise_nano_sleep(time_diff, paused_);
     }
 
     if (paused_) break;
 
-    cur_mono_time_ = evt.mono_time;
     if (evt.eidx_segnum == -1) {
       publishMessage(&evt);
     } else if (camera_server_) {
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 4adbc14df8..8b51ab054d 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -85,14 +85,16 @@ public:
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
-    return timeline;
+    return timeline_;
   }
 
 signals:
   void streamStarted();
   void segmentsMerged();
+  void seeking(double sec);
   void seekedTo(double sec);
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
+  void qLogLoaded(std::shared_ptr<LogReader> qlog);
+  void totalSecondsUpdated(double sec);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -112,6 +114,7 @@ protected:
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
   void buildTimeline();
+  void checkSeekProgress();
   inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; }
 
   pthread_t stream_thread_id = 0;
@@ -120,7 +123,7 @@ protected:
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
   std::atomic<int> current_segment_ = 0;
-  double seeking_to_seconds_ = -1;
+  std::optional<double> seeking_to_;
   SegmentMap segments_;
   // the following variables must be protected with stream_lock_
   std::atomic<bool> exit_ = false;
@@ -143,7 +146,7 @@ protected:
 
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
-  std::vector<std::tuple<double, double, TimelineType>> timeline;
+  std::vector<std::tuple<double, double, TimelineType>> timeline_;
   std::string car_fingerprint_;
   std::atomic<float> speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index c8203fd79d..a08b3b3d5e 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -318,33 +318,23 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
-void precise_nano_sleep(int64_t nanoseconds) {
-#ifdef __APPLE__
-  const long estimate_ns = 1 * 1e6;  // 1ms
-  struct timespec req = {.tv_nsec = estimate_ns};
-  uint64_t start_sleep = nanos_since_boot();
-  while (nanoseconds > estimate_ns) {
-    nanosleep(&req, nullptr);
-    uint64_t end_sleep = nanos_since_boot();
-    nanoseconds -= (end_sleep - start_sleep);
-    start_sleep = end_sleep;
-  }
-  // spin wait
-  if (nanoseconds > 0) {
-    while ((nanos_since_boot() - start_sleep) <= nanoseconds) {
-      std::this_thread::yield();
-    }
-  }
-#else
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   struct timespec req, rem;
-
-  req.tv_sec = nanoseconds / 1e9;
-  req.tv_nsec = nanoseconds % (int64_t)1e9;
-  while (clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem) && errno == EINTR) {
+  req.tv_sec = nanoseconds / 1000000000;
+  req.tv_nsec = nanoseconds % 1000000000;
+  while (!should_exit) {
+#ifdef __APPLE_
+    int ret = nanosleep(&req, &rem);
+    if (ret == 0 || errno != EINTR)
+      break;
+#else
+    int ret = clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem);
+    if (ret == 0 || ret != EINTR)
+      break;
+#endif
     // Retry sleep if interrupted by a signal
     req = rem;
   }
-#endif
 }
 
 std::string sha256(const std::string &str) {
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 750c133555..97516e1814 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -37,7 +37,7 @@ private:
 };
 
 std::string sha256(const std::string &str);
-void precise_nano_sleep(int64_t nanoseconds);
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);

From 359ca9883fcc52be58b9ee3b59f48ee552b28115 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 17 Jun 2024 09:26:22 -0700
Subject: [PATCH 0077/1243] [bot] Update Python packages and pre-commit hooks
 (#32770)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: b99fe718ecfbc6044cb5fa53f34e077b9d9a2a4f
---
 .pre-commit-config.yaml | 4 ++--
 poetry.lock             | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 61b7823644..d47630cdad 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.8
+    rev: v0.4.9
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
+    rev: 0.28.5
     hooks:
     -   id: check-github-workflows
diff --git a/poetry.lock b/poetry.lock
index 7b0ec5504e..a050c34ea5 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1942e0da6676d1824168a8343c38805d1e325474c2cdf3d5c10af02002b3c73d
-size 628402
+oid sha256:8a0d5b56d497650d7fdc0db6e09c36a0e67c9de0198f7050431b3bb4c2481991
+size 629328

From 7440f3c959391a766ba6c5ab5f0a213654fadc30 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 17 Jun 2024 09:26:34 -0700
Subject: [PATCH 0078/1243] [bot] Bump submodules (#32769)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: a99816a08b3c30b72283a4a7b77415349a539c33
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index faa1802669..7287ff0cbf 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit faa18026692f7714ee537261fe649dafe4882579
+Subproject commit 7287ff0cbf3ab405a670405f2faca419d524387d

From 195b76c03faa872fe05be678f12cbe6981824c96 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 17 Jun 2024 09:43:36 -0700
Subject: [PATCH 0079/1243] more fetch depth

old-commit-hash: ab96d12f2ee7bc80af3203b732be05a46894a610
---
 release/check-submodules.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index bff8d7a28f..5305cecd3a 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 2000 origin master
+  git -C $submodule fetch --depth 3000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

From d1cd5f7ad687b752c94b1a4f2f2d893eb429df8e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Jun 2024 03:44:31 +0800
Subject: [PATCH 0080/1243] cabana: improved error messaging (#32768)

* check user authenrication

* Update tools/cabana/streams/replaystream.cc

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 54da59c1feb917896538ce8aa22bf4f12af20824
---
 tools/cabana/streams/replaystream.cc | 27 +++++++++++++++++++++++----
 tools/replay/replay.h                |  1 +
 tools/replay/route.cc                |  3 +++
 tools/replay/route.h                 | 10 ++++++++++
 4 files changed, 37 insertions(+), 4 deletions(-)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 5d4925a67a..bdb9ebb014 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -56,7 +56,28 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  return replay->load();
+  bool success = replay->load();
+  if (!success) {
+    if (replay->lastRouteError() == RouteLoadError::AccessDenied) {
+      auto auth_content = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+      QString message;
+      if (auth_content.empty()) {
+        message = "Authentication Required. Please run the following command to authenticate:\n\n"
+                  "python tools/lib/auth.py\n\n"
+                  "This will grant access to routes from your comma account.";
+      } else {
+        message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
+                     "This is likely a private route.").arg(route);
+      }
+      QMessageBox::warning(nullptr, tr("Access Denied"), message);
+    } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
+      QMessageBox::warning(nullptr, tr("Network Error"),
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+    } else {
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+    }
+  }
+  return success;
 }
 
 void ReplayStream::start() {
@@ -144,7 +165,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
 bool OpenReplayWidget::open() {
   QString route = route_edit->text();
   QString data_dir;
-  if (int idx = route.lastIndexOf('/'); idx != -1) {
+  if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
     data_dir = route.mid(0, idx + 1);
     route = route.mid(idx + 1);
   }
@@ -161,8 +182,6 @@ bool OpenReplayWidget::open() {
 
     if (replay_stream->loadRoute(route, data_dir, flags)) {
       *stream = replay_stream.release();
-    } else {
-      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
     }
   }
   return *stream != nullptr;
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 8b51ab054d..7e1815ede0 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -53,6 +53,7 @@ public:
          uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
+  RouteLoadError lastRouteError() const { return route_->lastError(); }
   void start(int seconds = 0);
   void stop();
   void pause(bool pause);
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e8e73459ea..18c962abd5 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -74,7 +74,10 @@ bool Route::loadFromServer(int retries) {
       return loadFromJson(result);
     } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
       rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
+      err_ = RouteLoadError::AccessDenied;
       return false;
+    } else {
+      err_ = RouteLoadError::NetworkError;
     }
     rWarning("Retrying %d/%d", i, retries);
     util::sleep_for(3000);
diff --git a/tools/replay/route.h b/tools/replay/route.h
index f956497804..acc73d509a 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -12,6 +12,14 @@
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
 
+enum class RouteLoadError {
+  None,
+  AccessDenied,
+  NetworkError,
+  FileNotFound,
+  UnknownError
+};
+
 struct RouteIdentifier {
   QString dongle_id;
   QString timestamp;
@@ -33,6 +41,7 @@ class Route {
 public:
   Route(const QString &route, const QString &data_dir = {});
   bool load();
+  RouteLoadError lastError() const { return err_; }
   inline const QString &name() const { return route_.str; }
   inline const QDateTime datetime() const { return date_time_; }
   inline const QString &dir() const { return data_dir_; }
@@ -50,6 +59,7 @@ protected:
   QString data_dir_;
   std::map<int, SegmentFile> segments_;
   QDateTime date_time_;
+  RouteLoadError err_ = RouteLoadError::None;
 };
 
 class Segment : public QObject {

From 5658a6a9ea745af863f1b446c0d5256510635ddc Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 17 Jun 2024 13:24:04 -0700
Subject: [PATCH 0081/1243] cabana: include optional (#32772)

optional
old-commit-hash: 3de6ee5ee316980f2dfea5e59c7369ac1f0a83df
---
 tools/cabana/videowidget.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 7bd55cbce4..ac34c66007 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -2,6 +2,7 @@
 
 #include <map>
 #include <memory>
+#include <optional>
 #include <set>
 #include <utility>
 

From f970efbc2e1eabdd555f3d5368564d39f4de7f58 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 17 Jun 2024 19:18:20 -0700
Subject: [PATCH 0082/1243] Toyota: remove smartDSU support (#32777)

old-commit-hash: cb63f101cadec4f2ce4362b3df849a1d2adf9e56
---
 selfdrive/car/tests/routes.py     |  1 -
 selfdrive/car/toyota/carstate.py  | 17 +++-----------
 selfdrive/car/toyota/interface.py | 37 +++++++++----------------------
 selfdrive/car/toyota/values.py    |  4 +---
 4 files changed, 14 insertions(+), 45 deletions(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index dd3a8f633d..b1156f0e89 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -225,7 +225,6 @@ routes = [
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
-  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
   CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 8315f24ae4..a596881c33 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -132,8 +132,7 @@ class CarState(CarStateBase):
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
     if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
-        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@@ -167,13 +166,11 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
       self.prev_distance_button = self.distance_button
       if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
         self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
-      else:
-        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
@@ -208,12 +205,9 @@ class CarState(CarStateBase):
       messages.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not CP.flags & ToyotaFlags.SMART_DSU.value:
-        messages += [
-          ("ACC_CONTROL", 33),
-        ]
       messages += [
         ("PCS_HUD", 1),
+        ("ACC_CONTROL", 33),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
@@ -221,11 +215,6 @@ class CarState(CarStateBase):
         ("PRE_COLLISION", 33),
       ]
 
-    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      messages += [
-        ("SDSU", 100),
-      ]
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 98f63597ec..6487257bbc 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -44,18 +44,9 @@ class CarInterface(CarInterfaceBase):
 
     stop_and_go = candidate in TSS2_CAR
 
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
-    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
-      ret.flags |= ToyotaFlags.SMART_DSU.value
-
-    if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
-      ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
-
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
-                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
 
     if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
@@ -98,7 +89,7 @@ class CarInterface(CarInterfaceBase):
     # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
     #  For now, don't list stop and go functionality in the docs
     if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
-      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
+      stop_and_go = stop_and_go or (ret.enableDsu and not docs)
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -110,28 +101,20 @@ class CarInterface(CarInterfaceBase):
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
-    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
     if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
+      ret.experimentalLongitudinalAvailable = candidate in RADAR_ACC_CAR
 
-      if not use_sdsu:
-        # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR:
-          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
-      else:
-        use_sdsu = use_sdsu and experimental_long
+      # Disabling radar is only supported on TSS2 radar-ACC cars
+      if experimental_long and candidate in RADAR_ACC_CAR:
+        ret.flags |= ToyotaFlags.DISABLE_RADAR.value
 
     # openpilot longitudinal enabled by default:
-    #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
     #  - cars w/ DSU disconnected
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
     # openpilot longitudinal behind experimental long toggle:
-    #  - TSS2 radar ACC cars w/ smartDSU installed
-    #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
-    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
-    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+    #  - TSS2 radar ACC cars (disables radar)
+    ret.openpilotLongitudinalControl = ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
@@ -156,7 +139,7 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
+    # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
@@ -165,7 +148,7 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # events
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2e781ad0aa..8022e8b3ab 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -44,9 +44,7 @@ class CarControllerParams:
 class ToyotaFlags(IntFlag):
   # Detected flags
   HYBRID = 1
-  SMART_DSU = 2
   DISABLE_RADAR = 4
-  RADAR_CAN_FILTER = 1024
 
   # Static flags
   TSS2 = 8
@@ -56,7 +54,7 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  # these cars are speculated to allow stop and go when the DSU is unplugged
   SNG_WITHOUT_DSU = 512
 
 

From 1b836bdb8664d25f9ba0087480798ee1be7aa14e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 17 Jun 2024 20:30:32 -0700
Subject: [PATCH 0083/1243] Ubuntu 24.04 (#32624)

* noble build

* workflow

* symlink

* map only for noble

* sym

* add qt to cppcheck

* cppcheck noreturn in non void funct

* get kaitai header

* kaitai header

* syntax

* try new pyopencl

* try this version

* install lsb-core manually

* support old 20.04 lsb-core

* try arm

* try latest pyopencl

* revert

* use pocl icd

* no lock

* no arm pyopencl

* new intel opencl runtime

* pin filelock

* undo

* glsl version

* new version

* build test

* remove test

* new metadrive

* remove glsl restrictions

* <optional>

* Update .github/workflows/tools_tests.yaml

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* cache

* new cache

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 5c4ea14a3cb7bcb443fbee8c5b1d52c10788c9e8
---
 .devcontainer/Dockerfile                      |  4 +-
 .github/workflows/setup/action.yaml           |  2 +-
 .github/workflows/tools_tests.yaml            | 28 ++++++++++++--
 .pre-commit-config.yaml                       |  2 +
 Dockerfile.openpilot_base                     | 37 +++++++++++--------
 SConstruct                                    |  2 +
 poetry.lock                                   |  4 +-
 pyproject.toml                                |  2 +-
 selfdrive/navd/SConscript                     |  4 +-
 selfdrive/ui/SConscript                       |  4 +-
 selfdrive/ui/qt/maps/map_helpers.cc           |  8 ++--
 .../x86_64/lib/libQMapLibre.so.3.0.0          |  4 +-
 tools/README.md                               |  6 +--
 tools/profiling/snapdragon/README.md          |  2 +-
 tools/webcam/README.md                        |  2 +-
 15 files changed, 70 insertions(+), 41 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index af67bdbe5d..1115c375db 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,11 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
 RUN pip install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
 RUN usermod -aG video batman
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 970d62030d..701675942f 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -60,4 +60,4 @@ runs:
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
     # build our docker image
     - shell: bash
-      run: eval ${{ env.BUILD }}
\ No newline at end of file
+      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c2f7d86e69..9a26ca9a20 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -39,12 +39,13 @@ jobs:
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
-  test_python311:
-    name: test python3.11 support
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
+  test_compatibility:
+    name: test 20.04 + 3.11
+    runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: Installing ubuntu dependencies
       run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
     - name: Installing python
@@ -57,6 +58,25 @@ jobs:
       run: pip install poetry==1.7.0
     - name: Installing python dependencies
       run: poetry install --no-cache --no-root
+    - name: git LFS
+      run: git lfs pull
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-ubuntu2004
+    - name: Building openpilot
+      run: poetry run scons -u -j$(nproc)
+    - name: Saving scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   devcontainer:
     name: devcontainer
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d47630cdad..ecde9fe771 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -62,6 +62,8 @@ repos:
         - --quiet
         - --force
         - -j8
+        - --library=qt
+        - --include=third_party/kaitai/kaitaistream.h
 -   repo: https://github.com/cpplint/cpplint
     rev: 1.6.1
     hooks:
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 45b29bdcb1..7228d16ef9 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED 1
 
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     gcc-arm-none-eabi \
     tmux \
     vim \
-    lsb-core \
     libx11-6 \
+    wget \
   && rm -rf /var/lib/apt/lists/*
 
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
     mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
@@ -57,7 +62,7 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
 
 ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
diff --git a/SConstruct b/SConstruct
index 944d650d74..f53d8fb7d0 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,6 +14,8 @@ SCons.Warnings.warningAsException(True)
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+Export('UBUNTU_FOCAL')
 
 Decider('MD5-timestamp')
 
diff --git a/poetry.lock b/poetry.lock
index a050c34ea5..cc4680364e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a0d5b56d497650d7fdc0db6e09c36a0e67c9de0198f7050431b3bb4c2481991
-size 629328
+oid sha256:4bdc23d7e7357d3526ae6d3d51bae68dafdf9a1f27bc9e6514140eaa5756f457
+size 629333
diff --git a/pyproject.toml b/pyproject.toml
index 5353b39887..374b0f46ca 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -176,7 +176,7 @@ flaky = "*"
 inputs = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "anisotropic_off", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 myst-parser = "*"
 natsort = "*"
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index 295e8127db..378e762494 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -1,4 +1,4 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
 
 map_env = qt_env.Clone()
 libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
@@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, tran
 if arch == 'larch64':
   libs.append(':libEGL_mesa.so.0')
 
-if arch in ['larch64', 'aarch64', 'x86_64']:
+if arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL:
   if arch == 'x86_64':
     rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
     map_env["RPATH"] += [rpath, ]
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index e181cb9abd..e4fb32586d 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -8,7 +8,7 @@ base_libs = [common, messaging, visionipc, transformations,
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'aarch64', 'x86_64']
+maps = arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL
 
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 16923f7a43..50e1401164 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -143,11 +143,11 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
 
   d = std::max(d, 0.0f);
   if (is_metric) {
-    return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
-                     : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
+    return (d > 500) ? std::pair(round_distance(d / 1000), QObject::tr("km"))
+                     : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m"));
   } else {
     float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
-                        : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
+    return (feet > 500) ? std::pair(round_distance(d * METER_TO_MILE), QObject::tr("mi"))
+                        : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft"));
   }
 }
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
index f2fcf107bc..e49d321c7c 100755
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b718e4ea770105893dc41f64be36f806586a9471e2bb9d18d5ad97e906434548
-size 11000296
+oid sha256:d62e192aa7806302ed79866d9e3c51efc4bc315a6fdfe0e58e448dac5b279098
+size 11549728
diff --git a/tools/README.md b/tools/README.md
index 361a27deda..f465ea1234 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,11 +2,11 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
+openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
 Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-## Native setup on Ubuntu 20.04
+## Native setup on Ubuntu 24.04
 
 **1. Clone openpilot**
 
@@ -55,7 +55,7 @@ GUI apps like `ui` or `cabana` can also run inside the container by leveraging X
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
-Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
+Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
 **NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
 
diff --git a/tools/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md
index 664814b611..f56ca182a7 100644
--- a/tools/profiling/snapdragon/README.md
+++ b/tools/profiling/snapdragon/README.md
@@ -3,7 +3,7 @@ snapdragon profiler
 
 
 * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
-  * choose v2021.5 (verified working with 20.04 dev environment)
+  * choose v2021.5 (verified working with 24.04 dev environment)
 * unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
 * run ```./setup-profiler.sh```
 * run ```./setup-agnos.sh```
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 7334d87b38..c756069bb5 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 20.04
+- Ubuntu 24.04
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car

From 5f0c5f561619a246bbb4671f733e94611ac59e01 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Tue, 18 Jun 2024 14:27:28 -0400
Subject: [PATCH 0084/1243] Ubuntu 24.04 fix setup (#32783)

* fix tk-dev

* fix missing pip

* Update tools/install_python_dependencies.sh

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 987b0d9e030ec2191e422e7ca8d059b8a02ef08a
---
 tools/install_python_dependencies.sh | 10 +++++++++-
 tools/install_ubuntu_dependencies.sh |  3 ++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index af25ec6424..bb00302073 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+# Increase the pip timeout to handle TimeoutError
+export PIP_DEFAULT_TIMEOUT=200
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
@@ -13,7 +16,7 @@ fi
 if ! command -v "pyenv" > /dev/null 2>&1; then
   echo "pyenv install ..."
   curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH"
+  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$HOME/.pyenv/versions/${PYENV_PYTHON_VERSION}/bin:\$PATH"
 fi
 
 if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
@@ -51,7 +54,12 @@ if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
   echo "python ${PYENV_PYTHON_VERSION} install ..."
   CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION}
 fi
+
 eval "$(pyenv init --path)"
+eval "$(pyenv init -)"
+eval "$(pyenv virtualenv-init -)"
+pyenv local ${PYENV_PYTHON_VERSION}
+pyenv rehash
 
 echo "update pip"
 pip install pip==24.0
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 1f8ef24eaf..1fc5e4fc8b 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -93,7 +93,8 @@ function install_ubuntu_lts_latest_requirements() {
     qtchooser \
     qt5-qmake \
     qtbase5-dev-tools \
-    python3-dev
+    python3-dev \
+    tk-dev
 }
 
 # Install Ubuntu 20.04 packages

From 99a7c5de933c9b6e3b448a7fd217ede985b1b37a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 18 Jun 2024 17:28:52 -0700
Subject: [PATCH 0085/1243] Fix openpilot-prebuilt dockerfile (#32787)

* Manually add symlinks to prevent docker for copying duplicate files

* Copy everything
old-commit-hash: 151b4530ddae30d9c08b86d104d2997cdd4c35e0
---
 Dockerfile.openpilot | 19 +------------------
 1 file changed, 1 insertion(+), 18 deletions(-)

diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 5d8f958c48..e26a427eb1 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -8,23 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./body ${OPENPILOT_PATH}/body
+COPY . ${OPENPILOT_PATH}/
 
 RUN scons --cache-readonly -j$(nproc)

From 4558fbd824bd2b15f6fc87e1dafbced6361fd045 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 19 Jun 2024 09:55:23 -0700
Subject: [PATCH 0086/1243] Remove pyenv (#32786)

* no pyenv

* better

* check poetry

* docker

* syntax

* manual env

* pre-commit

* revert

* format
old-commit-hash: de75372880cb354df2bcb2e0f36e769213bf7072
---
 Dockerfile.openpilot_base            | 16 ++++----
 tools/install_python_dependencies.sh | 60 ++++------------------------
 tools/install_ubuntu_dependencies.sh |  2 +-
 3 files changed, 16 insertions(+), 62 deletions(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 7228d16ef9..343fd29c82 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -68,20 +68,18 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.12.4
-ENV PYENV_ROOT="/home/$USER/pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
 COPY --chown=$USER pyproject.toml poetry.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
-RUN cd /tmp && \
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV VIRTUAL_ENV=/home/$USER/venv/.venv
+RUN python3 -m venv $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN . $VIRTUAL_ENV/bin/activate && \
+    cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
+    rm -rf /home/$USER/.cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index bb00302073..086fc2d14f 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -13,58 +13,15 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
 fi
 
-if ! command -v "pyenv" > /dev/null 2>&1; then
-  echo "pyenv install ..."
-  curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$HOME/.pyenv/versions/${PYENV_PYTHON_VERSION}/bin:\$PATH"
+if ! command -v "poetry" > /dev/null 2>&1; then
+  echo "installing poetry..."
+  curl -sSL https://install.python-poetry.org | python3 -
+  POETRY_BIN='$HOME/.local/bin'
+  ADD_PATH_CMD="export PATH=\"$POETRY_BIN:\$PATH\""
+  eval $ADD_PATH_CMD
+  printf "\n#poetry path\n$ADD_PATH_CMD\n" >> $RC_FILE
 fi
 
-if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
-  echo "pyenvrc setup ..."
-  cat <<EOF > "${HOME}/.pyenvrc"
-if [ -z "\$PYENV_ROOT" ]; then
-  $PYENV_PATH_SETUP
-  export PYENV_ROOT="\$HOME/.pyenv"
-  eval "\$(pyenv init -)"
-  eval "\$(pyenv virtualenv-init -)"
-fi
-EOF
-
-  SOURCE_PYENVRC="source ~/.pyenvrc"
-  if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then
-    printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE
-  fi
-
-  eval "$SOURCE_PYENVRC"
-  # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS
-  if [ $(uname) == "Darwin" ]; then
-    unset -f pyenv
-  fi
-fi
-
-export MAKEFLAGS="-j$(nproc)"
-
-PYENV_PYTHON_VERSION="3.12.4"
-if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
-  # no pyenv update on mac
-  if [ "$(uname)" == "Linux" ]; then
-    echo "pyenv update ..."
-    pyenv update
-  fi
-  echo "python ${PYENV_PYTHON_VERSION} install ..."
-  CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION}
-fi
-
-eval "$(pyenv init --path)"
-eval "$(pyenv init -)"
-eval "$(pyenv virtualenv-init -)"
-pyenv local ${PYENV_PYTHON_VERSION}
-pyenv rehash
-
-echo "update pip"
-pip install pip==24.0
-pip install poetry==1.7.0
-
 poetry config virtualenvs.prefer-active-python true --local
 poetry config virtualenvs.in-project true --local
 
@@ -77,9 +34,8 @@ fi
 
 poetry self add poetry-dotenv-plugin@^0.1.0
 
-echo "pip packages install..."
+echo "installing python packages..."
 poetry install --no-cache --no-root
-pyenv rehash
 
 [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
 
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 1fc5e4fc8b..5c10bf5438 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -94,7 +94,7 @@ function install_ubuntu_lts_latest_requirements() {
     qt5-qmake \
     qtbase5-dev-tools \
     python3-dev \
-    tk-dev
+    python3-venv
 }
 
 # Install Ubuntu 20.04 packages

From 758a9f3ef44758fa249e1cd3936b23d330c7d5d0 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 19 Jun 2024 18:17:25 -0400
Subject: [PATCH 0087/1243] VW: Rename harnesses (#32779)

old-commit-hash: a89201219d19c544c8b12f8124fdceaadd6b3dca
---
 docs/CARS.md                       | 112 ++++++++++++++---------------
 selfdrive/car/docs_definitions.py  |   4 +-
 selfdrive/car/volkswagen/values.py |   4 +-
 3 files changed, 60 insertions(+), 60 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 43bd8a8b30..2c32a77f0c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -29,7 +29,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -185,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -194,8 +194,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@@ -206,15 +206,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -260,42 +260,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 971338e9b5..a04653c140 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -91,8 +91,8 @@ class CarHarness(EnumBase):
   subaru_d = BaseCarHarness("Subaru D connector")
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
-  vw = BaseCarHarness("VW connector")
-  j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  vw_a = BaseCarHarness("VW A connector")
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8b58769b3f..69dd63fefd 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -188,7 +188,7 @@ class Footnote(Enum):
 @dataclass
 class VWCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
 
   def init_make(self, CP: car.CarParams):
     self.footnotes.append(Footnote.VW_EXP_LONG)
@@ -196,7 +196,7 @@ class VWCarDocs(CarDocs):
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
     if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
 
     if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
       self.min_steer_speed = 0

From 3b8ed67aa3e303ff5d5702f5ecf8708086132f7b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Jun 2024 19:14:13 -0700
Subject: [PATCH 0088/1243] remove navigation (#32773)

* remove navigation

* lil more

* fix cabana

* revert for now

* fix docs

* move that over

* lock

* rm assets
old-commit-hash: e491c9d964a2aef07eeaa7b47f4aa9f992130482
---
 .vscode/launch.json                           |   1 -
 SConstruct                                    |   9 +-
 common/params.cc                              |   6 -
 docs/c_docs.rst                               |   2 -
 poetry.lock                                   |   4 +-
 pyproject.toml                                |   2 -
 selfdrive/SConscript                          |   1 -
 selfdrive/assets/img_map.png                  |   3 -
 .../assets/navigation/default_marker.svg      |   3 -
 .../assets/navigation/direction_arrive.png    |   3 -
 .../navigation/direction_arrive_left.png      |   3 -
 .../navigation/direction_arrive_right.png     |   3 -
 .../navigation/direction_arrive_straight.png  |   3 -
 .../assets/navigation/direction_close.png     |   3 -
 .../assets/navigation/direction_continue.png  |   3 -
 .../navigation/direction_continue_left.png    |   3 -
 .../navigation/direction_continue_right.png   |   3 -
 .../direction_continue_slight_left.png        |   3 -
 .../direction_continue_slight_right.png       |   3 -
 .../direction_continue_straight.png           |   3 -
 .../navigation/direction_continue_uturn.png   |   3 -
 .../assets/navigation/direction_depart.png    |   3 -
 .../navigation/direction_depart_left.png      |   3 -
 .../navigation/direction_depart_right.png     |   3 -
 .../navigation/direction_depart_straight.png  |   3 -
 .../navigation/direction_end_of_road_left.png |   3 -
 .../direction_end_of_road_right.png           |   3 -
 .../assets/navigation/direction_flag.png      |   3 -
 .../assets/navigation/direction_fork.png      |   3 -
 .../assets/navigation/direction_fork_left.png |   3 -
 .../navigation/direction_fork_right.png       |   3 -
 .../navigation/direction_fork_slight_left.png |   3 -
 .../direction_fork_slight_right.png           |   3 -
 .../navigation/direction_fork_straight.png    |   3 -
 .../assets/navigation/direction_invalid.png   |   3 -
 .../navigation/direction_invalid_left.png     |   3 -
 .../navigation/direction_invalid_right.png    |   3 -
 .../direction_invalid_slight_left.png         |   3 -
 .../direction_invalid_slight_right.png        |   3 -
 .../navigation/direction_invalid_straight.png |   3 -
 .../navigation/direction_invalid_uturn.png    |   3 -
 .../navigation/direction_merge_left.png       |   3 -
 .../navigation/direction_merge_right.png      |   3 -
 .../direction_merge_slight_left.png           |   3 -
 .../direction_merge_slight_right.png          |   3 -
 .../navigation/direction_merge_straight.png   |   3 -
 .../navigation/direction_new_name_left.png    |   3 -
 .../navigation/direction_new_name_right.png   |   3 -
 .../direction_new_name_sharp_left.png         |   3 -
 .../direction_new_name_sharp_right.png        |   3 -
 .../direction_new_name_slight_left.png        |   3 -
 .../direction_new_name_slight_right.png       |   3 -
 .../direction_new_name_straight.png           |   3 -
 .../direction_notification_left.png           |   3 -
 .../direction_notification_right.png          |   3 -
 .../direction_notification_sharp_left.png     |   3 -
 .../direction_notification_sharp_right.png    |   3 -
 .../direction_notification_slight_left.png    |   3 -
 .../direction_notification_slight_right.png   |   3 -
 .../direction_notification_straight.png       |   3 -
 .../navigation/direction_off_ramp_left.png    |   3 -
 .../navigation/direction_off_ramp_right.png   |   3 -
 .../direction_off_ramp_slight_left.png        |   3 -
 .../direction_off_ramp_slight_right.png       |   3 -
 .../navigation/direction_on_ramp_left.png     |   3 -
 .../navigation/direction_on_ramp_right.png    |   3 -
 .../direction_on_ramp_sharp_left.png          |   3 -
 .../direction_on_ramp_sharp_right.png         |   3 -
 .../direction_on_ramp_slight_left.png         |   3 -
 .../direction_on_ramp_slight_right.png        |   3 -
 .../navigation/direction_on_ramp_straight.png |   3 -
 .../assets/navigation/direction_rotary.png    |   3 -
 .../navigation/direction_rotary_left.png      |   3 -
 .../navigation/direction_rotary_right.png     |   3 -
 .../direction_rotary_sharp_left.png           |   3 -
 .../direction_rotary_sharp_right.png          |   3 -
 .../direction_rotary_slight_left.png          |   3 -
 .../direction_rotary_slight_right.png         |   3 -
 .../navigation/direction_rotary_straight.png  |   3 -
 .../navigation/direction_roundabout.png       |   3 -
 .../navigation/direction_roundabout_left.png  |   3 -
 .../navigation/direction_roundabout_right.png |   3 -
 .../direction_roundabout_sharp_left.png       |   3 -
 .../direction_roundabout_sharp_right.png      |   3 -
 .../direction_roundabout_slight_left.png      |   3 -
 .../direction_roundabout_slight_right.png     |   3 -
 .../direction_roundabout_straight.png         |   3 -
 .../assets/navigation/direction_turn_left.png |   3 -
 .../direction_turn_left_inactive.png          |   3 -
 .../navigation/direction_turn_right.png       |   3 -
 .../direction_turn_right_inactive.png         |   3 -
 .../navigation/direction_turn_sharp_left.png  |   3 -
 .../navigation/direction_turn_sharp_right.png |   3 -
 .../navigation/direction_turn_slight_left.png |   3 -
 .../direction_turn_slight_left_inactive.png   |   3 -
 .../direction_turn_slight_right.png           |   3 -
 .../direction_turn_slight_right_inactive.png  |   3 -
 .../navigation/direction_turn_straight.png    |   3 -
 .../direction_turn_straight_inactive.png      |   3 -
 .../navigation/direction_turn_uturn.png       |   3 -
 .../assets/navigation/direction_updown.png    |   3 -
 selfdrive/assets/navigation/home.png          |   3 -
 selfdrive/assets/navigation/home.svg          |   3 -
 selfdrive/assets/navigation/home_inactive.png |   3 -
 .../assets/navigation/icon_directions.svg     |   3 -
 .../navigation/icon_directions_outlined.svg   |   3 -
 selfdrive/assets/navigation/icon_favorite.svg |   3 -
 selfdrive/assets/navigation/icon_home.svg     |   3 -
 selfdrive/assets/navigation/icon_recent.svg   |   3 -
 selfdrive/assets/navigation/icon_settings.svg |   3 -
 selfdrive/assets/navigation/icon_work.svg     |   3 -
 selfdrive/assets/navigation/work.png          |   3 -
 selfdrive/assets/navigation/work.svg          |   3 -
 selfdrive/assets/navigation/work_inactive.png |   3 -
 selfdrive/assets/offroad/icon_map.png         |   3 -
 selfdrive/assets/offroad/icon_map_speed.png   |   3 -
 selfdrive/navd/.gitignore                     |   6 -
 selfdrive/navd/README.md                      |  24 --
 selfdrive/navd/SConscript                     |  20 -
 selfdrive/navd/__init__.py                    |   0
 selfdrive/navd/helpers.py                     | 189 ---------
 selfdrive/navd/main.cc                        |  29 --
 selfdrive/navd/map_renderer.cc                | 338 ---------------
 selfdrive/navd/map_renderer.h                 |  61 ---
 selfdrive/navd/map_renderer.py                | 100 -----
 selfdrive/navd/navd.py                        | 368 -----------------
 selfdrive/navd/set_destination.py             |  33 --
 selfdrive/navd/style.json                     |   1 -
 selfdrive/navd/tests/test_map_renderer.py     | 212 ----------
 selfdrive/navd/tests/test_navd.py             |  57 ---
 selfdrive/test/test_onroad.py                 |   1 -
 selfdrive/ui/SConscript                       |  11 +-
 selfdrive/ui/qt/home.cc                       |  20 +-
 selfdrive/ui/qt/maps/map.cc                   | 390 ------------------
 selfdrive/ui/qt/maps/map.h                    |  86 ----
 selfdrive/ui/qt/maps/map_eta.cc               |  59 ---
 selfdrive/ui/qt/maps/map_eta.h                |  23 --
 selfdrive/ui/qt/maps/map_helpers.cc           | 153 -------
 selfdrive/ui/qt/maps/map_helpers.h            |  32 --
 selfdrive/ui/qt/maps/map_instructions.cc      | 144 -------
 selfdrive/ui/qt/maps/map_instructions.h       |  38 --
 selfdrive/ui/qt/maps/map_panel.cc             |  43 --
 selfdrive/ui/qt/maps/map_panel.h              |  21 -
 selfdrive/ui/qt/maps/map_settings.cc          | 385 -----------------
 selfdrive/ui/qt/maps/map_settings.h           | 102 -----
 selfdrive/ui/qt/offroad/settings.cc           |  14 -
 selfdrive/ui/qt/onroad/annotated_camera.cc    |   9 -
 selfdrive/ui/qt/onroad/annotated_camera.h     |   2 -
 selfdrive/ui/qt/onroad/buttons.cc             |  15 -
 selfdrive/ui/qt/onroad/buttons.h              |  13 -
 selfdrive/ui/qt/onroad/onroad_home.cc         |  53 ---
 selfdrive/ui/qt/onroad/onroad_home.h          |   1 -
 selfdrive/ui/qt/widgets/prime.cc              |   8 +-
 selfdrive/ui/qt/widgets/prime.h               |   1 -
 selfdrive/ui/translations/main_ar.ts          | 104 +----
 selfdrive/ui/translations/main_de.ts          | 106 +----
 selfdrive/ui/translations/main_fr.ts          | 104 +----
 selfdrive/ui/translations/main_ja.ts          | 104 +----
 selfdrive/ui/translations/main_ko.ts          | 108 +----
 selfdrive/ui/translations/main_pt-BR.ts       | 108 +----
 selfdrive/ui/translations/main_th.ts          | 104 +----
 selfdrive/ui/translations/main_tr.ts          | 102 +----
 selfdrive/ui/translations/main_zh-CHS.ts      | 108 +----
 selfdrive/ui/translations/main_zh-CHT.ts      | 108 +----
 selfdrive/ui/ui.cc                            |   4 +
 selfdrive/ui/watch3.cc                        |   1 -
 system/athena/athenad.py                      |  13 -
 system/manager/process_config.py              |   1 -
 third_party/maplibre-native-qt/.gitignore     |   1 -
 third_party/maplibre-native-qt/aarch64        |   1 -
 third_party/maplibre-native-qt/build.sh       |  36 --
 .../include/conversion_p.hpp                  | 241 -----------
 .../include/export_core.hpp                   |  20 -
 .../include/export_location.hpp               |  20 -
 .../include/export_widgets.hpp                |  20 -
 .../maplibre-native-qt/include/geojson_p.hpp  |  30 --
 .../maplibre-native-qt/include/gl_widget.hpp  |  56 ---
 .../include/gl_widget_p.hpp                   |  42 --
 .../maplibre-native-qt/include/map.hpp        | 205 ---------
 .../include/map_observer_p.hpp                |  54 ---
 .../maplibre-native-qt/include/map_p.hpp      |  79 ----
 .../include/map_renderer_p.hpp                |  63 ---
 .../maplibre-native-qt/include/qgeomap.hpp    |  54 ---
 .../maplibre-native-qt/include/qgeomap_p.hpp  |  93 -----
 .../maplibre-native-qt/include/qmaplibre.hpp  |   9 -
 .../include/qmaplibrewidgets.hpp              |   6 -
 .../include/qt_mapping_engine.hpp             |  31 --
 .../maplibre-native-qt/include/settings.hpp   | 125 ------
 .../maplibre-native-qt/include/settings_p.hpp |  57 ---
 .../include/style_change_utils_p.hpp          |  34 --
 .../include/texture_node.hpp                  |  42 --
 .../maplibre-native-qt/include/types.hpp      | 206 ---------
 .../maplibre-native-qt/include/utils.hpp      |  28 --
 .../larch64/include/QMapLibre/Export          |   1 -
 .../larch64/include/QMapLibre/LayerParameter  |   1 -
 .../larch64/include/QMapLibre/Map             |   1 -
 .../larch64/include/QMapLibre/QMapLibre       |   1 -
 .../larch64/include/QMapLibre/Settings        |   1 -
 .../larch64/include/QMapLibre/SourceParameter |   1 -
 .../larch64/include/QMapLibre/StyleParameter  |   1 -
 .../larch64/include/QMapLibre/Types           |   1 -
 .../larch64/include/QMapLibre/Utils           |   1 -
 .../larch64/lib/libQMapLibre.so               |   3 -
 .../larch64/lib/libQMapLibre.so.3.0.0         |   3 -
 .../x86_64/include/QMapLibre/Export           |   1 -
 .../x86_64/include/QMapLibre/LayerParameter   |   1 -
 .../x86_64/include/QMapLibre/Map              |   1 -
 .../x86_64/include/QMapLibre/QMapLibre        |   1 -
 .../x86_64/include/QMapLibre/Settings         |   1 -
 .../x86_64/include/QMapLibre/SourceParameter  |   1 -
 .../x86_64/include/QMapLibre/StyleParameter   |   1 -
 .../x86_64/include/QMapLibre/Types            |   1 -
 .../x86_64/include/QMapLibre/Utils            |   1 -
 .../x86_64/lib/libQMapLibre.so                |   1 -
 .../x86_64/lib/libQMapLibre.so.3.0.0          |   3 -
 tools/sim/README.md                           |   2 +-
 216 files changed, 48 insertions(+), 6024 deletions(-)
 delete mode 100644 selfdrive/assets/img_map.png
 delete mode 100644 selfdrive/assets/navigation/default_marker.svg
 delete mode 100644 selfdrive/assets/navigation/direction_arrive.png
 delete mode 100644 selfdrive/assets/navigation/direction_arrive_left.png
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 delete mode 100644 selfdrive/assets/navigation/direction_arrive_straight.png
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 delete mode 100644 selfdrive/assets/navigation/direction_continue_left.png
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 delete mode 100644 selfdrive/assets/navigation/direction_continue_slight_left.png
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 delete mode 100644 selfdrive/assets/navigation/direction_continue_straight.png
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 delete mode 100644 selfdrive/assets/navigation/direction_depart_right.png
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 delete mode 100644 selfdrive/assets/navigation/direction_end_of_road_left.png
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 delete mode 100644 selfdrive/assets/navigation/direction_roundabout_slight_right.png
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 delete mode 100644 selfdrive/assets/navigation/direction_turn_sharp_right.png
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 delete mode 100644 selfdrive/assets/navigation/direction_turn_straight_inactive.png
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 delete mode 100644 selfdrive/assets/offroad/icon_map.png
 delete mode 100644 selfdrive/assets/offroad/icon_map_speed.png
 delete mode 100644 selfdrive/navd/.gitignore
 delete mode 100644 selfdrive/navd/README.md
 delete mode 100644 selfdrive/navd/SConscript
 delete mode 100644 selfdrive/navd/__init__.py
 delete mode 100644 selfdrive/navd/helpers.py
 delete mode 100644 selfdrive/navd/main.cc
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 delete mode 100644 selfdrive/navd/map_renderer.h
 delete mode 100755 selfdrive/navd/map_renderer.py
 delete mode 100755 selfdrive/navd/navd.py
 delete mode 100755 selfdrive/navd/set_destination.py
 delete mode 100644 selfdrive/navd/style.json
 delete mode 100644 selfdrive/navd/tests/test_map_renderer.py
 delete mode 100644 selfdrive/navd/tests/test_navd.py
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 delete mode 100644 selfdrive/ui/qt/maps/map.h
 delete mode 100644 selfdrive/ui/qt/maps/map_eta.cc
 delete mode 100644 selfdrive/ui/qt/maps/map_eta.h
 delete mode 100644 selfdrive/ui/qt/maps/map_helpers.cc
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 delete mode 100644 selfdrive/ui/qt/maps/map_instructions.cc
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 delete mode 100644 selfdrive/ui/qt/maps/map_panel.h
 delete mode 100644 selfdrive/ui/qt/maps/map_settings.cc
 delete mode 100644 selfdrive/ui/qt/maps/map_settings.h
 delete mode 100644 third_party/maplibre-native-qt/.gitignore
 delete mode 120000 third_party/maplibre-native-qt/aarch64
 delete mode 100755 third_party/maplibre-native-qt/build.sh
 delete mode 100644 third_party/maplibre-native-qt/include/conversion_p.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/export_core.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/export_location.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/export_widgets.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/geojson_p.hpp
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 delete mode 100644 third_party/maplibre-native-qt/include/gl_widget_p.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/map.hpp
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 delete mode 100644 third_party/maplibre-native-qt/include/map_renderer_p.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/qgeomap.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/qgeomap_p.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/qmaplibre.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/settings.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/settings_p.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/style_change_utils_p.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/texture_node.hpp
 delete mode 100644 third_party/maplibre-native-qt/include/types.hpp
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 delete mode 100644 third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
 delete mode 100644 third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
 delete mode 100644 third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
 delete mode 100644 third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
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 delete mode 100755 third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
 delete mode 100755 third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
 delete mode 100644 third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
 delete mode 120000 third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
 delete mode 100755 third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0

diff --git a/.vscode/launch.json b/.vscode/launch.json
index 3b3953c3f4..a6b341d9ea 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -7,7 +7,6 @@
       "description": "Select the process to debug",
       "options": [
         "selfdrive/controls/controlsd.py",
-        "selfdrive/navd/navd.py",
         "system/timed/timed.py",
         "tools/sim/run_bridge.py"
       ]
diff --git a/SConstruct b/SConstruct
index f53d8fb7d0..0c4dbee18e 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,8 +14,6 @@ SCons.Warnings.warningAsException(True)
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
-UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
-Export('UBUNTU_FOCAL')
 
 Decider('MD5-timestamp')
 
@@ -213,8 +211,6 @@ env = Environment(
     "#cereal",
     "#msgq",
     "#opendbc/can",
-    "#third_party/maplibre-native-qt/include",
-    f"#third_party/maplibre-native-qt/{arch}/include"
   ],
 
   CC='clang',
@@ -279,7 +275,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -332,8 +328,7 @@ qt_flags = [
   "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
-qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
 qt_env['LIBS'] = qt_libs
 
 if GetOption("clazy"):
diff --git a/common/params.cc b/common/params.cc
index 2330160173..6e6bba8867 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -91,7 +91,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -160,11 +159,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LongitudinalPersonality", PERSISTENT},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavPastDestinations", PERSISTENT},
-    {"NavSettingLeftSide", PERSISTENT},
-    {"NavSettingTime24h", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 3b89fe9874..0d65423c08 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -50,8 +50,6 @@ qt
 ""
 .. autodoxygenindex::
    :project: selfdrive_ui_qt_offroad
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_maps
 
 proclogd
 ^^^^^^^^
diff --git a/poetry.lock b/poetry.lock
index cc4680364e..2acd06bfcb 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4bdc23d7e7357d3526ae6d3d51bae68dafdf9a1f27bc9e6514140eaa5756f457
-size 629333
+oid sha256:a1db5598e5df23f5e8a84123cf1e5ffc1c9d79673661d245ddfd88af15a0d2cd
+size 628327
diff --git a/pyproject.toml b/pyproject.toml
index 374b0f46ca..1aa20b5b8e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,7 +25,6 @@ testpaths = [
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
-  "selfdrive/navd/tests",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
@@ -183,7 +182,6 @@ natsort = "*"
 opencv-python-headless = "*"
 parameterized = "^0.8"
 #pprofile = "*"
-polyline = "*"
 pyautogui = "*"
 pygame = "*"
 pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
index 52898f758f..0b49e69116 100644
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -2,6 +2,5 @@ SConscript(['pandad/SConscript'])
 SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
-SConscript(['navd/SConscript'])
 SConscript(['modeld/SConscript'])
 SConscript(['ui/SConscript'])
\ No newline at end of file
diff --git a/selfdrive/assets/img_map.png b/selfdrive/assets/img_map.png
deleted file mode 100644
index a8646491d7..0000000000
--- a/selfdrive/assets/img_map.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4a197665ae2a7fc05109903474d513379711f7b7f555c4148ca99d589c95baf7
-size 31990
diff --git a/selfdrive/assets/navigation/default_marker.svg b/selfdrive/assets/navigation/default_marker.svg
deleted file mode 100644
index 4b11ee7623..0000000000
--- a/selfdrive/assets/navigation/default_marker.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a950b541c4e676475e3571aaa806060c3309c7f44b08a59f1ada19881b42493d
-size 389
diff --git a/selfdrive/assets/navigation/direction_arrive.png b/selfdrive/assets/navigation/direction_arrive.png
deleted file mode 100644
index f8c5bdc2d8..0000000000
--- a/selfdrive/assets/navigation/direction_arrive.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ae17f4c1896c88a6d520f1acdca99ab23d4ce1140a500b64bea3185041f8ecd9
-size 1246
diff --git a/selfdrive/assets/navigation/direction_arrive_left.png b/selfdrive/assets/navigation/direction_arrive_left.png
deleted file mode 100644
index 6f59ab3711..0000000000
--- a/selfdrive/assets/navigation/direction_arrive_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:86a2eaf6070d6b93df385945bd7f4a6e9bb78b7cc42eb5b7ef9a9b6c075c80ce
-size 1581
diff --git a/selfdrive/assets/navigation/direction_arrive_right.png b/selfdrive/assets/navigation/direction_arrive_right.png
deleted file mode 100644
index 318e041339..0000000000
--- a/selfdrive/assets/navigation/direction_arrive_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:398f30c89e396bb4bdbac1ba6dfe292f6e3278923e14113e705f4d0591671f32
-size 1528
diff --git a/selfdrive/assets/navigation/direction_arrive_straight.png b/selfdrive/assets/navigation/direction_arrive_straight.png
deleted file mode 100644
index f8c5bdc2d8..0000000000
--- a/selfdrive/assets/navigation/direction_arrive_straight.png
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-size 489
diff --git a/selfdrive/assets/navigation/icon_recent.svg b/selfdrive/assets/navigation/icon_recent.svg
deleted file mode 100644
index 76b5a620b1..0000000000
--- a/selfdrive/assets/navigation/icon_recent.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5fbce167d2005d08e8bc2113e0a9d5d3e2ed113db8e2a020df1ee14633cd3eed
-size 1279
diff --git a/selfdrive/assets/navigation/icon_settings.svg b/selfdrive/assets/navigation/icon_settings.svg
deleted file mode 100644
index 3fd31459c3..0000000000
--- a/selfdrive/assets/navigation/icon_settings.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1fa72d94b5e05884129dd502babd5de78666c349bb5d12e19872fdbc9fe2100e
-size 910
diff --git a/selfdrive/assets/navigation/icon_work.svg b/selfdrive/assets/navigation/icon_work.svg
deleted file mode 100644
index dc18914a39..0000000000
--- a/selfdrive/assets/navigation/icon_work.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7ea949d3b66896ac3404d20aea9445a5cd00fefd18623f1c7160293a1de5f807
-size 364
diff --git a/selfdrive/assets/navigation/work.png b/selfdrive/assets/navigation/work.png
deleted file mode 100644
index 589087a8aa..0000000000
--- a/selfdrive/assets/navigation/work.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:49aef21620a5d2666c87975b28c6eb1cc8e613c80e504d97f5278cde25872c9d
-size 5570
diff --git a/selfdrive/assets/navigation/work.svg b/selfdrive/assets/navigation/work.svg
deleted file mode 100644
index 0f6a9ba65b..0000000000
--- a/selfdrive/assets/navigation/work.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d2495943fec4ab00b1df5e4e6227bbec45ec57b19b25be561d616292316212f8
-size 2188
diff --git a/selfdrive/assets/navigation/work_inactive.png b/selfdrive/assets/navigation/work_inactive.png
deleted file mode 100644
index c1ce69b004..0000000000
--- a/selfdrive/assets/navigation/work_inactive.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 8446
diff --git a/selfdrive/assets/offroad/icon_map.png b/selfdrive/assets/offroad/icon_map.png
deleted file mode 100644
index 82c0236a48..0000000000
--- a/selfdrive/assets/offroad/icon_map.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f
-size 28235
diff --git a/selfdrive/assets/offroad/icon_map_speed.png b/selfdrive/assets/offroad/icon_map_speed.png
deleted file mode 100644
index 4ed1de314b..0000000000
--- a/selfdrive/assets/offroad/icon_map_speed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 29822
diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
deleted file mode 100644
index 4801d60a2c..0000000000
--- a/selfdrive/navd/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-moc_*
-*.moc
-
-mapsd
-map_renderer
-libmap_renderer.so
diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md
deleted file mode 100644
index 81de8ae39f..0000000000
--- a/selfdrive/navd/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# navigation
-
-This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack.
-
-### navd
-
-`navd` takes in a route through the `NavDestination` param and sends out two packets: `navRoute` and `navInstruction`. These packets contain the coordinates of the planned route and turn-by-turn instructions.
-
-### map renderer
-
-The map renderer listens for the `navRoute` and publishes a simplified rendered map view over VisionIPC. The rendered maps look like this:
-
-![](https://i.imgur.com/oZLfmwq.png)
-
-## development
-
-Currently, [mapbox](https://www.mapbox.com/) is used for navigation.
-
-* get an API token: https://docs.mapbox.com/help/glossary/access-token/
-* set an API token using the `MAPBOX_TOKEN` environment variable
-* routes/destinations are set through the `NavDestination` param
-  * use `set_destination.py` for debugging
-* edit the map: https://www.mapbox.com/contribute
-* mapbox API playground: https://docs.mapbox.com/playground/
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
deleted file mode 100644
index 378e762494..0000000000
--- a/selfdrive/navd/SConscript
+++ /dev/null
@@ -1,20 +0,0 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
-
-map_env = qt_env.Clone()
-libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
-        'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
-if arch == 'larch64':
-  libs.append(':libEGL_mesa.so.0')
-
-if arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL:
-  if arch == 'x86_64':
-    rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
-    map_env["RPATH"] += [rpath, ]
-
-  style_path = File("style.json").abspath
-  map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
-
-  map_env["RPATH"].append(Dir('.').abspath)
-  map_env["LIBPATH"].append(Dir('.').abspath)
-  maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
-  # map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
diff --git a/selfdrive/navd/__init__.py b/selfdrive/navd/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py
deleted file mode 100644
index 0f0410c2c7..0000000000
--- a/selfdrive/navd/helpers.py
+++ /dev/null
@@ -1,189 +0,0 @@
-from __future__ import annotations
-
-import json
-import math
-from typing import Any, cast
-
-from openpilot.common.conversions import Conversions
-from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
-
-DIRECTIONS = ('left', 'right', 'straight')
-MODIFIABLE_DIRECTIONS = ('left', 'right')
-
-EARTH_MEAN_RADIUS = 6371007.2
-SPEED_CONVERSIONS = {
-    'km/h': Conversions.KPH_TO_MS,
-    'mph': Conversions.MPH_TO_MS,
-  }
-
-
-class Coordinate:
-  def __init__(self, latitude: float, longitude: float) -> None:
-    self.latitude = latitude
-    self.longitude = longitude
-    self.annotations: dict[str, float] = {}
-
-  @classmethod
-  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
-    return cls(t[1], t[0])
-
-  def as_dict(self) -> dict[str, float]:
-    return {'latitude': self.latitude, 'longitude': self.longitude}
-
-  def __str__(self) -> str:
-    return f'Coordinate({self.latitude}, {self.longitude})'
-
-  def __repr__(self) -> str:
-    return self.__str__()
-
-  def __eq__(self, other) -> bool:
-    if not isinstance(other, Coordinate):
-      return False
-    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
-
-  def __sub__(self, other: Coordinate) -> Coordinate:
-    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
-
-  def __add__(self, other: Coordinate) -> Coordinate:
-    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
-
-  def __mul__(self, c: float) -> Coordinate:
-    return Coordinate(self.latitude * c, self.longitude * c)
-
-  def dot(self, other: Coordinate) -> float:
-    return self.latitude * other.latitude + self.longitude * other.longitude
-
-  def distance_to(self, other: Coordinate) -> float:
-    # Haversine formula
-    dlat = math.radians(other.latitude - self.latitude)
-    dlon = math.radians(other.longitude - self.longitude)
-
-    haversine_dlat = math.sin(dlat / 2.0)
-    haversine_dlat *= haversine_dlat
-    haversine_dlon = math.sin(dlon / 2.0)
-    haversine_dlon *= haversine_dlon
-
-    y = haversine_dlat \
-             + math.cos(math.radians(self.latitude)) \
-             * math.cos(math.radians(other.latitude)) \
-             * haversine_dlon
-    x = 2 * math.asin(math.sqrt(y))
-    return x * EARTH_MEAN_RADIUS
-
-
-def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
-  if a.distance_to(b) < 0.01:
-    return a.distance_to(p)
-
-  ap = p - a
-  ab = b - a
-  t = clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
-  projection = a + ab * t
-  return projection.distance_to(p)
-
-
-def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
-  if len(geometry) <= 2:
-    return geometry[0].distance_to(pos)
-
-  # 1. Find segment that is closest to current position
-  # 2. Total distance is sum of distance to start of closest segment
-  #    + all previous segments
-  total_distance = 0.0
-  total_distance_closest = 0.0
-  closest_distance = 1e9
-
-  for i in range(len(geometry) - 1):
-    d = minimum_distance(geometry[i], geometry[i + 1], pos)
-
-    if d < closest_distance:
-      closest_distance = d
-      total_distance_closest = total_distance + geometry[i].distance_to(pos)
-
-    total_distance += geometry[i].distance_to(geometry[i + 1])
-
-  return total_distance_closest
-
-
-def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
-  if params is None:
-    params = Params()
-
-  json_str = params.get(param)
-  if json_str is None:
-    return None
-
-  pos = json.loads(json_str)
-  if 'latitude' not in pos or 'longitude' not in pos:
-    return None
-
-  return Coordinate(pos['latitude'], pos['longitude'])
-
-
-def string_to_direction(direction: str) -> str:
-  for d in DIRECTIONS:
-    if d in direction:
-      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
-        return 'slight' + d.capitalize()
-      return d
-  return 'none'
-
-
-def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
-  unit = cast(str, maxspeed['unit'])
-  speed = cast(float, maxspeed['speed'])
-  return SPEED_CONVERSIONS[unit] * speed
-
-
-def field_valid(dat: dict, field: str) -> bool:
-  return field in dat and dat[field] is not None
-
-
-def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
-  if not len(banners):
-    return None
-
-  instruction = {}
-
-  # A segment can contain multiple banners, find one that we need to show now
-  current_banner = banners[0]
-  for banner in banners:
-    if distance_to_maneuver < banner['distanceAlongGeometry']:
-      current_banner = banner
-
-  # Only show banner when close enough to maneuver
-  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
-
-  # Primary
-  p = current_banner['primary']
-  if field_valid(p, 'text'):
-    instruction['maneuverPrimaryText'] = p['text']
-  if field_valid(p, 'type'):
-    instruction['maneuverType'] = p['type']
-  if field_valid(p, 'modifier'):
-    instruction['maneuverModifier'] = p['modifier']
-
-  # Secondary
-  if field_valid(current_banner, 'secondary'):
-    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
-
-  # Lane lines
-  if field_valid(current_banner, 'sub'):
-    lanes = []
-    for component in current_banner['sub']['components']:
-      if component['type'] != 'lane':
-        continue
-
-      lane = {
-        'active': component['active'],
-        'directions': [string_to_direction(d) for d in component['directions']],
-      }
-
-      if field_valid(component, 'active_direction'):
-        lane['activeDirection'] = string_to_direction(component['active_direction'])
-
-      lanes.append(lane)
-    instruction['lanes'] = lanes
-
-  return instruction
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
deleted file mode 100644
index 2e7b4d3b60..0000000000
--- a/selfdrive/navd/main.cc
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <csignal>
-#include <sys/resource.h>
-
-#include <QApplication>
-#include <QDebug>
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/navd/map_renderer.h"
-#include "system/hardware/hw.h"
-
-int main(int argc, char *argv[]) {
-  Hardware::config_cpu_rendering(true);
-
-  qInstallMessageHandler(swagLogMessageHandler);
-  setpriority(PRIO_PROCESS, 0, -20);
-  int ret = util::set_core_affinity({0, 1, 2, 3});
-  assert(ret == 0);
-
-  QApplication app(argc, argv);
-  std::signal(SIGINT, sigTermHandler);
-  std::signal(SIGTERM, sigTermHandler);
-
-  MapRenderer * m = new MapRenderer(get_mapbox_settings());
-  assert(m);
-
-  return app.exec();
-}
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
deleted file mode 100644
index 1e57ad3e7c..0000000000
--- a/selfdrive/navd/map_renderer.cc
+++ /dev/null
@@ -1,338 +0,0 @@
-#include "selfdrive/navd/map_renderer.h"
-
-#include <cmath>
-#include <string>
-#include <QApplication>
-#include <QBuffer>
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-
-const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int HEIGHT = 256, WIDTH = 256;
-const int NUM_VIPC_BUFFERS = 4;
-
-const int EARTH_CIRCUMFERENCE_METERS = 40075000;
-const int EARTH_RADIUS_METERS = 6378137;
-const int PIXELS_PER_TILE = 256;
-const int MAP_OFFSET = 128;
-
-const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
-const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
-
-float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
-  float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
-  float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
-  return log2(num_tiles) - 1;
-}
-
-QMapLibre::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) {
-  float ang_dist = dist / EARTH_RADIUS_METERS;
-  float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing);
-  float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1));
-  float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2));
-  return QMapLibre::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2));
-}
-
-
-MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_settings(settings) {
-  QSurfaceFormat fmt;
-  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
-
-  m_settings.setMapMode(QMapLibre::Settings::MapMode::Static);
-
-  ctx = std::make_unique<QOpenGLContext>();
-  ctx->setFormat(fmt);
-  ctx->create();
-  assert(ctx->isValid());
-
-  surface = std::make_unique<QOffscreenSurface>();
-  surface->setFormat(ctx->format());
-  surface->create();
-
-  ctx->makeCurrent(surface.get());
-  assert(QOpenGLContext::currentContext() == ctx.get());
-
-  gl_functions.reset(ctx->functions());
-  gl_functions->initializeOpenGLFunctions();
-
-  QOpenGLFramebufferObjectFormat fbo_format;
-  fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
-
-  std::string style = util::read_file(STYLE_PATH);
-  m_map.reset(new QMapLibre::Map(nullptr, m_settings, fbo->size(), 1));
-  m_map->setCoordinateZoom(QMapLibre::Coordinate(0, 0), DEFAULT_ZOOM);
-  m_map->setStyleJson(style.c_str());
-  m_map->createRenderer();
-  ever_loaded = false;
-
-  m_map->resize(fbo->size());
-  m_map->setFramebufferObject(fbo->handle(), fbo->size());
-  gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
-    // Ignore expected signals
-    // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
-    if (ever_loaded) {
-      if (change != QMapLibre::Map::MapChange::MapChangeRegionWillChange &&
-          change != QMapLibre::Map::MapChange::MapChangeRegionDidChange &&
-          change != QMapLibre::Map::MapChange::MapChangeWillStartRenderingFrame &&
-          change != QMapLibre::Map::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
-        LOGD("New map state: %d", change);
-      }
-    }
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
-    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::staticRenderFinished, [=](const QString &error) {
-    rendering = false;
-
-    if (!error.isEmpty()) {
-      LOGE("Static map rendering failed with error: '%s'\n", error.toStdString().c_str());
-    } else if (vipc_server != nullptr) {
-      double end_render_t = millis_since_boot();
-      publish((end_render_t - start_render_t) / 1000.0, true);
-      last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
-    }
-  });
-
-  if (online) {
-    vipc_server.reset(new VisionIpcServer("navd"));
-    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
-    vipc_server->start_listener();
-
-    pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
-    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
-
-    timer = new QTimer(this);
-    timer->setSingleShot(true);
-    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
-    timer->start(0);
-  }
-}
-
-void MapRenderer::msgUpdate() {
-  sm->update(1000);
-
-  if (sm->updated("liveLocationKalman")) {
-    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-
-    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
-      float bearing = RAD2DEG(orientation.getValue()[2]);
-      updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
-
-      if (!rendering) {
-        update();
-      }
-
-      if (!rendered()) {
-        publish(0, false);
-      }
-    }
-
-
-  }
-
-  if (sm->updated("navRoute")) {
-    QList<QGeoCoordinate> route;
-    auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates();
-    for (auto const &c : coords) {
-      route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude()));
-    }
-    updateRoute(route);
-  }
-
-  // schedule next update
-  timer->start(0);
-}
-
-void MapRenderer::updatePosition(QMapLibre::Coordinate position, float bearing) {
-  if (m_map.isNull()) {
-    return;
-  }
-
-  // Choose a scale that ensures above 13 zoom level up to and above 75deg of lat
-  float meters_per_pixel = 2;
-  float zoom = get_zoom_level_for_scale(position.first, meters_per_pixel);
-
-  m_map->setCoordinate(position);
-  m_map->setBearing(bearing);
-  m_map->setZoom(zoom);
-  if (!rendering) {
-    update();
-  }
-}
-
-bool MapRenderer::loaded() {
-  return m_map->isFullyLoaded();
-}
-
-void MapRenderer::update() {
-  rendering = true;
-  gl_functions->glClear(GL_COLOR_BUFFER_BIT);
-  start_render_t = millis_since_boot();
-  m_map->startStaticRender();
-}
-
-void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf) {
-  MessageBuilder msg;
-  auto thumbnaild = msg.initEvent().initNavThumbnail();
-  thumbnaild.setFrameId(frame_id);
-  thumbnaild.setTimestampEof(ts);
-  thumbnaild.setThumbnail(buf);
-  pm->send("navThumbnail", msg);
-}
-
-void MapRenderer::publish(const double render_time, const bool loaded) {
-  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-
-  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-  bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
-  ever_loaded = ever_loaded || loaded;
-  uint64_t ts = nanos_since_boot();
-  VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
-  VisionIpcBufExtra extra = {
-    .frame_id = frame_id,
-    .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(),
-    .timestamp_eof = ts,
-    .valid = valid,
-  };
-
-  assert(cap.sizeInBytes() >= buf->len);
-  uint8_t* dst = (uint8_t*)buf->addr;
-  uint8_t* src = cap.bits();
-
-  // RGB to greyscale
-  memset(dst, 128, buf->len);
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
-  }
-
-  vipc_server->send(buf, &extra);
-
-  // Send thumbnail
-  if (TEST_MODE) {
-    // Full image in thumbnails in test mode
-    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)cap.bits(), cap.sizeInBytes());
-    sendThumbnail(ts, buffer_kj);
-  } else if (frame_id % 100 == 0) {
-    // Write jpeg into buffer
-    QByteArray buffer_bytes;
-    QBuffer buffer(&buffer_bytes);
-    buffer.open(QIODevice::WriteOnly);
-    cap.save(&buffer, "JPG", 50);
-
-    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
-    sendThumbnail(ts, buffer_kj);
-  }
-
-  // Send state msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto state = evt.initMapRenderState();
-  evt.setValid(valid);
-  state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
-  state.setRenderTime(render_time);
-  state.setFrameId(frame_id);
-  pm->send("mapRenderState", msg);
-
-  frame_id++;
-}
-
-uint8_t* MapRenderer::getImage() {
-  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-
-  uint8_t* src = cap.bits();
-  uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
-
-  // RGB to greyscale
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
-  }
-
-  return dst;
-}
-
-void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
-  if (m_map.isNull()) return;
-  initLayers();
-
-  auto route_points = coordinate_list_to_collection(coordinates);
-  QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
-  QVariantMap navSource;
-  navSource["type"] = "geojson";
-  navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-  m_map->updateSource("navSource", navSource);
-  m_map->setLayoutProperty("navLayer", "visibility", "visible");
-}
-
-void MapRenderer::initLayers() {
-  if (!m_map->layerExists("navLayer")) {
-    LOGD("Initializing navLayer");
-    QVariantMap nav;
-    nav["type"] = "line";
-    nav["source"] = "navSource";
-    m_map->addLayer("navLayer", nav, "road-intersection");
-    m_map->setPaintProperty("navLayer", "line-color", QColor("grey"));
-    m_map->setPaintProperty("navLayer", "line-width", 5);
-    m_map->setLayoutProperty("navLayer", "line-cap", "round");
-  }
-}
-
-MapRenderer::~MapRenderer() {
-}
-
-extern "C" {
-  MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) {
-    char *argv[] = {
-      (char*)"navd",
-      nullptr
-    };
-    int argc = 0;
-    QApplication *app = new QApplication(argc, argv);
-    assert(app);
-
-    QMapLibre::Settings settings;
-    settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
-    settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host);
-    settings.setApiKey(token == nullptr ? get_mapbox_token() : token);
-
-    return new MapRenderer(settings, false);
-  }
-
-  void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
-    inst->updatePosition({lat, lon}, bearing);
-    QApplication::processEvents();
-  }
-
-  void map_renderer_update_route(MapRenderer *inst, char* polyline) {
-    inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline)));
-  }
-
-  void map_renderer_update(MapRenderer *inst) {
-    inst->update();
-  }
-
-  void map_renderer_process(MapRenderer *inst) {
-    QApplication::processEvents();
-  }
-
-  bool map_renderer_loaded(MapRenderer *inst) {
-    return inst->loaded();
-  }
-
-  uint8_t * map_renderer_get_image(MapRenderer *inst) {
-    return inst->getImage();
-  }
-
-  void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) {
-    delete[] buf;
-  }
-}
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
deleted file mode 100644
index 956c1d54bc..0000000000
--- a/selfdrive/navd/map_renderer.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#pragma once
-
-#include <memory>
-
-#include <QOpenGLContext>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <QTimer>
-#include <QGeoCoordinate>
-#include <QOpenGLBuffer>
-#include <QOffscreenSurface>
-#include <QOpenGLFunctions>
-#include <QOpenGLFramebufferObject>
-
-#include "msgq/visionipc/visionipc_server.h"
-#include "cereal/messaging/messaging.h"
-
-
-class MapRenderer : public QObject {
-  Q_OBJECT
-
-public:
-  MapRenderer(const QMapLibre::Settings &, bool online=true);
-  uint8_t* getImage();
-  void update();
-  bool loaded();
-  ~MapRenderer();
-
-private:
-  std::unique_ptr<QOpenGLContext> ctx;
-  std::unique_ptr<QOffscreenSurface> surface;
-  std::unique_ptr<QOpenGLFunctions> gl_functions;
-  std::unique_ptr<QOpenGLFramebufferObject> fbo;
-
-  std::unique_ptr<VisionIpcServer> vipc_server;
-  std::unique_ptr<PubMaster> pm;
-  std::unique_ptr<SubMaster> sm;
-  void publish(const double render_time, const bool loaded);
-  void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
-
-  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapLibre::Map> m_map;
-
-  void initLayers();
-
-  double start_render_t;
-  uint32_t frame_id = 0;
-  uint64_t last_llk_rendered = 0;
-  bool rendering = false;
-  bool rendered() {
-    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
-  }
-
-  QTimer* timer;
-  bool ever_loaded = false;
-
-public slots:
-  void updatePosition(QMapLibre::Coordinate position, float bearing);
-  void updateRoute(QList<QGeoCoordinate> coordinates);
-  void msgUpdate();
-};
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
deleted file mode 100755
index e44b883436..0000000000
--- a/selfdrive/navd/map_renderer.py
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/env python3
-# You might need to uninstall the PyQt5 pip package to avoid conflicts
-
-import os
-import time
-import numpy as np
-import polyline
-from cffi import FFI
-
-from openpilot.common.ffi_wrapper import suffix
-from openpilot.common.basedir import BASEDIR
-
-HEIGHT = WIDTH = SIZE = 256
-METERS_PER_PIXEL = 2
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("""
-void* map_renderer_init(char *maps_host, char *token);
-void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
-void map_renderer_update_route(void *inst, char *polyline);
-void map_renderer_update(void *inst);
-void map_renderer_process(void *inst);
-bool map_renderer_loaded(void *inst);
-uint8_t* map_renderer_get_image(void *inst);
-void map_renderer_free_image(void *inst, uint8_t *buf);
-""")
-  return ffi, ffi.dlopen(lib)
-
-
-def wait_ready(lib, renderer, timeout=None):
-  st = time.time()
-  while not lib.map_renderer_loaded(renderer):
-    lib.map_renderer_update(renderer)
-
-    # The main qt app is not execed, so we need to periodically process events for e.g. network requests
-    lib.map_renderer_process(renderer)
-
-    time.sleep(0.01)
-
-    if timeout is not None and time.time() - st > timeout:
-      raise TimeoutError("Timeout waiting for map renderer to be ready")
-
-
-def get_image(lib, renderer):
-  buf = lib.map_renderer_get_image(renderer)
-  r = list(buf[0:WIDTH * HEIGHT])
-  lib.map_renderer_free_image(renderer, buf)
-
-  # Convert to numpy
-  r = np.asarray(r)
-  return r.reshape((WIDTH, HEIGHT))
-
-
-def navRoute_to_polyline(nr):
-  coords = [(m.latitude, m.longitude) for m in nr.navRoute.coordinates]
-  return coords_to_polyline(coords)
-
-
-def coords_to_polyline(coords):
-  # TODO: where does this factor of 10 come from?
-  return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords])
-
-
-def polyline_to_coords(p):
-  coords = polyline.decode(p)
-  return [(lat / 10., lon / 10.) for lat, lon in coords]
-
-
-
-if __name__ == "__main__":
-  import matplotlib.pyplot as plt
-
-  ffi, lib = get_ffi()
-  renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
-  wait_ready(lib, renderer)
-
-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
-  lib.map_renderer_update_route(renderer, geometry.encode())
-
-  POSITIONS = [
-    (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45),  # San Diego
-    (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45),  # Amsterdam
-  ]
-  plt.figure()
-
-  for i, pos in enumerate(POSITIONS):
-    t = time.time()
-    lib.map_renderer_update_position(renderer, *pos)
-    wait_ready(lib, renderer)
-
-    print(f"{pos} took {time.time() - t:.2f} s")
-
-    plt.subplot(2, 2, i + 1)
-    plt.imshow(get_image(lib, renderer), cmap='gray')
-
-  plt.show()
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
deleted file mode 100755
index 8cfc495f27..0000000000
--- a/selfdrive/navd/navd.py
+++ /dev/null
@@ -1,368 +0,0 @@
-#!/usr/bin/env python3
-import json
-import math
-import os
-import threading
-
-import requests
-
-import cereal.messaging as messaging
-from cereal import log
-from openpilot.common.api import Api
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
-                                    distance_along_geometry, maxspeed_to_ms,
-                                    minimum_distance,
-                                    parse_banner_instructions)
-from openpilot.common.swaglog import cloudlog
-
-REROUTE_DISTANCE = 25
-MANEUVER_TRANSITION_THRESHOLD = 10
-REROUTE_COUNTER_MIN = 3
-
-
-class RouteEngine:
-  def __init__(self, sm, pm):
-    self.sm = sm
-    self.pm = pm
-
-    self.params = Params()
-
-    # Get last gps position from params
-    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
-    self.last_bearing = None
-
-    self.gps_ok = False
-    self.localizer_valid = False
-
-    self.nav_destination = None
-    self.step_idx = None
-    self.route = None
-    self.route_geometry = None
-
-    self.recompute_backoff = 0
-    self.recompute_countdown = 0
-
-    self.ui_pid = None
-
-    self.reroute_counter = 0
-
-
-    self.api = None
-    self.mapbox_token = None
-    if "MAPBOX_TOKEN" in os.environ:
-      self.mapbox_token = os.environ["MAPBOX_TOKEN"]
-      self.mapbox_host = "https://api.mapbox.com"
-    else:
-      self.api = Api(self.params.get("DongleId", encoding='utf8'))
-      self.mapbox_host = "https://maps.comma.ai"
-
-  def update(self):
-    self.sm.update(0)
-
-    if self.sm.updated["managerState"]:
-      ui_pid = [p.pid for p in self.sm["managerState"].processes if p.name == "ui" and p.running]
-      if ui_pid:
-        if self.ui_pid and self.ui_pid != ui_pid[0]:
-          cloudlog.warning("UI restarting, sending route")
-          threading.Timer(5.0, self.send_route).start()
-        self.ui_pid = ui_pid[0]
-
-    self.update_location()
-    try:
-      self.recompute_route()
-      self.send_instruction()
-    except Exception:
-      cloudlog.exception("navd.failed_to_compute")
-
-  def update_location(self):
-    location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
-
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
-
-    if self.localizer_valid:
-      self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
-      self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-
-  def recompute_route(self):
-    if self.last_position is None:
-      return
-
-    new_destination = coordinate_from_param("NavDestination", self.params)
-    if new_destination is None:
-      self.clear_route()
-      self.reset_recompute_limits()
-      return
-
-    should_recompute = self.should_recompute()
-    if new_destination != self.nav_destination:
-      cloudlog.warning(f"Got new destination from NavDestination param {new_destination}")
-      should_recompute = True
-
-    # Don't recompute when GPS drifts in tunnels
-    if not self.gps_ok and self.step_idx is not None:
-      return
-
-    if self.recompute_countdown == 0 and should_recompute:
-      self.recompute_countdown = 2**self.recompute_backoff
-      self.recompute_backoff = min(6, self.recompute_backoff + 1)
-      self.calculate_route(new_destination)
-      self.reroute_counter = 0
-    else:
-      self.recompute_countdown = max(0, self.recompute_countdown - 1)
-
-  def calculate_route(self, destination):
-    cloudlog.warning(f"Calculating route {self.last_position} -> {destination}")
-    self.nav_destination = destination
-
-    lang = self.params.get('LanguageSetting', encoding='utf8')
-    if lang is not None:
-      lang = lang.replace('main_', '')
-
-    token = self.mapbox_token
-    if token is None:
-      token = self.api.get_token()
-
-    params = {
-      'access_token': token,
-      'annotations': 'maxspeed',
-      'geometries': 'geojson',
-      'overview': 'full',
-      'steps': 'true',
-      'banner_instructions': 'true',
-      'alternatives': 'false',
-      'language': lang,
-    }
-
-    # TODO: move waypoints into NavDestination param?
-    waypoints = self.params.get('NavDestinationWaypoints', encoding='utf8')
-    waypoint_coords = []
-    if waypoints is not None and len(waypoints) > 0:
-      waypoint_coords = json.loads(waypoints)
-
-    coords = [
-      (self.last_position.longitude, self.last_position.latitude),
-      *waypoint_coords,
-      (destination.longitude, destination.latitude)
-    ]
-    params['waypoints'] = f'0;{len(coords)-1}'
-    if self.last_bearing is not None:
-      params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90" + (';'*(len(coords)-1))
-
-    coords_str = ';'.join([f'{lon},{lat}' for lon, lat in coords])
-    url = self.mapbox_host + '/directions/v5/mapbox/driving-traffic/' + coords_str
-    try:
-      resp = requests.get(url, params=params, timeout=10)
-      if resp.status_code != 200:
-        cloudlog.event("API request failed", status_code=resp.status_code, text=resp.text, error=True)
-      resp.raise_for_status()
-
-      r = resp.json()
-      if len(r['routes']):
-        self.route = r['routes'][0]['legs'][0]['steps']
-        self.route_geometry = []
-
-        maxspeed_idx = 0
-        maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed']
-
-        # Convert coordinates
-        for step in self.route:
-          coords = []
-
-          for c in step['geometry']['coordinates']:
-            coord = Coordinate.from_mapbox_tuple(c)
-
-            # Last step does not have maxspeed
-            if (maxspeed_idx < len(maxspeeds)):
-              maxspeed = maxspeeds[maxspeed_idx]
-              if ('unknown' not in maxspeed) and ('none' not in maxspeed):
-                coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeed)
-
-            coords.append(coord)
-            maxspeed_idx += 1
-
-          self.route_geometry.append(coords)
-          maxspeed_idx -= 1  # Every segment ends with the same coordinate as the start of the next
-
-        self.step_idx = 0
-      else:
-        cloudlog.warning("Got empty route response")
-        self.clear_route()
-
-      # clear waypoints to avoid a re-route including past waypoints
-      # TODO: only clear once we're past a waypoint
-      self.params.remove('NavDestinationWaypoints')
-
-    except requests.exceptions.RequestException:
-      cloudlog.exception("failed to get route")
-      self.clear_route()
-
-    self.send_route()
-
-  def send_instruction(self):
-    msg = messaging.new_message('navInstruction', valid=True)
-
-    if self.step_idx is None:
-      msg.valid = False
-      self.pm.send('navInstruction', msg)
-      return
-
-    step = self.route[self.step_idx]
-    geometry = self.route_geometry[self.step_idx]
-    along_geometry = distance_along_geometry(geometry, self.last_position)
-    distance_to_maneuver_along_geometry = step['distance'] - along_geometry
-
-    # Banner instructions are for the following maneuver step, don't use empty last step
-    banner_step = step
-    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
-      banner_step = self.route[max(self.step_idx - 1, 0)]
-
-    # Current instruction
-    msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
-    instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
-    if instruction is not None:
-      for k,v in instruction.items():
-        setattr(msg.navInstruction, k, v)
-
-    # All instructions
-    maneuvers = []
-    for i, step_i in enumerate(self.route):
-      if i < self.step_idx:
-        distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry
-      elif i == self.step_idx:
-        distance_to_maneuver = distance_to_maneuver_along_geometry
-      else:
-        distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1))
-
-      instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver)
-      if instruction is None:
-        continue
-      maneuver = {'distance': distance_to_maneuver}
-      if 'maneuverType' in instruction:
-        maneuver['type'] = instruction['maneuverType']
-      if 'maneuverModifier' in instruction:
-        maneuver['modifier'] = instruction['maneuverModifier']
-      maneuvers.append(maneuver)
-
-    msg.navInstruction.allManeuvers = maneuvers
-
-    # Compute total remaining time and distance
-    remaining = 1.0 - along_geometry / max(step['distance'], 1)
-    total_distance = step['distance'] * remaining
-    total_time = step['duration'] * remaining
-
-    if step['duration_typical'] is None:
-      total_time_typical = total_time
-    else:
-      total_time_typical = step['duration_typical'] * remaining
-
-    # Add up totals for future steps
-    for i in range(self.step_idx + 1, len(self.route)):
-      total_distance += self.route[i]['distance']
-      total_time += self.route[i]['duration']
-      if self.route[i]['duration_typical'] is None:
-        total_time_typical += self.route[i]['duration']
-      else:
-        total_time_typical += self.route[i]['duration_typical']
-
-    msg.navInstruction.distanceRemaining = total_distance
-    msg.navInstruction.timeRemaining = total_time
-    msg.navInstruction.timeRemainingTypical = total_time_typical
-
-    # Speed limit
-    closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position))
-    if closest_idx > 0:
-      # If we are not past the closest point, show previous
-      if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
-        closest = geometry[closest_idx - 1]
-
-    if ('maxspeed' in closest.annotations) and self.localizer_valid:
-      msg.navInstruction.speedLimit = closest.annotations['maxspeed']
-
-    # Speed limit sign type
-    if 'speedLimitSign' in step:
-      if step['speedLimitSign'] == 'mutcd':
-        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd
-      elif step['speedLimitSign'] == 'vienna':
-        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna
-
-    self.pm.send('navInstruction', msg)
-
-    # Transition to next route segment
-    if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD:
-      if self.step_idx + 1 < len(self.route):
-        self.step_idx += 1
-        self.reset_recompute_limits()
-      else:
-        cloudlog.warning("Destination reached")
-
-        # Clear route if driving away from destination
-        dist = self.nav_destination.distance_to(self.last_position)
-        if dist > REROUTE_DISTANCE:
-          self.params.remove("NavDestination")
-          self.clear_route()
-
-  def send_route(self):
-    coords = []
-
-    if self.route is not None:
-      for path in self.route_geometry:
-        coords += [c.as_dict() for c in path]
-
-    msg = messaging.new_message('navRoute', valid=True)
-    msg.navRoute.coordinates = coords
-    self.pm.send('navRoute', msg)
-
-  def clear_route(self):
-    self.route = None
-    self.route_geometry = None
-    self.step_idx = None
-    self.nav_destination = None
-
-  def reset_recompute_limits(self):
-    self.recompute_backoff = 0
-    self.recompute_countdown = 0
-
-  def should_recompute(self):
-    if self.step_idx is None or self.route is None:
-      return True
-
-    # Don't recompute in last segment, assume destination is reached
-    if self.step_idx == len(self.route) - 1:
-      return False
-
-    # Compute closest distance to all line segments in the current path
-    min_d = REROUTE_DISTANCE + 1
-    path = self.route_geometry[self.step_idx]
-    for i in range(len(path) - 1):
-      a = path[i]
-      b = path[i + 1]
-
-      if a.distance_to(b) < 1.0:
-        continue
-
-      min_d = min(min_d, minimum_distance(a, b, self.last_position))
-
-    if min_d > REROUTE_DISTANCE:
-      self.reroute_counter += 1
-    else:
-      self.reroute_counter = 0
-    return self.reroute_counter > REROUTE_COUNTER_MIN
-    # TODO: Check for going wrong way in segment
-
-
-def main():
-  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
-
-  rk = Ratekeeper(1.0)
-  route_engine = RouteEngine(sm, pm)
-  while True:
-    route_engine.update()
-    rk.keep_time()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py
deleted file mode 100755
index 811aa576d1..0000000000
--- a/selfdrive/navd/set_destination.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import json
-import sys
-
-from openpilot.common.params import Params
-
-if __name__ == "__main__":
-  params = Params()
-
-  # set from google maps url
-  if len(sys.argv) > 1:
-    coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",")
-    dest = {
-      "latitude": float(coords[0]),
-      "longitude": float(coords[1])
-    }
-    params.put("NavDestination", json.dumps(dest))
-    params.remove("NavDestinationWaypoints")
-  else:
-    print("Setting to Taco Bell")
-    dest = {
-      "latitude": 32.71160109904473,
-      "longitude": -117.12556569985693,
-    }
-    params.put("NavDestination", json.dumps(dest))
-
-    waypoints = [
-      (-117.16020713111648, 32.71997612490662),
-    ]
-    params.put("NavDestinationWaypoints", json.dumps(waypoints))
-
-    print(dest)
-    print(waypoints)
diff --git a/selfdrive/navd/style.json b/selfdrive/navd/style.json
deleted file mode 100644
index 06bb750d1f..0000000000
--- a/selfdrive/navd/style.json
+++ /dev/null
@@ -1 +0,0 @@
-{"version": 8, "name": "Navigation Model", "metadata": {"mapbox:type": "default", "mapbox:origin": "monochrome-dark-v1", "mapbox:sdk-support": {"android": "10.0.0", "ios": "10.0.0", "js": "2.3.0"}, "mapbox:autocomposite": true, "mapbox:groups": {"Transit, transit-labels": {"name": "Transit, transit-labels", "collapsed": true}, "Administrative boundaries, admin": {"name": "Administrative boundaries, admin", "collapsed": true}, "Transit, bridges": {"name": "Transit, bridges", "collapsed": true}, "Transit, surface": {"name": "Transit, surface", "collapsed": true}, "Road network, bridges": {"name": "Road network, bridges", "collapsed": false}, "Land, water, & sky, water": {"name": "Land, water, & sky, water", "collapsed": true}, "Road network, tunnels": {"name": "Road network, tunnels", "collapsed": false}, "Road network, road-labels": {"name": "Road network, road-labels", "collapsed": true}, "Buildings, built": {"name": "Buildings, built", "collapsed": true}, "Natural features, natural-labels": {"name": "Natural features, natural-labels", "collapsed": true}, "Road network, surface": {"name": "Road network, surface", "collapsed": false}, "Land, water, & sky, built": {"name": "Land, water, & sky, built", "collapsed": true}, "Place labels, place-labels": {"name": "Place labels, place-labels", "collapsed": true}, "Point of interest labels, poi-labels": {"name": "Point of interest labels, poi-labels", "collapsed": true}, "Road network, tunnels-case": {"name": "Road network, tunnels-case", "collapsed": true}, "Transit, built": {"name": "Transit, built", "collapsed": true}, "Road network, surface-icons": {"name": "Road network, surface-icons", "collapsed": false}, "Land, water, & sky, land": {"name": "Land, water, & sky, land", "collapsed": true}}}, "center": [-117.19189443261149, 32.756553679559985], "zoom": 12.932776547838778, "bearing": 0, "pitch": 0.5017568344510897, "sources": {"composite": {"url": "mapbox://mapbox.mapbox-streets-v8", "type": "vector", "maxzoom": 13}}, "sprite": "mapbox://sprites/commaai/ckvmksrpd4n0a14pfdo5heqzr/bkx9h9tjdf3xedbnjvfo5xnbv", "glyphs": "mapbox://fonts/mapbox/{fontstack}/{range}.pbf", "layers": [{"id": "land", "type": "background", "layout": {"visibility": "none"}, "paint": {"background-color": "rgb(252, 252, 252)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["==", ["get", "class"], "national_park"], "type": "fill", "source": "composite", "id": "national-park", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, 0.5, 10, 0.5]}, "source-layer": "landuse_overlay"}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["match", ["get", "class"], ["park", "airport", "glacier", "pitch", "sand", "facility"], true, false], "type": "fill", "source": "composite", "id": "landuse", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, ["match", ["get", "class"], "glacier", 0.5, 1]]}, "source-layer": "landuse"}, {"id": "waterway-shadow", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(204, 204, 204)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "line-translate-anchor": "viewport", "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water-shadow", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(204, 204, 204)", "fill-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "fill-translate-anchor": "viewport"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "waterway", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(224, 224, 224)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(224, 224, 224)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["==", ["get", "class"], "land"]], "type": "fill", "source": "composite", "id": "land-structure-polygon", "paint": {"fill-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 13, "layout": {"line-cap": "round", "visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "LineString"], ["==", ["get", "class"], "land"]], "type": "line", "source": "composite", "id": "land-structure-line", "paint": {"line-width": ["interpolate", ["exponential", 1.99], ["zoom"], 14, 0.75, 20, 40], "line-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 11, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["match", ["get", "type"], ["runway", "taxiway", "helipad"], true, false]], "type": "fill", "source": "composite", "id": "aeroway-polygon", "paint": {"fill-color": "rgb(255, 255, 255)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 11, 0, 11.5, 1]}, "source-layer": "aeroway"}, {"minzoom": 9, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["==", ["geometry-type"], "LineString"], "type": "line", "source": "composite", "id": "aeroway-line", "paint": {"line-color": "rgb(255, 255, 255)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 9, ["match", ["get", "type"], "runway", 1, 0.5], 18, ["match", ["get", "type"], "runway", 80, 20]]}, "source-layer": "aeroway"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "line", "source": "composite", "id": "building-outline", "paint": {"line-color": "rgb(227, 227, 227)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 15, 0.75, 20, 3], "line-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1]}, "source-layer": "building"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "fill", "source": "composite", "id": "building", "paint": {"fill-color": ["interpolate", ["linear"], ["zoom"], 15, "rgb(242, 242, 242)", 16, "rgb(242, 242, 242)"], "fill-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1], "fill-outline-color": "rgb(227, 227, 227)"}, "source-layer": "building"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-low", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-color": "rgb(235, 235, 235)", "line-opacity": ["step", ["zoom"], 1, 14, 0]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-opacity": ["step", ["zoom"], 0, 14, 1], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["primary", "secondary", "tertiary"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-primary-secondary-tertiary-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, ["match", ["get", "class"], "primary", 1, 0.75], 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, ["match", ["get", "class"], "primary", 0.75, 0.1], 18, ["match", ["get", "class"], "primary", 32, 26]], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway", "trunk"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-motorway-trunk-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, 1, 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, 0.75, 18, 32], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["==", ["get", "class"], "construction"], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-construction", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 14, 2, 18, 18], "line-color": "rgb(235, 235, 235)", "line-dasharray": ["step", ["zoom"], ["literal", [0.4, 0.8]], 15, ["literal", [0.3, 0.6]], 16, ["literal", [0.2, 0.3]], 17, ["literal", [0.2, 0.25]], 18, ["literal", [0.15, 0.15]]]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-color": "rgb(235, 235, 235)"}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-color": "rgb(235, 235, 235)", "line-opacity": ["step", ["zoom"], 0, 14, 1]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["primary", "secondary", "tertiary"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-primary-secondary-tertiary", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, ["match", ["get", "class"], "primary", 0.75, 0.1], 18, ["match", ["get", "class"], "primary", 32, 26]], "line-color": "rgb(235, 235, 235)"}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway", "trunk"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-motorway-trunk", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, 0.75, 18, 32], "line-color": "rgb(235, 235, 235)"}, "source-layer": "road"}, {"minzoom": 13, "layout": {"icon-image": "turning-circle-outline", "icon-size": ["interpolate", ["exponential", 1.5], ["zoom"], 14, 0.122, 18, 0.969, 20, 1], "icon-allow-overlap": true, "icon-ignore-placement": true, "icon-padding": 0, "icon-rotation-alignment": "map", "visibility": "none"}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, surface"}, "filter": ["all", ["==", ["geometry-type"], "Point"], ["match", ["get", "class"], ["turning_circle", "turning_loop"], true, false]], "type": "symbol", "source": "composite", "id": "turning-feature-outline", "paint": {}, "source-layer": "road"}, {"minzoom": 13, "layout": {"line-cap": ["step", ["zoom"], "butt", 14, "round"], "line-join": ["step", ["zoom"], "miter", 14, "round"]}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, surface"}, "filter": ["all", ["step", ["zoom"], ["==", ["get", "class"], "track"], 1, ["match", ["get", "class"], ["track", "secondary_link", "tertiary_link", "service"], true, false]], ["match", ["get", "structure"], ["none", "ford"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": 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"composite", "id": "country-label", "paint": {"icon-opacity": ["step", ["zoom"], ["case", ["has", "text_anchor"], 1, 0], 7, 0], "text-color": "rgb(128, 128, 128)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1.25}, "source-layer": "place_label"}], "created": "2021-11-05T16:12:04.822Z", "modified": "2021-11-25T13:58:04.167Z", "id": "ckvmksrpd4n0a14pfdo5heqzr", "owner": "commaai", "visibility": "private", "protected": false, "draft": false}
\ No newline at end of file
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
deleted file mode 100644
index 04363883b2..0000000000
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ /dev/null
@@ -1,212 +0,0 @@
-import time
-import numpy as np
-import os
-import pytest
-import requests
-import threading
-import http.server
-import cereal.messaging as messaging
-
-from typing import Any
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman
-from openpilot.selfdrive.test.helpers import with_processes
-
-CACHE_PATH = "/data/mbgl-cache-navd.db"
-
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
-LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
-
-
-class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
-  INTERNET_ACTIVE = True
-
-  def do_GET(self):
-    if not self.INTERNET_ACTIVE:
-      self.send_response(500)
-      self.end_headers()
-      return
-
-    url = f'https://api.mapbox.com{self.path}'
-
-    headers = dict(self.headers)
-    headers["Host"] = "api.mapbox.com"
-
-    r = requests.get(url, headers=headers, timeout=5)
-
-    self.send_response(r.status_code)
-    self.end_headers()
-    self.wfile.write(r.content)
-
-  def log_message(self, *args: Any) -> None:
-    return
-
-  def log_error(self, *args: Any) -> None:
-    return
-
-
-class MapBoxInternetDisabledServer(threading.Thread):
-  def run(self):
-    self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
-    self.port = self.server.server_port
-    self.server.serve_forever()
-
-  def stop(self):
-    self.server.shutdown()
-
-  def disable_internet(self):
-    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
-
-  def enable_internet(self):
-    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
-
-
-@pytest.mark.skip(reason="not used")
-class TestMapRenderer:
-  server: MapBoxInternetDisabledServer
-
-  @classmethod
-  def setup_class(cls):
-    assert "MAPBOX_TOKEN" in os.environ
-    cls.original_token = os.environ["MAPBOX_TOKEN"]
-    cls.server = MapBoxInternetDisabledServer()
-    cls.server.start()
-    time.sleep(0.5) # wait for server to startup
-
-  @classmethod
-  def teardown_class(cls) -> None:
-    cls.server.stop()
-
-  def setup_method(self):
-    self.server.enable_internet()
-    os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
-
-    self.sm = messaging.SubMaster(['mapRenderState'])
-    self.pm = messaging.PubMaster(['liveLocationKalman'])
-    self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
-
-    if os.path.exists(CACHE_PATH):
-      os.remove(CACHE_PATH)
-
-  def _setup_test(self):
-    assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
-
-    time.sleep(0.5)
-
-    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
-    assert self.vipc.connect(False)
-    self.vipc.recv()
-
-  def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
-    starting_frame_id = None
-
-    render_times = []
-
-    # run test
-    prev_frame_id = -1
-    for i, location in enumerate(locations):
-      frame_expected = (i+1) % LLK_DECIMATION == 0
-
-      if self.sm.logMonoTime['mapRenderState'] == 0:
-        prev_valid = False
-        prev_frame_id = -1
-      else:
-        prev_valid = self.sm.valid['mapRenderState']
-        prev_frame_id = self.sm['mapRenderState'].frameId
-
-      if starting_frame_id is None:
-        starting_frame_id = prev_frame_id
-
-      llk = generate_liveLocationKalman(location)
-      self.pm.send("liveLocationKalman", llk)
-      self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
-      self.sm.update(1000 if frame_expected else 0)
-      assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
-
-      if not frame_expected:
-        continue
-
-      frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id
-
-      # give a few frames to switch from valid to invalid, or vice versa
-      invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
-      valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
-
-      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 20:
-        continue
-
-      # check output
-      assert self.sm.valid['mapRenderState'] == expect_valid
-      assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
-      assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
-      if not expect_valid:
-        assert self.sm['mapRenderState'].renderTime == 0.
-      else:
-        assert 0. < self.sm['mapRenderState'].renderTime < 0.1
-        render_times.append(self.sm['mapRenderState'].renderTime)
-
-      # check vision ipc output
-      assert self.vipc.recv() is not None
-      assert self.vipc.valid == expect_valid
-      assert self.vipc.timestamp_sof == llk.logMonoTime
-      assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
-
-    assert frames_since_test_start >= RENDER_FRAMES
-
-    return render_times
-
-  @with_processes(["mapsd"])
-  def test_with_internet(self):
-    self._setup_test()
-    self._run_test(True)
-
-  @with_processes(["mapsd"])
-  def test_with_no_internet(self):
-    self.server.disable_internet()
-    self._setup_test()
-    self._run_test(False)
-
-  @with_processes(["mapsd"])
-  @pytest.mark.skip(reason="slow, flaky, and unlikely to break")
-  def test_recover_from_no_internet(self):
-    self._setup_test()
-    self._run_test(True)
-
-    self.server.disable_internet()
-
-    # change locations to force mapsd to refetch
-    self._run_test(False, LOCATION2_REPEATED)
-
-    self.server.enable_internet()
-    self._run_test(True, LOCATION2_REPEATED)
-
-  @with_processes(["mapsd"])
-  @pytest.mark.tici
-  def test_render_time_distribution(self):
-    self._setup_test()
-    # from location1 -> location2 and back
-    locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
-
-    render_times = self._run_test(True, locations)
-
-    _min = np.min(render_times)
-    _max = np.max(render_times)
-    _mean = np.mean(render_times)
-    _median = np.median(render_times)
-    _stddev = np.std(render_times)
-
-    print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
-
-    def assert_stat(stat, nominal, tol=0.3):
-      tol = (nominal / (1+tol)), (nominal * (1+tol))
-      assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}"
-
-    assert_stat(_mean,   0.030)
-    assert_stat(_median, 0.027)
-    assert_stat(_stddev, 0.0078)
-
-    assert _max < 0.065
-    assert _min > 0.015
-
diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py
deleted file mode 100644
index b6580acff1..0000000000
--- a/selfdrive/navd/tests/test_navd.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import json
-import random
-import numpy as np
-
-from parameterized import parameterized
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestNavd:
-  def setup_method(self):
-    self.params = Params()
-    self.sm = messaging.SubMaster(['navRoute', 'navInstruction'])
-
-  def teardown_method(self):
-    managed_processes['navd'].stop()
-
-  def _check_route(self, start, end, check_coords=True):
-    self.params.put("NavDestination", json.dumps(end))
-    self.params.put("LastGPSPosition", json.dumps(start))
-
-    managed_processes['navd'].start()
-    for _ in range(30):
-      self.sm.update(1000)
-      if all(f > 0 for f in self.sm.recv_frame.values()):
-        break
-    else:
-      raise Exception("didn't get a route")
-
-    assert managed_processes['navd'].proc.is_alive()
-    managed_processes['navd'].stop()
-
-    # ensure start and end match up
-    if check_coords:
-      coords = self.sm['navRoute'].coordinates
-      assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']],
-                         [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude],
-                         rtol=1e-3)
-
-  def test_simple(self):
-    start = {
-      "latitude": 32.7427228,
-      "longitude": -117.2321177,
-    }
-    end = {
-      "latitude": 32.7557004,
-      "longitude": -117.268002,
-    }
-    self._check_route(start, end)
-
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_random(self, index):
-    start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-    end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-    self._check_route(start, end, check_coords=False)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7b44a3b80e..7574a5e4ab 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -60,7 +60,6 @@ PROCS = {
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
-  "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": (0.5, 15.0),
   "system.loggerd.deleter": 0.1,
 }
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index e4fb32586d..8b268b9e84 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -8,8 +8,6 @@ base_libs = [common, messaging, visionipc, transformations,
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL
-
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
@@ -24,13 +22,6 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
 
-qt_env['CPPDEFINES'] = []
-if maps:
-  base_libs += ['QMapLibre']
-  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
-                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
-  qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
-
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 9dbe7cbae3..c510087e8e 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -9,10 +9,6 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#endif
-
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
@@ -145,13 +141,17 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     home_layout->setContentsMargins(0, 0, 0, 0);
     home_layout->setSpacing(30);
 
-    // left: MapSettings/PrimeAdWidget
+    // left: PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
-#ifdef ENABLE_MAPS
-    left_widget->addWidget(new MapSettings);
-#else
-    left_widget->addWidget(new QWidget);
-#endif
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
     left_widget->addWidget(new PrimeAdWidget);
     left_widget->setStyleSheet("border-radius: 10px;");
 
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
deleted file mode 100644
index 490eb118ca..0000000000
--- a/selfdrive/ui/qt/maps/map.cc
+++ /dev/null
@@ -1,390 +0,0 @@
-#include "selfdrive/ui/qt/maps/map.h"
-
-#include <algorithm>
-#include <eigen3/Eigen/Dense>
-
-#include <QDebug>
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/ui.h"
-
-
-const int INTERACTION_TIMEOUT = 100;
-
-const float MAX_ZOOM = 17;
-const float MIN_ZOOM = 14;
-const float MAX_PITCH = 50;
-const float MIN_PITCH = 0;
-const float MAP_SCALE = 2;
-
-MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
-
-  map_overlay = new QWidget (this);
-  map_overlay->setAttribute(Qt::WA_TranslucentBackground, true);
-  QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay);
-  overlay_layout->setContentsMargins(0, 0, 0, 0);
-
-  // Instructions
-  map_instructions = new MapInstructions(this);
-  map_instructions->setVisible(false);
-
-  map_eta = new MapETA(this);
-  map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
-  map_eta->setFixedHeight(120);
-
-  error = new QLabel(this);
-  error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)");
-  error->setAlignment(Qt::AlignCenter);
-
-  overlay_layout->addWidget(error);
-  overlay_layout->addWidget(map_instructions);
-  overlay_layout->addStretch(1);
-  overlay_layout->addWidget(map_eta);
-
-  last_position = coordinate_from_param("LastGPSPosition");
-  grabGesture(Qt::GestureType::PinchGesture);
-  qDebug() << "MapWindow initialized";
-}
-
-MapWindow::~MapWindow() {
-  makeCurrent();
-}
-
-void MapWindow::initLayers() {
-  // This doesn't work from initializeGL
-  if (!m_map->layerExists("modelPathLayer")) {
-    qDebug() << "Initializing modelPathLayer";
-    QVariantMap modelPath;
-    //modelPath["id"] = "modelPathLayer";
-    modelPath["type"] = "line";
-    modelPath["source"] = "modelPathSource";
-    m_map->addLayer("modelPathLayer", modelPath);
-    m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red"));
-    m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
-    m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
-  }
-  if (!m_map->layerExists("navLayer")) {
-    qDebug() << "Initializing navLayer";
-    QVariantMap nav;
-    nav["type"] = "line";
-    nav["source"] = "navSource";
-    m_map->addLayer("navLayer", nav, "road-intersection");
-
-    QVariantMap transition;
-    transition["duration"] = 400;  // ms
-    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
-    m_map->setPaintProperty("navLayer", "line-color-transition", transition);
-    m_map->setPaintProperty("navLayer", "line-width", 7.5);
-    m_map->setLayoutProperty("navLayer", "line-cap", "round");
-  }
-  if (!m_map->layerExists("pinLayer")) {
-    qDebug() << "Initializing pinLayer";
-    m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
-    QVariantMap pin;
-    pin["type"] = "symbol";
-    pin["source"] = "pinSource";
-    m_map->addLayer("pinLayer", pin);
-    m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
-    m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
-    m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
-    m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true);
-    m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0);
-    m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom");
-  }
-  if (!m_map->layerExists("carPosLayer")) {
-    qDebug() << "Initializing carPosLayer";
-    m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
-
-    QVariantMap carPos;
-    carPos["type"] = "symbol";
-    carPos["source"] = "carPosSource";
-    m_map->addLayer("carPosLayer", carPos);
-    m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map");
-    m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow");
-    m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
-    m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
-    m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
-    // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
-    m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
-  }
-}
-
-void MapWindow::updateState(const UIState &s) {
-  if (!uiState()->scene.started) {
-    return;
-  }
-  const SubMaster &sm = *(s.sm);
-  update();
-
-  // on rising edge of a valid system time, reinitialize the map to set a new token
-  if (sm.valid("clocks") && !prev_time_valid) {
-    LOGW("Time is now valid, reinitializing map");
-    m_settings.setApiKey(get_mapbox_token());
-    initializeGL();
-  }
-  prev_time_valid = sm.valid("clocks");
-
-  if (sm.updated("liveLocationKalman")) {
-    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto locationd_pos = locationd_location.getPositionGeodetic();
-    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
-    auto locationd_velocity = locationd_location.getVelocityCalibrated();
-    auto locationd_ecef = locationd_location.getPositionECEF();
-
-    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid());
-    if (locationd_valid) {
-      // Check std norm
-      auto pos_ecef_std = locationd_ecef.getStd();
-      bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
-      locationd_valid = pos_accurate_enough;
-    }
-
-    if (locationd_valid) {
-      last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
-      last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
-      velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0]));
-    }
-  }
-
-  if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
-    auto nav_dest = coordinate_from_param("NavDestination");
-    bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
-                      nav_dest && !isVisible();
-    qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
-
-    // Show map on destination set/change
-    if (allow_open) {
-      emit requestSettings(false);
-      emit requestVisible(true);
-    }
-  }
-
-  loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());
-  if (!loaded_once) {
-    setError(tr("Map Loading"));
-    return;
-  }
-  initLayers();
-
-  if (!locationd_valid) {
-    setError(tr("Waiting for GPS"));
-  } else if (routing_problem) {
-    setError(tr("Waiting for route"));
-  } else {
-    setError("");
-  }
-
-  if (locationd_valid) {
-    // Update current location marker
-    auto point = coordinate_to_collection(*last_position);
-    QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {});
-    QVariantMap carPosSource;
-    carPosSource["type"] = "geojson";
-    carPosSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature1);
-    m_map->updateSource("carPosSource", carPosSource);
-
-    // Map bearing isn't updated when interacting, keep location marker up to date
-    if (last_bearing) {
-      m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing());
-    }
-  }
-
-  if (interaction_counter == 0) {
-    if (last_position) m_map->setCoordinate(*last_position);
-    if (last_bearing) m_map->setBearing(*last_bearing);
-    m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  } else {
-    interaction_counter--;
-  }
-
-  if (sm.updated("navInstruction")) {
-    // an invalid navInstruction packet with a nav destination is only possible if:
-    // - API exception/no internet
-    // - route response is empty
-    // - any time navd is waiting for recompute_countdown
-    routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value();
-
-    if (sm.valid("navInstruction")) {
-      auto i = sm["navInstruction"].getNavInstruction();
-      map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
-
-      if (locationd_valid) {
-        m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
-        map_instructions->updateInstructions(i);
-      }
-    } else {
-      clearRoute();
-    }
-  }
-
-  if (sm.rcv_frame("navRoute") != route_rcv_frame) {
-    qWarning() << "Updating navLayer with new route";
-    auto route = sm["navRoute"].getNavRoute();
-    auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
-    QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
-    QVariantMap navSource;
-    navSource["type"] = "geojson";
-    navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-    m_map->updateSource("navSource", navSource);
-    m_map->setLayoutProperty("navLayer", "visibility", "visible");
-
-    route_rcv_frame = sm.rcv_frame("navRoute");
-    updateDestinationMarker();
-  }
-}
-
-void MapWindow::setError(const QString &err_str) {
-  if (err_str != error->text()) {
-    error->setText(err_str);
-    error->setVisible(!err_str.isEmpty());
-    if (!err_str.isEmpty()) map_instructions->setVisible(false);
-  }
-}
-
-void MapWindow::resizeGL(int w, int h) {
-  m_map->resize(size() / MAP_SCALE);
-  map_overlay->setFixedSize(width(), height());
-}
-
-void MapWindow::initializeGL() {
-  m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1));
-
-  if (last_position) {
-    m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
-  } else {
-    m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
-  }
-
-  m_map->setMargins({0, 350, 0, 50});
-  m_map->setPitch(MIN_PITCH);
-  m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
-    // set global animation duration to 0 ms so visibility changes are instant
-    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) {
-      m_map->setTransitionOptions(0, 0);
-    }
-    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) {
-      loaded_once = true;
-    }
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
-    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
-  });
-}
-
-void MapWindow::paintGL() {
-  if (!isVisible() || m_map.isNull()) return;
-  m_map->render();
-}
-
-void MapWindow::clearRoute() {
-  if (!m_map.isNull()) {
-    m_map->setLayoutProperty("navLayer", "visibility", "none");
-    m_map->setPitch(MIN_PITCH);
-    updateDestinationMarker();
-  }
-
-  map_instructions->setVisible(false);
-  map_eta->setVisible(false);
-  last_valid_nav_dest = std::nullopt;
-}
-
-void MapWindow::mousePressEvent(QMouseEvent *ev) {
-  m_lastPos = ev->localPos();
-  ev->accept();
-}
-
-void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
-  if (last_position) m_map->setCoordinate(*last_position);
-  if (last_bearing) m_map->setBearing(*last_bearing);
-  m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  update();
-
-  interaction_counter = 0;
-}
-
-void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
-  QPointF delta = ev->localPos() - m_lastPos;
-
-  if (!delta.isNull()) {
-    interaction_counter = INTERACTION_TIMEOUT;
-    m_map->moveBy(delta / MAP_SCALE);
-    update();
-  }
-
-  m_lastPos = ev->localPos();
-  ev->accept();
-}
-
-void MapWindow::wheelEvent(QWheelEvent *ev) {
-  if (ev->orientation() == Qt::Horizontal) {
-      return;
-  }
-
-  float factor = ev->delta() / 1200.;
-  if (ev->delta() < 0) {
-      factor = factor > -1 ? factor : 1 / factor;
-  }
-
-  m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
-  update();
-
-  interaction_counter = INTERACTION_TIMEOUT;
-  ev->accept();
-}
-
-bool MapWindow::event(QEvent *event) {
-  if (event->type() == QEvent::Gesture) {
-    return gestureEvent(static_cast<QGestureEvent*>(event));
-  }
-
-  return QWidget::event(event);
-}
-
-bool MapWindow::gestureEvent(QGestureEvent *event) {
-  if (QGesture *pinch = event->gesture(Qt::PinchGesture)) {
-    pinchTriggered(static_cast<QPinchGesture *>(pinch));
-  }
-  return true;
-}
-
-void MapWindow::pinchTriggered(QPinchGesture *gesture) {
-  QPinchGesture::ChangeFlags changeFlags = gesture->changeFlags();
-  if (changeFlags & QPinchGesture::ScaleFactorChanged) {
-    // TODO: figure out why gesture centerPoint doesn't work
-    m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE});
-    update();
-    interaction_counter = INTERACTION_TIMEOUT;
-  }
-}
-
-void MapWindow::offroadTransition(bool offroad) {
-  if (offroad) {
-    clearRoute();
-    routing_problem = false;
-  } else {
-    auto dest = coordinate_from_param("NavDestination");
-    emit requestVisible(dest.has_value());
-  }
-  last_bearing = {};
-}
-
-void MapWindow::updateDestinationMarker() {
-  auto nav_dest = coordinate_from_param("NavDestination");
-  if (nav_dest.has_value()) {
-    auto point = coordinate_to_collection(*nav_dest);
-    QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {});
-    QVariantMap pinSource;
-    pinSource["type"] = "geojson";
-    pinSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-    m_map->updateSource("pinSource", pinSource);
-    m_map->setPaintProperty("pinLayer", "visibility", "visible");
-  } else {
-    m_map->setPaintProperty("pinLayer", "visibility", "none");
-  }
-}
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
deleted file mode 100644
index 31a44f27b1..0000000000
--- a/selfdrive/ui/qt/maps/map.h
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include <optional>
-
-#include <QGeoCoordinate>
-#include <QGestureEvent>
-#include <QLabel>
-#include <QMap>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <QMouseEvent>
-#include <QOpenGLWidget>
-#include <QPixmap>
-#include <QPushButton>
-#include <QScopedPointer>
-#include <QString>
-#include <QVBoxLayout>
-#include <QWheelEvent>
-
-#include "cereal/messaging/messaging.h"
-#include "common/params.h"
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/maps/map_eta.h"
-#include "selfdrive/ui/qt/maps/map_instructions.h"
-
-class MapWindow : public QOpenGLWidget {
-  Q_OBJECT
-
-public:
-  MapWindow(const QMapLibre::Settings &);
-  ~MapWindow();
-
-private:
-  void initializeGL() final;
-  void paintGL() final;
-  void resizeGL(int w, int h) override;
-
-  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapLibre::Map> m_map;
-
-  void initLayers();
-
-  void mousePressEvent(QMouseEvent *ev) final;
-  void mouseDoubleClickEvent(QMouseEvent *ev) final;
-  void mouseMoveEvent(QMouseEvent *ev) final;
-  void wheelEvent(QWheelEvent *ev) final;
-  bool event(QEvent *event) final;
-  bool gestureEvent(QGestureEvent *event);
-  void pinchTriggered(QPinchGesture *gesture);
-  void setError(const QString &err_str);
-
-  bool loaded_once = false;
-  bool prev_time_valid = true;
-
-  // Panning
-  QPointF m_lastPos;
-  int interaction_counter = 0;
-
-  // Position
-  std::optional<QMapLibre::Coordinate> last_valid_nav_dest;
-  std::optional<QMapLibre::Coordinate> last_position;
-  std::optional<float> last_bearing;
-  FirstOrderFilter velocity_filter;
-  bool locationd_valid = false;
-  bool routing_problem = false;
-
-  QWidget *map_overlay;
-  QLabel *error;
-  MapInstructions* map_instructions;
-  MapETA* map_eta;
-
-  void clearRoute();
-  void updateDestinationMarker();
-  uint64_t route_rcv_frame = 0;
-
-private slots:
-  void updateState(const UIState &s);
-
-public slots:
-  void offroadTransition(bool offroad);
-
-signals:
-  void requestVisible(bool visible);
-  void requestSettings(bool settings);
-};
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
deleted file mode 100644
index 0eb77e36ce..0000000000
--- a/selfdrive/ui/qt/maps/map_eta.cc
+++ /dev/null
@@ -1,59 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_eta.h"
-
-#include <QDateTime>
-#include <QPainter>
-
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/ui.h"
-
-const float MANEUVER_TRANSITION_THRESHOLD = 10;
-
-MapETA::MapETA(QWidget *parent) : QWidget(parent) {
-  setVisible(false);
-  setAttribute(Qt::WA_TranslucentBackground);
-  eta_doc.setUndoRedoEnabled(false);
-  eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}");
-}
-
-void MapETA::paintEvent(QPaintEvent *event) {
-  if (!eta_doc.isEmpty()) {
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-    p.setPen(Qt::NoPen);
-    p.setBrush(QColor(0, 0, 0, 255));
-    QSizeF txt_size = eta_doc.size();
-    p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25);
-    p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2);
-    eta_doc.drawContents(&p);
-  }
-}
-
-void MapETA::updateETA(float s, float s_typical, float d) {
-  // ETA
-  auto eta_t = QDateTime::currentDateTime().addSecs(s).time();
-  auto eta = format_24h ? std::pair{eta_t.toString("HH:mm"), tr("eta")}
-                        : std::pair{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")};
-
-  // Remaining time
-  auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")}
-                            : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")};
-  QString color = "#25DA6E";
-  if (std::abs(s_typical) > 1e-5) {
-    if (s / s_typical > 1.5) {
-      color = "#DA3025";
-    } else if (s / s_typical > 1.2) {
-      color = "#DAA725";
-    }
-  }
-
-  // Distance
-  auto distance = map_format_distance(d, uiState()->scene.is_metric);
-
-  eta_doc.setHtml(QString(R"(<body><table><tr style="vertical-align:bottom;"><td><b>%1</b></td><td>%2</td>
-                             <td style="padding-left:40px;color:%3;"><b>%4</b></td><td style="padding-right:40px;color:%3;">%5</td>
-                             <td><b>%6</b></td><td>%7</td></tr></body>)")
-                      .arg(eta.first, eta.second, color, remaining.first, remaining.second, distance.first, distance.second));
-
-  setVisible(d >= MANEUVER_TRANSITION_THRESHOLD);
-  update();
-}
diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h
deleted file mode 100644
index 6e59837de3..0000000000
--- a/selfdrive/ui/qt/maps/map_eta.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <QPaintEvent>
-#include <QTextDocument>
-#include <QWidget>
-
-#include "common/params.h"
-
-class MapETA : public QWidget {
-  Q_OBJECT
-
-public:
-  MapETA(QWidget * parent=nullptr);
-  void updateETA(float seconds, float seconds_typical, float distance);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); }
-
-  bool format_24h = false;
-  QTextDocument eta_doc;
-  Params param;
-};
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
deleted file mode 100644
index 50e1401164..0000000000
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ /dev/null
@@ -1,153 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-
-#include <algorithm>
-#include <string>
-#include <utility>
-
-#include <QJsonDocument>
-#include <QJsonObject>
-
-#include "common/params.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-
-QString get_mapbox_token() {
-  // Valid for 4 weeks since we can't swap tokens on the fly
-  return MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
-}
-
-QMapLibre::Settings get_mapbox_settings() {
-  QMapLibre::Settings settings;
-  settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
-
-  if (!Hardware::PC()) {
-    settings.setCacheDatabasePath(MAPS_CACHE_PATH);
-    settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
-  }
-  settings.setApiBaseUrl(MAPS_HOST);
-  settings.setApiKey(get_mapbox_token());
-
-  return settings;
-}
-
-QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in) {
-  return QGeoCoordinate(in.first, in.second);
-}
-
-QMapLibre::CoordinatesCollections model_to_collection(
-  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
-  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::XYZTData::Reader &line){
-
-  Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
-  Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
-  Eigen::Matrix3d ecef_from_local = euler2rot(orient);
-
-  QMapLibre::Coordinates coordinates;
-  auto x = line.getX();
-  auto y = line.getY();
-  auto z = line.getZ();
-  for (int i = 0; i < x.size(); i++) {
-    Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
-    Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
-    coordinates.push_back({point_geodetic.lat, point_geodetic.lon});
-  }
-
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c) {
-  QMapLibre::Coordinates coordinates{c};
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
-  QMapLibre::Coordinates coordinates;
-  for (auto const &c : coordinate_list) {
-    coordinates.push_back({c.getLatitude(), c.getLongitude()});
-  }
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list) {
-  QMapLibre::Coordinates coordinates;
-  for (auto &c : coordinate_list) {
-    coordinates.push_back({c.latitude(), c.longitude()});
-  }
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
-  QList<QGeoCoordinate> path;
-  if (polylineString.isEmpty())
-      return path;
-
-  QByteArray data = polylineString.toLatin1();
-
-  bool parsingLatitude = true;
-
-  int shift = 0;
-  int value = 0;
-
-  QGeoCoordinate coord(0, 0);
-
-  for (int i = 0; i < data.length(); ++i) {
-      unsigned char c = data.at(i) - 63;
-
-      value |= (c & 0x1f) << shift;
-      shift += 5;
-
-      // another chunk
-      if (c & 0x20)
-          continue;
-
-      int diff = (value & 1) ? ~(value >> 1) : (value >> 1);
-
-      if (parsingLatitude) {
-          coord.setLatitude(coord.latitude() + (double)diff/1e6);
-      } else {
-          coord.setLongitude(coord.longitude() + (double)diff/1e6);
-          path.append(coord);
-      }
-
-      parsingLatitude = !parsingLatitude;
-
-      value = 0;
-      shift = 0;
-  }
-
-  return path;
-}
-
-std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param) {
-  QString json_str = QString::fromStdString(Params().get(param));
-  if (json_str.isEmpty()) return {};
-
-  QJsonDocument doc = QJsonDocument::fromJson(json_str.toUtf8());
-  if (doc.isNull()) return {};
-
-  QJsonObject json = doc.object();
-  if (json["latitude"].isDouble() && json["longitude"].isDouble()) {
-    QMapLibre::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
-    return coord;
-  } else {
-    return {};
-  }
-}
-
-// return {distance, unit}
-std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
-  auto round_distance = [](float d) -> QString {
-    return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1);
-  };
-
-  d = std::max(d, 0.0f);
-  if (is_metric) {
-    return (d > 500) ? std::pair(round_distance(d / 1000), QObject::tr("km"))
-                     : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m"));
-  } else {
-    float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair(round_distance(d * METER_TO_MILE), QObject::tr("mi"))
-                        : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft"));
-  }
-}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
deleted file mode 100644
index 0f4be674f0..0000000000
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <optional>
-#include <string>
-#include <utility>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <eigen3/Eigen/Dense>
-#include <QGeoCoordinate>
-
-#include "common/util.h"
-#include "common/transformations/coordinates.hpp"
-#include "common/transformations/orientation.hpp"
-#include "cereal/messaging/messaging.h"
-
-const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
-const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
-const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
-
-QString get_mapbox_token();
-QMapLibre::Settings get_mapbox_settings();
-QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in);
-QMapLibre::CoordinatesCollections model_to_collection(
-  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
-  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::XYZTData::Reader &line);
-QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c);
-QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
-QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
-QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
-std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param);
-std::pair<QString, QString> map_format_distance(float d, bool is_metric);
diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc
deleted file mode 100644
index ba8cb356bd..0000000000
--- a/selfdrive/ui/qt/maps/map_instructions.cc
+++ /dev/null
@@ -1,144 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_instructions.h"
-
-#include <QDir>
-#include <QVBoxLayout>
-
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/ui.h"
-
-const QString ICON_SUFFIX = ".png";
-
-MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) {
-  is_rhd = Params().getBool("IsRhdDetected");
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20);
-
-  QHBoxLayout *top_layout = new QHBoxLayout;
-  top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop);
-
-  QVBoxLayout *right_layout = new QVBoxLayout;
-  right_layout->setContentsMargins(9, 9, 9, 0);
-  right_layout->addWidget(distance = new QLabel);
-  distance->setStyleSheet(R"(font-size: 90px;)");
-
-  right_layout->addWidget(primary = new QLabel);
-  primary->setStyleSheet(R"(font-size: 60px;)");
-  primary->setWordWrap(true);
-
-  right_layout->addWidget(secondary = new QLabel);
-  secondary->setStyleSheet(R"(font-size: 50px;)");
-  secondary->setWordWrap(true);
-
-  top_layout->addLayout(right_layout);
-
-  main_layout->addLayout(top_layout);
-  main_layout->addLayout(lane_layout = new QHBoxLayout);
-  lane_layout->setAlignment(Qt::AlignHCenter);
-  lane_layout->setSpacing(10);
-
-  setStyleSheet("color:white");
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-
-  buildPixmapCache();
-}
-
-void MapInstructions::buildPixmapCache() {
-  QDir dir("../assets/navigation");
-  for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) {
-    QPixmap pm(dir.filePath(fn));
-    QString key = fn.left(fn.size() - ICON_SUFFIX.length());
-    pm = pm.scaledToWidth(200, Qt::SmoothTransformation);
-
-    // Maneuver icons
-    pixmap_cache[key] = pm;
-    // lane direction icons
-    if (key.contains("turn_")) {
-      pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
-    }
-
-    // for rhd, reflect direction and then flip
-    if (key.contains("_left")) {
-      pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1));
-    } else if (key.contains("_right")) {
-      pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1));
-    }
-  }
-}
-
-void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
-  setUpdatesEnabled(false);
-
-  // Show instruction text
-  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
-  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
-
-  primary->setText(primary_str);
-  secondary->setVisible(secondary_str.length() > 0);
-  secondary->setText(secondary_str);
-
-  auto distance_str_pair = map_format_distance(instruction.getManeuverDistance(), uiState()->scene.is_metric);
-  distance->setText(QString("%1 %2").arg(distance_str_pair.first, distance_str_pair.second));
-
-  // Show arrow with direction
-  QString type = QString::fromStdString(instruction.getManeuverType());
-  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
-  if (!type.isEmpty()) {
-    QString fn = "direction_" + type;
-    if (!modifier.isEmpty()) {
-      fn += "_" + modifier;
-    }
-    fn = fn.replace(' ', '_');
-    bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right"));
-    icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]);
-    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    icon_01->setVisible(true);
-  } else {
-    icon_01->setVisible(false);
-  }
-
-  // Hide distance after arrival
-  distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0);
-
-  // Show lanes
-  auto lanes = instruction.getLanes();
-  for (int i = 0; i < lanes.size(); ++i) {
-    bool active = lanes[i].getActive();
-    const auto active_direction = lanes[i].getActiveDirection();
-
-    // TODO: Make more images based on active direction and combined directions
-    QString fn = "lane_direction_";
-
-    // active direction has precedence
-    if (active && active_direction != cereal::NavInstruction::Direction::NONE) {
-      fn += "turn_" + DIRECTIONS[active_direction];
-    } else {
-      for (auto const &direction : lanes[i].getDirections()) {
-        if (direction != cereal::NavInstruction::Direction::NONE) {
-          fn += "turn_" + DIRECTIONS[direction];
-          break;
-        }
-      }
-    }
-
-    if (!active) {
-      fn += "_inactive";
-    }
-
-    QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel);
-    if (!label->parentWidget()) {
-      lane_layout->addWidget(label);
-    }
-    label->setPixmap(pixmap_cache[fn]);
-    label->setVisible(true);
-  }
-
-  for (int i = lanes.size(); i < lane_labels.size(); ++i) {
-    lane_labels[i]->setVisible(false);
-  }
-
-  setUpdatesEnabled(true);
-  setVisible(true);
-}
diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h
deleted file mode 100644
index 06a943d27f..0000000000
--- a/selfdrive/ui/qt/maps/map_instructions.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <map>
-#include <vector>
-
-#include <QHash>
-#include <QHBoxLayout>
-#include <QLabel>
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-static std::map<cereal::NavInstruction::Direction, QString> DIRECTIONS = {
-  {cereal::NavInstruction::Direction::NONE, "none"},
-  {cereal::NavInstruction::Direction::LEFT, "left"},
-  {cereal::NavInstruction::Direction::RIGHT, "right"},
-  {cereal::NavInstruction::Direction::STRAIGHT, "straight"},
-  {cereal::NavInstruction::Direction::SLIGHT_LEFT, "slight_left"},
-  {cereal::NavInstruction::Direction::SLIGHT_RIGHT, "slight_right"},
-};
-
-class MapInstructions : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *distance;
-  QLabel *primary;
-  QLabel *secondary;
-  QLabel *icon_01;
-  QHBoxLayout *lane_layout;
-  bool is_rhd = false;
-  std::vector<QLabel *> lane_labels;
-  QHash<QString, QPixmap> pixmap_cache;
-
-public:
-  MapInstructions(QWidget * parent=nullptr);
-  void buildPixmapCache();
-  void updateInstructions(cereal::NavInstruction::Reader instruction);
-};
diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
deleted file mode 100644
index c4cc20e21d..0000000000
--- a/selfdrive/ui/qt/maps/map_panel.cc
+++ /dev/null
@@ -1,43 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_panel.h"
-
-#include <QHBoxLayout>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/maps/map.h"
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/ui.h"
-
-MapPanel::MapPanel(const QMapLibre::Settings &mapboxSettings, QWidget *parent) : QFrame(parent) {
-  content_stack = new QStackedLayout(this);
-  content_stack->setContentsMargins(0, 0, 0, 0);
-
-  auto map = new MapWindow(mapboxSettings);
-  QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [=]() {
-    content_stack->setCurrentIndex(0);
-  });
-  QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) {
-    // when we show the map for a new route, signal HomeWindow to hide the sidebar
-    if (visible) { emit mapPanelRequested(); }
-    setVisible(visible);
-  });
-  QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) {
-    content_stack->setCurrentIndex(settings ? 1 : 0);
-  });
-  content_stack->addWidget(map);
-
-  auto settings = new MapSettings(true, parent);
-  QObject::connect(settings, &MapSettings::closeSettings, this, [=]() {
-    content_stack->setCurrentIndex(0);
-  });
-  content_stack->addWidget(settings);
-}
-
-void MapPanel::toggleMapSettings() {
-  // show settings if not visible, then toggle between map and settings
-  int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1;
-  content_stack->setCurrentIndex(new_index);
-  emit mapPanelRequested();
-  show();
-}
diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h
deleted file mode 100644
index 190bb63446..0000000000
--- a/selfdrive/ui/qt/maps/map_panel.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#pragma once
-
-#include <QFrame>
-#include <QMapLibre/Settings>
-#include <QStackedLayout>
-
-class MapPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr);
-
-signals:
-  void mapPanelRequested();
-
-public slots:
-  void toggleMapSettings();
-
-private:
-  QStackedLayout *content_stack;
-};
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
deleted file mode 100644
index 4d655be36c..0000000000
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ /dev/null
@@ -1,385 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_settings.h"
-
-#include <utility>
-
-#include <QApplication>
-#include <QDebug>
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
-
-static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) {
-  return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"];
-}
-
-static qint64 convertTimestampToEpoch(const QString &timestamp) {
-  QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate);
-  return dt.isValid() ? dt.toSecsSinceEpoch() : 0;
-}
-
-MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
-  setContentsMargins(0, 0, 0, 0);
-  setAttribute(Qt::WA_NoMousePropagation);
-
-  auto *frame = new QVBoxLayout(this);
-  frame->setContentsMargins(40, 40, 40, 0);
-  frame->setSpacing(0);
-
-  auto *heading_frame = new QHBoxLayout;
-  heading_frame->setContentsMargins(0, 0, 0, 0);
-  heading_frame->setSpacing(32);
-  {
-    if (closeable) {
-      auto *close_btn = new QPushButton("←");
-      close_btn->setStyleSheet(R"(
-        QPushButton {
-          color: #FFFFFF;
-          font-size: 100px;
-          padding-bottom: 8px;
-          border 1px grey solid;
-          border-radius: 70px;
-          background-color: #292929;
-          font-weight: 500;
-        }
-        QPushButton:pressed {
-          background-color: #3B3B3B;
-        }
-      )");
-      close_btn->setFixedSize(140, 140);
-      QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); });
-      // TODO: read map_on_left from ui state
-      heading_frame->addWidget(close_btn);
-    }
-
-    auto *heading = new QVBoxLayout;
-    heading->setContentsMargins(0, 0, 0, 0);
-    heading->setSpacing(16);
-    {
-      auto *title = new QLabel(tr("NAVIGATION"), this);
-      title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
-      heading->addWidget(title);
-
-      auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
-      subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
-      heading->addWidget(subtitle);
-    }
-    heading_frame->addLayout(heading, 1);
-  }
-  frame->addLayout(heading_frame);
-  frame->addSpacing(32);
-
-  current_widget = new DestinationWidget(this);
-  QObject::connect(current_widget, &DestinationWidget::actionClicked,
-                   []() { NavManager::instance()->setCurrentDestination({}); });
-  frame->addWidget(current_widget);
-  frame->addSpacing(32);
-
-  QWidget *destinations_container = new QWidget(this);
-  destinations_layout = new QVBoxLayout(destinations_container);
-  destinations_layout->setContentsMargins(0, 32, 0, 32);
-  destinations_layout->setSpacing(20);
-  destinations_layout->addWidget(home_widget = new DestinationWidget(this));
-  destinations_layout->addWidget(work_widget = new DestinationWidget(this));
-  QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-  QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-  destinations_layout->addStretch();
-
-  ScrollView *destinations_scroller = new ScrollView(destinations_container, this);
-  destinations_scroller->setFrameShape(QFrame::NoFrame);
-  frame->addWidget(destinations_scroller);
-
-  setStyleSheet("MapSettings { background-color: #333333; }");
-  QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
-}
-
-void MapSettings::showEvent(QShowEvent *event) {
-  refresh();
-}
-
-void MapSettings::refresh() {
-  if (!isVisible()) return;
-
-  setUpdatesEnabled(false);
-
-  auto get_w = [this](int i) {
-    auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget);
-    if (!w->parentWidget()) {
-      destinations_layout->insertWidget(destinations_layout->count() - 1, w);
-      QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-    }
-    return w;
-  };
-
-  const auto current_dest = NavManager::instance()->currentDestination();
-  if (!current_dest.isEmpty()) {
-    current_widget->set(current_dest, true);
-  } else {
-    current_widget->unset("", true);
-  }
-  home_widget->unset(NAV_FAVORITE_LABEL_HOME);
-  work_widget->unset(NAV_FAVORITE_LABEL_WORK);
-
-  int n = 0;
-  for (auto location : NavManager::instance()->currentLocations()) {
-    DestinationWidget *w = nullptr;
-    auto dest = location.toObject();
-    if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) {
-      auto label = dest["label"].toString();
-      if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget;
-      if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget;
-    }
-    w = w ? w : get_w(n++);
-    w->set(dest, false);
-    w->setVisible(!locationEqual(dest, current_dest));
-  }
-  for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
-
-  setUpdatesEnabled(true);
-}
-
-void MapSettings::navigateTo(const QJsonObject &place) {
-  NavManager::instance()->setCurrentDestination(place);
-  emit closeSettings();
-}
-
-DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) {
-  setContentsMargins(0, 0, 0, 0);
-
-  auto *frame = new QHBoxLayout(this);
-  frame->setContentsMargins(32, 24, 32, 24);
-  frame->setSpacing(32);
-
-  icon = new QLabel(this);
-  icon->setAlignment(Qt::AlignCenter);
-  icon->setFixedSize(96, 96);
-  icon->setObjectName("icon");
-  frame->addWidget(icon);
-
-  auto *inner_frame = new QVBoxLayout;
-  inner_frame->setContentsMargins(0, 0, 0, 0);
-  inner_frame->setSpacing(0);
-  {
-    title = new ElidedLabel(this);
-    title->setAttribute(Qt::WA_TransparentForMouseEvents);
-    inner_frame->addWidget(title);
-
-    subtitle = new ElidedLabel(this);
-    subtitle->setAttribute(Qt::WA_TransparentForMouseEvents);
-    subtitle->setObjectName("subtitle");
-    inner_frame->addWidget(subtitle);
-  }
-  frame->addLayout(inner_frame, 1);
-
-  action = new QPushButton(this);
-  action->setFixedSize(96, 96);
-  action->setObjectName("action");
-  action->setStyleSheet("font-size: 65px; font-weight: 600;");
-  QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked);
-  QObject::connect(action, &QPushButton::clicked, this,  &DestinationWidget::actionClicked);
-  frame->addWidget(action);
-
-  setFixedHeight(164);
-  setStyleSheet(R"(
-    DestinationWidget { background-color: #202123; border-radius: 10px; }
-    QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; }
-    #icon { background-color: #3B4356; border-radius: 48px; }
-    #subtitle { color: #9BA0A5; }
-    #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; }
-
-    /* current destination */
-    [current="true"] { background-color: #E8E8E8; }
-    [current="true"] QLabel { color: #000000; }
-    [current="true"] #icon { background-color: #42906B; }
-    [current="true"] #subtitle { color: #333333; }
-    [current="true"] #action { color: #202123; }
-
-    /* no saved destination */
-    [set="false"] QLabel { color: #9BA0A5; }
-    [current="true"][set="false"] QLabel { color: #A0000000; }
-
-    /* pressed */
-    [current="false"]:pressed { background-color: #18191B; }
-    [current="true"] #action:pressed { background-color: #D6D6D6; }
-  )");
-  QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); });
-}
-
-void DestinationWidget::set(const QJsonObject &destination, bool current) {
-  if (dest == destination) return;
-
-  dest = destination;
-  setProperty("current", current);
-  setProperty("set", true);
-
-  auto icon_pixmap = current ? icons().directions : icons().recent;
-  auto title_text = destination["place_name"].toString();
-  auto subtitle_text = destination["place_details"].toString();
-
-  if (destination["save_type"] == NAV_TYPE_FAVORITE) {
-    if (destination["label"] == NAV_FAVORITE_LABEL_HOME) {
-      icon_pixmap = icons().home;
-      subtitle_text = title_text + ", " + subtitle_text;
-      title_text = tr("Home");
-    } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) {
-      icon_pixmap = icons().work;
-      subtitle_text = title_text + ", " + subtitle_text;
-      title_text = tr("Work");
-    } else {
-      icon_pixmap = icons().favorite;
-    }
-  }
-
-  icon->setPixmap(icon_pixmap);
-
-  title->setText(title_text);
-  subtitle->setText(subtitle_text);
-  subtitle->setVisible(true);
-
-  // TODO: use pixmap
-  action->setAttribute(Qt::WA_TransparentForMouseEvents, !current);
-  action->setText(current ? "×" : "→");
-  action->setVisible(true);
-
-  setStyleSheet(styleSheet());
-}
-
-void DestinationWidget::unset(const QString &label, bool current) {
-  dest = {};
-  setProperty("current", current);
-  setProperty("set", false);
-
-  if (label.isEmpty()) {
-    icon->setPixmap(icons().directions);
-    title->setText(tr("No destination set"));
-  } else {
-    QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work");
-    icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work);
-    title->setText(tr("No %1 location set").arg(title_text));
-  }
-
-  subtitle->setVisible(false);
-  action->setVisible(false);
-
-  setStyleSheet(styleSheet());
-  setVisible(true);
-}
-
-// singleton NavManager
-
-NavManager *NavManager::instance() {
-  static NavManager *request = new NavManager(qApp);
-  return request;
-}
-
-NavManager::NavManager(QObject *parent) : QObject(parent) {
-  locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array();
-  current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
-  if (auto dongle_id = getDongleId()) {
-    {
-      // Fetch favorite and recent locations
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
-      RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse);
-    }
-    {
-      auto param_watcher = new ParamWatcher(this);
-      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated);
-
-      // Destination set while offline
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
-      HttpRequest *deleter = new HttpRequest(this);
-      RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
-        if (success && resp != "null") {
-          if (params.get("NavDestination").empty()) {
-            qWarning() << "Setting NavDestination from /next" << resp;
-            params.put("NavDestination", resp.toStdString());
-          } else {
-            qWarning() << "Got location from /next, but NavDestination already set";
-          }
-          // Send DELETE to clear destination server side
-          deleter->sendRequest(url, HttpRequest::Method::DELETE);
-        }
-
-        // athena can set destination at any time
-        param_watcher->addParam("NavDestination");
-        current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
-        emit updated();
-      });
-    }
-  }
-}
-
-void NavManager::parseLocationsResponse(const QString &response, bool success) {
-  if (!success || response == prev_response) return;
-
-  prev_response = response;
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qWarning() << "JSON Parse failed on navigation locations" << response;
-    return;
-  }
-
-  // set last activity time.
-  auto remote_locations = doc.array();
-  for (QJsonValueRef loc : remote_locations) {
-    auto obj = loc.toObject();
-    auto serverTime = convertTimestampToEpoch(obj["modified"].toString());
-    obj.insert("time", qMax(serverTime, getLastActivity(obj)));
-    loc = obj;
-  }
-
-  locations = remote_locations;
-  sortLocations();
-  emit updated();
-}
-
-void NavManager::sortLocations() {
-  // Sort: alphabetical FAVORITES, and then most recent.
-  // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
-  std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
-    if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) {
-      return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
-              std::tuple(b["save_type"].toString(), b["place_name"].toString()));
-    } else {
-      return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong();
-    }
-  });
-
-  write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() {
-    Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString());
-  });
-}
-
-qint64 NavManager::getLastActivity(const QJsonObject &loc) const {
-  qint64 last_activity = 0;
-  auto it = std::find_if(locations.begin(), locations.end(),
-                         [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
-  if (it != locations.end()) {
-    auto tm = it->toObject().value("time");
-    if (!tm.isUndefined() && !tm.isNull()) {
-      last_activity = tm.toVariant().toLongLong();
-    }
-  }
-  return last_activity;
-}
-
-void NavManager::setCurrentDestination(const QJsonObject &loc) {
-  current_dest = loc;
-  if (!current_dest.isEmpty()) {
-    current_dest["time"] = QDateTime::currentSecsSinceEpoch();
-    auto it = std::find_if(locations.begin(), locations.end(),
-                           [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
-    if (it != locations.end()) {
-      *it = current_dest;
-      sortLocations();
-    }
-    params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString());
-  } else {
-    params.remove("NavDestination");
-  }
-  emit updated();
-}
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
deleted file mode 100644
index 0e151df4ad..0000000000
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#pragma once
-
-#include <future>
-#include <vector>
-
-#include <QFrame>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QLabel>
-#include <QPushButton>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-
-const QString NAV_TYPE_FAVORITE = "favorite";
-const QString NAV_TYPE_RECENT = "recent";
-
-const QString NAV_FAVORITE_LABEL_HOME = "home";
-const QString NAV_FAVORITE_LABEL_WORK = "work";
-
-class DestinationWidget;
-
-class NavManager : public QObject {
-  Q_OBJECT
-
-public:
-  static NavManager *instance();
-  QJsonArray currentLocations() const { return locations; }
-  QJsonObject currentDestination() const { return current_dest; }
-  void setCurrentDestination(const QJsonObject &loc);
-  qint64 getLastActivity(const QJsonObject &loc) const;
-
-signals:
-  void updated();
-
-private:
-  NavManager(QObject *parent);
-  void parseLocationsResponse(const QString &response, bool success);
-  void sortLocations();
-
-  Params params;
-  QString prev_response;
-  QJsonArray locations;
-  QJsonObject current_dest;
-  std::future<void> write_param_future;
-};
-
-class MapSettings : public QFrame {
-  Q_OBJECT
-public:
-  explicit MapSettings(bool closeable = false, QWidget *parent = nullptr);
-  void navigateTo(const QJsonObject &place);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-  QVBoxLayout *destinations_layout;
-  DestinationWidget *current_widget;
-  DestinationWidget *home_widget;
-  DestinationWidget *work_widget;
-  std::vector<DestinationWidget *> widgets;
-
-signals:
-  void closeSettings();
-};
-
-class DestinationWidget : public QPushButton {
-  Q_OBJECT
-public:
-  explicit DestinationWidget(QWidget *parent = nullptr);
-  void set(const QJsonObject &location, bool current = false);
-  void unset(const QString &label, bool current = false);
-
-signals:
-  void actionClicked();
-  void navigateTo(const QJsonObject &destination);
-
-private:
-  struct NavIcons {
-    QPixmap home, work, favorite, recent, directions;
-  };
-
-  static NavIcons icons() {
-    static NavIcons nav_icons {
-      loadPixmap("../assets/navigation/icon_home.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_work.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}),
-    };
-    return nav_icons;
-  }
-
-private:
-  QLabel *icon, *title, *subtitle;
-  QPushButton *action;
-  QJsonObject dest;
-};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 96fe6585cc..dc60d40e48 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -69,20 +69,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
     },
-#ifdef ENABLE_MAPS
-    {
-      "NavSettingTime24h",
-      tr("Show ETA in 24h Format"),
-      tr("Use 24h format instead of am/pm"),
-      "../assets/offroad/icon_metric.png",
-    },
-    {
-      "NavSettingLeftSide",
-      tr("Show Map on Left Side of UI"),
-      tr("Show map on left side when in split screen view."),
-      "../assets/offroad/icon_road.png",
-    },
-#endif
   };
 
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 241bb6ed34..07016ef94a 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -20,9 +20,6 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   experimental_btn = new ExperimentalButton(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
 
-  map_settings_btn = new MapSettingsButton(this);
-  main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
-
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
@@ -70,12 +67,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   rightHandDM = dm_state.getIsRHD();
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
-
-  // hide map settings button for alerts and flip for right hand DM
-  if (map_settings_btn->isEnabled()) {
-    map_settings_btn->setVisible(!hideBottomIcons);
-    main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
-  }
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 0be4adfffa..1470b85f78 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -13,8 +13,6 @@ public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
-  MapSettingsButton *map_settings_btn;
-
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 75ec316174..92bcea11b5 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -47,18 +47,3 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
-
-// MapSettingsButton
-MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
-
-  // hidden by default, made visible if map is created (has prime or mapbox token)
-  setVisible(false);
-  setEnabled(false);
-}
-
-void MapSettingsButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
-}
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index b0757795fb..9c91bc3c7b 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -25,17 +25,4 @@ private:
   bool engageable;
 };
 
-
-class MapSettingsButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit MapSettingsButton(QWidget *parent = 0);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-
-  QPixmap settings_img;
-};
-
 void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 66eb1812e6..f8c7d80350 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -3,11 +3,6 @@
 #include <QPainter>
 #include <QStackedLayout>
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/maps/map_panel.h"
-#endif
-
 #include "selfdrive/ui/qt/util.h"
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
@@ -30,11 +25,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
     split->insertWidget(0, arCam);
   }
 
-  if (getenv("MAP_RENDER_VIEW")) {
-    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
-    split->insertWidget(0, map_render);
-  }
-
   stacked_layout->addWidget(split_wrapper);
 
   alerts = new OnroadAlerts(this);
@@ -47,7 +37,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -73,56 +62,14 @@ void OnroadWindow::updateState(const UIState &s) {
 }
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-#ifdef ENABLE_MAPS
-  if (map != nullptr) {
-    bool sidebarVisible = geometry().x() > 0;
-    bool show_map = !sidebarVisible;
-    map->setVisible(show_map && !map->isVisible());
-  }
-#endif
   // propagation event to parent(HomeWindow)
   QWidget::mousePressEvent(e);
 }
 
-void OnroadWindow::createMapWidget() {
-#ifdef ENABLE_MAPS
-  auto m = new MapPanel(get_mapbox_settings());
-  map = m;
-  QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
-  QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
-  nvg->map_settings_btn->setEnabled(true);
-
-  m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
-  split->insertWidget(0, m);
-  // hidden by default, made visible when navRoute is published
-  m->setVisible(false);
-#endif
-}
-
 void OnroadWindow::offroadTransition(bool offroad) {
-#ifdef ENABLE_MAPS
-  if (!offroad) {
-    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
-      createMapWidget();
-    }
-  }
-#endif
   alerts->clear();
 }
 
-void OnroadWindow::primeChanged(bool prime) {
-#ifdef ENABLE_MAPS
-  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
-    nvg->map_settings_btn->setEnabled(false);
-    nvg->map_settings_btn->setVisible(false);
-    map->deleteLater();
-    map = nullptr;
-  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
-    createMapWidget();
-  }
-#endif
-}
-
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 4976f56a67..e8fa19b046 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -26,6 +26,5 @@ private:
 
 private slots:
   void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
   void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 2621612f67..25712c26c7 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -155,7 +155,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")};
+  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Remote snapshots")};
   for (auto &b : bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -225,9 +225,6 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   content_layout->setContentsMargins(0, 0, 0, 0);
   content_layout->setSpacing(30);
 
-  primeUser = new PrimeUserWidget;
-  content_layout->addWidget(primeUser);
-
   WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget;
   QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings);
   content_layout->addWidget(wifi_prompt);
@@ -235,7 +232,6 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   mainLayout->addWidget(content);
 
-  primeUser->setVisible(uiState()->hasPrime());
   mainLayout->setCurrentIndex(1);
 
   setStyleSheet(R"(
@@ -277,8 +273,6 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
     mainLayout->setCurrentIndex(0);
   } else {
     popup->reject();
-
-    primeUser->setVisible(uiState()->hasPrime());
     mainLayout->setCurrentIndex(1);
   }
 }
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index 63341c4cea..eac71bcddb 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -66,7 +66,6 @@ signals:
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-  PrimeUserWidget *primeUser;
 
 private slots:
   void replyFinished(const QString &response, bool success);
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index d8146723a4..9925a2c7a9 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -136,33 +136,6 @@
         <translation>رفض، إلغاء التثبيت %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>المنزل</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>العمل</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>لم يتم ضبط الوجهة</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>المنزل</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>العمل</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>لم يتم ضبط %1 موقع</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -349,47 +322,6 @@
         <translation>جارٍ التثبيت...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>الوصول</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>د</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>س</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>التنقل</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>الإدارة في connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>تحميل الخريطة</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>بانتظار GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>بانتظار الطريق</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -568,8 +500,8 @@
         <translation>سنة واحدة من تخزين القرص</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>التنقل خطوة بخطوة</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -630,22 +562,6 @@
             <numerusform>منذ %n يوم</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>كم</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>م</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ميل</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>قدم</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>الآن</translation>
@@ -1090,22 +1006,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>إظهار الوقت المقدر للوصول بصيغة 24 ساعة</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>استخدام صيغة 24 ساعة بدلاً من صباحاً/مساء</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>عرض الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>عرض الخريطة عل الجانب الأيسر عندما تكون وضعية العرض بطريقة الشاشة المنقسمة.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation>التحكم الطولي openpilot (ألفا)</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 010aa4d304..a4f9963d67 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -136,33 +136,6 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +318,6 @@
         <translation>Installiere...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>Ankunft</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>std</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Karte wird geladen</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Warten auf GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -559,11 +491,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -613,22 +545,6 @@
             <numerusform>vor %n Tagen</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>fuß</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1070,24 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
     </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Benutze das 24Stunden Format anstatt am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>Zeige die Karte auf der linken Seite</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Zeige die Karte auf der linken Seite der Benutzeroberfläche bei geteilten Bildschirm.</translation>
-    </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>Zeige die Ankunftszeit im 24 Stunden Format</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimenteller Modus</translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index dde6adadd3..7f7c07d1bb 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -136,33 +136,6 @@
         <translation>Refuser, désinstaller %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>Domicile</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>Travail</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>Aucune destination définie</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>domicile</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>travail</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>Aucun lieu %1 défini</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +318,6 @@
         <translation>Installation...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>h</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>NAVIGATION</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>Gérer sur connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Chargement de la carte</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>En attente du GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>En attente d&apos;un trajet</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -564,8 +496,8 @@
         <translation>1 an de stockage de trajets</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>Navigation étape par étape</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -614,22 +546,6 @@
             <numerusform>il y a %n jours</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1090,22 +1006,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Display speed in km/h instead of mph.</source>
         <translation>Afficher la vitesse en km/h au lieu de mph.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Afficher l&apos;heure d&apos;arrivée en format 24h</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Utiliser le format 24h plutôt que am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Afficher la carte à gauche de l&apos;interface</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Afficher la carte à gauche en mode écran scindé.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>Aggressif</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index e0fb60620b..39b018cfba 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -136,33 +136,6 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>インストールしています...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>到着予定時間</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>時間</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>マップを読み込んでいます</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS信号を探しています</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,11 +490,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -609,22 +541,6 @@
             <numerusform>%n 日前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>ｷﾛﾒｰﾄﾙ</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>ﾒｰﾄﾙ</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ﾏｲﾙ</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ﾌｨｰﾄ</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1068,22 +984,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>この機能を有効化すると、openpilotを利用中にアクセルを踏むとopenpilotによる運転サポートを中断します。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>24時間表示</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>AM/PM の代わりに24時間形式を使用します</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>実験モード</translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 56fc5014ee..36247a6197 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -136,33 +136,6 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>집</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>회사</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>목적지가 설정되지 않았습니다</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>%1 위치가 설정되지 않았습니다</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>집</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>회사</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>설치 중...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>도착</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>분</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>시간</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>내비게이션</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>connect.comma.ai에서 관리하세요</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>지도 로딩 중</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS 수신 중</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>경로를 기다리는 중</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +490,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>항상 LTE 연결</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>내비게이션 경로안내</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>1년간 드라이브 로그 저장</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +542,6 @@
             <numerusform>%n 일 전</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>now</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>24시간 형식으로 도착 예정 시간 표시</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>오전/오후 대신 24시간 형식 사용</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>UI 왼쪽에 지도 표시</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>실험 모드</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index feaa6e86a1..8a71612e3a 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -136,33 +136,6 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>Casa</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>Trabalho</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>Nenhum destino definido</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>Endereço de %1 não definido</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>casa</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>trabalho</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +318,6 @@
         <translation>Instalando...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>hr</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>NAVEGAÇÃO</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>Gerencie em connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Carregando Mapa</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Aguardando GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>Aguardando rota</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -559,14 +491,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>Conectividade LTE (só nos EUA)</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>Navegação passo a passo</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>1 ano de dados em nuvem</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -614,22 +546,6 @@
             <numerusform>há %n dias</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>milha</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>pés</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>agora</translation>
@@ -1074,22 +990,6 @@ Isso pode levar até um minuto.</translation>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Mostrar ETA em Formato 24h</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Use o formato 24h em vez de am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Exibir Mapa no Lado Esquerdo</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index e594a6975f..d4a33398be 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -136,33 +136,6 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>บ้าน</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>ที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>ยังไม่ได้เลือกจุดหมาย</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>บ้าน</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>ที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>ยังไม่ได้เลือกตำแหน่ง%1</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>กำลังติดตั้ง...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>นาที</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>ชม.</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>การนำทาง</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>จัดการได้ที่ connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>กำลังโหลดแผนที่</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>กำลังรอสัญญาณ GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>กำลังรอเส้นทาง</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -563,8 +495,8 @@
         <translation>จัดเก็บข้อมูลการขับขี่นาน 1 ปี</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>การนำทางแบบเลี้ยวต่อเลี้ยว</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -610,22 +542,6 @@
             <numerusform>%n วันที่แล้ว</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>กม.</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>ม.</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ไมล์</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ฟุต</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>ตอนนี้</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>แสดงแผนที่ที่ด้านซ้ายของหน้าจอ</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>โหมดทดลอง</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 48615f1699..36d11dbe61 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -136,33 +136,6 @@
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>Yükleniyor...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>tahmini varış süresi</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>dk</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>saat</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Harita yükleniyor</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS verisi bekleniyor...</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -562,7 +494,7 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -609,22 +541,6 @@
             <numerusform>%n gün önce</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mil</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1064,22 +980,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Tahmini varış süresini 24 saat formatı şeklinde göster</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>24 saat formatını kullan</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Haritayı arayüzün sol tarafında göster</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Bölünmüş ekran görünümündeyken haritayı sol tarafta göster.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 32119ee10f..79a6e95501 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -136,33 +136,6 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>工作</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>尚未设置目的地</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>尚未设置 %1 的位置</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>工作</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>正在安装……</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>抵达</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分钟</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>小时</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>导航</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>请在 connect.comma.ai 上管理</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>地图加载中</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>等待路线</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +490,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>全天候 LTE 連線</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>领航功能</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>一年的行驶记录储存空间</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +542,6 @@
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>现在</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>启用后，踩下油门踏板将取消openpilot。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>以24小时格式显示预计到达时间</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>使用24小时制代替am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>在介面左侧显示地图</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>测试模式</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 9d1c16db9f..ec6131892e 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -136,33 +136,6 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>工作</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>尚未設定目的地</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>尚未設定 %1 的位置</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>工作</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +317,6 @@
         <translation>安裝中…</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>抵達</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分鐘</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>小時</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>導航</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>請在 connect.comma.ai 上管理</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>地圖載入中</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>等待路線</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +490,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>24/7 LTE 連線</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>導航功能</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>一年的行駛記錄儲存空間</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +542,6 @@
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>現在</translation>
@@ -1070,22 +986,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>預計到達時間單位改用 24 小時制</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>將地圖顯示在畫面的左側</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>實驗模式</translation>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 06b8b13bc1..2b415b1197 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -265,6 +265,10 @@ void UIState::update() {
   update_state(this);
   updateStatus();
 
+  if (std::getenv("PRIME_TYPE")) {
+      setPrimeType((PrimeType)atoi(std::getenv("PRIME_TYPE")));
+  }
+
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick(nanos_since_boot());
   }
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index ec35c29b6b..c14e03aa6e 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,7 +19,6 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
     hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9eec7a931b..9769f065f6 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -328,19 +328,6 @@ def getVersion() -> dict[str, str]:
   }
 
 
-@dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
-  destination = {
-    "latitude": latitude,
-    "longitude": longitude,
-    "place_name": place_name,
-    "place_details": place_details,
-  }
-  Params().put("NavDestination", json.dumps(destination))
-
-  return {"success": 1}
-
-
 def scan_dir(path: str, prefix: str) -> list[str]:
   files = []
   # only walk directories that match the prefix
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index ced31077c9..791d26a8f4 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -69,7 +69,6 @@ procs = [
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
-  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
diff --git a/third_party/maplibre-native-qt/.gitignore b/third_party/maplibre-native-qt/.gitignore
deleted file mode 100644
index 9adc6681c0..0000000000
--- a/third_party/maplibre-native-qt/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/maplibre/
diff --git a/third_party/maplibre-native-qt/aarch64 b/third_party/maplibre-native-qt/aarch64
deleted file mode 120000
index 062c65e8d9..0000000000
--- a/third_party/maplibre-native-qt/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh
deleted file mode 100755
index a368026f0f..0000000000
--- a/third_party/maplibre-native-qt/build.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME=$(uname -m)
-MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a"
-fi
-
-cd $DIR
-if [ ! -d maplibre ]; then
-  git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre
-fi
-
-cd maplibre
-git checkout 3726266e127c1f94ad64837c9dbe03d238255816
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $MAPLIBRE_FLAGS $DIR/maplibre
-make -j$(nproc)
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm -rf $DIR/include
-mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include
-cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib
-cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include
-cp -r $DIR/maplibre/src/**/*.hpp $DIR/include
diff --git a/third_party/maplibre-native-qt/include/conversion_p.hpp b/third_party/maplibre-native-qt/include/conversion_p.hpp
deleted file mode 100644
index 38b03d498e..0000000000
--- a/third_party/maplibre-native-qt/include/conversion_p.hpp
+++ /dev/null
@@ -1,241 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2018 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "geojson_p.hpp"
-#include "types.hpp"
-
-#include <mbgl/style/conversion/geojson.hpp>
-#include <mbgl/style/conversion_impl.hpp>
-
-#include <QtCore/QVariant>
-#include <QtGui/QColor>
-
-#include <optional>
-
-namespace mbgl::style::conversion {
-
-std::string convertColor(const QColor &color);
-
-template <>
-class ConversionTraits<QVariant> {
-public:
-    static bool isUndefined(const QVariant &value) { return value.isNull() || !value.isValid(); }
-
-    static bool isArray(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantList));
-#else
-        return value.canConvert(QVariant::List);
-#endif
-    }
-
-    static std::size_t arrayLength(const QVariant &value) { return value.toList().size(); }
-
-    static QVariant arrayMember(const QVariant &value, std::size_t i) { return value.toList()[static_cast<int>(i)]; }
-
-    static bool isObject(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantMap)) ||
-               value.typeId() == QMetaType::QByteArray
-#else
-        return value.canConvert(QVariant::Map) || value.type() == QVariant::ByteArray
-#endif
-               || QString(value.typeName()) == QStringLiteral("QMapLibre::Feature") ||
-               value.userType() == qMetaTypeId<QVector<QMapLibre::Feature>>() ||
-               value.userType() == qMetaTypeId<QList<QMapLibre::Feature>>() ||
-               value.userType() == qMetaTypeId<std::list<QMapLibre::Feature>>();
-    }
-
-    static std::optional<QVariant> objectMember(const QVariant &value, const char *key) {
-        auto map = value.toMap();
-        auto iter = map.constFind(key);
-
-        if (iter != map.constEnd()) {
-            return iter.value();
-        }
-
-        return {};
-    }
-
-    template <class Fn>
-    static std::optional<Error> eachMember(const QVariant &value, Fn &&fn) {
-        auto map = value.toMap();
-        auto iter = map.constBegin();
-
-        while (iter != map.constEnd()) {
-            std::optional<Error> result = fn(iter.key().toStdString(), QVariant(iter.value()));
-            if (result) {
-                return result;
-            }
-
-            ++iter;
-        }
-
-        return {};
-    }
-
-    static std::optional<bool> toBool(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Bool) {
-#else
-        if (value.type() == QVariant::Bool) {
-#endif
-            return value.toBool();
-        }
-
-        return {};
-    }
-
-    static std::optional<float> toNumber(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double ||
-            value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong ||
-            value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) {
-#else
-        if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong ||
-            value.type() == QVariant::ULongLong) {
-#endif
-            return value.toFloat();
-        }
-
-        return {};
-    }
-
-    static std::optional<double> toDouble(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double ||
-            value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong ||
-            value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) {
-#else
-        if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong ||
-            value.type() == QVariant::ULongLong) {
-#endif
-            return value.toDouble();
-        }
-
-        return {};
-    }
-
-    static std::optional<std::string> toString(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::QString) {
-            return value.toString().toStdString();
-        }
-
-        if (value.typeId() == QMetaType::QColor) {
-            return convertColor(value.value<QColor>());
-        }
-#else
-        if (value.type() == QVariant::String) {
-            return value.toString().toStdString();
-        }
-
-        if (value.type() == QVariant::Color) {
-            return convertColor(value.value<QColor>());
-        }
-#endif
-        return {};
-    }
-
-    static std::optional<Value> toValue(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Bool) {
-            return {value.toBool()};
-        }
-
-        if (value.typeId() == QMetaType::QString) {
-            return {value.toString().toStdString()};
-        }
-
-        if (value.typeId() == QMetaType::QColor) {
-            return {convertColor(value.value<QColor>())};
-        }
-
-        if (value.typeId() == QMetaType::Int) {
-            return {static_cast<int64_t>(value.toInt())};
-        }
-
-        if (QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::Double))) {
-            return {value.toDouble()};
-        }
-#else
-        if (value.type() == QVariant::Bool) {
-            return {value.toBool()};
-        }
-
-        if (value.type() == QVariant::String) {
-            return {value.toString().toStdString()};
-        }
-
-        if (value.type() == QVariant::Color) {
-            return {convertColor(value.value<QColor>())};
-        }
-
-        if (value.type() == QVariant::Int) {
-            return {static_cast<int64_t>(value.toInt())};
-        }
-
-        if (value.canConvert(QVariant::Double)) {
-            return {value.toDouble()};
-        }
-#endif
-        return {};
-    }
-
-    static std::optional<GeoJSON> toGeoJSON(const QVariant &value, Error &error) {
-        if (value.typeName() == QStringLiteral("QMapLibre::Feature")) {
-            return GeoJSON{QMapLibre::GeoJSON::asFeature(value.value<QMapLibre::Feature>())};
-        }
-
-        if (value.userType() == qMetaTypeId<QVector<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<QVector<QMapLibre::Feature>>());
-        }
-
-        if (value.userType() == qMetaTypeId<QList<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<QList<QMapLibre::Feature>>());
-        }
-
-        if (value.userType() == qMetaTypeId<std::list<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<std::list<QMapLibre::Feature>>());
-        }
-
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() != QMetaType::QByteArray) {
-#else
-        if (value.type() != QVariant::ByteArray) {
-#endif
-            error = {"JSON data must be in QByteArray"};
-            return {};
-        }
-
-        const QByteArray data = value.toByteArray();
-        return parseGeoJSON(std::string(data.constData(), data.size()), error);
-    }
-
-private:
-    template <typename T>
-    static GeoJSON featureCollectionToGeoJSON(const T &features) {
-        mapbox::feature::feature_collection<double> collection;
-        collection.reserve(static_cast<std::size_t>(features.size()));
-        for (const auto &feature : features) {
-            collection.push_back(QMapLibre::GeoJSON::asFeature(feature));
-        }
-        return GeoJSON{std::move(collection)};
-    }
-};
-
-template <class T, class... Args>
-std::optional<T> convert(const QVariant &value, Error &error, Args &&...args) {
-    return convert<T>(Convertible(value), error, std::forward<Args>(args)...);
-}
-
-inline std::string convertColor(const QColor &color) {
-    return QString::asprintf("rgba(%d,%d,%d,%lf)", color.red(), color.green(), color.blue(), color.alphaF())
-        .toStdString();
-}
-
-} // namespace mbgl::style::conversion
diff --git a/third_party/maplibre-native-qt/include/export_core.hpp b/third_party/maplibre-native-qt/include/export_core.hpp
deleted file mode 100644
index bd5ad495db..0000000000
--- a/third_party/maplibre-native-qt/include/export_core.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_CORE_EXPORT_H
-#define QMAPLIBRE_CORE_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_CORE_LIB)
-#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_CORE_EXPORT
-#endif
-
-#endif // QMAPLIBRE_CORE_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/export_location.hpp b/third_party/maplibre-native-qt/include/export_location.hpp
deleted file mode 100644
index a986346884..0000000000
--- a/third_party/maplibre-native-qt/include/export_location.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_LOCATION_EXPORT_H
-#define QMAPLIBRE_LOCATION_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_LOCATION_LIB)
-#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_LOCATION_EXPORT
-#endif
-
-#endif // QMAPLIBRE_LOCATION_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/export_widgets.hpp b/third_party/maplibre-native-qt/include/export_widgets.hpp
deleted file mode 100644
index 11bc288190..0000000000
--- a/third_party/maplibre-native-qt/include/export_widgets.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_WIDGETS_EXPORT_H
-#define QMAPLIBRE_WIDGETS_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_WIDGETS_LIB)
-#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_WIDGETS_EXPORT
-#endif
-
-#endif // QMAPLIBRE_WIDGETS_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/geojson_p.hpp b/third_party/maplibre-native-qt/include/geojson_p.hpp
deleted file mode 100644
index 8387f70c4b..0000000000
--- a/third_party/maplibre-native-qt/include/geojson_p.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "types.hpp"
-
-#include <mapbox/geojson.hpp>
-#include <mbgl/util/feature.hpp>
-#include <mbgl/util/geometry.hpp>
-
-#include <QtCore/QVariant>
-
-#include <string>
-
-namespace QMapLibre::GeoJSON {
-
-mbgl::Point<double> asPoint(const Coordinate &coordinate);
-mbgl::MultiPoint<double> asMultiPoint(const Coordinates &multiPoint);
-mbgl::LineString<double> asLineString(const Coordinates &lineString);
-mbgl::MultiLineString<double> asMultiLineString(const CoordinatesCollection &multiLineString);
-mbgl::Polygon<double> asPolygon(const CoordinatesCollection &polygon);
-mbgl::MultiPolygon<double> asMultiPolygon(const CoordinatesCollections &multiPolygon);
-mbgl::Value asPropertyValue(const QVariant &value);
-mbgl::FeatureIdentifier asFeatureIdentifier(const QVariant &id);
-mbgl::GeoJSONFeature asFeature(const Feature &feature);
-
-} // namespace QMapLibre::GeoJSON
diff --git a/third_party/maplibre-native-qt/include/gl_widget.hpp b/third_party/maplibre-native-qt/include/gl_widget.hpp
deleted file mode 100644
index b2630daea7..0000000000
--- a/third_party/maplibre-native-qt/include/gl_widget.hpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_GL_WIDGET_H
-#define QMAPLIBRE_GL_WIDGET_H
-
-#include <QMapLibreWidgets/Export>
-
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-
-#include <QOpenGLWidget>
-
-#include <memory>
-
-QT_BEGIN_NAMESPACE
-
-class QKeyEvent;
-class QMouseEvent;
-class QWheelEvent;
-
-QT_END_NAMESPACE
-
-namespace QMapLibre {
-
-class GLWidgetPrivate;
-
-class Q_MAPLIBRE_WIDGETS_EXPORT GLWidget : public QOpenGLWidget {
-    Q_OBJECT
-
-public:
-    explicit GLWidget(const Settings &);
-    ~GLWidget() override;
-
-    Map *map();
-
-protected:
-    // QWidget implementation.
-    void mousePressEvent(QMouseEvent *event) override;
-    void mouseMoveEvent(QMouseEvent *event) override;
-    void wheelEvent(QWheelEvent *event) override;
-
-    // Q{,Open}GLWidget implementation.
-    void initializeGL() override;
-    void paintGL() override;
-
-private:
-    Q_DISABLE_COPY(GLWidget)
-
-    std::unique_ptr<GLWidgetPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_GL_WIDGET_H
diff --git a/third_party/maplibre-native-qt/include/gl_widget_p.hpp b/third_party/maplibre-native-qt/include/gl_widget_p.hpp
deleted file mode 100644
index c97781fd29..0000000000
--- a/third_party/maplibre-native-qt/include/gl_widget_p.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-
-#include <memory>
-
-QT_BEGIN_NAMESPACE
-
-class QKeyEvent;
-class QMouseEvent;
-class QWheelEvent;
-
-QT_END_NAMESPACE
-
-namespace QMapLibre {
-
-class GLWidgetPrivate : public QObject {
-    Q_OBJECT
-
-public:
-    explicit GLWidgetPrivate(QObject *parent, Settings settings);
-    ~GLWidgetPrivate() override;
-
-    void handleMousePressEvent(QMouseEvent *event);
-    void handleMouseMoveEvent(QMouseEvent *event);
-    void handleWheelEvent(QWheelEvent *event) const;
-
-    std::unique_ptr<Map> m_map{};
-    Settings m_settings;
-
-private:
-    Q_DISABLE_COPY(GLWidgetPrivate);
-
-    QPointF m_lastPos;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map.hpp b/third_party/maplibre-native-qt/include/map.hpp
deleted file mode 100644
index cd56996185..0000000000
--- a/third_party/maplibre-native-qt/include/map.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_MAP_H
-#define QMAPLIBRE_MAP_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Settings>
-#include <QMapLibre/Types>
-
-#include <QtCore/QMargins>
-#include <QtCore/QObject>
-#include <QtCore/QPointF>
-#include <QtCore/QSize>
-#include <QtCore/QString>
-#include <QtCore/QStringList>
-#include <QtGui/QImage>
-
-#include <functional>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate;
-
-class Q_MAPLIBRE_CORE_EXPORT Map : public QObject {
-    Q_OBJECT
-    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
-    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
-    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
-    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
-    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
-    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
-    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
-    Q_PROPERTY(double scale READ scale WRITE setScale)
-    Q_PROPERTY(QMapLibre::Coordinate coordinate READ coordinate WRITE setCoordinate)
-    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
-
-public:
-    enum MapChange {
-        MapChangeRegionWillChange = 0,
-        MapChangeRegionWillChangeAnimated,
-        MapChangeRegionIsChanging,
-        MapChangeRegionDidChange,
-        MapChangeRegionDidChangeAnimated,
-        MapChangeWillStartLoadingMap,
-        MapChangeDidFinishLoadingMap,
-        MapChangeDidFailLoadingMap,
-        MapChangeWillStartRenderingFrame,
-        MapChangeDidFinishRenderingFrame,
-        MapChangeDidFinishRenderingFrameFullyRendered,
-        MapChangeWillStartRenderingMap,
-        MapChangeDidFinishRenderingMap,
-        MapChangeDidFinishRenderingMapFullyRendered,
-        MapChangeDidFinishLoadingStyle,
-        MapChangeSourceDidChange
-    };
-
-    enum MapLoadingFailure {
-        StyleParseFailure,
-        StyleLoadFailure,
-        NotFoundFailure,
-        UnknownFailure
-    };
-
-    // Determines the orientation of the map.
-    enum NorthOrientation {
-        NorthUpwards, // Default
-        NorthRightwards,
-        NorthDownwards,
-        NorthLeftwards,
-    };
-
-    explicit Map(QObject *parent = nullptr,
-                 const Settings &settings = Settings(),
-                 const QSize &size = QSize(),
-                 qreal pixelRatio = 1);
-    ~Map() override;
-
-    [[nodiscard]] QString styleJson() const;
-    [[nodiscard]] QString styleUrl() const;
-
-    void setStyleJson(const QString &);
-    void setStyleUrl(const QString &);
-
-    [[nodiscard]] double latitude() const;
-    void setLatitude(double latitude);
-
-    [[nodiscard]] double longitude() const;
-    void setLongitude(double longitude);
-
-    [[nodiscard]] double scale() const;
-    void setScale(double scale, const QPointF &center = QPointF());
-
-    [[nodiscard]] double zoom() const;
-    void setZoom(double zoom);
-
-    [[nodiscard]] double minimumZoom() const;
-    [[nodiscard]] double maximumZoom() const;
-
-    [[nodiscard]] double bearing() const;
-    void setBearing(double degrees);
-    void setBearing(double degrees, const QPointF &center);
-
-    [[nodiscard]] double pitch() const;
-    void setPitch(double pitch);
-    void pitchBy(double pitch);
-
-    [[nodiscard]] NorthOrientation northOrientation() const;
-    void setNorthOrientation(NorthOrientation);
-
-    [[nodiscard]] Coordinate coordinate() const;
-    void setCoordinate(const Coordinate &coordinate);
-    void setCoordinateZoom(const Coordinate &coordinate, double zoom);
-
-    void jumpTo(const CameraOptions &);
-
-    void setGestureInProgress(bool inProgress);
-
-    void setTransitionOptions(qint64 duration, qint64 delay = 0);
-
-    void addAnnotationIcon(const QString &name, const QImage &sprite);
-
-    AnnotationID addAnnotation(const Annotation &annotation);
-    void updateAnnotation(AnnotationID id, const Annotation &annotation);
-    void removeAnnotation(AnnotationID id);
-
-    bool setLayoutProperty(const QString &layerId, const QString &propertyName, const QVariant &value);
-    bool setPaintProperty(const QString &layerId, const QString &propertyName, const QVariant &value);
-
-    [[nodiscard]] bool isFullyLoaded() const;
-
-    void moveBy(const QPointF &offset);
-    void scaleBy(double scale, const QPointF &center = QPointF());
-    void rotateBy(const QPointF &first, const QPointF &second);
-
-    void resize(const QSize &size);
-
-    [[nodiscard]] QPointF pixelForCoordinate(const Coordinate &coordinate) const;
-    [[nodiscard]] Coordinate coordinateForPixel(const QPointF &pixel) const;
-
-    [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, const Coordinate &ne) const;
-    [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw,
-                                                         const Coordinate &ne,
-                                                         double bearing,
-                                                         double pitch);
-
-    void setMargins(const QMargins &margins);
-    [[nodiscard]] QMargins margins() const;
-
-    void addSource(const QString &id, const QVariantMap &params);
-    bool sourceExists(const QString &id);
-    void updateSource(const QString &id, const QVariantMap &params);
-    void removeSource(const QString &id);
-
-    void addImage(const QString &id, const QImage &sprite);
-    void removeImage(const QString &id);
-
-    void addCustomLayer(const QString &id,
-                        std::unique_ptr<CustomLayerHostInterface> host,
-                        const QString &before = QString());
-    void addLayer(const QString &id, const QVariantMap &params, const QString &before = QString());
-    bool layerExists(const QString &id);
-    void removeLayer(const QString &id);
-
-    [[nodiscard]] QVector<QString> layerIds() const;
-
-    void setFilter(const QString &layerId, const QVariant &filter);
-    [[nodiscard]] QVariant getFilter(const QString &layerId) const;
-    // When rendering on a different thread,
-    // should be called on the render thread.
-    void createRenderer();
-    void destroyRenderer();
-    void setFramebufferObject(quint32 fbo, const QSize &size);
-
-public slots:
-    void render();
-    void setConnectionEstablished();
-
-    // Commit changes, load all the resources
-    // and renders the map when completed.
-    void startStaticRender();
-
-signals:
-    void needsRendering();
-    void mapChanged(Map::MapChange);
-    void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason);
-    void copyrightsChanged(const QString &copyrightsHtml);
-
-    void staticRenderFinished(const QString &error);
-
-private:
-    Q_DISABLE_COPY(Map)
-
-    std::unique_ptr<MapPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-Q_DECLARE_METATYPE(QMapLibre::Map::MapChange);
-Q_DECLARE_METATYPE(QMapLibre::Map::MapLoadingFailure);
-
-#endif // QMAPLIBRE_MAP_H
diff --git a/third_party/maplibre-native-qt/include/map_observer_p.hpp b/third_party/maplibre-native-qt/include/map_observer_p.hpp
deleted file mode 100644
index e68c72b17b..0000000000
--- a/third_party/maplibre-native-qt/include/map_observer_p.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "map.hpp"
-
-#include <mbgl/map/map_observer.hpp>
-#include <mbgl/style/style.hpp>
-
-#include <QtCore/QObject>
-
-#include <exception>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate;
-
-class MapObserver : public QObject, public mbgl::MapObserver {
-    Q_OBJECT
-
-public:
-    explicit MapObserver(MapPrivate *ptr);
-    ~MapObserver() override;
-
-    // mbgl::MapObserver implementation.
-    void onCameraWillChange(mbgl::MapObserver::CameraChangeMode mode) final;
-    void onCameraIsChanging() final;
-    void onCameraDidChange(mbgl::MapObserver::CameraChangeMode mode) final;
-    void onWillStartLoadingMap() final;
-    void onDidFinishLoadingMap() final;
-    void onDidFailLoadingMap(mbgl::MapLoadError error, const std::string &what) final;
-    void onWillStartRenderingFrame() final;
-    void onDidFinishRenderingFrame(mbgl::MapObserver::RenderFrameStatus status) final;
-    void onWillStartRenderingMap() final;
-    void onDidFinishRenderingMap(mbgl::MapObserver::RenderMode mode) final;
-    void onDidFinishLoadingStyle() final;
-    void onSourceChanged(mbgl::style::Source &source) final;
-
-signals:
-    void mapChanged(Map::MapChange);
-    void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason);
-    void copyrightsChanged(const QString &copyrightsHtml);
-
-private:
-    Q_DISABLE_COPY(MapObserver)
-
-    MapPrivate *d_ptrRef;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map_p.hpp b/third_party/maplibre-native-qt/include/map_p.hpp
deleted file mode 100644
index 9ca0c7e6f5..0000000000
--- a/third_party/maplibre-native-qt/include/map_p.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "map.hpp"
-#include "map_observer_p.hpp"
-#include "map_renderer_p.hpp"
-
-#include <mbgl/actor/actor.hpp>
-#include <mbgl/map/map.hpp>
-#include <mbgl/renderer/renderer_frontend.hpp>
-#include <mbgl/storage/resource_transform.hpp>
-#include <mbgl/util/geo.hpp>
-
-#include <QtCore/QObject>
-#include <QtCore/QSize>
-
-#include <atomic>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate : public QObject, public mbgl::RendererFrontend {
-    Q_OBJECT
-
-public:
-    explicit MapPrivate(Map *map, const Settings &settings, const QSize &size, qreal pixelRatio);
-    ~MapPrivate() override;
-
-    // mbgl::RendererFrontend implementation.
-    void reset() final {}
-    void setObserver(mbgl::RendererObserver &observer) final;
-    void update(std::shared_ptr<mbgl::UpdateParameters> parameters) final;
-
-    // These need to be called on the same thread.
-    void createRenderer();
-    void destroyRenderer();
-    void render();
-    void setFramebufferObject(quint32 fbo, const QSize &size);
-
-    using PropertySetter = std::optional<mbgl::style::conversion::Error> (mbgl::style::Layer::*)(
-        const std::string &, const mbgl::style::conversion::Convertible &);
-    [[nodiscard]] bool setProperty(const PropertySetter &setter,
-                                   const QString &layerId,
-                                   const QString &name,
-                                   const QVariant &value) const;
-
-    mbgl::EdgeInsets margins;
-    std::unique_ptr<mbgl::Map> mapObj{};
-
-public slots:
-    void requestRendering();
-
-signals:
-    void needsRendering();
-
-private:
-    Q_DISABLE_COPY(MapPrivate)
-
-    std::recursive_mutex m_mapRendererMutex;
-    std::shared_ptr<mbgl::RendererObserver> m_rendererObserver{};
-    std::shared_ptr<mbgl::UpdateParameters> m_updateParameters{};
-
-    std::unique_ptr<MapObserver> m_mapObserver{};
-    std::unique_ptr<MapRenderer> m_mapRenderer{};
-    std::unique_ptr<mbgl::Actor<mbgl::ResourceTransform::TransformCallback>> m_resourceTransform{};
-
-    Settings::GLContextMode m_mode;
-    qreal m_pixelRatio;
-
-    QString m_localFontFamily;
-
-    std::atomic_flag m_renderQueued = ATOMIC_FLAG_INIT;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map_renderer_p.hpp b/third_party/maplibre-native-qt/include/map_renderer_p.hpp
deleted file mode 100644
index b9a087c392..0000000000
--- a/third_party/maplibre-native-qt/include/map_renderer_p.hpp
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "settings.hpp"
-
-#include "utils/renderer_backend.hpp"
-
-#include <mbgl/renderer/renderer.hpp>
-#include <mbgl/renderer/renderer_observer.hpp>
-#include <mbgl/util/util.hpp>
-
-#include <QtCore/QObject>
-
-#include <QtGlobal>
-
-#include <memory>
-#include <mutex>
-
-namespace mbgl {
-class Renderer;
-class UpdateParameters;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class RendererBackend;
-
-class MapRenderer : public QObject {
-    Q_OBJECT
-
-public:
-    MapRenderer(qreal pixelRatio, Settings::GLContextMode, const QString &localFontFamily);
-    ~MapRenderer() override;
-
-    void render();
-    void updateFramebuffer(quint32 fbo, const mbgl::Size &size);
-    void setObserver(mbgl::RendererObserver *observer);
-
-    // Thread-safe, called by the Frontend
-    void updateParameters(std::shared_ptr<mbgl::UpdateParameters> parameters);
-
-signals:
-    void needsRendering();
-
-private:
-    MBGL_STORE_THREAD(tid)
-
-    Q_DISABLE_COPY(MapRenderer)
-
-    std::mutex m_updateMutex;
-    std::shared_ptr<mbgl::UpdateParameters> m_updateParameters;
-
-    RendererBackend m_backend;
-    std::unique_ptr<mbgl::Renderer> m_renderer{};
-
-    bool m_forceScheduler{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qgeomap.hpp b/third_party/maplibre-native-qt/include/qgeomap.hpp
deleted file mode 100644
index 5eb0180503..0000000000
--- a/third_party/maplibre-native-qt/include/qgeomap.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "export_location.hpp"
-
-#include <QMapLibre/Map>
-#include <QMapLibre/StyleParameter>
-
-#include <QtLocation/private/qgeomap_p.h>
-
-namespace QMapLibre {
-
-class QGeoMapMapLibrePrivate;
-
-class Q_MAPLIBRE_LOCATION_EXPORT QGeoMapMapLibre : public QGeoMap {
-    Q_OBJECT
-    Q_DECLARE_PRIVATE(QGeoMapMapLibre)
-
-public:
-    explicit QGeoMapMapLibre(QGeoMappingManagerEngine *engine, QObject *parent = nullptr);
-    ~QGeoMapMapLibre() override;
-
-    [[nodiscard]] Capabilities capabilities() const override;
-
-    void setSettings(const Settings &settings);
-    void setMapItemsBefore(const QString &mapItemsBefore);
-
-    void addStyleParameter(StyleParameter *parameter);
-    void removeStyleParameter(StyleParameter *parameter);
-    void clearStyleParameters();
-
-private Q_SLOTS:
-    // QMapLibre
-    void onMapChanged(Map::MapChange);
-
-    // QDeclarativeGeoMapItemBase
-    void onMapItemPropertyChanged();
-    void onMapItemSubPropertyChanged();
-    void onMapItemUnsupportedPropertyChanged();
-    void onMapItemGeometryChanged();
-
-    // StyleParameter
-    void onStyleParameterUpdated(StyleParameter *parameter);
-
-private:
-    QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window) override;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qgeomap_p.hpp b/third_party/maplibre-native-qt/include/qgeomap_p.hpp
deleted file mode 100644
index ce415d9bcf..0000000000
--- a/third_party/maplibre-native-qt/include/qgeomap_p.hpp
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "qgeomap.hpp"
-
-#include <QMapLibre/Settings>
-#include <QMapLibre/StyleParameter>
-
-#include <QtLocation/private/qgeomap_p_p.h>
-
-#include <QtCore/QHash>
-#include <QtCore/QList>
-#include <QtCore/QRectF>
-#include <QtCore/QSharedPointer>
-#include <QtCore/QTimer>
-#include <QtCore/QVariant>
-
-namespace QMapLibre {
-
-class Map;
-class StyleChange;
-
-class QGeoMapMapLibrePrivate : public QGeoMapPrivate {
-    Q_DECLARE_PUBLIC(QGeoMapMapLibre)
-
-public:
-    explicit QGeoMapMapLibrePrivate(QGeoMappingManagerEngine *engine);
-    ~QGeoMapMapLibrePrivate() override;
-
-    QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window);
-
-    QGeoMap::ItemTypes supportedMapItemTypes() const override;
-    void addMapItem(QDeclarativeGeoMapItemBase *item) override;
-    void removeMapItem(QDeclarativeGeoMapItemBase *item) override;
-
-    void addStyleParameter(StyleParameter *parameter);
-    void removeStyleParameter(StyleParameter *parameter);
-    void clearStyleParameters();
-
-    /* Data members */
-    enum SyncState : int {
-        NoSync = 0,
-        ViewportSync = 1 << 0,
-        CameraDataSync = 1 << 1,
-        MapTypeSync = 1 << 2,
-        VisibleAreaSync = 1 << 3
-    };
-    Q_DECLARE_FLAGS(SyncStates, SyncState);
-
-    Settings m_settings;
-    QString m_mapItemsBefore;
-
-    QList<StyleParameter *> m_mapParameters;
-
-    QTimer m_refresh;
-    bool m_shouldRefresh = true;
-    bool m_warned = false;
-    bool m_threadedRendering = false;
-    bool m_styleLoaded = false;
-
-    SyncStates m_syncState = NoSync;
-
-    std::vector<std::unique_ptr<StyleChange>> m_styleChanges;
-
-protected:
-    void changeViewportSize(const QSize &size) override;
-    void changeCameraData(const QGeoCameraData &data) override;
-#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0)
-    void changeActiveMapType(const QGeoMapType &mapType) override;
-#else
-    void changeActiveMapType(const QGeoMapType mapType) override;
-#endif
-
-    void setVisibleArea(const QRectF &visibleArea) override;
-    QRectF visibleArea() const override;
-
-private:
-    Q_DISABLE_COPY(QGeoMapMapLibrePrivate);
-
-    void syncStyleChanges(Map *map);
-    void threadedRenderingHack(QQuickWindow *window, Map *map);
-
-    QRectF m_visibleArea;
-};
-
-Q_DECLARE_OPERATORS_FOR_FLAGS(QGeoMapMapLibrePrivate::SyncStates)
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qmaplibre.hpp b/third_party/maplibre-native-qt/include/qmaplibre.hpp
deleted file mode 100644
index a8dc445e2b..0000000000
--- a/third_party/maplibre-native-qt/include/qmaplibre.hpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#include "export_core.hpp"
-#include "map.hpp"
-#include "settings.hpp"
-#include "types.hpp"
-#include "utils.hpp"
diff --git a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
deleted file mode 100644
index ebe9a8eea4..0000000000
--- a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
+++ /dev/null
@@ -1,6 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#include "export_widgets.hpp"
-#include "gl_widget.hpp"
diff --git a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
deleted file mode 100644
index 67cb4b56ce..0000000000
--- a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "export_location.hpp"
-
-#include <QMapLibre/Settings>
-
-#include <QtLocation/private/qgeomappingmanagerengine_p.h>
-#include <QtLocation/QGeoServiceProvider>
-
-namespace QMapLibre {
-
-class Q_MAPLIBRE_LOCATION_EXPORT QtMappingEngine : public QGeoMappingManagerEngine {
-    Q_OBJECT
-
-public:
-    QtMappingEngine(const QVariantMap &parameters, QGeoServiceProvider::Error *error, QString *errorString);
-
-    QGeoMap *createMap() override;
-
-private:
-    Settings m_settings;
-    QString m_mapItemsBefore;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/settings.hpp b/third_party/maplibre-native-qt/include/settings.hpp
deleted file mode 100644
index d6f88b871b..0000000000
--- a/third_party/maplibre-native-qt/include/settings.hpp
+++ /dev/null
@@ -1,125 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_SETTINGS_H
-#define QMAPLIBRE_SETTINGS_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Types>
-
-#include <QtCore/QString>
-#include <QtGui/QImage>
-
-#include <functional>
-#include <memory>
-
-// TODO: this will be wrapped at some point
-namespace mbgl {
-class TileServerOptions;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class SettingsPrivate;
-
-class Q_MAPLIBRE_CORE_EXPORT Settings {
-public:
-    enum GLContextMode : bool {
-        UniqueGLContext,
-        SharedGLContext
-    };
-
-    enum MapMode {
-        Continuous = 0,
-        Static
-    };
-
-    enum ConstrainMode {
-        NoConstrain = 0,
-        ConstrainHeightOnly,
-        ConstrainWidthAndHeight
-    };
-
-    enum ViewportMode {
-        DefaultViewport = 0,
-        FlippedYViewport
-    };
-
-    enum ProviderTemplate {
-        NoProvider = 0,
-        MapLibreProvider,
-        MapTilerProvider,
-        MapboxProvider
-    };
-
-    using ResourceTransformFunction = std::function<std::string(const std::string &)>;
-
-    explicit Settings(ProviderTemplate provider = NoProvider);
-    ~Settings();
-    Settings(const Settings &s);
-    Settings(Settings &&s) noexcept;
-    Settings &operator=(const Settings &s);
-    Settings &operator=(Settings &&s) noexcept;
-
-    [[nodiscard]] GLContextMode contextMode() const;
-    void setContextMode(GLContextMode);
-
-    [[nodiscard]] MapMode mapMode() const;
-    void setMapMode(MapMode);
-
-    [[nodiscard]] ConstrainMode constrainMode() const;
-    void setConstrainMode(ConstrainMode);
-
-    [[nodiscard]] ViewportMode viewportMode() const;
-    void setViewportMode(ViewportMode);
-
-    [[nodiscard]] unsigned cacheDatabaseMaximumSize() const;
-    void setCacheDatabaseMaximumSize(unsigned);
-
-    [[nodiscard]] QString cacheDatabasePath() const;
-    void setCacheDatabasePath(const QString &path);
-
-    [[nodiscard]] QString assetPath() const;
-    void setAssetPath(const QString &path);
-
-    [[nodiscard]] QString apiKey() const;
-    void setApiKey(const QString &key);
-
-    [[nodiscard]] QString apiBaseUrl() const;
-    void setApiBaseUrl(const QString &url);
-
-    [[nodiscard]] QString localFontFamily() const;
-    void setLocalFontFamily(const QString &family);
-
-    [[nodiscard]] QString clientName() const;
-    void setClientName(const QString &name);
-
-    [[nodiscard]] QString clientVersion() const;
-    void setClientVersion(const QString &version);
-
-    [[nodiscard]] ResourceTransformFunction resourceTransform() const;
-    void setResourceTransform(const ResourceTransformFunction &transform);
-
-    void setProviderTemplate(ProviderTemplate providerTemplate);
-    void setStyles(const Styles &styles);
-
-    [[nodiscard]] const Styles &styles() const;
-    [[nodiscard]] Styles providerStyles() const;
-
-    [[nodiscard]] Coordinate defaultCoordinate() const;
-    void setDefaultCoordinate(const Coordinate &coordinate);
-    [[nodiscard]] double defaultZoom() const;
-    void setDefaultZoom(double zoom);
-
-    [[nodiscard]] bool customTileServerOptions() const;
-    [[nodiscard]] const mbgl::TileServerOptions &tileServerOptions() const;
-
-private:
-    std::unique_ptr<SettingsPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_SETTINGS_H
diff --git a/third_party/maplibre-native-qt/include/settings_p.hpp b/third_party/maplibre-native-qt/include/settings_p.hpp
deleted file mode 100644
index 257bdfd5a9..0000000000
--- a/third_party/maplibre-native-qt/include/settings_p.hpp
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "settings.hpp"
-#include "types.hpp"
-
-#include <mbgl/util/tile_server_options.hpp>
-
-#include <QtCore/QString>
-#include <QtCore/QVector>
-
-#include <functional>
-#include <memory>
-
-namespace mbgl {
-class TileServerOptions;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class SettingsPrivate {
-public:
-    SettingsPrivate();
-
-    void setProviderTemplate(Settings::ProviderTemplate providerTemplate);
-    void setProviderApiBaseUrl(const QString &url);
-
-    Settings::GLContextMode m_contextMode{Settings::SharedGLContext};
-    Settings::MapMode m_mapMode{Settings::Continuous};
-    Settings::ConstrainMode m_constrainMode{Settings::ConstrainHeightOnly};
-    Settings::ViewportMode m_viewportMode{Settings::DefaultViewport};
-    Settings::ProviderTemplate m_providerTemplate{Settings::NoProvider};
-
-    unsigned m_cacheMaximumSize;
-    QString m_cacheDatabasePath;
-    QString m_assetPath;
-    QString m_apiKey;
-    QString m_localFontFamily;
-    QString m_clientName;
-    QString m_clientVersion;
-
-    Coordinate m_defaultCoordinate{};
-    double m_defaultZoom{};
-
-    Styles m_styles;
-
-    std::function<std::string(const std::string &)> m_resourceTransform;
-
-    bool m_customTileServerOptions{};
-    mbgl::TileServerOptions m_tileServerOptions{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp
deleted file mode 100644
index 991bb4077e..0000000000
--- a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include <QMapLibre/Types>
-
-#include <QtLocation/private/qdeclarativecirclemapitem_p.h>
-#include <QtLocation/private/qdeclarativegeomapitembase_p.h>
-#include <QtLocation/private/qdeclarativepolygonmapitem_p.h>
-#include <QtLocation/private/qdeclarativepolylinemapitem_p.h>
-#include <QtLocation/private/qdeclarativerectanglemapitem_p.h>
-
-namespace QMapLibre::StyleChangeUtils {
-
-Feature featureFromMapRectangle(QDeclarativeRectangleMapItem *item);
-Feature featureFromMapCircle(QDeclarativeCircleMapItem *item);
-Feature featureFromMapPolygon(QDeclarativePolygonMapItem *item);
-Feature featureFromMapPolyline(QDeclarativePolylineMapItem *item);
-Feature featureFromMapItem(QDeclarativeGeoMapItemBase *item);
-
-QString featureId(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featureLayoutPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item);
-std::vector<FeatureProperty> featureLayoutPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapRectangle(QDeclarativeRectangleMapItem *item);
-std::vector<FeatureProperty> featurePaingPropertiesFromMapCircle(QDeclarativeCircleMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapPolygon(QDeclarativePolygonMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featurePropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-
-} // namespace QMapLibre::StyleChangeUtils
diff --git a/third_party/maplibre-native-qt/include/texture_node.hpp b/third_party/maplibre-native-qt/include/texture_node.hpp
deleted file mode 100644
index 96f63b3534..0000000000
--- a/third_party/maplibre-native-qt/include/texture_node.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include <QtQuick/QQuickWindow>
-#include <QtQuick/QSGRenderNode>
-#include <QtQuick/QSGSimpleTextureNode>
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-#include <QtOpenGL/QOpenGLFramebufferObject>
-#else
-#include <QtGui/QOpenGLFramebufferObject>
-#endif
-
-#include <QMapLibre/Map>
-
-namespace QMapLibre {
-
-class QGeoMapMapLibre;
-
-class TextureNode : public QSGSimpleTextureNode {
-public:
-    TextureNode(const Settings &setting, const QSize &size, qreal pixelRatio, QGeoMapMapLibre *geoMap);
-
-    [[nodiscard]] Map *map() const;
-
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-    void resize(const QSize &size, qreal pixelRatio, QQuickWindow *window);
-#else
-    void resize(const QSize &size, qreal pixelRatio);
-#endif
-    void render(QQuickWindow *);
-
-private:
-    std::unique_ptr<Map> m_map{};
-    std::unique_ptr<QOpenGLFramebufferObject> m_fbo{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/types.hpp b/third_party/maplibre-native-qt/include/types.hpp
deleted file mode 100644
index 696fab1a88..0000000000
--- a/third_party/maplibre-native-qt/include/types.hpp
+++ /dev/null
@@ -1,206 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_TYPES_H
-#define QMAPLIBRE_TYPES_H
-
-#include <QMapLibre/Export>
-
-#include <QtCore/QPair>
-#include <QtCore/QString>
-#include <QtCore/QVariant>
-#include <QtCore/QVector>
-#include <QtGui/QColor>
-#include <utility>
-
-namespace QMapLibre {
-
-using Coordinate = QPair<double, double>;
-using CoordinateZoom = QPair<Coordinate, double>;
-using ProjectedMeters = QPair<double, double>;
-
-using Coordinates = QVector<Coordinate>;
-using CoordinatesCollection = QVector<Coordinates>;
-
-using CoordinatesCollections = QVector<CoordinatesCollection>;
-
-struct Q_MAPLIBRE_CORE_EXPORT Style {
-    enum Type { // Taken from Qt to be in sync with QtLocation
-        NoMap = 0,
-        StreetMap,
-        SatelliteMapDay,
-        SatelliteMapNight,
-        TerrainMap,
-        HybridMap,
-        TransitMap,
-        GrayStreetMap,
-        PedestrianMap,
-        CarNavigationMap,
-        CycleMap,
-        CustomMap = 100
-    };
-
-#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
-    explicit Style(QString url_, QString name_ = QString())
-        : url(std::move(url_)),
-          name(std::move(name_)) {}
-#else
-    explicit Style(QString url_ = QString(), QString name_ = QString())
-        : url(std::move(url_)),
-          name(std::move(name_)) {}
-#endif
-
-    QString url;
-    QString name;
-    QString description;
-    bool night{};
-    Type type{CustomMap};
-};
-
-using Styles = QVector<Style>;
-
-struct Q_MAPLIBRE_CORE_EXPORT Feature {
-    enum Type {
-        PointType = 1,
-        LineStringType,
-        PolygonType
-    };
-
-    /*! Class constructor. */
-    explicit Feature(Type type_ = PointType,
-                     CoordinatesCollections geometry_ = CoordinatesCollections(),
-                     QVariantMap properties_ = QVariantMap(),
-                     QVariant id_ = QVariant())
-        : type(type_),
-          geometry(std::move(geometry_)),
-          properties(std::move(properties_)),
-          id(std::move(id_)) {}
-
-    Type type;
-    CoordinatesCollections geometry;
-    QVariantMap properties;
-    QVariant id;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT FeatureProperty {
-    enum Type {
-        LayoutProperty = 1,
-        PaintProperty,
-    };
-
-    /*! Class constructor. */
-    explicit FeatureProperty(Type type_, QString name_, QVariant value_)
-        : type(type_),
-          name(std::move(name_)),
-          value(std::move(value_)) {}
-
-    Type type;
-    QString name;
-    QVariant value;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT ShapeAnnotationGeometry {
-    enum Type {
-        LineStringType = 1,
-        PolygonType,
-        MultiLineStringType,
-        MultiPolygonType
-    };
-
-    /*! Class constructor. */
-    explicit ShapeAnnotationGeometry(Type type_ = LineStringType,
-                                     CoordinatesCollections geometry_ = CoordinatesCollections())
-        : type(type_),
-          geometry(std::move(geometry_)) {}
-
-    Type type;
-    CoordinatesCollections geometry;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT SymbolAnnotation {
-    Coordinate geometry;
-    QString icon;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT LineAnnotation {
-    /*! Class constructor. */
-    explicit LineAnnotation(ShapeAnnotationGeometry geometry_ = ShapeAnnotationGeometry(),
-                            float opacity_ = 1.0f,
-                            float width_ = 1.0f,
-                            const QColor &color_ = Qt::black)
-        : geometry(std::move(geometry_)),
-          opacity(opacity_),
-          width(width_),
-          color(color_) {}
-
-    ShapeAnnotationGeometry geometry;
-    float opacity;
-    float width;
-    QColor color;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT FillAnnotation {
-    /*! Class constructor. */
-    explicit FillAnnotation(ShapeAnnotationGeometry geometry_ = ShapeAnnotationGeometry(),
-                            float opacity_ = 1.0f,
-                            const QColor &color_ = Qt::black,
-                            QVariant outlineColor_ = QVariant())
-        : geometry(std::move(geometry_)),
-          opacity(opacity_),
-          color(color_),
-          outlineColor(std::move(outlineColor_)) {}
-
-    ShapeAnnotationGeometry geometry;
-    float opacity;
-    QColor color;
-    QVariant outlineColor;
-};
-
-using Annotation = QVariant;
-using AnnotationID = quint32;
-using AnnotationIDs = QVector<AnnotationID>;
-
-struct Q_MAPLIBRE_CORE_EXPORT CameraOptions {
-    QVariant center;  // Coordinate
-    QVariant anchor;  // QPointF
-    QVariant zoom;    // double
-    QVariant bearing; // double
-    QVariant pitch;   // double
-};
-
-// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
-struct Q_MAPLIBRE_CORE_EXPORT CustomLayerRenderParameters {
-    double width;
-    double height;
-    double latitude;
-    double longitude;
-    double zoom;
-    double bearing;
-    double pitch;
-    double fieldOfView;
-};
-
-class Q_MAPLIBRE_CORE_EXPORT CustomLayerHostInterface {
-public:
-    virtual ~CustomLayerHostInterface() = default;
-    virtual void initialize() = 0;
-    virtual void render(const CustomLayerRenderParameters &) = 0;
-    virtual void deinitialize() = 0;
-};
-
-} // namespace QMapLibre
-
-Q_DECLARE_METATYPE(QMapLibre::Coordinate);
-Q_DECLARE_METATYPE(QMapLibre::Coordinates);
-Q_DECLARE_METATYPE(QMapLibre::CoordinatesCollection);
-Q_DECLARE_METATYPE(QMapLibre::CoordinatesCollections);
-Q_DECLARE_METATYPE(QMapLibre::Feature);
-
-Q_DECLARE_METATYPE(QMapLibre::SymbolAnnotation);
-Q_DECLARE_METATYPE(QMapLibre::ShapeAnnotationGeometry);
-Q_DECLARE_METATYPE(QMapLibre::LineAnnotation);
-Q_DECLARE_METATYPE(QMapLibre::FillAnnotation);
-
-#endif // QMAPLIBRE_TYPES_H
diff --git a/third_party/maplibre-native-qt/include/utils.hpp b/third_party/maplibre-native-qt/include/utils.hpp
deleted file mode 100644
index f70a5de0ba..0000000000
--- a/third_party/maplibre-native-qt/include/utils.hpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_UTILS_H
-#define QMAPLIBRE_UTILS_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Types>
-
-namespace QMapLibre {
-
-enum NetworkMode {
-    Online, // Default
-    Offline,
-};
-
-Q_MAPLIBRE_CORE_EXPORT NetworkMode networkMode();
-Q_MAPLIBRE_CORE_EXPORT void setNetworkMode(NetworkMode mode);
-
-Q_MAPLIBRE_CORE_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
-Q_MAPLIBRE_CORE_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &coordinate);
-Q_MAPLIBRE_CORE_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &projectedMeters);
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_UTILS_H
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export
deleted file mode 100644
index 00a9a7d0b4..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export
+++ /dev/null
@@ -1 +0,0 @@
-#include "export_core.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
deleted file mode 100644
index 428f97fb12..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "layer_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
deleted file mode 100644
index 6b055720db..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
+++ /dev/null
@@ -1 +0,0 @@
-#include "map.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre b/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
deleted file mode 100644
index 48d11d985a..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
+++ /dev/null
@@ -1 +0,0 @@
-#include "qmaplibre"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
deleted file mode 100644
index 4fbc573ba7..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
+++ /dev/null
@@ -1 +0,0 @@
-#include "settings.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter
deleted file mode 100644
index ec7111e911..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "source_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter
deleted file mode 100644
index 8f53e31cb1..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "style_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types
deleted file mode 100644
index 4c29ecb29f..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types
+++ /dev/null
@@ -1 +0,0 @@
-#include "types.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils
deleted file mode 100644
index 0c58fd67a1..0000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils
+++ /dev/null
@@ -1 +0,0 @@
-#include "utils.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so b/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
deleted file mode 100755
index 34d2968907..0000000000
--- a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53ebf0802c8f5e581e7d99d743ea91271db531bfcdbddcf863760789f2962577
-size 10205096
diff --git a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
deleted file mode 100755
index 34d2968907..0000000000
--- a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53ebf0802c8f5e581e7d99d743ea91271db531bfcdbddcf863760789f2962577
-size 10205096
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
deleted file mode 100644
index 00a9a7d0b4..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
+++ /dev/null
@@ -1 +0,0 @@
-#include "export_core.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
deleted file mode 100644
index 428f97fb12..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "layer_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
deleted file mode 100644
index 6b055720db..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
+++ /dev/null
@@ -1 +0,0 @@
-#include "map.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
deleted file mode 100644
index 48d11d985a..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
+++ /dev/null
@@ -1 +0,0 @@
-#include "qmaplibre"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
deleted file mode 100644
index 4fbc573ba7..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
+++ /dev/null
@@ -1 +0,0 @@
-#include "settings.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
deleted file mode 100644
index ec7111e911..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "source_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
deleted file mode 100644
index 8f53e31cb1..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "style_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
deleted file mode 100644
index 4c29ecb29f..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
+++ /dev/null
@@ -1 +0,0 @@
-#include "types.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
deleted file mode 100644
index 0c58fd67a1..0000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
+++ /dev/null
@@ -1 +0,0 @@
-#include "utils.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
deleted file mode 120000
index 9d440fa142..0000000000
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
+++ /dev/null
@@ -1 +0,0 @@
-libQMapLibre.so.3.0.0
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
deleted file mode 100755
index e49d321c7c..0000000000
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d62e192aa7806302ed79866d9e3c51efc4bc315a6fdfe0e58e448dac5b279098
-size 11549728
diff --git a/tools/sim/README.md b/tools/sim/README.md
index ff95d16de6..f6ddde2580 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -4,7 +4,7 @@ openpilot in simulator
 openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
 
 ## Launching openpilot
-First, start openpilot. Note that you will either need a [mapbox token](https://docs.mapbox.com/help/getting-started/access-tokens/#how-access-tokens-work) (set with ```export MAPBOX_TOKEN="1234"```), or to disable mapsd with ```export BLOCK=mapsd```
+First, start openpilot.
 ``` bash
 # Run locally
 ./tools/sim/launch_openpilot.sh

From 80c83532e8abb37f77f90fd83d024d3f77ac8f19 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Jun 2024 19:49:49 -0700
Subject: [PATCH 0089/1243] macOS: remove pyenv

old-commit-hash: 5341512fce3ed597498f51ee096a610e3fce0b8c
---
 tools/mac_setup.sh | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index b7f7cb93a2..6b2d668524 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -59,8 +59,6 @@ brew "libusb"
 brew "libtool"
 brew "llvm"
 brew "openssl@3.0"
-brew "pyenv"
-brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
 cask "gcc-arm-embedded"

From d152f7c0f1af739ed6c628aa0271125be71d7a5f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Jun 2024 19:59:48 -0700
Subject: [PATCH 0090/1243] remove nav apt dependencies (#32792)

old-commit-hash: 9a084a73c5c3e6386bc5f21c46062d46878f6ca2
---
 tools/install_ubuntu_dependencies.sh | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 5c10bf5438..2513df86b9 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -54,8 +54,7 @@ function install_ubuntu_common_requirements() {
     ocl-icd-opencl-dev \
     portaudio19-dev \
     qtmultimedia5-dev \
-    qtlocation5-dev \
-    qtpositioning5-dev \
+    qtdeclarative5-dev \
     qttools5-dev-tools \
     libqt5svg5-dev \
     libqt5serialbus5-dev  \

From 8d8c2a29c961649d1bbebda06b3c57cf19c0d12a Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Wed, 19 Jun 2024 20:34:57 -0700
Subject: [PATCH 0091/1243] remove `timezone` from `timed.py` (#32665)

* use timezone from tilequery mapbox api

* add timezone into cereal

* better clean

* more

* one line

* poetry lock
old-commit-hash: 7013eed50cd350a9b329280b0eccfc9db051a72b
---
 common/params.cc |  1 -
 poetry.lock      |  4 ++--
 pyproject.toml   |  1 -
 system/timed.py  | 48 ++----------------------------------------------
 4 files changed, 4 insertions(+), 50 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 6e6bba8867..03a3cc31f1 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -186,7 +186,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
-    {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/poetry.lock b/poetry.lock
index 2acd06bfcb..970a297d95 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a1db5598e5df23f5e8a84123cf1e5ffc1c9d79673661d245ddfd88af15a0d2cd
-size 628327
+oid sha256:b85d89f19faefa8f0518c6cae3858726f588d0608fe25cc26144ce642a24181a
+size 619527
diff --git a/pyproject.toml b/pyproject.toml
index 1aa20b5b8e..1f6ac462e1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -135,7 +135,6 @@ future-fstrings = "*"
 
 # these should be removed
 psutil = "*"
-timezonefinder = "*"  # just used for nav ETA
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test
 
 #logreader
diff --git a/system/timed.py b/system/timed.py
index 2b9a42c455..6c85bf2a25 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -1,36 +1,12 @@
 #!/usr/bin/env python3
 import datetime
-import os
 import subprocess
 import time
 from typing import NoReturn
 
-from timezonefinder import TimezoneFinder
-
 import cereal.messaging as messaging
 from openpilot.common.time import system_time_valid
-from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import AGNOS
-
-
-def set_timezone(timezone):
-  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
-  if timezone not in valid_timezones:
-    cloudlog.error(f"Timezone not supported {timezone}")
-    return
-
-  cloudlog.debug(f"Setting timezone to {timezone}")
-  try:
-    if AGNOS:
-      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
-      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
-                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
-      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
-    else:
-      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Error setting timezone to {timezone}")
 
 
 def set_time(new_time):
@@ -48,23 +24,13 @@ def set_time(new_time):
 
 def main() -> NoReturn:
   """
-    timed has two responsibilities:
+    timed has one responsibility:
     - getting the current time
-    - getting the current timezone
 
-    GPS directly gives time, and timezone is looked up from GPS position.
+    GPS directly gives time.
     AGNOS will also use NTP to update the time.
   """
 
-  params = Params()
-
-  # Restore timezone from param
-  tz = params.get("Timezone", encoding='utf8')
-  tf = TimezoneFinder()
-  if tz is not None:
-    cloudlog.debug("Restoring timezone from param")
-    set_timezone(tz)
-
   pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster(['liveLocationKalman'])
   while True:
@@ -84,16 +50,6 @@ def main() -> NoReturn:
     gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
     set_time(gps_time)
 
-    # set timezone
-    pos = llk.positionGeodetic.value
-    if len(pos) == 3:
-      gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1])
-      if gps_timezone is None:
-        cloudlog.critical(f"No timezone found based on {pos=}")
-      else:
-        set_timezone(gps_timezone)
-        params.put_nonblocking("Timezone", gps_timezone)
-
     time.sleep(10)
 
 if __name__ == "__main__":

From 5ce4ea7a7779610066e5490e5fd24970265ee1df Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 19 Jun 2024 22:29:17 -0700
Subject: [PATCH 0092/1243] add core python deps (#32794)

add core deps
old-commit-hash: 77a8094f55d35c6f51af72c2928ffe109c9609f9
---
 poetry.lock    | 4 ++--
 pyproject.toml | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 970a297d95..55c630381a 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b85d89f19faefa8f0518c6cae3858726f588d0608fe25cc26144ce642a24181a
-size 619527
+oid sha256:2bcb927eb5feaae7563f324edabfda68c528e3940e5f60a2179d3ddc44b95bdb
+size 620889
diff --git a/pyproject.toml b/pyproject.toml
index 1f6ac462e1..df4fdd760d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -95,6 +95,7 @@ pyserial = "*"     # pigeond + qcomgpsd
 requests = "*"     # many one-off uses
 sympy = "*"        # rednose + friends
 crcmod = "*"       # cars + qcomgpsd
+tqdm = "*"         # cars (fw_versions.py) on start + many one-off uses
 
 # hardwared
 smbus2 = "*"  # configuring amp
@@ -104,6 +105,7 @@ cffi = "*"
 scons = "*"
 pycapnp = "*"
 Cython = "*"
+setuptools = "*"
 numpy = "*"
 
 # body / webrtcd
@@ -190,7 +192,6 @@ rerun-sdk = "*"
 tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
-tqdm = "*"
 
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux

From 1133898f68fb76aac9d873eeebc733428ba5e884 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 20 Jun 2024 15:16:14 +0800
Subject: [PATCH 0093/1243] replay: fix hangs on exit (#32795)

fix hang on exit
old-commit-hash: 776b08d561ebdfa9bd12e92b57ab0770f4a4b4a3
---
 tools/replay/camera.cc |  7 +++++++
 tools/replay/replay.cc | 10 +++++-----
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index b6d4ddc3a2..ded966da6d 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -27,6 +27,13 @@ CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
 CameraServer::~CameraServer() {
   for (auto &cam : cameras_) {
     if (cam.thread.joinable()) {
+      // Clear the queue
+      std::pair<FrameReader*, const Event *> item;
+      while (cam.queue.try_pop(item)) {
+        --publishing_;
+      }
+
+      // Signal termination and join the thread
       cam.queue.push({});
       cam.thread.join();
     }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index c5ad2aa548..15daecf01f 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -50,20 +50,20 @@ Replay::~Replay() {
 }
 
 void Replay::stop() {
-  if (!stream_thread_ && segments_.empty()) return;
-
-  rInfo("shutdown: in progress...");
+  exit_ = true;
   if (stream_thread_ != nullptr) {
-    exit_ = true;
+    rInfo("shutdown: in progress...");
     pauseStreamThread();
     stream_cv_.notify_one();
     stream_thread_->quit();
     stream_thread_->wait();
     stream_thread_->deleteLater();
     stream_thread_ = nullptr;
+    rInfo("shutdown: done");
   }
   timeline_future.waitForFinished();
-  rInfo("shutdown: done");
+  camera_server_.reset(nullptr);
+  segments_.clear();
 }
 
 bool Replay::load() {

From e9b6d542e96e7e1bc8fd1f3768fb4a590aacc8e8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 20 Jun 2024 15:52:19 -0700
Subject: [PATCH 0094/1243] ci: push docker image to openpilot-base (#32801)

* only push to openpilot-base

* comment instead
old-commit-hash: a132a235745b2b6ab1e5298b35ac04625cc44502
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 35bab255cb..e9a0670412 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -79,7 +79,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:

From 12ec220949c1eb7349e9d6471bda99d69280a69d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 20 Jun 2024 16:04:29 -0700
Subject: [PATCH 0095/1243] Toyota: add another blacklisted FW character

old-commit-hash: 40aa3a03373bff8cf78e220d06a0c92fcfbe44bf
---
 selfdrive/car/toyota/tests/test_toyota.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index 0217a0fbc1..75e3ea7037 100644
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -12,7 +12,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 def check_fw_version(fw_version: bytes) -> bool:
-  return b'?' not in fw_version
+  # TODO: just use the FW patterns, need to support all chunks
+  return b'?' not in fw_version and b'!' not in fw_version
 
 
 class TestToyotaInterfaces:

From b4a0c211f01b57a430418e7f701e8e09ab284e93 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 20 Jun 2024 16:33:06 -0700
Subject: [PATCH 0096/1243] Long planner: small cleanup (#32804)

old-commit-hash: 442e9f4ae492901a5698b3188741c97c053026c4
---
 selfdrive/controls/lib/longitudinal_planner.py | 17 +++++++----------
 1 file changed, 7 insertions(+), 10 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 8772fadb47..00b4e243b4 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -44,11 +44,10 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(CP, long_plan):
-    speeds = long_plan.speeds
+def get_accel_from_plan(CP, speeds, accels):
     if len(speeds) == CONTROL_N:
       v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
+      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
       v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
       a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
@@ -141,11 +140,9 @@ class LongitudinalPlanner:
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
 
-    self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
-    self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
-    self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
-    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
-    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
+    self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
     self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
@@ -154,7 +151,7 @@ class LongitudinalPlanner:
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
@@ -179,7 +176,7 @@ class LongitudinalPlanner:
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
+    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
     longitudinalPlan.aTarget = a_target
     longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True

From 43197fb8e8c0bf269ee9a231b7babaee97f21ba8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 22 Jun 2024 04:29:40 +0800
Subject: [PATCH 0097/1243] cabana: fix chart value tip flickers when the mouse
 moves over it (#32796)

fix chart value tip flickers
old-commit-hash: 5aac2e5a8973e6ed07005c5fe822df657def58ff
---
 tools/cabana/chart/chart.cc        |  9 +----
 tools/cabana/chart/chart.h         |  1 -
 tools/cabana/chart/chartswidget.cc | 62 +++++++++++++++---------------
 tools/cabana/chart/chartswidget.h  |  7 ++--
 tools/cabana/chart/tiplabel.cc     |  6 ++-
 tools/cabana/mainwin.cc            | 27 +++++++++----
 tools/cabana/mainwin.h             |  3 +-
 7 files changed, 62 insertions(+), 53 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 7a056c7674..28d4e068ee 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -421,13 +421,6 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
   return q * z;
 }
 
-void ChartView::leaveEvent(QEvent *event) {
-  if (tip_label->isVisible()) {
-    charts_widget->showValueTip(-1);
-  }
-  QChartView::leaveEvent(event);
-}
-
 QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
   QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
   e->setColor(QColor(40, 40, 40, 245));
@@ -546,7 +539,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   bool is_zooming = rubber && rubber->isVisible();
   clearTrackPoints();
 
-  if (!is_zooming && plot_area.contains(ev->pos())) {
+  if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
     const double sec = chart()->mapToValue(ev->pos()).x();
     charts_widget->showValueTip(sec);
   } else if (tip_label->isVisible()) {
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index d690a14d1c..1bfec6355a 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -76,7 +76,6 @@ private:
   void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
   void dragMoveEvent(QDragMoveEvent *event) override;
   void dropEvent(QDropEvent *event) override;
-  void leaveEvent(QEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
   QSize sizeHint() const override;
   void updateAxisY();
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 59c188afbc..9822eaa307 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -116,13 +116,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) updateLayout(true);
   });
-  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
-    emit dock(!docking);
-    docking = !docking;
-    updateToolBar();
-  });
+  QObject::connect(dock_btn, &QToolButton::clicked, this, &ChartsWidget::toggleChartsDocking);
 
+  setIsDocked(true);
   newTab();
+  qApp->installEventFilter(this);
+
   setWhatsThis(tr(R"(
     <b>Chart view</b><br />
     <!-- TODO: add descprition here -->
@@ -177,8 +176,11 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  if (sec < 0 && !value_tip_visible_) return;
+
+  value_tip_visible_ = sec >= 0;
   for (auto c : currentCharts()) {
-    sec >= 0 ? c->showTip(sec) : c->hideTip();
+    value_tip_visible_ ? c->showTip(sec) : c->hideTip();
   }
 }
 
@@ -209,6 +211,12 @@ void ChartsWidget::setMaxChartRange(int value) {
   updateState();
 }
 
+void ChartsWidget::setIsDocked(bool docked) {
+  is_docked = docked;
+  dock_btn->setIcon(is_docked ? "arrow-up-right-square" : "arrow-down-left-square");
+  dock_btn->setToolTip(is_docked ? tr("Float the charts window") : tr("Dock the charts window"));
+}
+
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
@@ -222,8 +230,6 @@ void ChartsWidget::updateToolBar() {
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
-  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
-  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
 }
 
 void ChartsWidget::settingChanged() {
@@ -375,11 +381,6 @@ QSize ChartsWidget::minimumSizeHint() const {
   return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
 }
 
-void ChartsWidget::resizeEvent(QResizeEvent *event) {
-  QWidget::resizeEvent(event);
-  updateLayout();
-}
-
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
@@ -432,10 +433,16 @@ void ChartsWidget::alignCharts() {
   }
 }
 
-bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->clicked();
-    return true;
+bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
+  if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
+    auto pos = static_cast<QMouseEvent *>(e)->globalPos();
+    bool outside_plot_area =std::none_of(charts.begin(), charts.end(), [&pos](auto c) {
+      return c->chart()->plotArea().contains(c->mapFromGlobal(pos));
+    });
+
+    if (outside_plot_area) {
+      showValueTip(-1);
+    }
   }
   return false;
 }
@@ -443,30 +450,25 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 bool ChartsWidget::event(QEvent *event) {
   bool back_button = false;
   switch (event->type()) {
-    case QEvent::MouseButtonPress: {
-      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
-      back_button = ev->button() == Qt::BackButton;
+    case QEvent::Resize:
+      updateLayout();
       break;
-    }
-    case QEvent::NativeGesture: {
-      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
-      back_button = (ev->value() == 180);
+    case QEvent::MouseButtonPress:
+      back_button = static_cast<QMouseEvent *>(event)->button() == Qt::BackButton;
+      break;
+    case QEvent::NativeGesture:
+      back_button = (static_cast<QNativeGestureEvent *>(event)->value() == 180);
       break;
-    }
-    case QEvent::WindowActivate:
     case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
     case QEvent::FocusOut:
-    case QEvent::Leave:
       showValueTip(-1);
-      break;
     default:
       break;
   }
 
   if (back_button) {
     zoom_undo_stack->undo();
-    return true;
+    return true;  // Return true since the event has been handled
   }
   return QFrame::event(event);
 }
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a9ac05db23..0b948b3421 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -47,14 +47,14 @@ public slots:
   void setColumnCount(int n);
   void removeAll();
   void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
+  void setIsDocked(bool dock);
 
 signals:
-  void dock(bool floating);
+  void toggleChartsDocking();
   void seriesChanged();
 
 private:
   QSize minimumSizeHint() const override;
-  void resizeEvent(QResizeEvent *event) override;
   bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
@@ -85,7 +85,7 @@ private:
   LogSlider *range_slider;
   QAction *range_lb_action;
   QAction *range_slider_action;
-  bool docking = true;
+  bool is_docked = true;
   ToolButton *dock_btn;
 
   QAction *undo_zoom_action;
@@ -109,6 +109,7 @@ private:
   QTimer *auto_scroll_timer;
   QTimer *align_timer;
   int current_theme = 0;
+  bool value_tip_visible_ = false;
   friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
index f5c9cc9cbd..be71602838 100644
--- a/tools/cabana/chart/tiplabel.cc
+++ b/tools/cabana/chart/tiplabel.cc
@@ -9,8 +9,12 @@
 #include "tools/cabana/settings.h"
 
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
+
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
+
   QFont font;
   font.setPointSizeF(8.34563465);
   setFont(font);
@@ -22,9 +26,7 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::Frameless
   setPalette(palette);
   ensurePolished();
   setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
-  setAttribute(Qt::WA_ShowWithoutActivating);
   setTextFormat(Qt::RichText);
-  setVisible(false);
 }
 
 void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) {
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d099fcec99..bf1db63eea 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -198,7 +198,7 @@ void MainWindow::createDockWidgets() {
   video_splitter->restoreState(settings.video_splitter_state);
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
-  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
+  QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
 }
 
 void MainWindow::createStatusBar() {
@@ -577,20 +577,31 @@ void MainWindow::updateStatus() {
   status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
 }
 
-void MainWindow::dockCharts(bool dock) {
-  if (dock && floating_window) {
-    floating_window->removeEventFilter(charts_widget);
+bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  if (obj == floating_window && event->type() == QEvent::Close) {
+    toggleChartsDocking();
+    return true;
+  }
+  return QMainWindow::eventFilter(obj, event);
+}
+
+void MainWindow::toggleChartsDocking() {
+  if (floating_window) {
+    // Dock the charts widget back to the main window
+    floating_window->removeEventFilter(this);
     charts_layout->insertWidget(0, charts_widget, 1);
     floating_window->deleteLater();
     floating_window = nullptr;
-  } else if (!dock && !floating_window) {
-    floating_window = new QWidget(this);
-    floating_window->setWindowFlags(Qt::Window);
+    charts_widget->setIsDocked(true);
+  } else {
+    // Float the charts widget in a separate window
+    floating_window = new QWidget(this, Qt::Window);
     floating_window->setWindowTitle("Charts");
     floating_window->setLayout(new QVBoxLayout());
     floating_window->layout()->addWidget(charts_widget);
-    floating_window->installEventFilter(charts_widget);
+    floating_window->installEventFilter(this);
     floating_window->showMaximized();
+    charts_widget->setIsDocked(false);
   }
 }
 
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 0b869f153d..77add4d789 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -21,7 +21,7 @@ class MainWindow : public QMainWindow {
 
 public:
   MainWindow();
-  void dockCharts(bool dock);
+  void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
@@ -46,6 +46,7 @@ signals:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
   void closeFile(DBCFile *dbc_file);

From ae06013692f04623898dd32b2d5242c7dd65db37 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 21 Jun 2024 21:11:52 -0700
Subject: [PATCH 0098/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32803)

Export fingerprints
old-commit-hash: 8550a57eaf2aa898cbe823f552f5e0f27927c674
---
 selfdrive/car/chrysler/fingerprints.py | 3 +++
 selfdrive/car/hyundai/fingerprints.py  | 7 ++++---
 selfdrive/car/mazda/fingerprints.py    | 1 +
 selfdrive/car/toyota/fingerprints.py   | 3 +++
 4 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5072aad5c0..850ef4a570 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -290,6 +290,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x747, None): [
       b'68252642AG',
       b'68306178AD',
+      b'68336275AB',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
@@ -375,6 +376,7 @@ FW_VERSIONS = {
       b'68449435AE ',
       b'68496223AA ',
       b'68504959AD ',
+      b'68504959AE ',
       b'68504960AD ',
       b'68504993AC ',
     ],
@@ -433,6 +435,7 @@ FW_VERSIONS = {
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
+      b'68527383AE',
       b'68527387AE',
       b'68527403AC',
       b'68527403AD',
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index e489a3cf64..8db0849cb2 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -2,10 +2,11 @@
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
+Ecu = car.CarParams.Ecu
+
 # The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
 
-Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
   CAR.HYUNDAI_SANTA_FE: [{
@@ -985,6 +986,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
@@ -993,13 +995,12 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
index f460fe9950..c7b331b1cb 100644
--- a/selfdrive/car/mazda/fingerprints.py
+++ b/selfdrive/car/mazda/fingerprints.py
@@ -16,6 +16,7 @@ FW_VERSIONS = {
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 0866a4d43c..92991ba548 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -234,6 +234,7 @@ FW_VERSIONS = {
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
       b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
       b'F152633310\x00\x00\x00\x00\x00\x00',
       b'F152633D00\x00\x00\x00\x00\x00\x00',
       b'F152633D60\x00\x00\x00\x00\x00\x00',
@@ -251,6 +252,7 @@ FW_VERSIONS = {
       b'\x018966306T4000\x00\x00\x00\x00',
       b'\x018966306T4100\x00\x00\x00\x00',
       b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x018966333Z1000\x00\x00\x00\x00',
       b'\x01896633T20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -266,6 +268,7 @@ FW_VERSIONS = {
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },

From 6745358478773d74af522534d7f2114877cce639 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 22 Jun 2024 18:01:47 -0700
Subject: [PATCH 0099/1243] remove mapbox references (#32811)

old-commit-hash: bccccde568c05a7a641110c90d4ed95047cdea4e
---
 .github/workflows/selfdrive_tests.yaml        |  2 --
 .github/workflows/tools_tests.yaml            |  3 +--
 Jenkinsfile                                   |  3 ---
 selfdrive/test/process_replay/model_replay.py | 25 -------------------
 4 files changed, 1 insertion(+), 32 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index e9a0670412..ea591cbf47 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -123,7 +123,6 @@ jobs:
       timeout-minutes: 15
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -301,7 +300,6 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 9a26ca9a20..a1c95c0465 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -34,8 +34,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run bridge test
       run: |
-        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        source selfdrive/test/setup_xvfb.sh && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
diff --git a/Jenkinsfile b/Jenkinsfile
index 321237716b..654aed49c5 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -26,7 +26,6 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
 
@@ -135,10 +134,8 @@ def pcStage(String stageName, Closure body) {
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
-    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
   }
 }
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index cba2edfd58..28826144e8 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -81,31 +81,6 @@ if __name__ == "__main__":
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
-  # Update tile refs
-  if update:
-    import urllib
-    import requests
-    import threading
-    import http.server
-    from openpilot.tools.lib.openpilotci import upload_bytes
-    os.environ['MAPS_HOST'] = 'http://localhost:5000'
-
-    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
-      def do_GET(self):
-        assert len(self.path) > 10  # Sanity check on path length
-        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
-        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
-        self.send_response(r.status_code)
-        self.send_header('Content-type','text/html')
-        self.end_headers()
-        self.wfile.write(r.content)
-
-    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
-    thread = threading.Thread(None, server.serve_forever, daemon=True)
-    thread.start()
-  else:
-    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
-
   log_msgs = []
   # run replays
   if not NO_MODEL:

From 6cfcb408bc46642e0b2960d1bc09da51ec56c353 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 23 Jun 2024 13:16:39 -0700
Subject: [PATCH 0100/1243] setup new docs.comma.ai (#32813)

* start with mkdocs

* some structure

* little more
old-commit-hash: 0c3f1dc016513037643a4ba2765233bb72b83fce
---
 docs/new/README.md                             | 12 ++++++++++++
 docs/new/docs/car-porting/brand-port.md        |  5 +++++
 docs/new/docs/car-porting/model-port.md        |  5 +++++
 .../new/docs/car-porting/what-is-a-car-port.md |  9 +++++++++
 .../docs/getting-started/what-is-openpilot.md  | 12 ++++++++++++
 docs/new/docs/how-to/turning-the-speed-blue.md |  4 ++++
 docs/new/mkdocs.yml                            | 18 ++++++++++++++++++
 7 files changed, 65 insertions(+)
 create mode 100644 docs/new/README.md
 create mode 100644 docs/new/docs/car-porting/brand-port.md
 create mode 100644 docs/new/docs/car-porting/model-port.md
 create mode 100644 docs/new/docs/car-porting/what-is-a-car-port.md
 create mode 100644 docs/new/docs/getting-started/what-is-openpilot.md
 create mode 100644 docs/new/docs/how-to/turning-the-speed-blue.md
 create mode 100644 docs/new/mkdocs.yml

diff --git a/docs/new/README.md b/docs/new/README.md
new file mode 100644
index 0000000000..fc6706f799
--- /dev/null
+++ b/docs/new/README.md
@@ -0,0 +1,12 @@
+This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
+
+https://www.mkdocs.org/getting-started/
+
+```
+pip install mkdocs mkdocs-terminal
+mkdocs --serve
+```
+
+inspiration:
+* https://rerun.io/docs/
+* https://docs.expo.dev/
diff --git a/docs/new/docs/car-porting/brand-port.md b/docs/new/docs/car-porting/brand-port.md
new file mode 100644
index 0000000000..a3daa7a848
--- /dev/null
+++ b/docs/new/docs/car-porting/brand-port.md
@@ -0,0 +1,5 @@
+# Developing a car brand port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
diff --git a/docs/new/docs/car-porting/model-port.md b/docs/new/docs/car-porting/model-port.md
new file mode 100644
index 0000000000..e148a40ecb
--- /dev/null
+++ b/docs/new/docs/car-porting/model-port.md
@@ -0,0 +1,5 @@
+# Developing a car model port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/new/docs/car-porting/what-is-a-car-port.md b/docs/new/docs/car-porting/what-is-a-car-port.md
new file mode 100644
index 0000000000..d089d9513e
--- /dev/null
+++ b/docs/new/docs/car-porting/what-is-a-car-port.md
@@ -0,0 +1,9 @@
+# What is a car port?
+
+All car ports live in `openpilot/selfdrive/car/`.
+
+* interface.py: Interface for the car, defines the CarInterface class
+* carstate.py: Reads CAN from car and builds openpilot CarState message
+* carcontroller.py: Builds CAN messages to send to car
+* values.py: Limits for actuation, general constants for cars, and supported car documentation
+* radar_interface.py: Interface for parsing radar points from the car
diff --git a/docs/new/docs/getting-started/what-is-openpilot.md b/docs/new/docs/getting-started/what-is-openpilot.md
new file mode 100644
index 0000000000..de45ae035b
--- /dev/null
+++ b/docs/new/docs/getting-started/what-is-openpilot.md
@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma 3X.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/new/docs/how-to/turning-the-speed-blue.md b/docs/new/docs/how-to/turning-the-speed-blue.md
new file mode 100644
index 0000000000..f68faa7b9f
--- /dev/null
+++ b/docs/new/docs/how-to/turning-the-speed-blue.md
@@ -0,0 +1,4 @@
+This section is for how-to's on common workflows.
+
+They'll be like this blog post we wrote:
+https://blog.comma.ai/turning-the-speed-blue/
diff --git a/docs/new/mkdocs.yml b/docs/new/mkdocs.yml
new file mode 100644
index 0000000000..b0f571954d
--- /dev/null
+++ b/docs/new/mkdocs.yml
@@ -0,0 +1,18 @@
+site_name: openpilot docs
+docs_dir: docs
+repo_url: https://github.com/commaai/openpilot/
+
+theme:
+  name: terminal
+  features:
+    - navigation.side.toc.hide
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turning-the-speed-blue.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md

From 3c18e86be80ae5948420446ae4804cf7eedbca89 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sun, 23 Jun 2024 18:24:09 -0300
Subject: [PATCH 0101/1243] update pt-BR translation (#32814)

Update main_pt-BR.ts
old-commit-hash: 1c5f0bdbc699f341683be5a42f2e907b26af12e9
---
 selfdrive/ui/translations/main_pt-BR.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 8a71612e3a..0f3ee2363d 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -497,7 +497,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>Captura remota</translation>
     </message>
 </context>
 <context>

From 8df7b4a20a7a6c7b1168d21dd34eacf0e3fe6adf Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 24 Jun 2024 07:34:06 -0700
Subject: [PATCH 0102/1243] [bot] Update Python packages and pre-commit hooks
 (#32818)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 1de7126d343b6a05b5cf2883b6679993cc53412e
---
 .pre-commit-config.yaml | 2 +-
 poetry.lock             | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ecde9fe771..b853523e42 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.9
+    rev: v0.4.10
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/poetry.lock b/poetry.lock
index 55c630381a..7369e75185 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bcb927eb5feaae7563f324edabfda68c528e3940e5f60a2179d3ddc44b95bdb
-size 620889
+oid sha256:fd842a62ebdc85d58bf3dee17ff65b730f526f74e48ed124765b42233e173f58
+size 619932

From 26b02b2ed4d13a7a6a1205bc6525d4d69b50fb1f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 24 Jun 2024 23:54:17 +0800
Subject: [PATCH 0103/1243] cabana: fixed row height issue in multi-line hex
 display (#32816)

fix multile line bytes
old-commit-hash: 8b7ffc96b5598327848e53d1a22400b0baed343f
---
 tools/cabana/messageswidget.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 396cfdc38b..d6c2fd0ea9 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -411,7 +411,7 @@ void MessageView::updateBytesSectionSize() {
       max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
-  setUniformRowHeights(!delegate->multipleLines() || max_bytes <= 8);
+  setUniformRowHeights(!delegate->multipleLines());
   header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 

From 82ebea3d1270dc8ca710e812f2069c5c37e1a72b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 24 Jun 2024 15:11:20 -0700
Subject: [PATCH 0104/1243] deleter: preserve two previous segments on user
 flag (#32822)

preserve 2 segs
old-commit-hash: dc418485970952a780baef7ef069d858220e58e5
---
 system/loggerd/deleter.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 2f0b96c90e..7d83b490b0 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -37,9 +37,9 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
     except ValueError:
       continue
 
-    # preserve segment and its prior
-    preserved.append(d)
-    preserved.append(f"{date_str}--{seg_num - 1}")
+    # preserve segment and two prior
+    for _seg_num in range(max(0, seg_num - 2), seg_num + 1):
+      preserved.append(f"{date_str}--{_seg_num}")
 
   return preserved
 

From 9328302b4d61d67db7012e87b1060f502334c10e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 24 Jun 2024 15:42:30 -0700
Subject: [PATCH 0105/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32823)

Export fingerprints
old-commit-hash: 36d5bb7ecc8288dfb52f624b7d4ba3070d0ae683
---
 docs/CARS.md                             | 2 +-
 selfdrive/car/chrysler/fingerprints.py   | 4 ++++
 selfdrive/car/chrysler/values.py         | 2 +-
 selfdrive/car/volkswagen/fingerprints.py | 4 ++++
 4 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2c32a77f0c..488526c4b2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -27,7 +27,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 850ef4a570..018505a917 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -232,6 +232,7 @@ FW_VERSIONS = {
       b'68540436AD',
       b'68598670AB',
       b'68598670AC',
+      b'68645752AA',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416741AA',
@@ -253,6 +254,7 @@ FW_VERSIONS = {
       b'68526772AD ',
       b'68526772AH ',
       b'68599493AC ',
+      b'68657433AA ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
       b'05185116AF',
@@ -267,6 +269,7 @@ FW_VERSIONS = {
       b'68540977AH',
       b'68540977AK',
       b'68597647AE',
+      b'68632416AB',
     ],
   },
   CAR.JEEP_GRAND_CHEROKEE: {
@@ -539,6 +542,7 @@ FW_VERSIONS = {
       b'05190341AD',
       b'68378695AJ ',
       b'68378696AJ ',
+      b'68378696AK ',
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 42ea94cf86..3315a0a983 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -41,7 +41,7 @@ class CAR(Platforms):
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index fea530b29b..71bdb2cfd4 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -574,6 +574,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906024AP\xf1\x891461',
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026EJ\xf1\x893916',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x8705E906018BS\xf1\x890914',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -604,6 +605,7 @@ FW_VERSIONS = {
       b'\xf1\x870DD300046K \xf1\x892302',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
@@ -617,6 +619,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
@@ -636,6 +639,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QF909144  \xf1\x895572\xf1\x82\x0571A60833A1',
       b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',

From 68b7d686646af01948173999938fa112bbcc156b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 24 Jun 2024 16:12:48 -0700
Subject: [PATCH 0106/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32825)

* Export fingerprints

* sedan should work too
old-commit-hash: 76f7b2793d5a32eb4577a2fc579a56ce41209738
---
 docs/CARS.md                         | 4 ++--
 selfdrive/car/honda/fingerprints.py  | 3 +++
 selfdrive/car/honda/values.py        | 4 ++--
 selfdrive/car/toyota/fingerprints.py | 1 +
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 488526c4b2..1df45c188d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -62,9 +62,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 8a5b79b41e..0904d5e12c 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -877,7 +877,10 @@ FW_VERSIONS = {
       b'36161-T20-A070\x00\x00',
       b'36161-T20-A080\x00\x00',
       b'36161-T24-T070\x00\x00',
+      b'36161-T47-A050\x00\x00',
       b'36161-T47-A070\x00\x00',
+      b'8S102-T20-AA10\x00\x00',
+      b'8S102-T47-AA10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c3005c667c..5a78995c0a 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -141,8 +141,8 @@ class CAR(Platforms):
   )
   HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
     HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 92991ba548..7bbb48c8f8 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -851,6 +851,7 @@ FW_VERSIONS = {
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
       b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [

From 7a41a206d4e16fcd043b926eec4a43f33c4dc18c Mon Sep 17 00:00:00 2001
From: Joshua Mack <joshnoodle@gmail.com>
Date: Mon, 24 Jun 2024 20:30:21 -0400
Subject: [PATCH 0107/1243] Multilang: Add Spanish translation (#32826)

* Rebase ES support

* Update already existing

* Update translations

* Retry

* Updated to new

* Completed

* Fixed clipping words offroad

* Fix up mistakes

* Shortening minute

* Fix long GitHub message
old-commit-hash: b4181598336f4eb8ca5e52d29c4d5938777e4902
---
 selfdrive/ui/translations/languages.json |    1 +
 selfdrive/ui/translations/main_es.ts     | 1155 ++++++++++++++++++++++
 2 files changed, 1156 insertions(+)
 create mode 100644 selfdrive/ui/translations/main_es.ts

diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 321cdeedd2..132b5088d7 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -3,6 +3,7 @@
   "Deutsch": "main_de",
   "Français": "main_fr",
   "Português": "main_pt-BR",
+  "Español": "main_es",
   "Türkçe": "main_tr",
   "العربية": "main_ar",
   "ไทย": "main_th",
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
new file mode 100644
index 0000000000..ee262c0953
--- /dev/null
+++ b/selfdrive/ui/translations/main_es.ts
@@ -0,0 +1,1155 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="es_ES">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <source>Close</source>
+        <translation>Cerrar</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Posponer Actualización</translation>
+    </message>
+    <message>
+        <source>Reboot and Update</source>
+        <translation>Reiniciar y Actualizar</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Enable Tethering</source>
+        <translation>Activar Tether</translation>
+    </message>
+    <message>
+        <source>Tethering Password</source>
+        <translation>Contraseña de Tethering</translation>
+    </message>
+    <message>
+        <source>EDIT</source>
+        <translation>EDITAR</translation>
+    </message>
+    <message>
+        <source>Enter new tethering password</source>
+        <translation>Nueva contraseña de tethering</translation>
+    </message>
+    <message>
+        <source>IP Address</source>
+        <translation>Dirección IP</translation>
+    </message>
+    <message>
+        <source>Enable Roaming</source>
+        <translation>Activar Roaming</translation>
+    </message>
+    <message>
+        <source>APN Setting</source>
+        <translation>Configuración de APN</translation>
+    </message>
+    <message>
+        <source>Enter APN</source>
+        <translation>Insertar APN</translation>
+    </message>
+    <message>
+        <source>leave blank for automatic configuration</source>
+        <translation>dejar en blanco para configuración automática</translation>
+    </message>
+    <message>
+        <source>Cellular Metered</source>
+        <translation>Plano de datos limitado</translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered connection</source>
+        <translation>Evitar grandes descargas de datos cuando tiene una conexión limitada</translation>
+    </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Red Oculta</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECTAR</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>Ingrese SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingrese contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>VELOCIDAD</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMITE</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Debe aceptar los terminos y condiciones para poder utilizar openpilot.</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Atrás</translation>
+    </message>
+    <message>
+        <source>Decline, uninstall %1</source>
+        <translation>Rechazar, desinstalar %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Emparejar Dispositivo</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>EMPAREJAR</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Driver Camera</source>
+        <translation>Cámara del conductor</translation>
+    </message>
+    <message>
+        <source>PREVIEW</source>
+        <translation>VISUALIZAR</translation>
+    </message>
+    <message>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (El vehículo tiene que estar apagado)</translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>Reiniciar Calibración</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>REINICIAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>¿Seguro qué quiere reiniciar la calibración?</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>Revisar la Guía de Entrenamiento</translation>
+    </message>
+    <message>
+        <source>REVIEW</source>
+        <translation>REVISAR</translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>Revisar las reglas, características y limitaciones de openpilot</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>¿Seguro qué quiere revisar la guía de entrenamiento?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation>Revisar</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>Regulador</translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation>VER</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>Cambiar Idioma</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation>CAMBIAR</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Seleccione el idioma</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation>Apagar</translation>
+    </message>
+    <message>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot requiere que el dispositivo sea montado entre 4° izquierda o derecha y entre 5° arriba o 9° abajo. openpilot está constantemente en calibración, reiniciar es rara vez necesario.</translation>
+    </message>
+    <message>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Su dispositivo está apuntando %1° %2 e %3° %4.</translation>
+    </message>
+    <message>
+        <source>down</source>
+        <translation>abajo</translation>
+    </message>
+    <message>
+        <source>up</source>
+        <translation>arriba</translation>
+    </message>
+    <message>
+        <source>left</source>
+        <translation>izquierda</translation>
+    </message>
+    <message>
+        <source>right</source>
+        <translation>derecha</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reboot?</source>
+        <translation>¿Seguro qué quiere reiniciar?</translation>
+    </message>
+    <message>
+        <source>Disengage to Reboot</source>
+        <translation>Desactivar para Reiniciar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to power off?</source>
+        <translation>¿Seguro qué quiere apagar?</translation>
+    </message>
+    <message>
+        <source>Disengage to Power Off</source>
+        <translation>Desactivar para apagar</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
+    <message>
+        <source>camera starting</source>
+        <translation>iniciando cámara</translation>
+    </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODO EXPERIMENTAL</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>MODO TRANQUILO</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>¡Necesita mínimo %n caractere!</numerusform>
+            <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <source>Installing...</source>
+        <translation>Instalando...</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Seleccione</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avanzado</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingresar contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Contraseña equivocada</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Temperatura de dispositivo muy alta. Systema enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>Inmediatamente conectar al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciara en %1</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conectar al internet para buscar actualizaciones. openpilot no iniciara automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Incapaz de descargar actualizaciones.
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tomando instantáneas de la cámara. El sistema no se iniciará hasta que finalice.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>El dispositivo no pudo registrarse. No se conectará ni cargará en los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidad NVMe no montada.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Se detectó una unidad NVMe no compatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a que NVMe no es compatible.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Envíe una solicitud de extracción para agregar las versiones de firmware al vehículo adecuado. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que comma power esté completamente insertada en el puerto OBD-II del vehículo. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTAS</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTA</translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot no disponible</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>Esperando que los controles inicien</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>TOME CONTROL INMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>Controles no responden</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Empareje su dispositivo con su cuenta de comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Ve a https://connect.comma.ai en su telefono</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Clic en &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Marcar connect.comma.ai como su pantalla de inicio para usarlo como una aplicación</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Actualizar Ahora</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>Hazte miembro prime de comma en connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>BENEFICIOS PRIME:</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Acceso remoto</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>Conectividad LTE 24/7</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1 año de almacenamiento en disco</translation>
+    </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation>Istantánea remota</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ SUSCRITO</translation>
+    </message>
+    <message>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation>Salir</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>now</source>
+        <translation>ahora</translation>
+    </message>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>hace %n min</numerusform>
+            <numerusform>hace %n mins</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>hace %n hora</numerusform>
+            <numerusform>hace %n horas</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>hace %n día</numerusform>
+            <numerusform>hace %n días</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Reset fallido. Reinicie de nuevo.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>Reiniciando dispositivo...
+Esto puede tardar hasta un minuto.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>¿Seguro que quiere reiniciar su dispositivo?</translation>
+    </message>
+    <message>
+        <source>System Reset</source>
+        <translation>Reiniciar Sistema</translation>
+    </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Reinicio del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation>Confirmar</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>No es posible montar una partición de datos. Partición corrompida. Confirme para borrar y reiniciar su dispositivo.</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Dispositivo</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Red</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Ajustes</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Algo ha ido mal. Reinicie el dispositivo.</translation>
+    </message>
+    <message>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Asegurese de que la URL insertada es válida, y que el dispositivo tiene buena conexión.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>No hay software personalizado en esta URL.</translation>
+    </message>
+    <message>
+        <source>WARNING: Low Voltage</source>
+        <translation>ALERTA: Volage bajo</translation>
+    </message>
+    <message>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Encender su dispositivo en el auto con el arnés o proceda bajo su propio riesgo.</translation>
+    </message>
+    <message>
+        <source>Power off</source>
+        <translation>Apagar</translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation>Continuar</translation>
+    </message>
+    <message>
+        <source>Getting Started</source>
+        <translation>Comenzando</translation>
+    </message>
+    <message>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Antes de comenzar, terminemos la instalación y cubramos algunos detalles.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectar a la Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Continue without Wi-Fi</source>
+        <translation>Continuar sin Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Waiting for internet</source>
+        <translation>Esperando conexión a internet</translation>
+    </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation>Elija el software para instalar</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation>Software personalizado</translation>
+    </message>
+    <message>
+        <source>Enter URL</source>
+        <translation>Insertar URL</translation>
+    </message>
+    <message>
+        <source>for Custom Software</source>
+        <translation>para Software personalizado</translation>
+    </message>
+    <message>
+        <source>Downloading...</source>
+        <translation>Descargando...</translation>
+    </message>
+    <message>
+        <source>Download Failed</source>
+        <translation>Descarga fallida</translation>
+    </message>
+    <message>
+        <source>Reboot device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+    <message>
+        <source>Start over</source>
+        <translation>Comenzar de nuevo</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Seleccione el idioma</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Terminar configuración</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Emparejar dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECT</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>SIN LINEA</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>EN LINEA</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>ERROR</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>TEMP</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>ALTA</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>BUENO</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>VEHÍCULO</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>SIN</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation>BUSQUEDA</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation>Apague el auto para descargar actualizaciones.</translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation>Versión Actual</translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation>Descargar</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation>Actualizar</translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation>INSTALAR</translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation>Rama objetivo</translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation>SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation>Selecione una rama</translation>
+    </message>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Desinstalar %1</translation>
+    </message>
+    <message>
+        <source>UNINSTALL</source>
+        <translation>DESINSTALAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>¿Seguro qué desea desinstalar?</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>Desinstalar</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>no se pudo buscar actualización</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>DESCARGAR</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>actualización disponible</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nunca</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>actualizado, último chequeo %1</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <source>SSH Keys</source>
+        <translation>Clave SSH</translation>
+    </message>
+    <message>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca inserte un nombre de usuario de Github que no sea suyo. Un empleado de comma nunca le pedirá que añada su nombre de Github.</translation>
+    </message>
+    <message>
+        <source>ADD</source>
+        <translation>AÑADIR</translation>
+    </message>
+    <message>
+        <source>Enter your GitHub username</source>
+        <translation>Ingresa tu usuario de GitHub</translation>
+    </message>
+    <message>
+        <source>LOADING</source>
+        <translation>CARGANDO</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation>ELIMINAR</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>Nombre de usuario &quot;%1” no tiene claves en GitHub</translation>
+    </message>
+    <message>
+        <source>Request timed out</source>
+        <translation>Solicitud expirada</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>Nombre de usuario &apos;%1&apos; no existe en Github</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <source>Enable SSH</source>
+        <translation>Habilitar SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <source>Terms &amp; Conditions</source>
+        <translation>Terminos &amp; Condiciones</translation>
+    </message>
+    <message>
+        <source>Decline</source>
+        <translation>Rechazar</translation>
+    </message>
+    <message>
+        <source>Scroll to accept</source>
+        <translation>Desliza para aceptar</translation>
+    </message>
+    <message>
+        <source>Agree</source>
+        <translation>Aceptar</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <source>Enable openpilot</source>
+        <translation>Activar openpilot</translation>
+    </message>
+    <message>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Utilice el sistema openpilot para control de crucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Control longitudinal de openpilot (Alfa)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>Aviso: el control longitudinal de openpilot está en fase alfa para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>En este vehículo, openpilot se configura de manera predeterminada con el Control de Crucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal alfa de openpilot.</translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation>Modo Experimental</translation>
+    </message>
+    <message>
+        <source>Disengage on Accelerator Pedal</source>
+        <translation>Desactivar con el Acelerador</translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Cuando esté activado, presionar el acelerador deshabilitará el openpilot.</translation>
+    </message>
+    <message>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Activar Aviso de Salida de Carril</translation>
+    </message>
+    <message>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>Recibir alertas para volver dentro del carril cuando su vehículo se sale fuera del carril sin que esté activado la señal de giro mientras esté conduciendo por encima de 50 km/h (31 mph).</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Monitoreo del Conductor Siempre Activo</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>Habilite el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
+    </message>
+    <message>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Grabar y Subir Cámara del Conductor</translation>
+    </message>
+    <message>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitorización del conductor.</translation>
+    </message>
+    <message>
+        <source>Use Metric System</source>
+        <translation>Usar Sistema Métrico</translation>
+    </message>
+    <message>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Mostrar velocidad en km/h en vez de mph.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Agresivo</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Estándar</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Relajado</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Personalidad de conducción</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Se recomienda estándar. En el modo agresivo, openpilot seguirá a los autos líderes más cerca y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los coches líderes. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que no están listos para el modo chill. Los recursos del modo expeimental están listados abajo:</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>🌮 Control Longitudinal de Punta a Punta 🌮</translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot va a conducir como lo haría una persona, incluiyendo parar en los semaforos en rojo y las señales de stop. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida actuará como limitador. Este recurso es de una calidad alfa; errores pueden ocurrir.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>Nueva Visualización de la conducción</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental se mostrará en la esquina superior derecha.</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC del auto está siendo usado para el control longitudinal.</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>El control longitudinal de openpilot podrá llegar en futuras actualizaciones.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas sin liberación.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Activar el control longitudinal experimental para permitir el modo Experimental.</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <source>Update Required</source>
+        <translation>Actualización Requerida</translation>
+    </message>
+    <message>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo a Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectarse a la Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Install</source>
+        <translation>Instalar</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Loading...</source>
+        <translation>Cargando...</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Update failed</source>
+        <translation>Actualización fallida</translation>
+    </message>
+</context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>Configurar Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>Conectar a Wi-Fi para subir los datos de conducir para mejorar openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>Abrir Configuraciones</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>Listo para subir</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>Los datos de entrenamiento se extraerán periódicamente mientras tu dispositivo esté conectado a Wi-Fi</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <source>Scanning for networks...</source>
+        <translation>Buscando redes...</translation>
+    </message>
+    <message>
+        <source>CONNECTING...</source>
+        <translation>CONECTANDO...</translation>
+    </message>
+    <message>
+        <source>FORGET</source>
+        <translation>OLVIDAR</translation>
+    </message>
+    <message>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Olvidar Red Wi-Fi &quot;%1&quot;?</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>Olvidar</translation>
+    </message>
+</context>
+</TS>

From 42163dde7607b0bdcb6603e0b4ea7b51104e91ae Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 24 Jun 2024 19:11:35 -0700
Subject: [PATCH 0108/1243] ui: add missing qt package on 24.04 (#32827)

fix qml
old-commit-hash: 0922ab2b8ddbb38a8664bdb53bff063e3f018547
---
 tools/install_ubuntu_dependencies.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 2513df86b9..4373760ce6 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -53,6 +53,7 @@ function install_ubuntu_common_requirements() {
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
     portaudio19-dev \
+    qml-module-qtquick2 \
     qtmultimedia5-dev \
     qtdeclarative5-dev \
     qttools5-dev-tools \

From ecb9dfecff0b09cce85e1a9a530a5e3afc2355ed Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 24 Jun 2024 19:14:57 -0800
Subject: [PATCH 0109/1243] Hyundai CAN: Log ABS/ESP Activation to `espActive`
 (#32743)

* Hyundai CAN: Log active ABS to accFaulted

* Add comments

* `espActive` to CarState and CarEvent.EventName

* re-order

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 36eafc0dc6ea73bcc59df216a3231ae54960a282
---
 cereal/car.capnp                  | 2 ++
 selfdrive/car/hyundai/carstate.py | 1 +
 selfdrive/car/interfaces.py       | 2 ++
 selfdrive/controls/lib/events.py  | 5 +++++
 4 files changed, 10 insertions(+)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index c17e1c063f..3df23d9921 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
+    espActive @121;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -194,6 +195,7 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 92c489cf34..41cb9ee457 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -119,6 +119,7 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
+    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e5762ed52a..54070284e4 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -280,6 +280,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
+    if cs_out.espActive:
+      events.add(EventName.espActive)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index b01818d704..25833da741 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -831,6 +831,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
+  EventName.espActive: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
+  },
+
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),

From 33f0acb332be5454a590caba04d8511408c64c30 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 25 Jun 2024 17:19:24 -0700
Subject: [PATCH 0110/1243] Genesis GV70: add "without HDA II" to docs (#32835)

* without!

* comment
old-commit-hash: 9a27512c821f3d00ab63b5e857b8051186ee193e
---
 docs/CARS.md                    | 4 ++--
 selfdrive/car/hyundai/values.py | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 1df45c188d..769fe6e27a 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -54,8 +54,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 8cb29c803c..8ed0edd319 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -520,8 +520,9 @@ class CAR(Platforms):
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,

From 973c6c2e7e1c15a8c87678d0a34d90595f65dc19 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 26 Jun 2024 12:45:44 +0800
Subject: [PATCH 0111/1243] ui: remove map & navigation related code (#32836)

remove map
old-commit-hash: 669553aa37382af7e9a3d4a3b9036b949c1f9dbc
---
 selfdrive/ui/qt/home.cc                    |  7 +--
 selfdrive/ui/qt/home.h                     |  1 -
 selfdrive/ui/qt/onroad/annotated_camera.cc | 61 ++--------------------
 selfdrive/ui/qt/onroad/annotated_camera.h  |  3 --
 selfdrive/ui/qt/onroad/onroad_home.cc      | 11 ----
 selfdrive/ui/qt/onroad/onroad_home.h       |  8 ---
 selfdrive/ui/qt/util.cc                    | 54 -------------------
 selfdrive/ui/qt/util.h                     |  3 --
 selfdrive/ui/translations/main_ar.ts       |  8 ---
 selfdrive/ui/translations/main_de.ts       |  8 ---
 selfdrive/ui/translations/main_es.ts       |  8 ---
 selfdrive/ui/translations/main_fr.ts       |  8 ---
 selfdrive/ui/translations/main_ja.ts       |  8 ---
 selfdrive/ui/translations/main_ko.ts       |  8 ---
 selfdrive/ui/translations/main_pt-BR.ts    |  8 ---
 selfdrive/ui/translations/main_th.ts       |  8 ---
 selfdrive/ui/translations/main_tr.ts       |  8 ---
 selfdrive/ui/translations/main_zh-CHS.ts   |  8 ---
 selfdrive/ui/translations/main_zh-CHT.ts   |  8 ---
 selfdrive/ui/ui.cc                         |  3 +-
 selfdrive/ui/ui.h                          |  2 +-
 21 files changed, 6 insertions(+), 235 deletions(-)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index c510087e8e..af946c7987 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -28,7 +28,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
-  QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
   body = new BodyWindow(this);
@@ -49,10 +48,6 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
-void HomeWindow::showMapPanel(bool show) {
-  onroad->showMapPanel(show);
-}
-
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
@@ -86,7 +81,7 @@ void HomeWindow::showDriverView(bool show) {
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    sidebar->setVisible(!sidebar->isVisible());
   }
 }
 
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index f60b80b21a..a19b70ac3f 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -55,7 +55,6 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
-  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 07016ef94a..b08420a713 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -28,10 +28,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
   const bool cs_alive = sm.alive("controlsState");
-  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
-  const auto nav_instruction = sm["navInstruction"].getNavInstruction();
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -47,12 +45,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
-  speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
-  speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
-
-  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
-  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
@@ -78,30 +70,18 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
-  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
-  // Draw outer box + border to contain set speed and speed limit
-  const int sign_margin = 12;
-  const int us_sign_height = 186;
-  const int eu_sign_size = 176;
-
+  // Draw outer box + border to contain set speed
   const QSize default_size = {172, 204};
   QSize set_speed_size = default_size;
-  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
-
-  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
-  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
-
-  int top_radius = 32;
-  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+  if (is_metric) set_speed_size.rwidth() = 200;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
   p.setBrush(blackColor(166));
-  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
+  p.drawRoundedRect(set_speed_rect, 32, 32);
 
   // Draw MAX
   QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
@@ -111,12 +91,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
       max_color = whiteColor();
     } else if (status == STATUS_OVERRIDE) {
       max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    } else if (speedLimit > 0) {
-      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
-        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
-      };
-      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
-      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
     }
   } else {
     max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -129,35 +103,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.setPen(set_speed_color);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 
-  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
-  // US/Canada (MUTCD style) sign
-  if (has_us_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawRoundedRect(sign_rect, 24, 24);
-    p.setPen(QPen(blackColor(), 6));
-    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
-
-    p.setFont(InterFont(28, QFont::DemiBold));
-    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
-    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
-    p.setFont(InterFont(70, QFont::Bold));
-    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-  }
-
-  // EU (Vienna style) sign
-  if (has_eu_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawEllipse(sign_rect);
-    p.setPen(QPen(Qt::red, 20));
-    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
-
-    p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
-    p.setPen(blackColor());
-    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
-  }
-
   // current speed
   p.setFont(InterFont(176, QFont::Bold));
   drawText(p, rect().center().x(), 210, speedStr);
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 1470b85f78..465ba23e04 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -22,15 +22,12 @@ private:
   float speed;
   QString speedUnit;
   float setSpeed;
-  float speedLimit;
   bool is_cruise_set = false;
   bool is_metric = false;
   bool dmActive = false;
   bool hideBottomIcons = false;
   bool rightHandDM = false;
   float dm_fade_state = 1.0;
-  bool has_us_speed_limit = false;
-  bool has_eu_speed_limit = false;
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index f8c7d80350..823e14bf3c 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -44,12 +44,6 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  if (s.scene.map_on_left) {
-    split->setDirection(QBoxLayout::LeftToRight);
-  } else {
-    split->setDirection(QBoxLayout::RightToLeft);
-  }
-
   alerts->updateState(s);
   nvg->updateState(s);
 
@@ -61,11 +55,6 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 }
 
-void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
-}
-
 void OnroadWindow::offroadTransition(bool offroad) {
   alerts->clear();
 }
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index e8fa19b046..c321d2d44f 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -8,20 +8,12 @@ class OnroadWindow : public QWidget {
 
 public:
   OnroadWindow(QWidget* parent = 0);
-  bool isMapVisible() const { return map && map->isVisible(); }
-  void showMapPanel(bool show) { if (map) map->setVisible(show); }
-
-signals:
-  void mapPanelRequested();
 
 private:
-  void createMapWidget();
   void paintEvent(QPaintEvent *event);
-  void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
-  QWidget *map = nullptr;
   QHBoxLayout* split;
 
 private slots:
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 0bf5f2865e..399a1a98d7 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -156,60 +156,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
   }
 }
 
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
-  qreal w_2 = rect.width() / 2;
-  qreal h_2 = rect.height() / 2;
-
-  xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
-  yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
-
-  xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
-  yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
-
-  qreal x = rect.x();
-  qreal y = rect.y();
-  qreal w = rect.width();
-  qreal h = rect.height();
-
-  qreal rxx2Top = w*xRadiusTop/100;
-  qreal ryy2Top = h*yRadiusTop/100;
-
-  qreal rxx2Bottom = w*xRadiusBottom/100;
-  qreal ryy2Bottom = h*yRadiusBottom/100;
-
-  QPainterPath path;
-  path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
-  path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
-  path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
-  path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
-  path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
-  path.closeSubpath();
-
-  painter.drawPath(path);
-}
-
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
-  assert(xp.size() == fp.size());
-
-  int N = xp.size();
-  int hi = 0;
-
-  while (hi < N and xv > xp[hi]) hi++;
-  int low = hi - 1;
-
-  if (hi == N && xv > xp[low]) {
-    return fp[fp.size() - 1];
-  } else if (hi == 0){
-    return fp[0];
-  } else {
-    return QColor(
-      (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
-      (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
-      (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
-      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
-  }
-}
-
 static QHash<QString, QByteArray> load_bootstrap_icons() {
   QHash<QString, QByteArray> icons;
 
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 2aae97b860..2bf1a70a62 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -26,9 +26,6 @@ void initApp(int argc, char *argv[], bool disable_hidpi = true);
 QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
-
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
 
 struct InterFont : public QFont {
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 9925a2c7a9..a8a1f29d23 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index a4f9963d67..0b2b794ac4 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>Geschwindigkeit</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index ee262c0953..941b30e2d0 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>VELOCIDAD</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMITE</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 7f7c07d1bb..480d70c481 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>VITESSE</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMITE</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 39b018cfba..c448186823 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>制限速度</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 36247a6197..40d07d9b1c 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 0f3ee2363d..c0c7fcb3e8 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>LIMITE</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>VELO</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index d4a33398be..1d7aa3df00 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>สูงสุด</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>ความเร็ว</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>จำกัด</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 36d11dbe61..3fabd5a384 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation type="unfinished">HIZ</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation type="unfinished">LİMİT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 79a6e95501..255886a15e 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index ec6131892e..9cea6a1bbc 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>速限</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 2b415b1197..bd26741193 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -214,7 +214,6 @@ static void update_state(UIState *s) {
 void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
-  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 }
 
 void UIState::updateStatus() {
@@ -244,7 +243,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks",
+    "wideRoadCameraState", "managerState", "clocks",
   });
 
   Params params;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9ef79b2eff..237abe1224 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -98,7 +98,7 @@ typedef struct UIScene {
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  bool started, ignition, is_metric, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;
 } UIScene;

From 609c04b7e1b8d88e88e2db3231f04662830ef5f3 Mon Sep 17 00:00:00 2001
From: pantew869 <pantew@proton.me>
Date: Wed, 26 Jun 2024 20:47:25 +0300
Subject: [PATCH 0112/1243] Bring back macOS CI (#32819)

* Attempt to enable macos CI

* add SKIP_PROMPT

* test

* add python warnings env variable

* pull from lfs

* use v4 checkout

* Update selfdrive_tests.yaml

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: 0c9f1d8118081d90d9f867448ccf1c2fcaa794eb
---
 .github/workflows/selfdrive_tests.yaml | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index ea591cbf47..b042ae0435 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -86,6 +86,23 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        SKIP_PROMPT: 1
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Test openpilot environment
+      run: poetry run scons -h
 
   static_analysis:
     name: static analysis

From 6f31d529b1dfaf3fc449b7df47987eb74c6ec4ff Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Jun 2024 02:40:24 +0800
Subject: [PATCH 0113/1243] cereal: remove messaging/.gitignore (#32839)

cleanup gitignore
old-commit-hash: a256898510e5592b08db14e27e0abbe9fe802c8e
---
 .gitignore                  |  1 +
 cereal/messaging/.gitignore | 10 ----------
 2 files changed, 1 insertion(+), 10 deletions(-)
 delete mode 100644 cereal/messaging/.gitignore

diff --git a/.gitignore b/.gitignore
index f067893c77..ac61591bfd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -43,6 +43,7 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore
deleted file mode 100644
index dbbe8e22ae..0000000000
--- a/cereal/messaging/.gitignore
+++ /dev/null
@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/

From f0fdff113d315e229e7fb7dcce9ecac83741cbe8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Jun 2024 02:52:11 +0800
Subject: [PATCH 0114/1243] ui/installer: hardcode SSH Keys in installer.cc
 (#32838)

hardcode keys
old-commit-hash: 4c04ae9a59a8e9e4dadec9933b99182982125206
---
 selfdrive/ui/SConscript             | 4 ----
 selfdrive/ui/installer/installer.cc | 4 +++-
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 8b268b9e84..9046ecc228 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -106,10 +106,6 @@ if GetOption('extras') and arch != "Darwin":
     if "internal" in name:
       d['INTERNAL'] = "1"
 
-      import requests
-      r = requests.get("https://github.com/commaci2.keys")
-      r.raise_for_status()
-      d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
     f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index d43ed37ae8..17f6ba19ab 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -180,10 +180,12 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
 
+  // https://github.com/commaci2.keys
+  const std::string ssh_keys = "ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIMX2kU8eBZyEWmbq0tjMPxksWWVuIV/5l64GabcYbdpI";
   std::map<std::string, std::string> params = {
     {"SshEnabled", "1"},
     {"RecordFrontLock", "1"},
-    {"GithubSshKeys", SSH_KEYS},
+    {"GithubSshKeys", ssh_keys},
   };
   for (const auto& [key, value] : params) {
     std::ofstream param;

From b07f5254ef9761a9e2eee843e825b42da85fff1d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Jun 2024 02:52:36 +0800
Subject: [PATCH 0115/1243] cereal: use nanos_since_boot() from common/timing.h
 (#32840)

Use nanos_since_boot() from common/timing.h
old-commit-hash: fccba867a97a0150b572550e44f62ae22f8079c1
---
 cereal/messaging/messaging.h     | 14 ++------------
 cereal/messaging/socketmaster.cc |  8 --------
 2 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h
index f3850130e6..fb9c261f2b 100644
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@@ -5,20 +5,13 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <time.h>
 
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
 #include "msgq/ipc.h"
 
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -53,10 +46,7 @@ public:
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
+    event.setLogMonoTime(nanos_since_boot());
     event.setValid(valid);
     return event;
   }
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index cd697b1f51..38b9842414 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -1,4 +1,3 @@
-#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@@ -7,15 +6,8 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"
 
-
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
-static inline uint64_t nanos_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;

From 7606bf60ada436b27751553fb2fb4f0ebab99e1d Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Wed, 26 Jun 2024 14:51:27 -0700
Subject: [PATCH 0116/1243] Cleanup "longitudinalPlan" fields (#32845)

old-commit-hash: 046ed7e9f8c69423c25e15f97bfd5783734dc551
---
 selfdrive/controls/lib/longitudinal_planner.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 00b4e243b4..c59955d551 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -159,15 +159,11 @@ class LongitudinalPlanner:
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
-
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
 
-    longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = True
-
     longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
     longitudinalPlan.jerks = self.j_desired_trajectory.tolist()

From cdba2da83153f3da3b88b202a02396fc540765ab Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 26 Jun 2024 17:13:55 -0800
Subject: [PATCH 0117/1243] Hyundai: Add FW Versions for EU Ioniq 5 2023
 (#32833)

old-commit-hash: 84725738c8fd429263474da424e96134bdeef367
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 8db0849cb2..e33f3e415e 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1001,6 +1001,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {

From ce34729c9156579f32b92861d45271650aa2de08 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 26 Jun 2024 18:33:07 -0700
Subject: [PATCH 0118/1243] bump panda

old-commit-hash: fb6d44797a48f730eac1a380644f338f7249510c
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 7287ff0cbf..376408bb4f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7287ff0cbf3ab405a670405f2faca419d524387d
+Subproject commit 376408bb4f6706b682eb6d607bedd14958665084

From 33daa313018fb4b714841bf46b4d9322c9539dc2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Jun 2024 21:27:10 -0700
Subject: [PATCH 0119/1243] GM torque control: robust sig function (#32847)

tricky
old-commit-hash: b7695c00e87819dd6aac49cfec78e438dfc15d16
---
 selfdrive/car/gm/interface.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 5ea2b19891..d088050482 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -53,7 +53,12 @@ class CarInterface(CarInterfaceBase):
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
-      return 1 / (1 + exp(-val)) - 0.5
+      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
+      if val >= 0:
+        return 1 / (1 + exp(-val)) - 0.5
+      else:
+        z = exp(val)
+        return z / (1 + z) - 0.5
 
     # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)

From 5887093eed20355537a703ee440b1041376cfd87 Mon Sep 17 00:00:00 2001
From: StefanLekanic-SYRMIA
 <156184842+StefanLekanic-SYRMIA@users.noreply.github.com>
Date: Thu, 27 Jun 2024 06:15:13 +0100
Subject: [PATCH 0120/1243] LogReader: print number of missing rlogs (#32830)

* count rlogs

* minimization changes

* cache to avoid duplicate checks

* no real point in checking qlogs to just show the warning

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 504dd4543dd7fd6c466817faa82cda42b6b55542
---
 tools/lib/logreader.py | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 98c10941bb..f6932c029a 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import bz2
-from functools import partial
+from functools import cache, partial
 import multiprocessing
 import capnp
 import enum
@@ -87,18 +87,21 @@ Source = Callable[[SegmentRange, ReadMode], LogPaths]
 
 InternalUnavailableException = Exception("Internal source not available")
 
+
+@cache
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
 
 def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
   # auto select logs based on availability
-  if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths) and all(qlog is not None and valid_file(qlog) for qlog in qlog_paths):
+  missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
+  if missing_rlogs != 0:
     if interactive:
-      if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+      if input(f"{missing_rlogs} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
     else:
-      cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...")
+      cloudlog.warning(f"{missing_rlogs} rlogs were not found, falling back to qlogs for those segments...")
 
     return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
             for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]

From 7718d6f7ece1f1d4d42f544383bc93e009ff56a9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 28 Jun 2024 05:43:21 +0800
Subject: [PATCH 0121/1243] radard: readable KalmanParams initialization
 (#32848)

fix kalmanparams initialization bug
old-commit-hash: 649e7a6d558b33d05d63012a43b2e4af88262b4c
---
 selfdrive/controls/radard.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 7420f666f7..ac3ec97dcc 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -37,7 +37,7 @@ class KalmanParams:
     #Q = np.matrix([[10., 0.0], [0.0, 100.]])
     #R = 1e3
     #K = np.matrix([[ 0.05705578], [ 0.03073241]])
-    dts = [dt * 0.01 for dt in range(1, 21)]
+    dts = [i * 0.01 for i in range(1, 21)]
     K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689,  0.21372394,
           0.22761098, 0.24069424, 0.253096,   0.26491023, 0.27621103, 0.28705801,
           0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,

From 6cd2b2fb7836631b7dac2efbcf992e56eee0ab27 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 14:44:26 -0700
Subject: [PATCH 0122/1243] ruff: check shadowed variables (#32851)

* check shadowed variables

* fix
old-commit-hash: 69d4b0fdf0ff2856b7a2785d8210f42d654374da
---
 .pre-commit-config.yaml        |  2 +-
 pyproject.toml                 |  3 ++-
 selfdrive/debug/can_printer.py | 12 ++++++------
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b853523e42..b50a586507 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.10
+    rev: v0.5.0
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/pyproject.toml b/pyproject.toml
index df4fdd760d..a300021c38 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -209,7 +209,8 @@ lint.select = [
   "UP",  # pyupgrade
   "TRY302", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
-  "TID251"
+  "TID251",
+  "PLR1704",
 ]
 lint.ignore = [
   "E741",
diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py
index 220008979d..b93e48ba73 100755
--- a/selfdrive/debug/can_printer.py
+++ b/selfdrive/debug/can_printer.py
@@ -23,12 +23,12 @@ def can_printer(bus, max_msg, addr, ascii_decode):
     if time.monotonic() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += f"{time.monotonic() - start:5.2f}\n"
-      for addr in sorted(msgs.keys()):
-        a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
-        x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
-        freq = len(msgs[addr]) / (time.monotonic() - start)
-        if max_msg is None or addr < max_msg:
-          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
+      for _addr in sorted(msgs.keys()):
+        a = f"\"{msgs[_addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
+        x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
+        freq = len(msgs[_addr]) / (time.monotonic() - start)
+        if max_msg is None or _addr < max_msg:
+          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
       print(dd)
       lp = time.monotonic()
 

From d94198652dcb4297de20112567ba45c83372d807 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 15:35:21 -0700
Subject: [PATCH 0123/1243] Increase test_car_interfaces examples (#32852)

* to 100!

* Update selfdrive/car/tests/test_car_interfaces.py
old-commit-hash: 4a70934625321a822ee2b98396b45311603cb9fc
---
 selfdrive/car/tests/test_car_interfaces.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index a6f74d685f..742bafc76a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -23,7 +23,7 @@ ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra
 
 ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
 
-MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
 def get_fuzzy_car_interface_args(draw: DrawType) -> dict:

From a1a0e9e8a033c0fa13e5f35d4ebb29f664ee9173 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 17:04:05 -0700
Subject: [PATCH 0124/1243] switch to uv (#32853)

* switch to uv

* pin back numpy

* remove lock

* try without cache

* test with no cache

* no cache for all

* debug

* remove debug

* remove pygame dep

* Update README.md

* remove lower bound

* update repo maintenance job

* upgradable

* repo maintenance

* copy poetry api

* build system

* unpin pygame

* readd cache

* readd cache

* basic command

* lower delay

* macos

* fix authors

* macos fix

* use uv

* preview

* other way

* new metadrive

* uv sync

* cp lock in docker

* fix docker

* use hatchling

* fix devcontainer

* fix container

* path

* uv run

* cleanup

* pre-commit

* format

* release_file
old-commit-hash: 12d5afba731b193b6992304c9e31b87603602ae6
---
 .devcontainer/Dockerfile                |    3 +-
 .github/workflows/repo-maintenance.yaml |    6 +-
 .github/workflows/selfdrive_tests.yaml  |    5 +-
 .github/workflows/tools_tests.yaml      |   10 +-
 .pre-commit-config.yaml                 |   11 +-
 Dockerfile.openpilot_base               |   11 +-
 poetry.lock                             |    3 -
 pyproject.toml                          |  255 +-
 release/release_files.py                |    2 +-
 tools/README.md                         |   13 +-
 tools/install_python_dependencies.sh    |   32 +-
 uv.lock                                 | 7828 +++++++++++++++++++++++
 12 files changed, 7996 insertions(+), 183 deletions(-)
 delete mode 100644 poetry.lock
 create mode 100644 uv.lock

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 1115c375db..53a06f6f31 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,7 +1,8 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
 RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0e6606112b..26b5e09f48 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,10 +41,10 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: poetry lock
+    - name: uv lock
       run: |
-        pip install poetry
-        poetry lock
+        pip install uv
+        uv lock
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b042ae0435..c2b321525b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -62,7 +62,6 @@ jobs:
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
@@ -86,7 +85,7 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-      
+
   build_mac:
     name: build macos
     runs-on: macos-latest
@@ -102,7 +101,7 @@ jobs:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
     - name: Test openpilot environment
-      run: poetry run scons -h
+      run: . .venv/bin/activate && scons -h
 
   static_analysis:
     name: static analysis
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index a1c95c0465..a04d5e6b6b 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -53,10 +53,8 @@ jobs:
         python-version: '3.11.4'
     - name: Installing pip
       run: pip install pip==24.0
-    - name: Installing poetry
-      run: pip install poetry==1.7.0
-    - name: Installing python dependencies
-      run: poetry install --no-cache --no-root
+    - name: Installing uv
+      run: pip install uv
     - name: git LFS
       run: git lfs pull
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
@@ -69,7 +67,7 @@ jobs:
           scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-ubuntu2004
     - name: Building openpilot
-      run: poetry run scons -u -j$(nproc)
+      run: uv run scons -u -j$(nproc)
     - name: Saving scons cache
       uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
@@ -100,6 +98,6 @@ jobs:
     - name: Test environment
       run: |
         devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b50a586507..297b2d720c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,7 +19,7 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
         args:
         - --maxkb=120
         - --enforce-all
@@ -27,7 +27,7 @@ repos:
     rev: v2.3.0
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
@@ -92,13 +92,6 @@ repos:
         language: system
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
     rev: 0.28.5
     hooks:
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 343fd29c82..a5028d4347 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -68,16 +68,15 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml poetry.lock /tmp/
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV VIRTUAL_ENV=/home/$USER/venv/.venv
-RUN python3 -m venv $VIRTUAL_ENV
+ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN . $VIRTUAL_ENV/bin/activate && \
-    cd /tmp && \
+RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
     rm -rf /tmp/* && \
     rm -rf /home/$USER/.cache
 
diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index 7369e75185..0000000000
--- a/poetry.lock
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fd842a62ebdc85d58bf3dee17ff65b730f526f74e48ed124765b42233e173f58
-size 619932
diff --git a/pyproject.toml b/pyproject.toml
index a300021c38..6912d80f0f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,12 +1,140 @@
 [project]
 name = "openpilot"
 requires-python = ">= 3.11"
-readme = "README.md"
 license = {text = "MIT License"}
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = [
+  {name ="Vehicle Researcher", email="user@comma.ai"}
+]
+
+dependencies = [
+  # multiple users
+  "sounddevice",  # micd + soundd
+  "pyserial",     # pigeond + qcomgpsd
+  "requests",     # many one-off uses
+  "sympy",        # rednose + friends
+  "crcmod",       # cars + qcomgpsd
+  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
+
+  # hardwared
+  "smbus2", # configuring amp
+
+  # core
+  "cffi",
+  "scons",
+  "pycapnp",
+  "Cython",
+  "setuptools",
+  "numpy < 2.0.0", # control does not support numpy 2
+
+  # body / webrtcd
+  "aiohttp",
+  "aiortc",
+  "pyaudio",
+
+  # panda
+  "libusb1",
+  "spidev; platform_system == 'Linux'",
+
+  # modeld
+  "onnx >= 1.14.0",
+  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
+  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+
+  # logging
+  "pyzmq",
+  "sentry-sdk",
+
+  # athena
+  "PyJWT",
+  "json-rpc",
+  "websocket_client",
+
+  # acados deps
+  "casadi",
+  "future-fstrings",
+
+  # these should be removed
+  "psutil",
+  "pycryptodome", # used in updated/casync, panda, body, and a test
+
+  #logreader
+  "zstd",
+]
+
+[project.optional-dependencies]
+docs = [
+  "Jinja2",
+  "sphinx",
+  "sphinx-rtd-theme",
+  "sphinx-sitemap"
+]
+
+testing = [
+  "coverage",
+  "hypothesis ==6.47.*",
+  "mypy",
+  "pre-commit",
+  "pytest",
+  "pytest-cov",
+  "pytest-cpp",
+  "pytest-subtests",
+  "pytest-xdist",
+  "pytest-timeout",
+  "pytest-randomly",
+  "pytest-asyncio",
+  "pytest-mock",
+  "pytest-repeat",
+  "ruff"
+]
+
+dev = [
+  "av",
+  "azure-identity",
+  "azure-storage-blob",
+  "breathe",
+  "control",
+  "dictdiffer",
+  "flaky",
+  "inputs",
+  "lru-dict",
+  "matplotlib",
+  "metadrive-simulator; platform_machine != 'aarch64'",
+  "mpld3",
+  "myst-parser",
+  "natsort",
+  "opencv-python-headless",
+  "parameterized >=0.8, <0.9",
+  #pprofile = "*"
+  "pyautogui",
+  "pygame",
+  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pywinctl",
+  "pyprof2calltree",
+  "rerun-sdk",
+  "tabulate",
+  "types-requests",
+  "types-tabulate",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
+
+]
+
+[tool.uv.sources]
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
 
 [project.urls]
 Homepage = "https://comma.ai"
 
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = [ "." ]
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@@ -75,131 +203,6 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
-
-[tool.poetry]
-name = "openpilot"
-version = "0.1.0"
-description = "an open source driver assistance system"
-authors = ["Vehicle Researcher <user@comma.ai>"]
-license = "MIT"
-readme = "README.md"
-repository = "https://github.com/commaai/openpilot"
-documentation = "https://docs.comma.ai"
-
-[tool.poetry.dependencies]
-python = ">=3.11, <3.13"
-
-# multiple users
-sounddevice = "*"  # micd + soundd
-pyserial = "*"     # pigeond + qcomgpsd
-requests = "*"     # many one-off uses
-sympy = "*"        # rednose + friends
-crcmod = "*"       # cars + qcomgpsd
-tqdm = "*"         # cars (fw_versions.py) on start + many one-off uses
-
-# hardwared
-smbus2 = "*"  # configuring amp
-
-# core
-cffi = "*"
-scons = "*"
-pycapnp = "*"
-Cython = "*"
-setuptools = "*"
-numpy = "*"
-
-# body / webrtcd
-aiohttp = "*"
-aiortc = "*"
-pyaudio = "*"
-
-# panda
-libusb1 = "*"
-spidev = { version = "*", platform = "linux" }
-
-# modeld
-onnx = ">=1.14.0"
-onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
-onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
-# logging
-pyzmq = "*"
-sentry-sdk = "*"
-
-# athena
-PyJWT = "*"
-json-rpc = "*"
-websocket_client = "*"
-
-# acados deps
-casadi = "*"
-future-fstrings = "*"
-
-# these should be removed
-psutil = "*"
-pycryptodome = "*"  # used in updated/casync, panda, body, and a test
-
-#logreader
-zstd = "*"
-
-[tool.poetry.group.docs.dependencies]
-Jinja2 = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
-
-[tool.poetry.group.testing.dependencies]
-coverage = "*"
-hypothesis = "~6.47"
-mypy = "*"
-pre-commit = "*"
-pytest = "*"
-pytest-cov = "*"
-pytest-cpp = "*"
-pytest-subtests = "*"
-pytest-xdist = "*"
-pytest-timeout = "*"
-pytest-randomly = "*"
-pytest-asyncio = "*"
-pytest-mock = "*"
-pytest-repeat = "*"
-ruff = "*"
-
-[tool.poetry.group.dev.dependencies]
-av = "*"
-azure-identity = "*"
-azure-storage-blob = "*"
-breathe = "*"
-control = "*"
-dictdiffer = "*"
-flaky = "*"
-inputs = "*"
-lru-dict = "*"
-matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "anisotropic_off", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
-mpld3 = "*"
-myst-parser = "*"
-natsort = "*"
-opencv-python-headless = "*"
-parameterized = "^0.8"
-#pprofile = "*"
-pyautogui = "*"
-pygame = "*"
-pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
-pywinctl = "*"
-pyprof2calltree = "*"
-rerun-sdk = "*"
-tabulate = "*"
-types-requests = "*"
-types-tabulate = "*"
-
-# this is only pinned since 5.15.11 is broken
-pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
-
-[build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/release/release_files.py b/release/release_files.py
index 031b51737d..24ce6d14b3 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -23,7 +23,7 @@ blacklist = [
   "^common/tests/",
 
   # particularly large text files
-  "poetry.lock",
+  "uv.lock",
   "third_party/catch2",
   "selfdrive/car/tests/test_models.*",
 
diff --git a/tools/README.md b/tools/README.md
index f465ea1234..521a12ca92 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -26,16 +26,23 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 ``` bash
 cd openpilot
-git lfs pull
 tools/ubuntu_setup.sh
 ```
 
+**3. Git LFS**
+
+``` bash
+git lfs pull
+```
+
+**4. Activate a python shell**
+
 Activate a shell with the Python dependencies installed:
 ``` bash
-poetry shell
+source .venv/bin/activate
 ```
 
-**3. Build openpilot**
+**5. Build openpilot**
 
 ``` bash
 scons -u -j$(nproc)
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 086fc2d14f..e6c8d5df82 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -8,22 +8,17 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
 
-RC_FILE="${HOME}/.$(basename ${SHELL})rc"
-if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
-  RC_FILE="$HOME/.bash_profile"
-fi
-
-if ! command -v "poetry" > /dev/null 2>&1; then
-  echo "installing poetry..."
-  curl -sSL https://install.python-poetry.org | python3 -
-  POETRY_BIN='$HOME/.local/bin'
-  ADD_PATH_CMD="export PATH=\"$POETRY_BIN:\$PATH\""
+if ! command -v "uv" > /dev/null 2>&1; then
+  echo "installing uv..."
+  curl -LsSf https://astral.sh/uv/install.sh | sh
+  UV_BIN='$HOME/.cargo/env'
+  ADD_PATH_CMD=". \"$UV_BIN\""
   eval $ADD_PATH_CMD
-  printf "\n#poetry path\n$ADD_PATH_CMD\n" >> $RC_FILE
 fi
 
-poetry config virtualenvs.prefer-active-python true --local
-poetry config virtualenvs.in-project true --local
+echo "installing python packages..."
+uv sync --all-extras
+source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env
 if [[ "$(uname)" == 'Darwin' ]]; then
@@ -32,15 +27,8 @@ if [[ "$(uname)" == 'Darwin' ]]; then
   echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
 
-poetry self add poetry-dotenv-plugin@^0.1.0
-
-echo "installing python packages..."
-poetry install --no-cache --no-root
-
-[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
-
 if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
   echo "pre-commit hooks install..."
-  $RUN pre-commit install
-  $RUN git submodule foreach pre-commit install
+  pre-commit install
+  git submodule foreach pre-commit install
 fi
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 0000000000..e5676da384
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,7828 @@
+version = 1
+requires-python = ">=3.11"
+
+[[distribution]]
+name = "aiohttp"
+version = "3.9.5"
+source = "registry+https://pypi.org/simple"
+sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
+wheels = [
+	{ url = "https://files.pythonhosted.org/packages/bb/6b/baa5886a66dc4a9fe60df3fff543ac0cdbac3d18347889f17023b15bdceb/aiohttp-3.9.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:fcde4c397f673fdec23e6b05ebf8d4751314fa7c24f93334bf1f1364c1c69ac7", size = 597148 },
+	{ url = "https://files.pythonhosted.org/packages/e7/3d/557ca9d4867e0e17f69694e514999c3de0a63c11964701600c9719171b97/aiohttp-3.9.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:5d6b3f1fabe465e819aed2c421a6743d8debbde79b6a8600739300630a01bf2c", size = 400697 },
+	{ url = "https://files.pythonhosted.org/packages/a9/51/d95cab6dbee773c57ff590d218633e7b9d52a103bc51060483349f3c8e1e/aiohttp-3.9.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:6ae79c1bc12c34082d92bf9422764f799aee4746fd7a392db46b7fd357d4a17a", size = 389914 },
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+	{ url = "https://files.pythonhosted.org/packages/f4/f4/fc09d90503a43ff71baba4670929c3c03c147a17252870e99e30e3de5994/zstd-1.5.5.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:610928b888a2e7ae9d2018ffa814859d47ec4ba75f89a1188ab4eb9232636ee5", size = 242436 },
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+	{ url = "https://files.pythonhosted.org/packages/a4/f7/6f5d9350be2c3709a7f8a911f763ba645ff130b5a904bfff79370cae1e21/zstd-1.5.5.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:c6ac9768eeb3c6b530db93de2fec9b363776075dc8a00ee4049612ba5397ca8e", size = 168053 }
+]

From 43895b30983f942aa76b91dcf47de79b14c5ff47 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 17:47:13 -0700
Subject: [PATCH 0125/1243] uv: don't use cache (#32854)

* no cache

* update
old-commit-hash: a74f79421360b62840624bb84215981b51c6858d
---
 tools/install_python_dependencies.sh | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index e6c8d5df82..0a8275d50c 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -16,8 +16,12 @@ if ! command -v "uv" > /dev/null 2>&1; then
   eval $ADD_PATH_CMD
 fi
 
+echo "updating uv..."
+uv self update
+
+# TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."
-uv sync --all-extras
+uv --no-cache sync --all-extras
 source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env

From ba39a8b301b5e7bb29a5fe4f916f1de31f1fd6b4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 17:56:09 -0700
Subject: [PATCH 0126/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32855)

Export fingerprints
old-commit-hash: d0423dcab214e644ce4dc4102c29d6e1de9ef1d8
---
 selfdrive/car/hyundai/fingerprints.py | 2 +-
 selfdrive/car/toyota/fingerprints.py  | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index e33f3e415e..54454409e8 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -988,6 +988,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
@@ -1001,7 +1002,6 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 7bbb48c8f8..50ff376321 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -160,6 +160,7 @@ FW_VERSIONS = {
       b'8821F0607200    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
+      b'8821F0608300    ',
       b'8821F0609000    ',
       b'8821F0609100    ',
     ],
@@ -205,6 +206,7 @@ FW_VERSIONS = {
       b'8821F0607200    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
+      b'8821F0608300    ',
       b'8821F0609000    ',
       b'8821F0609100    ',
     ],
@@ -799,6 +801,7 @@ FW_VERSIONS = {
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],

From 4d7567c3b00615a414ccff189559548cbde85a0b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Jun 2024 19:44:55 -0700
Subject: [PATCH 0127/1243] Hyundai: remove CAN fingerprints (#32856)

* expand date range for KIA_NIRO_EV

9004767ba8fe7321/2024-06-05--04-30-48

* remove and format
old-commit-hash: 2d3c6cbe04775ddbb337826e35f9ce64f2cd7716
---
 selfdrive/car/hyundai/fingerprints.py | 38 +--------------------------
 1 file changed, 1 insertion(+), 37 deletions(-)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 54454409e8..8dbdbee0ef 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1,4 +1,3 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
@@ -8,42 +7,6 @@ Ecu = car.CarParams.Ecu
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
 
 
-FINGERPRINTS = {
-  CAR.HYUNDAI_SANTA_FE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
-  },
-  {
-    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
-  }],
-  CAR.HYUNDAI_SONATA: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_STINGER: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
-  }],
-  CAR.GENESIS_G90: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
-  }],
-  CAR.HYUNDAI_KONA_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
-  }],
-  CAR.HYUNDAI_KONA_EV_2022: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
-  }],
-  CAR.KIA_NIRO_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_OPTIMA_H: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  },
-  {
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  }],
-}
-
 FW_VERSIONS = {
   CAR.HYUNDAI_AZERA_6TH_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -713,6 +676,7 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.02 95740-Q4000 180705',
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',

From bc046a3074b1600a85ccce262bec6c1786d3c167 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 20:29:11 -0700
Subject: [PATCH 0128/1243] retry uv update (#32858)

retry
old-commit-hash: 579b131a6efe67463d5b2d06abe743302c9cdc08
---
 tools/install_python_dependencies.sh | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 0a8275d50c..4e37d1347f 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -8,6 +8,20 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
 
+# updating uv on macOS results in 403 sometimes
+function update_uv() {
+  for i in $(seq 1 5);
+  do
+    if uv self update; then
+      return 0
+    else
+      sleep 2
+    fi
+  done
+  echo "Failed to update uv 5 times!"
+  exit 1
+}
+
 if ! command -v "uv" > /dev/null 2>&1; then
   echo "installing uv..."
   curl -LsSf https://astral.sh/uv/install.sh | sh
@@ -17,7 +31,7 @@ if ! command -v "uv" > /dev/null 2>&1; then
 fi
 
 echo "updating uv..."
-uv self update
+update_uv
 
 # TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."

From bf892f6bccf1d2ed58940fc0b088794d69b2b9e5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 27 Jun 2024 20:55:15 -0700
Subject: [PATCH 0129/1243] uv: don't exit if update fails (#32859)

dont exit if fails
old-commit-hash: 66e1810c0de88f4b927b7a46d12ba96304052ace
---
 tools/install_python_dependencies.sh | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 4e37d1347f..276de58db7 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -19,7 +19,6 @@ function update_uv() {
     fi
   done
   echo "Failed to update uv 5 times!"
-  exit 1
 }
 
 if ! command -v "uv" > /dev/null 2>&1; then

From 8adfc992e3684c21369412d7890e741e16196349 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 28 Jun 2024 16:58:19 -0700
Subject: [PATCH 0130/1243] fix pytest tests (#32867)

* fix tests

* no dot
old-commit-hash: 6f10b8a20989031d4cc04e8b8ce38eaea4a4824e
---
 docs/WORKFLOW.md                  | 2 +-
 pyproject.toml                    | 2 +-
 system/updated/tests/test_base.py | 2 +-
 tools/lib/tests/test_logreader.py | 6 ++++++
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 85ae8d86f4..1babe3c94a 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -22,7 +22,7 @@ scons -j8 selfdrive/ui/
 cd selfdrive/ui/ && scons -u -j8
 
 # test everything
-pytest .
+pytest
 
 # test just logging services
 cd system/loggerd && pytest .
diff --git a/pyproject.toml b/pyproject.toml
index 6912d80f0f..fc2356645b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -137,7 +137,7 @@ packages = [ "." ]
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index 928d07cbe3..52287c58f9 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -133,7 +133,7 @@ class TestBaseUpdate:
 class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
     assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"<p>{release_notes}</p>\n"
+    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}\n"
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 6bc7ba8773..f827c25902 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -27,8 +27,14 @@ def noop(segment: LogIterable):
 @contextlib.contextmanager
 def setup_source_scenario(mocker, is_internal=False):
   internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source")
+  internal_source_mock.__name__ = internal_source_mock._mock_name
+
   openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source")
+  openpilotci_source_mock.__name__ = openpilotci_source_mock._mock_name
+
   comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source")
+  comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
+
   if is_internal:
     internal_source_mock.return_value = [QLOG_FILE]
   else:

From cfb9f24853500adf528e6d01579a169c4a230ca0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 29 Jun 2024 00:51:19 +0000
Subject: [PATCH 0131/1243] Update README.md old-commit-hash:
 a4185042de17b51f47ca4fcfaacfd7bb9f07b888

---
 docs/new/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/new/README.md b/docs/new/README.md
index fc6706f799..13980d1e18 100644
--- a/docs/new/README.md
+++ b/docs/new/README.md
@@ -4,7 +4,7 @@ https://www.mkdocs.org/getting-started/
 
 ```
 pip install mkdocs mkdocs-terminal
-mkdocs --serve
+mkdocs serve
 ```
 
 inspiration:

From 102188c245a9112b4221547060224621d8a6127f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 28 Jun 2024 19:27:58 -0700
Subject: [PATCH 0132/1243] drivingModelData: new model packet for qlogs
 (#32821)

* Mini model v2 prototype

* Apply suggestions

* Add meta

* Support for new packet in model

* Support in process replay

* Meta

* Add it to services

* Update model replay

* Add drivingModelData in model_replay

* Update ref

* MAX_FRAMES*3

* No modelv2, but drivingModelData at 2hz

* Polypath

* Dont use keyword

* Update model ref commit

* xyz coeff

* Fix field name

* Update ref commit

* Min qlog size 0.6

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 2059f986dff46254419c889eadcc82ecea1bce94
---
 cereal/log.capnp                              | 31 +++++++++++++++++
 cereal/services.py                            |  3 +-
 selfdrive/modeld/constants.py                 |  2 ++
 selfdrive/modeld/fill_model_msg.py            | 33 +++++++++++++++++--
 selfdrive/modeld/modeld.py                    | 10 ++++--
 selfdrive/test/process_replay/model_replay.py |  6 ++--
 .../process_replay/model_replay_ref_commit    |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/test_onroad.py                 |  2 +-
 9 files changed, 78 insertions(+), 13 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3c720d4526..20b033196e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -868,6 +868,36 @@ struct ControlsState @0x97ff69c53601abf1 {
   vPidDEPRECATED @2 :Float32;
 }
 
+struct DrivingModelData {
+  frameId @0 :UInt32;
+  frameIdExtra @1 :UInt32;
+
+  action @2 :ModelDataV2.Action;
+
+  laneLineMeta @3 :LaneLineMeta;
+  meta @4 :MetaData;
+
+  path @5 :PolyPath;
+
+  struct PolyPath {
+    xCoefficients @0 :List(Float32);
+    yCoefficients @1 :List(Float32);
+    zCoefficients @2 :List(Float32);
+  }
+
+  struct LaneLineMeta {
+    leftY @0 :Float32;
+    rightY @1 :Float32;
+    leftProb @2 :Float32;
+    rightProb @3 :Float32;
+  }
+
+  struct MetaData {
+    laneChangeState @0 :LaneChangeState;
+    laneChangeDirection @1 :LaneChangeDirection;
+  }
+}
+
 # All SI units and in device frame
 struct XYZTData @0xc3cbae1fd505ae80 {
   x @0 :List(Float32);
@@ -2263,6 +2293,7 @@ struct Event {
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
+    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
diff --git a/cereal/services.py b/cereal/services.py
index ca9139c431..5329719c2a 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -60,7 +60,8 @@ _services: dict[str, tuple] = {
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "modelV2": (True, 20., 40),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20., 0),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index ca81bffcc8..871685797a 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -59,6 +59,8 @@ class ModelConstants:
   RYG_GREEN = 0.01165
   RYG_YELLOW = 0.06157
 
+  POLY_PATH_DEGREE = 4
+
 # model outputs slices
 class Plan:
   POSITION = slice(0, 3)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index f6a57f1a40..2f719c1ee6 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -41,13 +41,30 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
   if a_std is not None:
     builder.aStd = a_std.tolist()
 
-def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  msg.valid = valid
+  extended_msg.valid = valid
+  base_msg.valid = valid
 
-  modelV2 = msg.modelV2
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+
+  action = driving_model_data.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
@@ -67,6 +84,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   orientation_rate = modelV2.orientationRate
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
+  # poly path
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
   # lateral planning
   action = modelV2.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -98,6 +119,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
+  lane_line_meta = driving_model_data.laneLineMeta
+  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
+  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
+  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
+  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+
   # road edges
   modelV2.init('roadEdges', 2)
   for i in range(2):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1e33b7b3f0..d5812d6f5a 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -149,7 +149,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
 
   publish_state = PublishState()
@@ -259,9 +259,10 @@ def main(demo=False):
 
     if model_output is not None:
       modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                      meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -270,9 +271,12 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
 
     last_vipc_frame_id = meta_main.frame_id
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 28826144e8..9a7b9695ff 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -96,10 +96,10 @@ if __name__ == "__main__":
       all_logs = list(LogReader(BASE_URL + log_fn))
       cmp_log = []
 
-      # logs are ordered based on type: modelV2, driverStateV2
+      # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
       if not NO_MODEL:
-        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
-        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
+        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
+        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
         dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
         cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 87f1adfada..995e024de0 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-73eb11111fb6407fa307c3f2bdd3331f2514c707
+b0d295609abb0f84c34ffb104c1b1a0bb855352f
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a55396002b..c7f57fd9bc 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -565,7 +565,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="modeld",
     pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
-    subs=["modelV2", "cameraOdometry"],
+    subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7574a5e4ab..78486a176d 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -206,7 +206,7 @@ class TestOnroad:
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.7 < sz < 1.0
+        assert 0.6 < sz < 1.0
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 02a35949dcaefff912d1c25bca5e56195e14da71 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Sat, 29 Jun 2024 02:31:55 -0700
Subject: [PATCH 0133/1243] drivingModelData: frameDropPerc (#32871)

* Smokes! lets go!

* Ignore it in model replay
old-commit-hash: 417f1e2139ba6037c9fd6494f68194e36e243540
---
 cereal/log.capnp                              | 1 +
 selfdrive/modeld/fill_model_msg.py            | 4 +++-
 selfdrive/test/process_replay/model_replay.py | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 20b033196e..3a53db9cc4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -871,6 +871,7 @@ struct ControlsState @0x97ff69c53601abf1 {
 struct DrivingModelData {
   frameId @0 :UInt32;
   frameIdExtra @1 :UInt32;
+  frameDropPerc @6 :Float32;
 
   action @2 :ModelDataV2.Action;
 
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 2f719c1ee6..03f6d1b016 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -53,6 +53,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
@@ -60,6 +61,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
 
   action = driving_model_data.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -68,7 +70,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop * 100
+  modelV2.frameDropPerc = frame_drop_perc
   modelV2.timestampEof = timestamp_eof
   modelV2.modelExecutionTime = model_execution_time
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9a7b9695ff..0e43cad820 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -105,6 +105,7 @@ if __name__ == "__main__":
 
       ignore = [
         'logMonoTime',
+        'drivingModelData.frameDropPerc',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',

From a822d1a74543caceeb441dbc23fb709f2a2bab4a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 29 Jun 2024 12:52:31 -0700
Subject: [PATCH 0134/1243] update uv.lock (#32873)

uv lock
old-commit-hash: 406bcd79e1b3c189848d2bce6948d68a8dfa1339
---
 uv.lock | 11119 +++++++++++++++++++++++++-----------------------------
 1 file changed, 5080 insertions(+), 6039 deletions(-)

diff --git a/uv.lock b/uv.lock
index e5676da384..ec5267d099 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4,7825 +4,6866 @@ requires-python = ">=3.11"
 [[distribution]]
 name = "aiohttp"
 version = "3.9.5"
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From 9f6dae8f449ce77d0c472e1fa1a171f1f87b9552 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 30 Jun 2024 08:34:46 +0800
Subject: [PATCH 0135/1243] logmessaged: remove the redundant nested print
 (#32872)

remove the redundant nested print
old-commit-hash: cec8d5a305c6dd91a9e7c965e23884ca9ed84aac
---
 system/logmessaged.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/logmessaged.py b/system/logmessaged.py
index 46bf79b0b2..c095c26192 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -31,7 +31,7 @@ def main() -> NoReturn:
 
       if len(record) > 2*1024*1024:
         print("WARNING: log too big to publish", len(record))
-        print(print(record[:100]))
+        print(record[:100])
         continue
 
       # then we publish them

From 2bebaa87b1bd26860d6831d1027310542594a9d2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 30 Jun 2024 09:38:56 -0700
Subject: [PATCH 0136/1243] stale bot: fix milestone exemption

old-commit-hash: bda4d2df632612a616777a5c9ca3b40404bc384f
---
 .github/workflows/stale.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index 3c86b8e854..a26691ea45 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -14,7 +14,7 @@ jobs:
     steps:
       - uses: actions/stale@v9
         with:
-          exempt-milestones: true
+          exempt-all-milestones: true
 
           # pull request config
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'

From f35fcbc050f34d18fada44094cc55151ea0a69b9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 1 Jul 2024 00:46:21 +0800
Subject: [PATCH 0137/1243] ui: remove tests/playsound.cc (#32870)

remove playsound.cc
old-commit-hash: a312a102aa05cd5759912de612fc0adb0ae25c19
---
 selfdrive/ui/tests/.gitignore   |  2 --
 selfdrive/ui/tests/playsound.cc | 30 ------------------------------
 2 files changed, 32 deletions(-)
 delete mode 100644 selfdrive/ui/tests/playsound.cc

diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 6c624b66d3..8e0147f988 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,6 +1,4 @@
 test
-playsound
-test_sound
 test_translations
 ui_snapshot
 test_ui/report
\ No newline at end of file
diff --git a/selfdrive/ui/tests/playsound.cc b/selfdrive/ui/tests/playsound.cc
deleted file mode 100644
index 6487d04790..0000000000
--- a/selfdrive/ui/tests/playsound.cc
+++ /dev/null
@@ -1,30 +0,0 @@
-#include <QApplication>
-#include <QSoundEffect>
-#include <QTimer>
-#include <QDebug>
-
-int main(int argc, char **argv) {
-
-  QApplication a(argc, argv);
-
-  QTimer::singleShot(0, [=]{
-    QSoundEffect s;
-    const char *vol = getenv("VOLUME");
-    s.setVolume(vol ? atof(vol) : 1.0);
-    for (int i = 1; i < argc; i++) {
-      QString fn = argv[i];
-      qDebug() << "playing" << fn;
-
-      QEventLoop loop;
-      s.setSource(QUrl::fromLocalFile(fn));
-      QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit);
-      loop.exec();
-      s.play();
-      QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit);
-      loop.exec();
-    }
-    QCoreApplication::exit();
-  });
-
-  return a.exec();
-}

From f26f9d79823c7c135a4f10589a10a93a27d7252e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jul 2024 11:38:35 -0700
Subject: [PATCH 0138/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32883)

Export fingerprints
old-commit-hash: 25b9a338529858cab0e5adf47c62afe2be2fd695
---
 selfdrive/car/chrysler/fingerprints.py | 1 +
 selfdrive/car/toyota/fingerprints.py   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 018505a917..1bc6a32431 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -315,6 +315,7 @@ FW_VERSIONS = {
       b'68284456AI ',
       b'68284477AF ',
       b'68325564AH ',
+      b'68325564AI ',
       b'68325565AH ',
       b'68325565AI ',
       b'68325618AD ',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 50ff376321..5e746d1311 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1493,6 +1493,7 @@ FW_VERSIONS = {
       b'\x01896630EA6300\x00\x00\x00\x00',
       b'\x018966348R1300\x00\x00\x00\x00',
       b'\x018966348R8500\x00\x00\x00\x00',
+      b'\x018966348R9300\x00\x00\x00\x00',
       b'\x018966348W1300\x00\x00\x00\x00',
       b'\x018966348W2300\x00\x00\x00\x00',
     ],

From e0c89a36da8e6a06ab85c4e74c44f70dd910e1fe Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 1 Jul 2024 13:59:44 -0700
Subject: [PATCH 0139/1243] Notre Dame model (#32884)

* New model: 6f23a03f-486b-4d3e-a314-19d149644c7c/700

* Bump refs
old-commit-hash: 01c2174d5968266b87f1d1fecefce5affaeaa624
---
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index c0f8b16fb1..2e1a60a23e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
-size 51452435
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 995e024de0..0b253017f5 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-b0d295609abb0f84c34ffb104c1b1a0bb855352f
\ No newline at end of file
+01e8432830805165527d1dbadd5f009d19430b39
\ No newline at end of file

From 5333e8ba20c4e2b88856c0342ba0ba30271897b0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Jul 2024 22:43:48 -0700
Subject: [PATCH 0140/1243] LogReader: show total segment count in missing rlog
 prompt old-commit-hash: 3e41b1b287c956ed17ab065cf4391aae05333e52

---
 tools/lib/logreader.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index f6932c029a..6ad77bf823 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -98,10 +98,10 @@ def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool,
   missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
   if missing_rlogs != 0:
     if interactive:
-      if input(f"{missing_rlogs} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+      if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
     else:
-      cloudlog.warning(f"{missing_rlogs} rlogs were not found, falling back to qlogs for those segments...")
+      cloudlog.warning(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, falling back to qlogs for those segments...")
 
     return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
             for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]

From 3953eba4acd5184b092f3ff76259267e2614b012 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Jul 2024 13:27:45 -0700
Subject: [PATCH 0141/1243] controlsd: no mutable carParams (#32381)

* no as builder

* fix car int test

* more
old-commit-hash: c95b58401afe475b07634041e71ede63b9f3875f
---
 selfdrive/car/tests/test_car_interfaces.py      | 1 +
 selfdrive/controls/controlsd.py                 | 3 +--
 selfdrive/controls/lib/latcontrol_torque.py     | 2 +-
 selfdrive/controls/lib/tests/test_latcontrol.py | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 742bafc76a..bb97ac8a9a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -62,6 +62,7 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f147766c91..416a9aa8c5 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -65,8 +65,7 @@ class Controls:
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
       with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        # TODO: this shouldn't need to be a builder
-        self.CP = msg.as_builder()
+        self.CP = msg
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 34b0d47124..decff2ec05 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -25,7 +25,7 @@ LOW_SPEED_Y = [15, 13, 10, 5]
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.torque_params = CP.lateralTuning.torque
+    self.torque_params = CP.lateralTuning.torque.as_builder()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 81411edec1..e12da6ed97 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -21,7 +21,7 @@ class TestLatControl:
     CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 
-    controller = controller(CP, CI)
+    controller = controller(CP.as_reader(), CI)
 
     CS = car.CarState.new_message()
     CS.vEgo = 30

From 8e3b18c3a01a261243b710cf4fb6df2ca3456dd8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Jul 2024 22:22:56 -0700
Subject: [PATCH 0142/1243] Ford: use more reliable gear message (#32886)

* todo

* nope

* not this one

* yep

* passes

* clean up

* not used!

* oop

* update refs
old-commit-hash: 7de2aac3c93caa20213894e574f06bd45f789335
---
 selfdrive/car/ford/carstate.py           | 6 +++---
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 78f48ec5c4..d7130681d4 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -15,7 +15,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
+      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
     self.vehicle_sensors_valid = False
 
@@ -69,7 +69,7 @@ class CarState(CarStateBase):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
+      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -139,7 +139,7 @@ class CarState(CarStateBase):
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [
-        ("Gear_Shift_by_Wire_FD1", 10),
+        ("PowertrainData_10", 10),
       ]
     elif CP.transmissionType == TransmissionType.manual:
       messages += [
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 96161a42de..1635012f3e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8737e368e17f859291164286feb4246e00c0b4a5
+f6ff3601bd0496e78d8bc3b019d58bb7739f096b
\ No newline at end of file

From 42cee115ad6a93f0df0449c55c9770f2762c5e6f Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Wed, 3 Jul 2024 15:27:29 -0700
Subject: [PATCH 0143/1243] CI: test the tests (#32869)

old-commit-hash: 0fecfd6c4578d17070db91bfa4920888258b987b
---
 .github/workflows/ci_weekly_report.yaml | 123 ++++++++++++++++++++++++
 .github/workflows/ci_weekly_run.yaml    |  21 ++++
 .github/workflows/docs.yaml             |   9 +-
 .github/workflows/selfdrive_tests.yaml  |  12 ++-
 .github/workflows/tools_tests.yaml      |   9 +-
 selfdrive/ui/tests/test_ui/run.py       |   2 +-
 6 files changed, 168 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/ci_weekly_report.yaml
 create mode 100644 .github/workflows/ci_weekly_run.yaml

diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
new file mode 100644
index 0000000000..c5c98b46b5
--- /dev/null
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -0,0 +1,123 @@
+name: weekly CI test report
+on:
+  schedule:
+    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
+  workflow_dispatch:
+    inputs:
+      ci_runs:
+        description: 'The amount of runs to trigger in CI test report'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  setup:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    outputs:
+      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
+    steps:
+      - id: ci_runs_setup
+        run: |
+          CI_RUNS=${{ inputs.ci_runs || '50' }}
+          mylist="value=["
+
+          for i in $(seq 1 $CI_RUNS);
+          do
+              if [ $i != $CI_RUNS ]; then
+                  mylist+="\"$i\", "
+              else
+                  mylist+="\"$i\"]"
+              fi
+          done
+
+          echo "$mylist" >> $GITHUB_OUTPUT
+          echo "Number of CI runs for report: $CI_RUNS"
+  ci_matrix_run:
+    needs: [ setup ]
+    strategy:
+      fail-fast: false
+      matrix:
+        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    with:
+      run_number: ${{ matrix.value }}
+
+  report:
+    needs: [ci_matrix_run]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Get job results
+        uses: actions/github-script@v7
+        id: get-job-results
+        with:
+          script: |
+            const jobs = await github
+              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
+                owner: "commaai",
+                repo: "${{ github.event.repository.name }}",
+                run_id: "${{ github.run_id }}",
+                attempt: "${{ github.run_attempt }}",
+              })
+            var report = {}
+            jobs.slice(1, jobs.length-1).forEach(job => {
+              const jobName = job.name.split('/')[2].trim();
+              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              switch (job.conclusion) {
+                case "success":
+                  report[jobName].successes.push(job.html_url); break;
+                case "failure":
+                  report[jobName].failures.push(job.html_url); break;
+                case "cancelled":
+                  report[jobName].cancelled.push(job.html_url); break;
+              }
+            });
+            return JSON.stringify(report);
+
+      - name: Add job results to summary
+        env:
+          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
+        run: |
+          echo $JOB_RESULTS > job_results.json
+          generate_html_table() {
+            echo "<table>"
+            echo "<thead>"
+            echo "  <tr>"
+            echo "    <th>Job</th>"
+            echo "    <th>Succeeded ✅</th>"
+            echo "    <th>Failed ❌</th>"
+            echo "    <th>Cancelled (timed out) ⏰</th>"
+            echo "  </tr>"
+            echo "</thead>"
+            jq -r '
+              "<tbody>",
+              keys[] as $job |
+              "<tr>",
+              "  <td>\($job)</td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].successes | length))</summary>",
+              "      \(.[$job].successes[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].failures | length))</summary>",
+              "      \(.[$job].failures[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].cancelled | length))</summary>",
+              "      \(.[$job].cancelled[])<br>",
+              "    </details>",
+              "  </td>",
+              "</tr>"
+            ' job_results.json
+            echo  "</tbody>"
+            echo  "</table>"
+          }
+          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
+          generate_html_table >> $GITHUB_STEP_SUMMARY
+
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
new file mode 100644
index 0000000000..c3ce8c42da
--- /dev/null
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -0,0 +1,21 @@
+name: weekly CI test run
+on:
+  workflow_call:
+    inputs:
+      run_number:
+        required: true
+        type: string
+
+concurrency:
+  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  selfdrive_tests:
+    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index a32989f7d0..6428729055 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -5,9 +5,14 @@ on:
     branches:
       - master
   pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index c2b321525b..db763923b9 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -6,9 +6,15 @@ on:
       - master
   pull_request:
   workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
@@ -320,5 +326,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report
-          path: selfdrive/ui/tests/test_ui/report
+          name: report-${{ inputs.run_number }}
+          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index a04d5e6b6b..b64963fb60 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -5,9 +5,14 @@ on:
     branches:
       - master
   pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 1d33c103a4..98a600eebc 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -116,7 +116,7 @@ CASES = {
 
 TEST_DIR = pathlib.Path(__file__).parent
 
-TEST_OUTPUT_DIR = TEST_DIR / "report"
+TEST_OUTPUT_DIR = TEST_DIR / "report_1"
 SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
 
 

From 6601133ad2d6014b0b288fd230f5fd0a54dbb079 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 4 Jul 2024 06:27:54 +0800
Subject: [PATCH 0144/1243] replay: handle route not found error with user
 warning message (#32895)

handle 404
old-commit-hash: 632c484dd5e1f18a6c63b7505bd773d448b86661
---
 tools/cabana/streams/replaystream.cc | 3 +++
 tools/replay/route.cc                | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index bdb9ebb014..302a25696e 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -73,6 +73,9 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
     } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
       QMessageBox::warning(nullptr, tr("Network Error"),
                           tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+    } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
+      QMessageBox::warning(nullptr, tr("Route Not Found"),
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
     } else {
       QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
     }
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 18c962abd5..716b02961e 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -39,6 +39,7 @@ RouteIdentifier Route::parseRoute(const QString &str) {
 }
 
 bool Route::load() {
+  err_ = RouteLoadError::None;
   if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
     rInfo("invalid route format");
     return false;
@@ -76,6 +77,10 @@ bool Route::loadFromServer(int retries) {
       rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
       err_ = RouteLoadError::AccessDenied;
       return false;
+    } else if (err == QNetworkReply::ContentNotFoundError) {
+      rWarning("The specified route could not be found on the server.");
+      err_ = RouteLoadError::FileNotFound;
+      return false;
     } else {
       err_ = RouteLoadError::NetworkError;
     }

From 7ca7f55530cc2d390fce61ce157867532f6bc54e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 4 Jul 2024 06:32:15 +0800
Subject: [PATCH 0145/1243] cabana: improve signal view (#32893)

improve signal view
old-commit-hash: a8299ef800a569e22abab9eac68af70618311ea7
---
 tools/cabana/signalview.cc | 150 ++++++++++++++++++-------------------
 tools/cabana/signalview.h  |   9 +--
 2 files changed, 75 insertions(+), 84 deletions(-)

diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 7eb647b650..8288c801b5 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -33,13 +33,17 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
 }
 
-void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
-  Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
-  parent_item->children.insert(pos, item);
+void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
+  Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig};
+  root_item->children.insert(pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
-    item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
+    auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)};
+    parent_item->children.push_back(item);
+    if (item->type == Item::ExtraInfo) {
+      parent_item = item;
+    }
   }
 }
 
@@ -75,12 +79,7 @@ SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
 int SignalModel::rowCount(const QModelIndex &parent) const {
   if (parent.isValid() && parent.column() > 0) return 0;
 
-  auto parent_item = getItem(parent);
-  int row_count = parent_item->children.size();
-  if (parent_item->type == Item::Sig && !parent_item->extra_expanded) {
-    row_count -= (Item::Desc - Item::ExtraInfo);
-  }
-  return row_count;
+  return getItem(parent)->children.size();
 }
 
 Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
@@ -88,7 +87,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
 
   auto item = getItem(index);
   Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled;
-  if (index.column() == 1  && item->type != Item::Sig && item->type != Item::ExtraInfo) {
+  if (index.column() == 1  && item->children.empty()) {
     flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable;
   }
   if (item->type == Item::MultiplexValue && item->sig->type != cabana::Signal::Type::Multiplexed) {
@@ -153,8 +152,6 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     } else if (role == Qt::CheckStateRole && index.column() == 1) {
       if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked;
       if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked;
-    } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
-      return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
     } else if (role == Qt::ToolTipRole && item->type == Item::Sig) {
       return (index.column() == 0) ? signalToolTip(item->sig) : QString();
     }
@@ -189,21 +186,6 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   return ret;
 }
 
-void SignalModel::showExtraInfo(const QModelIndex &index) {
-  auto item = getItem(index);
-  if (item->type == Item::ExtraInfo) {
-    if (!item->parent->extra_expanded) {
-      item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
-      endInsertRows();
-    } else {
-      item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
-      endRemoveRows();
-    }
-  }
-}
-
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
@@ -283,13 +265,9 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo
       text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
       spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2;
     }
-    auto it = width_cache.find(text);
-    if (it == width_cache.end()) {
-      it = width_cache.insert(text, option.fontMetrics.width(text));
-    }
-    width = std::min<int>(option.widget->size().width() / 3.0, it.value() + spacing);
+    width = std::min<int>(option.widget->size().width() / 3.0, option.fontMetrics.width(text) + spacing);
   }
-  return {width, option.fontMetrics.height()};
+  return {width, option.fontMetrics.height() + option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
 }
 
 void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -305,51 +283,55 @@ void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptio
 }
 
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  auto item = (SignalModel::Item *)index.internalPointer();
-  if (item && item->type == SignalModel::Item::Sig) {
-    painter->setRenderHint(QPainter::Antialiasing);
-    if (option.state & QStyle::State_Selected) {
-      painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
-    }
+  const int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  const int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+  auto item = static_cast<SignalModel::Item*>(index.internalPointer());
+
+  QRect rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+  painter->setRenderHint(QPainter::Antialiasing);
+  if (option.state & QStyle::State_Selected) {
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+  }
 
-    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-    int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
-    QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
-    if (index.column() == 0) {
+  if (index.column() == 0) {
+    if (item->type == SignalModel::Item::Sig) {
       // color label
       QPainterPath path;
-      QRect icon_rect{r.x(), r.y(), color_label_width, r.height()};
+      QRect icon_rect{rect.x(), rect.y(), color_label_width, rect.height()};
       path.addRoundedRect(icon_rect, 3, 3);
       painter->setPen(item->highlight ? Qt::white : Qt::black);
       painter->setFont(label_font);
       painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
       painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
 
-      r.setLeft(icon_rect.right() + h_margin * 2);
+      rect.setLeft(icon_rect.right() + h_margin * 2);
       // multiplexer indicator
       if (item->sig->type != cabana::Signal::Type::Normal) {
         QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
-        QRect indicator_rect{r.x(), r.y(), option.fontMetrics.width(indicator), r.height()};
+        QRect indicator_rect{rect.x(), rect.y(), option.fontMetrics.width(indicator), rect.height()};
         painter->setBrush(Qt::gray);
         painter->setPen(Qt::NoPen);
         painter->drawRoundedRect(indicator_rect, 3, 3);
         painter->setPen(Qt::white);
         painter->drawText(indicator_rect, Qt::AlignCenter, indicator);
-        r.setLeft(indicator_rect.right() + h_margin * 2);
+        rect.setLeft(indicator_rect.right() + h_margin * 2);
       }
+    } else {
+      rect.setLeft(option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + h_margin * 3);
+    }
 
-      // name
-      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width());
-      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-      painter->setFont(option.font);
-      painter->drawText(r, option.displayAlignment, text);
-    } else if (index.column() == 1 && !item->sparkline.pixmap.isNull()) {
-      // sparkline
+    // name
+    auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
+    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+    painter->setFont(option.font);
+    painter->drawText(rect, option.displayAlignment, text);
+  } else if (index.column() == 1) {
+    if (!item->sparkline.pixmap.isNull()) {
       QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio();
-      painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap);
+      painter->drawPixmap(QRect(rect.topLeft(), sparkline_size), item->sparkline.pixmap);
       // min-max value
       painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-      QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
+      rect.adjust(sparkline_size.width() + 1, 0, 0, 0);
       int value_adjust = 10;
       if (!item->sparkline.isEmpty() && (item->highlight || option.state & QStyle::State_Selected)) {
         painter->drawLine(rect.topLeft(), rect.bottomLeft());
@@ -361,7 +343,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
         value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
-      } else if (!item->sparkline.isEmpty()  && item->sig->type == cabana::Signal::Type::Multiplexed) {
+      } else if (!item->sparkline.isEmpty() && item->sig->type == cabana::Signal::Type::Multiplexed) {
         // display freq of multiplexed signal
         painter->setFont(label_font);
         QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
@@ -373,9 +355,9 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       rect.adjust(value_adjust, 0, -button_size.width(), 0);
       auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
       painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text);
+    } else {
+      QStyledItemDelegate::paint(painter, option, index);
     }
-  } else {
-    QStyledItemDelegate::paint(painter, option, index);
   }
 }
 
@@ -512,7 +494,6 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }
 
 void SignalView::setMessage(const MessageId &id) {
-  max_value_width = 0;
   filter_edit->clear();
   model->setMessage(id);
 }
@@ -549,11 +530,9 @@ void SignalView::rowsChanged() {
 
 void SignalView::rowClicked(const QModelIndex &index) {
   auto item = model->getItem(index);
-  if (item->type == SignalModel::Item::Sig) {
-    auto sig_index = model->index(index.row(), 0, index.parent());
-    tree->setExpanded(sig_index, !tree->isExpanded(sig_index));
-  } else if (item->type == SignalModel::Item::ExtraInfo) {
-    model->showExtraInfo(index);
+  if (item->type == SignalModel::Item::Sig || item->type == SignalModel::Item::ExtraInfo) {
+    auto expand_index = model->index(index.row(), 0, index.parent());
+    tree->setExpanded(expand_index, !tree->isExpanded(expand_index));
   }
 }
 
@@ -614,39 +593,54 @@ void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
     updateState();
 }
 
+std::pair<QModelIndex, QModelIndex> SignalView::visibleSignalRange() {
+  auto topLevelIndex = [](QModelIndex index) {
+    while (index.isValid() && index.parent().isValid()) index = index.parent();
+    return index;
+  };
+
+  const auto viewport_rect = tree->viewport()->rect();
+  QModelIndex first_visible = tree->indexAt(viewport_rect.topLeft());
+  if (first_visible.parent().isValid()) {
+    first_visible = topLevelIndex(first_visible);
+    first_visible = first_visible.siblingAtRow(first_visible.row() + 1);
+  }
+
+  QModelIndex last_visible = topLevelIndex(tree->indexAt(viewport_rect.bottomRight()));
+  if (!last_visible.isValid()) {
+    last_visible = model->index(model->rowCount() - 1, 0);
+  }
+  return {first_visible, last_visible};
+}
+
 void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
+  int max_value_width = 0;
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
       item->sig_val = item->sig->formatValue(value);
+      max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
     }
-    max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
   }
 
-  QModelIndex top = tree->indexAt(QPoint(0, 0));
-  if (top.isValid()) {
-    // update visible sparkline
-    int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
-    int last_visible_row = model->rowCount() - 1;
-    QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
-    if (bottom.isValid()) {
-      last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
-    }
-
+  auto [first_visible, last_visible] = visibleSignalRange();
+  if (first_visible.isValid() && last_visible.isValid()) {
     const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
     int available_width = value_column_width - delegate->button_size.width();
     int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
     QSize size(available_width - value_width,
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
+
     QFutureSynchronizer<void> synchronizer;
-    for (int i = first_visible_row; i <= last_visible_row; ++i) {
+    for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
       synchronizer.addFuture(QtConcurrent::run(
           &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
     }
+    synchronizer.waitForFinished();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 30978f928c..6320b9b621 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -2,6 +2,7 @@
 
 #include <memory>
 #include <set>
+#include <utility>
 
 #include <QAbstractItemModel>
 #include <QLabel>
@@ -29,7 +30,6 @@ public:
     const cabana::Signal *sig = nullptr;
     QString title;
     bool highlight = false;
-    bool extra_expanded = false;
     QString sig_val = "-";
     Sparkline sparkline;
   };
@@ -47,10 +47,9 @@ public:
   bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
   Item *getItem(const QModelIndex &index) const;
   int signalRow(const cabana::Signal *sig) const;
-  void showExtraInfo(const QModelIndex &index);
 
 private:
-  void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig);
+  void insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig);
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void handleSignalRemoved(const cabana::Signal *sig);
@@ -92,7 +91,6 @@ public:
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;
-  mutable QHash<QString, int> width_cache;
 };
 
 class SignalView : public QFrame {
@@ -119,6 +117,7 @@ private:
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void updateState(const std::set<MessageId> *msgs = nullptr);
+  std::pair<QModelIndex, QModelIndex> visibleSignalRange();
 
   struct TreeView : public QTreeView {
     TreeView(QWidget *parent) : QTreeView(parent) {}
@@ -136,7 +135,6 @@ private:
       QTreeView::leaveEvent(event);
     }
   };
-  int max_value_width = 0;
   int value_column_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;
@@ -145,5 +143,4 @@ private:
   ChartsWidget *charts;
   QLabel *signal_count_lb;
   SignalItemDelegate *delegate;
-  friend SignalItemDelegate;
 };

From b03daaadf1bef4c2f62d389802f70ec9636d1425 Mon Sep 17 00:00:00 2001
From: Jimmy <9859727+Quantizr@users.noreply.github.com>
Date: Wed, 3 Jul 2024 17:22:45 -0700
Subject: [PATCH 0146/1243] fix bug in modelV2 service which was triggering
 test_loggerd failure (#32892)

* fix services bug

* add nonzero decimation assert
old-commit-hash: 9cec7bbfb3bfaa032041b9b8d960f1b61d09f8f4
---
 cereal/messaging/tests/test_services.py | 1 +
 cereal/services.py                      | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
index 0fac379e43..ec96c90bc2 100755
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -15,6 +15,7 @@ class TestServices(unittest.TestCase):
   def test_services(self, s):
     service = SERVICE_LIST[s]
     self.assertTrue(service.frequency <= 104)
+    self.assertTrue(service.decimation != 0)
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
diff --git a/cereal/services.py b/cereal/services.py
index 5329719c2a..f1e1935c54 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -61,7 +61,7 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20., 0),
+  "modelV2": (True, 20.),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),

From 608b0c56c6ec18ca5401ef300bc9b8f029af3a15 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 3 Jul 2024 19:31:02 -0700
Subject: [PATCH 0147/1243] fix package_updates workflow (#32903)

pip3
old-commit-hash: c52126cd6c095fc1a6a2e37f6426ca67f03a0676
---
 .github/workflows/repo-maintenance.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 26b5e09f48..f03f9670c4 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -43,7 +43,8 @@ jobs:
     - uses: actions/checkout@v4
     - name: uv lock
       run: |
-        pip install uv
+        python3 -m ensurepip --upgrade
+        pip3 install uv
         uv lock
     - name: pre-commit autoupdate
       run: |

From 19a0be58b8228c81533fae233f12199da9d1001c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 3 Jul 2024 19:38:42 -0700
Subject: [PATCH 0148/1243] repo-maintenance: force update for python packages
 (#32905)

force update
old-commit-hash: 8e598a17fbf9babb0b45a8e952e274471a8bd91c
---
 .github/workflows/repo-maintenance.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index f03f9670c4..0d855e83f1 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,7 +41,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: uv lock
+    - name: uv lock --upgrade
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

From 1c1efe595d57a8a781074ae40bff0ceaeff55044 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 4 Jul 2024 02:46:13 +0000
Subject: [PATCH 0149/1243] Update repo-maintenance.yaml old-commit-hash:
 ebf4cf4ad02372828083395080af618fcf00bcc6

---
 .github/workflows/repo-maintenance.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0d855e83f1..cf35804492 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,11 +41,11 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: uv lock --upgrade
+    - name: uv lock
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
-        uv lock
+        uv lock --upgrade
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'

From e7ccd98e76cd09e10f4023c2693610af1d290f15 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Fri, 5 Jul 2024 10:26:44 -0700
Subject: [PATCH 0150/1243] [bot] Update Python packages and pre-commit hooks
 (#32906)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 3dc08fb679a3aac4a3ea89e47d8ba2eed7d38e2d
---
 .pre-commit-config.yaml |   2 +-
 uv.lock                 | 173 +++++++++++++++++++++-------------------
 2 files changed, 93 insertions(+), 82 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 297b2d720c..676fc514da 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -93,6 +93,6 @@ repos:
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.5
+    rev: 0.28.6
     hooks:
     -   id: check-github-workflows
diff --git a/uv.lock b/uv.lock
index ec5267d099..6433b53524 100644
--- a/uv.lock
+++ b/uv.lock
@@ -360,11 +360,11 @@ wheels = [
 
 [[distribution]]
 name = "certifi"
-version = "2024.6.2"
+version = "2024.7.4"
 source = { registry = "https://pypi.org/simple" }
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From 8e27e0bc9ce8c89a8c50593e0897971382aa6570 Mon Sep 17 00:00:00 2001
From: "Xida Ren (Cedar)" <cedar.ren@gmail.com>
Date: Fri, 5 Jul 2024 20:10:39 -0400
Subject: [PATCH 0151/1243] Add `git lfs pull` to workflow.md (#32914)

old-commit-hash: edd042f308b74ec0e9f16462de1f869f20b6a1fd
---
 docs/WORKFLOW.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 1babe3c94a..10cf244fd6 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -9,6 +9,7 @@ Most development happens on normal Ubuntu workstations, and not in cars or direc
 ```bash
 # get the latest stuff
 git pull
+git lfs pull
 git submodule update --init --recursive
 
 # update dependencies

From 0a22c17336d1c16ad09aecbea60175fec9f1d08e Mon Sep 17 00:00:00 2001
From: signed-long <38993953+signed-long@users.noreply.github.com>
Date: Fri, 5 Jul 2024 19:47:59 -0700
Subject: [PATCH 0152/1243] Post UI screenshots in PR comments (#32887)

* add PR comment with screenshots on ui changes

* fix pr comment if statements

* use default shallow checkout

* use commaai's ci-artifacts

* use my ci-artifacts

* use tj-actions/changed-files

* clean up

* use comma repos

* make ci-artifacts branch openpilot/pr-#

* remove redundent path
old-commit-hash: 635b15a5730d51c538f94191ed927f8976ee8a40
---
 .github/workflows/selfdrive_tests.yaml | 50 ++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index db763923b9..3359f2a15e 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -328,3 +328,53 @@ jobs:
         with:
           name: report-${{ inputs.run_number }}
           path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
+      - name: Get changes to selfdrive/ui
+        if: ${{ github.event_name == 'pull_request' }}
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+         files: |
+            selfdrive/ui/**
+      - name: Checkout ci-artifacts
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+      - name: Push Screenshots
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
+          git add .
+          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
+          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
+      - name: Comment Screenshots on PR
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.pull_request.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 56f06a2dcdfb005c37f4b6e3c1ff6696adf92fac Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 5 Jul 2024 20:07:56 -0700
Subject: [PATCH 0153/1243] bump opendbc

old-commit-hash: 155546a6683c6176e4916b6af9a2e1f160e3a02d
---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 776bca184b..de39b143a3 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 776bca184bc997b587afb20df71bc56a4890c4d8
+Subproject commit de39b143a31cd29b4df4c0cbba71316c1bc8e71b

From a048348104c25db2ddcdd9270286dbf81388a49b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 6 Jul 2024 08:51:36 -0700
Subject: [PATCH 0154/1243] remove old docs (#32917)

old-commit-hash: 4ef757c49fff362242bd212d46c1656966a6b3ba
---
 .github/workflows/docs.yaml |   1 +
 docs/Makefile               |  53 -------------
 docs/_static/favicon.ico    |   3 -
 docs/_static/logo.png       |   3 -
 docs/_static/robots.txt     |   2 -
 docs/c_docs.rst             |  87 ---------------------
 docs/conf.py                | 147 ------------------------------------
 docs/index.md               |  42 -----------
 docs/overview.rst           |  72 ------------------
 pyproject.toml              |   3 -
 uv.lock                     |  41 ----------
 11 files changed, 1 insertion(+), 453 deletions(-)
 delete mode 100644 docs/Makefile
 delete mode 100644 docs/_static/favicon.ico
 delete mode 100644 docs/_static/logo.png
 delete mode 100644 docs/_static/robots.txt
 delete mode 100644 docs/c_docs.rst
 delete mode 100644 docs/conf.py
 delete mode 100644 docs/index.md
 delete mode 100644 docs/overview.rst

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 6428729055..908f06e034 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -27,6 +27,7 @@ jobs:
     name: build docs
     runs-on: ubuntu-latest
     timeout-minutes: 45
+    if: false  # TODO: replace this with the new docs
     steps:
     - uses: actions/checkout@v4
       with:
diff --git a/docs/Makefile b/docs/Makefile
deleted file mode 100644
index 09103e206e..0000000000
--- a/docs/Makefile
+++ /dev/null
@@ -1,53 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-OPENPILOT_ROOT = `git rev-parse --show-toplevel`
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
-SPHINXOPTS    ?=
-SPHINXBUILD   ?= sphinx-build
-DOCSDIR       = "$(OPENPILOT_ROOT)/docs"
-SOURCEDIR     = "$(OPENPILOT_ROOT)/build/docs"
-DOCSBUILDDIR  = "$(OPENPILOT_ROOT)/build/docs"
-BUILDDIR      = "$(OPENPILOT_ROOT)/build"
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
-
-clean:
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-	mkdir -p "$(DOCSBUILDDIR)"
-
-	@echo "Copying docs & config to build folder..."
-	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
-	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
-			-not -path "*/.*" \
-			-not -path "./build/*" \
-			-not -path "./docs/*" \
-			-not -path "./xx/*" \
-			-exec cp --parents "{}" ./build/docs/ \;
-
-	@echo "Building rst files..."
-	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../rednose_repo ../notebooks ../panda_jungle \
-		../third_party \
-		../panda/examples \
-		../scripts \
-		../selfdrive/modeld \
-		../selfdrive/debug \
-		$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
-
-	@echo "Building html files..."
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/_static/favicon.ico b/docs/_static/favicon.ico
deleted file mode 100644
index 5bd2e6cebb..0000000000
--- a/docs/_static/favicon.ico
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d2802090da910c4ca103d8ef664f5bdc671e6035890ec7c41c1c6b9a5675294e
-size 15086
diff --git a/docs/_static/logo.png b/docs/_static/logo.png
deleted file mode 100644
index 0e7577dae1..0000000000
--- a/docs/_static/logo.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:42bc589954cad7f16cef694887dee2c819378f7dacfdddea2ff833ff65a109fd
-size 1122
diff --git a/docs/_static/robots.txt b/docs/_static/robots.txt
deleted file mode 100644
index 3bcd24fb5d..0000000000
--- a/docs/_static/robots.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-User-agent: *
-Sitemap: https://docs.comma.ai/sitemap.xml
\ No newline at end of file
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
deleted file mode 100644
index 0d65423c08..0000000000
--- a/docs/c_docs.rst
+++ /dev/null
@@ -1,87 +0,0 @@
-openpilot
-==========
-
-
-opendbc
-------
-.. autodoxygenindex::
-   :project: opendbc_can
-
-
-cereal
-------
-
-messaging
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq
-
-visionipc
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq_visionipc
-
-
-selfdrive
----------
-
-camerad
-^^^^^^^
-.. autodoxygenindex::
-   :project: system_camerad_cameras
-
-locationd
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_locationd
-
-ui
-^^
-
-.. autodoxygenindex::
-   :project: selfdrive_ui
-
-replay
-""""""
-.. autodoxygenindex::
-   :project: tools_replay
-
-qt
-""
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_offroad
-
-proclogd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_proclogd
-
-modeld
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_modeld_transforms
-.. autodoxygenindex::
-   :project: selfdrive_modeld_models
-.. autodoxygenindex::
-   :project: selfdrive_modeld_runners
-
-common
-^^^^^^
-.. autodoxygenindex::
-   :project: common
-
-sensorsd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_sensord_sensors
-
-pandad
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_pandad
-
-
-rednose
--------
-.. autodoxygenindex::
-   :project: rednose_repo_rednose_helpers
diff --git a/docs/conf.py b/docs/conf.py
deleted file mode 100644
index 9a8d646697..0000000000
--- a/docs/conf.py
+++ /dev/null
@@ -1,147 +0,0 @@
-# type: ignore
-
-# Configuration file for the Sphinx documentation builder.
-#
-# This file only contains a selection of the most common options. For a full
-# list see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-import os
-import sys
-from os.path import exists
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.version import get_version
-
-sys.path.insert(0, os.path.abspath('.'))
-sys.path.insert(0, os.path.abspath('..'))
-
-VERSION = get_version()
-
-
-# -- Project information -----------------------------------------------------
-
-project = 'openpilot docs'
-copyright = '2021, comma.ai' # noqa: A001
-author = 'comma.ai'
-version = VERSION
-release = VERSION
-language = 'en'
-
-
-# -- General configuration ---------------------------------------------------
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-  'sphinx.ext.autodoc',   # Auto-generate docs
-  'sphinx.ext.viewcode',  # Add view code link to modules
-  'sphinx_rtd_theme',     # Read The Docs theme
-  'myst_parser',          # Markdown parsing
-  'breathe',              # Doxygen C/C++ integration
-  'sphinx_sitemap',       # sitemap generation for SEO
-]
-
-myst_html_meta = {
-  "description": "openpilot docs",
-  "keywords": "op, openpilot, docs, documentation",
-  "robots": "all,follow",
-  "googlebot": "index,follow,snippet,archive",
-  "property=og:locale": "en_US",
-  "property=og:site_name": "docs.comma.ai",
-  "property=og:url": "https://docs.comma.ai",
-  "property=og:title": "openpilot Documentation",
-  "property=og:type": "website",
-  "property=og:image:type": "image/jpeg",
-  "property=og:image:width": "400",
-  "property=og:image": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:description": "openpilot Documentation",
-  "property=twitter:card": "summary_large_image",
-  "property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
-  "property=twitter:title": "openpilot Documentation",
-  "property=twitter:description": "openpilot Documentation"
-}
-
-html_baseurl = 'https://docs.comma.ai/'
-sitemap_filename = "sitemap.xml"
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = []
-
-
-# -- c docs configuration ---------------------------------------------------
-
-# Breathe Configuration
-# breathe_default_project = "c_docs"
-breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
-breathe_separate_member_pages = True
-breathe_default_members = ('members', 'private-members', 'undoc-members')
-breathe_domain_by_extension = {
-  "h": "cc",
-}
-breathe_implementation_filename_extensions = ['.c', '.cc']
-breathe_doxygen_config_options = {}
-breathe_projects_source = {}
-
-# only document files that have accompanying .cc files next to them
-print("searching for c_docs...")
-for root, _, files in os.walk(BASEDIR):
-  found = False
-  breath_src = {}
-  breathe_srcs_list = []
-
-  for file in files:
-    ccFile = os.path.join(root, file)[:-2] + ".cc"
-
-    if file.endswith(".h") and exists(ccFile):
-      f = os.path.join(root, file)
-
-      parent_dir_abs = os.path.dirname(f)
-      parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
-      parent_project = parent_dir.replace('/', '_')
-      print(f"\tFOUND: {f} in {parent_project}")
-
-      breathe_srcs_list.append(file)
-      found = True
-
-    if found:
-      breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
-      breathe_projects_source.update(breath_src)
-
-print(f"breathe_projects_source: {breathe_projects_source.keys()}")
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-html_theme = 'sphinx_rtd_theme'
-html_show_copyright = True
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-html_logo = '_static/logo.png'
-html_favicon = '_static/favicon.ico'
-html_theme_options = {
-  'logo_only': False,
-  'display_version': True,
-  'vcs_pageview_mode': 'blob',
-  'style_nav_header_background': '#000000',
-}
-html_extra_path = ['_static']
diff --git a/docs/index.md b/docs/index.md
deleted file mode 100644
index 0fb2617a5b..0000000000
--- a/docs/index.md
+++ /dev/null
@@ -1,42 +0,0 @@
-# openpilot Documentation
-
-```{include} README.md
-```
-
-```{toctree}
-:caption: 'General'
-:maxdepth: 4
-
-CARS.md
-CONTRIBUTING.md
-INTEGRATION.md
-LIMITATIONS.md
-SAFETY.md
-```
-
-```{toctree}
-:caption: 'Overview'
-:maxdepth: 2
-
-overview.rst
-```
-
-## API Documentation
-
-- {ref}`genindex`
-- {ref}`modindex`
-- {ref}`search`
-
-```{toctree}
-:caption: 'Python API'
-:maxdepth: 2
-
-modules.rst
-```
-
-```{toctree}
-:caption: 'C/C++ API'
-:maxdepth: 4
-
-c_docs.rst
-```
\ No newline at end of file
diff --git a/docs/overview.rst b/docs/overview.rst
deleted file mode 100644
index 8c552077f3..0000000000
--- a/docs/overview.rst
+++ /dev/null
@@ -1,72 +0,0 @@
-openpilot
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   Debugging <selfdrive/debug/README.md>
-   system/loggerd/README.md
-   Driver Monitoring <selfdrive/monitoring/README.md>
-   Process Replay <selfdrive/test/process_replay/README.md>
-
-cereal
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   cereal/README.md
-   cereal/messaging/msgq.md
-
-models
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   models/README.md
-
-opendbc
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   opendbc/README.md
-
-panda
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   panda/README.md
-   panda/UPDATING.md
-   panda/board/README.md
-   panda/drivers/linux/README.md
-   panda/drivers/windows/README.md
-
-
-rednose
-=========
-.. toctree::
-   :maxdepth: 4
-
-   rednose_repo/README.md
-
-
-tools
-=========
-.. toctree::
-   :maxdepth: 4
-
-   tools/CTF.md
-   tools/joystick/README.md
-   tools/lib/README.md
-   tools/plotjuggler/README.md
-   tools/replay/README.md
-   tools/serial/README.md
-   Simulator <tools/sim/README.md>
-   tools/ssh/README.md
-   Webcam <tools/webcam/README.md>
-   tools/cabana/README.md
diff --git a/pyproject.toml b/pyproject.toml
index fc2356645b..4b20c84e9f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -66,9 +66,6 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "sphinx",
-  "sphinx-rtd-theme",
-  "sphinx-sitemap"
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index 6433b53524..6a9f155df7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2286,9 +2286,6 @@ dev = [
 ]
 docs = [
     { name = "jinja2" },
-    { name = "sphinx" },
-    { name = "sphinx-rtd-theme" },
-    { name = "sphinx-sitemap" },
 ]
 testing = [
     { name = "coverage" },
@@ -6447,32 +6444,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b4/fa/130c32ed94cf270e3d0b9ded16fb7b2c8fea86fa7263c29a696a30c1dde7/sphinx-7.3.7-py3-none-any.whl", hash = "sha256:413f75440be4cacf328f580b4274ada4565fb2187d696a84970c23f77b64d8c3", size = 3335650 },
 ]
 
-[[distribution]]
-name = "sphinx-rtd-theme"
-version = "2.0.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fe/33/2a35a9cdbfda9086bda11457bcc872173ab3565b16b6d7f6b3efaa6dc3d6/sphinx_rtd_theme-2.0.0.tar.gz", hash = "sha256:bd5d7b80622406762073a04ef8fadc5f9151261563d47027de09910ce03afe6b", size = 2785005 }
-dependencies = [
-    { name = "docutils" },
-    { name = "sphinx" },
-    { name = "sphinxcontrib-jquery" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ea/46/00fda84467815c29951a9c91e3ae7503c409ddad04373e7cfc78daad4300/sphinx_rtd_theme-2.0.0-py2.py3-none-any.whl", hash = "sha256:ec93d0856dc280cf3aee9a4c9807c60e027c7f7b461b77aeffed682e68f0e586", size = 2824721 },
-]
-
-[[distribution]]
-name = "sphinx-sitemap"
-version = "2.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/42/ed/96cc112b671e06df01c8306c25ce3331ccfece0d30235e32eb039afc8094/sphinx_sitemap-2.6.0.tar.gz", hash = "sha256:5e0c66b9f2e371ede80c659866a9eaad337d46ab02802f9c7e5f7bc5893c28d2", size = 6042 }
-dependencies = [
-    { name = "sphinx" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/d4/dffb4da380be24fd390d284634735d6fba560980014050e52569c04d215b/sphinx_sitemap-2.6.0-py3-none-any.whl", hash = "sha256:7478e417d141f99c9af27ccd635f44c03a471a08b20e778a0f9daef7ace1d30b", size = 5632 },
-]
-
 [[distribution]]
 name = "sphinxcontrib-applehelp"
 version = "1.0.8"
@@ -6500,18 +6471,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c2/e9/74c4cda5b409af3222fda38f0774e616011bc935f639dbc0da5ca2d1be7d/sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04", size = 99217 },
 ]
 
-[[distribution]]
-name = "sphinxcontrib-jquery"
-version = "4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/de/f3/aa67467e051df70a6330fe7770894b3e4f09436dea6881ae0b4f3d87cad8/sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a", size = 122331 }
-dependencies = [
-    { name = "sphinx" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/76/85/749bd22d1a68db7291c89e2ebca53f4306c3f205853cf31e9de279034c3c/sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae", size = 121104 },
-]
-
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 name = "sphinxcontrib-jsmath"
 version = "1.0.1"

From a250b02f32f9c47a57c4613670d12181c8881320 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sun, 7 Jul 2024 14:35:02 -0300
Subject: [PATCH 0155/1243] fix "telsa" typo on labeler.yaml (#32924)

old-commit-hash: 4445fa31f51d078a0f1bff9011173dcf5c0242dc
---
 .github/labeler.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 47d0d480a9..0c5d1a687a 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -44,7 +44,7 @@ subaru:
 
 tesla:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
 
 toyota:
   - changed-files:

From 2b873af75e6210ab1a7b073da95e4f2ac77068f1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 Jul 2024 19:13:48 -0700
Subject: [PATCH 0156/1243] publish new docs (#32922)

* push new docs

* drop the new, just docs

* cleanup
old-commit-hash: 241fb902af49ca43bf343c60f7f96b85128a9db9
---
 .github/workflows/docs.yaml                   |  41 +-
 docs/.gitignore                               |   1 +
 docs/README.md                                |  23 +-
 docs/{new => }/docs/car-porting/brand-port.md |   0
 docs/{new => }/docs/car-porting/model-port.md |   0
 .../docs/car-porting/what-is-a-car-port.md    |   0
 .../docs/getting-started/what-is-openpilot.md |   0
 .../docs/how-to/turning-the-speed-blue.md     |   0
 docs/{new => }/mkdocs.yml                     |   0
 docs/new/README.md                            |  12 -
 pyproject.toml                                |   2 +
 uv.lock                                       | 369 +++++++++++++-----
 12 files changed, 312 insertions(+), 136 deletions(-)
 create mode 100644 docs/.gitignore
 rename docs/{new => }/docs/car-porting/brand-port.md (100%)
 rename docs/{new => }/docs/car-porting/model-port.md (100%)
 rename docs/{new => }/docs/car-porting/what-is-a-car-port.md (100%)
 rename docs/{new => }/docs/getting-started/what-is-openpilot.md (100%)
 rename docs/{new => }/docs/how-to/turning-the-speed-blue.md (100%)
 rename docs/{new => }/mkdocs.yml (100%)
 delete mode 100644 docs/new/README.md

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 908f06e034..012ee9dfde 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -15,56 +15,51 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
-env:
-  BASE_IMAGE: openpilot-base
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
 jobs:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 45
-    if: false  # TODO: replace this with the new docs
+    timeout-minutes: 1
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+
+    # Build
     - name: Build docs
       run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+        # TODO: can we install just the "docs" dependency group without the normal deps?
+        pip install mkdocs mkdocs-terminal
+        cd docs
+        mkdocs build
 
+    # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: commaai/openpilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 
         source release/identity.sh
 
         cd openpilot-docs
-
         git checkout --orphan tmp
         git rm -rf .
 
-        cp -r ../build/docs/html/ docs/
-        cp -r ../docs/README.md .
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-        git add -f .
+        # copy over docs
+        cp -r ../docs/site/ site/
 
+        # GitHub pages config
+        touch site/.nojekyll
+        echo -n docs.comma.ai > site/CNAME
+
+        git add -f .
         git commit -m "build docs"
 
         # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages
+        git push -f origin tmp:gh-pages2
diff --git a/docs/.gitignore b/docs/.gitignore
new file mode 100644
index 0000000000..46ff2463e0
--- /dev/null
+++ b/docs/.gitignore
@@ -0,0 +1 @@
+/site/
diff --git a/docs/README.md b/docs/README.md
index 838b00e7ae..a16c772530 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -1,3 +1,22 @@
-# openpilot-docs
+# openpilot docs
 
-These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository.
\ No newline at end of file
+This is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+## development
+```
+# install the docs dependencies
+pip install .[docs]
+
+cd docs/
+
+# for a development server
+mkdocs serve
+
+# build the site
+mkdocs build
+```
+
+References:
+* https://www.mkdocs.org/getting-started/
+* https://github.com/ntno/mkdocs-terminal
diff --git a/docs/new/docs/car-porting/brand-port.md b/docs/docs/car-porting/brand-port.md
similarity index 100%
rename from docs/new/docs/car-porting/brand-port.md
rename to docs/docs/car-porting/brand-port.md
diff --git a/docs/new/docs/car-porting/model-port.md b/docs/docs/car-porting/model-port.md
similarity index 100%
rename from docs/new/docs/car-porting/model-port.md
rename to docs/docs/car-porting/model-port.md
diff --git a/docs/new/docs/car-porting/what-is-a-car-port.md b/docs/docs/car-porting/what-is-a-car-port.md
similarity index 100%
rename from docs/new/docs/car-porting/what-is-a-car-port.md
rename to docs/docs/car-porting/what-is-a-car-port.md
diff --git a/docs/new/docs/getting-started/what-is-openpilot.md b/docs/docs/getting-started/what-is-openpilot.md
similarity index 100%
rename from docs/new/docs/getting-started/what-is-openpilot.md
rename to docs/docs/getting-started/what-is-openpilot.md
diff --git a/docs/new/docs/how-to/turning-the-speed-blue.md b/docs/docs/how-to/turning-the-speed-blue.md
similarity index 100%
rename from docs/new/docs/how-to/turning-the-speed-blue.md
rename to docs/docs/how-to/turning-the-speed-blue.md
diff --git a/docs/new/mkdocs.yml b/docs/mkdocs.yml
similarity index 100%
rename from docs/new/mkdocs.yml
rename to docs/mkdocs.yml
diff --git a/docs/new/README.md b/docs/new/README.md
deleted file mode 100644
index 13980d1e18..0000000000
--- a/docs/new/README.md
+++ /dev/null
@@ -1,12 +0,0 @@
-This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
-
-https://www.mkdocs.org/getting-started/
-
-```
-pip install mkdocs mkdocs-terminal
-mkdocs serve
-```
-
-inspiration:
-* https://rerun.io/docs/
-* https://docs.expo.dev/
diff --git a/pyproject.toml b/pyproject.toml
index 4b20c84e9f..1023de9186 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -66,6 +66,8 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
+  "mkdocs",
+  "mkdocs-terminal",
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index 6a9f155df7..8e7a039476 100644
--- a/uv.lock
+++ b/uv.lock
@@ -535,6 +535,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/28/76/e6222113b83e3622caa4bb41032d0b1bf785250607392e1b778aca0b8a7d/charset_normalizer-3.3.2-py3-none-any.whl", hash = "sha256:3e4d1f6587322d2788836a99c69062fbb091331ec940e02d12d179c1d53e25fc", size = 48543 },
 ]
 
+[[distribution]]
+name = "click"
+version = "8.1.7"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/96/d3/f04c7bfcf5c1862a2a5b845c6b2b360488cf47af55dfa79c98f6a6bf98b5/click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de", size = 336121 }
+dependencies = [
+    { name = "colorama", marker = "platform_system == 'Windows'" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/00/2e/d53fa4befbf2cfa713304affc7ca780ce4fc1fd8710527771b58311a3229/click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28", size = 97941 },
+]
+
 [[distribution]]
 name = "cloudpickle"
 version = "3.0.0"
@@ -843,11 +855,11 @@ wheels = [
 
 [[distribution]]
 name = "docutils"
-version = "0.20.1"
+version = "0.21.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1f/53/a5da4f2c5739cf66290fac1431ee52aff6851c7c8ffd8264f13affd7bcdd/docutils-0.20.1.tar.gz", hash = "sha256:f08a4e276c3a1583a86dce3e34aba3fe04d02bba2dd51ed16106244e8a923e3b", size = 2058365 }
+sdist = { url = "https://files.pythonhosted.org/packages/ae/ed/aefcc8cd0ba62a0560c3c18c33925362d46c6075480bfa4df87b28e169a9/docutils-0.21.2.tar.gz", hash = "sha256:3a6b18732edf182daa3cd12775bbb338cf5691468f91eeeb109deff6ebfa986f", size = 2204444 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/26/87/f238c0670b94533ac0353a4e2a1a771a0cc73277b88bff23d3ae35a256c1/docutils-0.20.1-py3-none-any.whl", hash = "sha256:96f387a2c5562db4476f09f13bbab2192e764cac08ebbf3a34a95d9b1e4a59d6", size = 572666 },
+    { url = "https://files.pythonhosted.org/packages/8f/d7/9322c609343d929e75e7e5e6255e614fcc67572cfd083959cdef3b7aad79/docutils-0.21.2-py3-none-any.whl", hash = "sha256:dafca5b9e384f0e419294eb4d2ff9fa826435bf15f15b7bd45723e8ad76811b2", size = 587408 },
 ]
 
 [[distribution]]
@@ -909,51 +921,51 @@ wheels = [
 
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 name = "fonttools"
-version = "4.53.0"
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+]
+
 [[distribution]]
 name = "websocket-client"
 version = "1.8.0"

From a981c26ed78a59541b4230002e9243c9a0d09f34 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 8 Jul 2024 19:10:26 +0200
Subject: [PATCH 0157/1243] Processor definition check for __APPLE__ has a typo
 on replay (#32930)

old-commit-hash: 3c74ad145e0145429d782219ac255a26aa2f6135
---
 tools/replay/util.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index a08b3b3d5e..aaf73749d5 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -323,7 +323,7 @@ void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   req.tv_sec = nanoseconds / 1000000000;
   req.tv_nsec = nanoseconds % 1000000000;
   while (!should_exit) {
-#ifdef __APPLE_
+#ifdef __APPLE__
     int ret = nanosleep(&req, &rem);
     if (ret == 0 || errno != EINTR)
       break;

From 927695834771265b617f8f28eda3502ee14f87d1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 10:58:08 -0700
Subject: [PATCH 0158/1243] [bot] Fingerprints: add missing FW versions from
 CAN fingerprinting cars (#32932)

Export fingerprints
old-commit-hash: 4a696984f12358b8cde3b32e932704fbd0f3b811
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 8dbdbee0ef..c7e1418cb6 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -595,6 +595,7 @@ FW_VERSIONS = {
       b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
+      b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
     ],

From dda0de4866cd7368d7a7c5ddca53f3cf3069f8e6 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 8 Jul 2024 12:10:53 -0700
Subject: [PATCH 0159/1243] [bot] Update Python packages and pre-commit hooks
 (#32931)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 012eb07466ba7242a611dd57699fbbd1dd5f1d07
---
 .pre-commit-config.yaml |    2 +-
 uv.lock                 | 1537 +--------------------------------------
 2 files changed, 13 insertions(+), 1526 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 676fc514da..fd27ad4852 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.0
+    rev: v0.5.1
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/uv.lock b/uv.lock
index 8e7a039476..2797eee62f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -14,21 +14,6 @@ dependencies = [
     { name = "yarl" },
 ]
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From 7173d6f86a14063adf40c9d6929220a4064c274a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 8 Jul 2024 12:14:32 -0700
Subject: [PATCH 0160/1243] docs: only push on master (#32935)

only on master
old-commit-hash: 76686e197605d26be226e71e9ba803a05fa04d2f
---
 .github/workflows/docs.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 012ee9dfde..cb55d2f831 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: commaai/openpilot-docs
     - name: Push
-      #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 

From 45c3992e4398095643e1c62b2cc489f3e74d104b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 9 Jul 2024 04:50:31 +0800
Subject: [PATCH 0161/1243] CarParams: set no traversal limit (#32929)

* Increase traversal_limit_in_words to Fix Traversal Limit Errors

* just use log_from_bytes

* come on pycharm

* no free lunch

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 12d729a0a0c3c1d9bbf988c09ea3a5b68433e83f
---
 cereal/messaging/__init__.py    | 4 ++--
 selfdrive/controls/controlsd.py | 3 +--
 selfdrive/controls/plannerd.py  | 3 +--
 selfdrive/controls/radard.py    | 3 +--
 selfdrive/locationd/paramsd.py  | 6 ++----
 selfdrive/locationd/torqued.py  | 3 +--
 selfdrive/modeld/modeld.py      | 4 ++--
 7 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 4ba55cf7b9..8dfa42056d 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -17,8 +17,8 @@ from cereal.services import SERVICE_LIST
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
-  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
 
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 416a9aa8c5..583cbaea1f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -64,8 +64,7 @@ class Controls:
 
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
-      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        self.CP = msg
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 681518be19..a9577cbefd 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -12,8 +12,7 @@ def plannerd_thread():
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index ac3ec97dcc..c3fb60c61a 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -288,8 +288,7 @@ def main():
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
-  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index d124eb5f05..650ee06017 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -5,8 +5,7 @@ import json
 import numpy as np
 
 import cereal.messaging as messaging
-from cereal import car
-from cereal import log
+from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
@@ -129,8 +128,7 @@ def main():
   params_reader = Params()
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
-  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
   cloudlog.info("paramsd got CarParams")
 
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 06f9044738..569496b584 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -223,8 +223,7 @@ def main(demo=False):
   sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
 
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
-    estimator = TorqueEstimator(CP)
+  estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
 
   while True:
     sm.update()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index d5812d6f5a..d2cc9d8fd7 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -172,8 +172,8 @@ def main(demo=False):
   if demo:
     CP = get_demo_car_params()
   else:
-    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-      CP = msg
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays

From 4ac21d6460f02730f441e339bc63858751821661 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 14:16:44 -0700
Subject: [PATCH 0162/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32936)

Export fingerprints
old-commit-hash: fa2f7a4dd43df834393b95f32c5282a85e39278e
---
 selfdrive/car/chrysler/fingerprints.py | 1 +
 selfdrive/car/honda/fingerprints.py    | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 1bc6a32431..8f6359c06b 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -245,6 +245,7 @@ FW_VERSIONS = {
       b'68416680AE ',
       b'68416680AF ',
       b'68416680AG ',
+      b'68444228AC ',
       b'68444228AD ',
       b'68444228AE ',
       b'68444228AF ',
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 0904d5e12c..191fd8e44a 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -529,6 +529,7 @@ FW_VERSIONS = {
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-C610\x00\x00',
       b'28102-5MX-C910\x00\x00',
       b'28102-5MX-D001\x00\x00',
       b'28102-5MX-D710\x00\x00',

From 14a31b177b6fd70d6c6e491a7cad9470db3c9488 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 14:45:01 -0700
Subject: [PATCH 0163/1243] Chrysler Pacifica Hybrid: combine 2017 and 2018
 (#32937)

* Chrysler Pacifica: combine 2017 and 2018 hybrids

torque params are not accurate for either (might be ~1.5 for both checking a few dongles)

* remove duplicate fingerprints

* combine docs lines

fix
old-commit-hash: 31ff8eda9cedb54aa32df8ebf5dc729addf82ef2
---
 docs/CARS.md                           |  5 ++-
 selfdrive/car/chrysler/fingerprints.py | 42 ++++++++------------------
 selfdrive/car/chrysler/interface.py    |  4 +--
 selfdrive/car/chrysler/values.py       | 16 ++++------
 selfdrive/car/fingerprints.py          |  3 +-
 selfdrive/car/tests/routes.py          |  2 +-
 selfdrive/car/torque_data/params.toml  |  1 -
 7 files changed, 26 insertions(+), 47 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 769fe6e27a..8fafc483f2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 288 Supported Cars
+# 287 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 8f6359c06b..5528bfd5d5 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -4,35 +4,6 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68238840AH',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
-      b'68288309AD',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
-      b'05190226AK',
-    ],
-  },
   CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
@@ -181,26 +152,39 @@ FW_VERSIONS = {
   },
   CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
       b'68358439AE',
       b'68358439AG',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68238840AH',
       b'68358990AC',
       b'68405939AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
+      b'68226356AI',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
       b'68288309AD',
       b'68525339AA',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
       b'68366580AI ',
       b'68366580AK ',
       b'68366580AM ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
       b'05190226AI',
       b'05190226AK',
       b'05190226AM',
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 217a1a756c..eb1f6703cd 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -35,8 +35,8 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
-                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
+                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 3315a0a983..c44c647fd4 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -32,34 +32,30 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  )
   CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
       ChryslerCarDocs("Chrysler Pacifica 2019-20"),
       ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
     [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
 
   # Jeep
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index 1128a31c29..dc93c38246 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -130,7 +130,8 @@ MIGRATION = {
 
   # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
   "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
   "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index b1156f0e89..0fc800a47d 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -39,7 +39,7 @@ routes = [
 
   CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
   CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),  # 2017
   CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
   CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
   CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
index 34cfd0e066..4bb8d45c53 100644
--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@@ -7,7 +7,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
 "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
 "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
 "CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
 "CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
 "GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]

From dbf095522f12659129a4e058d8371731f097c8dd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 9 Jul 2024 05:50:31 +0800
Subject: [PATCH 0164/1243] cabana: bug fixes and improvements (#32934)

bug fixes and improvements
old-commit-hash: 36815cc6d536ab8926f6335574ea587947c4e222
---
 tools/cabana/chart/chart.cc            | 14 ++---
 tools/cabana/chart/chart.h             |  1 +
 tools/cabana/chart/chartswidget.cc     | 28 ++++++----
 tools/cabana/chart/sparkline.cc        |  9 +--
 tools/cabana/chart/tiplabel.h          |  2 +
 tools/cabana/dbc/dbcmanager.cc         |  7 ++-
 tools/cabana/historylog.cc             |  4 +-
 tools/cabana/streams/abstractstream.cc | 48 ++++++++--------
 tools/cabana/streams/abstractstream.h  | 30 +++++-----
 tools/cabana/streams/livestream.cc     |  6 +-
 tools/cabana/streams/livestream.h      |  7 ++-
 tools/cabana/streams/pandastream.h     |  6 ++
 tools/cabana/streams/replaystream.cc   | 13 +----
 tools/cabana/streams/replaystream.h    |  9 ++-
 tools/cabana/tools/findsignal.cc       |  6 +-
 tools/cabana/utils/export.cc           |  6 +-
 tools/cabana/videowidget.cc            | 77 +++++++++++++++++---------
 tools/cabana/videowidget.h             | 27 +++++++--
 tools/replay/consoleui.cc              | 10 ++--
 tools/replay/replay.cc                 | 24 ++++++--
 tools/replay/replay.h                  |  8 ++-
 21 files changed, 200 insertions(+), 142 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 28d4e068ee..128c33baec 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -289,10 +289,9 @@ void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<con
   step_vals.reserve(step_vals.size() + events.capacity() * 2);
 
   double value = 0;
-  const uint64_t begin_mono_time = can->routeStartTime() * 1e9;
   for (const CanEvent *e : events) {
     if (sig->getValue(e->dat, e->size, &value)) {
-      const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9;
+      const double ts = can->toSeconds(e->mono_time);
       vals.emplace_back(ts, value);
       if (!step_vals.empty())
         step_vals.emplace_back(ts, step_vals.back().y());
@@ -312,7 +311,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *
       auto it = events->find(s.msg_id);
       if (it == events->end() || it->second.empty()) continue;
 
-      if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) {
+      if (s.vals.empty() || can->toSeconds(it->second.back()->mono_time) > s.vals.back().x()) {
         appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
       } else {
         std::vector<QPointF> vals, step_vals;
@@ -500,8 +499,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     rubber->hide();
     auto rect = rubber->geometry().normalized();
     // Prevent zooming/seeking past the end of the route
-    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds());
-    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds());
+    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds());
+    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds());
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
@@ -531,7 +530,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   // Scrubbing
   if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
     if (plot_area.contains(ev->pos())) {
-      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds()));
+      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds()));
     }
   }
 
@@ -540,8 +539,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   clearTrackPoints();
 
   if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
-    const double sec = chart()->mapToValue(ev->pos()).x();
-    charts_widget->showValueTip(sec);
+    charts_widget->showValueTip(secondsAtPoint(ev->pos()));
   } else if (tip_label->isVisible()) {
     charts_widget->showValueTip(-1);
   }
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index 1bfec6355a..f9472bd4f6 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -39,6 +39,7 @@ public:
   void showTip(double sec);
   void hideTip();
   void startAnimation();
+  double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
 
   struct SigItem {
     MessageId msg_id;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 9822eaa307..27846f9c92 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -93,7 +93,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   current_theme = settings.theme;
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
   max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
-  display_range = {0, max_chart_range};
+  display_range = std::make_pair(can->minSeconds(), can->minSeconds() + max_chart_range);
   range_slider->setValue(max_chart_range);
   updateToolBar();
 
@@ -192,10 +192,10 @@ void ChartsWidget::updateState() {
   if (!time_range.has_value()) {
     double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
-      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
+      display_range.first = std::max(can->minSeconds(), cur_sec - max_chart_range * 0.1);
     }
-    double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
-    display_range.first = std::max(0.0, max_sec - max_chart_range);
+    double max_sec = std::min(display_range.first + max_chart_range, can->maxSeconds());
+    display_range.first = std::max(can->minSeconds(), max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
   }
 
@@ -435,14 +435,20 @@ void ChartsWidget::alignCharts() {
 
 bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
   if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
-    auto pos = static_cast<QMouseEvent *>(e)->globalPos();
-    bool outside_plot_area =std::none_of(charts.begin(), charts.end(), [&pos](auto c) {
-      return c->chart()->plotArea().contains(c->mapFromGlobal(pos));
-    });
-
-    if (outside_plot_area) {
-      showValueTip(-1);
+    bool on_tip = qobject_cast<TipLabel *>(o) != nullptr;
+    auto global_pos = static_cast<QMouseEvent *>(e)->globalPos();
+
+    for (const auto &c : charts) {
+      auto local_pos = c->mapFromGlobal(global_pos);
+      if (c->chart()->plotArea().contains(local_pos)) {
+        if (on_tip) {
+          showValueTip(c->secondsAtPoint(local_pos));
+        }
+        return false;
+      }
     }
+
+    showValueTip(-1);
   }
   return false;
 }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 34bc76b7c4..1cadda2bd8 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -8,10 +8,11 @@
 
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
   const auto &msgs = can->events(msg_id);
-  uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
-  uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
-  auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
+
+  auto range_start = can->toMonoTime(last_msg_ts - range);
+  auto range_end = can->toMonoTime(last_msg_ts);
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
 
   if (first == last || size.isEmpty()) {
     pixmap = QPixmap();
diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h
index ac6e09e976..cc96aa9864 100644
--- a/tools/cabana/chart/tiplabel.h
+++ b/tools/cabana/chart/tiplabel.h
@@ -3,6 +3,8 @@
 #include <QLabel>
 
 class TipLabel : public QLabel {
+  Q_OBJECT
+
 public:
   TipLabel(QWidget *parent = nullptr);
   void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect);
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 250ec225b5..8e98d95322 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
+#include <QSet>
 #include <algorithm>
 #include <numeric>
 
@@ -124,16 +125,16 @@ cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
 
 QStringList DBCManager::signalNames() {
   // Used for autocompletion
-  QStringList ret;
+  QSet<QString> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
-        ret << sig->name;
+        names.insert(sig->name);
       }
     }
   }
+  QStringList ret = names.values();
   ret.sort();
-  ret.removeDuplicates();
   return ret;
 }
 
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 55ba0a4919..7e73da55f0 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -13,7 +13,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const auto &m = messages[index.row()];
   const int col = index.column();
   if (role == Qt::DisplayRole) {
-    if (col == 0) return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 3);
+    if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
     if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
@@ -80,7 +80,7 @@ void HistoryLogModel::updateState(bool clear) {
     messages.clear();
     endRemoveRows();
   }
-  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
+  uint64_t current_time = can->toMonoTime(can->lastMessage(msg_id).ts) + 1;
   fetchData(messages.begin(), current_time, messages.empty() ? 0 : messages.front().mono_time);
 }
 
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2584106ce4..ee6a1143c8 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,6 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
 
-#include <algorithm>
 #include <utility>
 
 #include <QApplication>
@@ -20,9 +19,9 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
   event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
 
-  QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &AbstractStream::stop);
   QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
   QObject::connect(this, &AbstractStream::streamStarted, [this]() {
@@ -64,14 +63,12 @@ void AbstractStream::suppressDefinedSignals(bool suppress) {
 size_t AbstractStream::suppressHighlighted() {
   std::lock_guard lk(mutex_);
   size_t cnt = 0;
-  const double cur_ts = currentSec();
   for (auto &[_, m] : messages_) {
     for (auto &last_change : m.last_changes) {
-      const double dt = cur_ts - last_change.ts;
+      const double dt = current_sec_ - last_change.ts;
       if (dt < 2.0) {
         last_change.suppressed = true;
       }
-      // clear bit change counts
       last_change.bit_change_counts.fill(0);
       cnt += last_change.suppressed;
     }
@@ -90,20 +87,16 @@ void AbstractStream::updateLastMessages() {
   auto prev_src_size = sources.size();
   auto prev_msg_size = last_msgs.size();
   std::set<MessageId> msgs;
+
   {
     std::lock_guard lk(mutex_);
-    double max_sec = 0;
     for (const auto &id : new_msgs_) {
       const auto &can_data = messages_[id];
-      max_sec = std::max(max_sec, can_data.ts);
+      current_sec_ = std::max(current_sec_, can_data.ts);
       last_msgs[id] = can_data;
       sources.insert(id.source);
     }
-
-    if (!new_msgs_.empty()) {
-      msgs = std::move(new_msgs_);
-      current_sec_ = max_sec;
-    }
+    msgs = std::move(new_msgs_);
   }
 
   if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
@@ -138,7 +131,7 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
   return it != events_.end() ? it->second : empty_events;
 }
 
-const CanData &AbstractStream::lastMessage(const MessageId &id) {
+const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   static CanData empty_data = {};
   auto it = last_msgs.find(id);
   return it != last_msgs.end() ? it->second : empty_data;
@@ -148,15 +141,13 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
 // updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
   current_sec_ = sec;
-  uint64_t last_ts = (sec + routeStartTime()) * 1e9;
+  uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
   msgs.reserve(events_.size());
 
   for (const auto &[id, ev] : events_) {
     auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
     if (it != ev.begin()) {
-      auto prev = std::prev(it);
-      double ts = (*prev)->mono_time / 1e9 - routeStartTime();
       auto &m = msgs[id];
       double freq = 0;
       // Keep suppressed bits.
@@ -167,7 +158,9 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                        std::back_inserter(m.last_changes),
                        [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; });
       }
-      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {}, freq);
+
+      auto prev = std::prev(it);
+      m.compute(id, (*prev)->dat, (*prev)->size, toSeconds((*prev)->mono_time), getSpeed(), {}, freq);
       m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
@@ -213,7 +206,6 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
     all_events_.insert(pos, events.cbegin(), events.cend());
     emit eventsMerged(msg_events);
   }
-  lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
 }
 
 namespace {
@@ -236,14 +228,18 @@ inline QColor blend(const QColor &a, const QColor &b) {
 // Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
   const auto &events = can->events(msg_id);
-  uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
-  uint64_t first_mono_time = std::max<int64_t>(0, cur_mono_time - 59 * 1e9);
-  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent());
-  auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent());
-  if (first != events.end() && second != events.end()) {
-    double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9;
-    uint32_t count = std::distance(first, second);
-    return count / std::max(1.0, duration);
+  if (events.empty()) return 0.0;
+
+  auto current_mono_time = can->toMonoTime(current_sec);
+  auto start_mono_time = can->toMonoTime(current_sec - 59);
+
+  auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent());
+  auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
+
+  int count = std::distance(first, last);
+  if (count > 1) {
+    double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
+    return count / duration;
   }
   return 0;
 }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 822dd03d84..9e3f92dc5d 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <algorithm>
 #include <array>
 #include <memory>
 #include <mutex>
@@ -28,10 +29,10 @@ struct CanData {
   std::vector<QColor> colors;
 
   struct ByteLastChange {
-    double ts;
-    int delta;
-    int same_delta_counter;
-    bool suppressed;
+    double ts = 0;
+    int delta = 0;
+    int same_delta_counter = 0;
+    bool suppressed = false;
     std::array<uint32_t, 8> bit_change_counts;
   };
   std::vector<ByteLastChange> last_changes;
@@ -51,12 +52,6 @@ struct CompareCanEvent {
   constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
 };
 
-struct BusConfig {
-  int can_speed_kbps = 500;
-  int data_speed_kbps = 2000;
-  bool can_fd = false;
-};
-
 typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
 
 class AbstractStream : public QObject {
@@ -66,15 +61,14 @@ public:
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
-  virtual void stop() {}
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
   virtual QDateTime beginDateTime() const { return {}; }
-  virtual double routeStartTime() const { return 0; }
-  inline double currentSec() const { return current_sec_; }
-  virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
+  virtual uint64_t beginMonoTime() const { return 0; }
+  virtual double minSeconds() const { return 0; }
+  virtual double maxSeconds() const { return 0; }
   virtual void setSpeed(float speed) {}
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
@@ -82,10 +76,14 @@ public:
   void setTimeRange(const std::optional<std::pair<double, double>> &range);
   const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
 
+  inline double currentSec() const { return current_sec_; }
+  inline uint64_t toMonoTime(double sec) const { return beginMonoTime() + std::max(sec, 0.0) * 1e9; }
+  inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
+
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
   inline const MessageEventsMap &eventsMap() const { return events_; }
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
-  const CanData &lastMessage(const MessageId &id);
+  const CanData &lastMessage(const MessageId &id) const;
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
 
   size_t suppressHighlighted();
@@ -111,12 +109,10 @@ protected:
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
-  uint64_t lastest_event_ts = 0;
 
 private:
   void updateLastMessages();
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index d9d96e23b0..6bcb1c1d54 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -92,6 +92,8 @@ void LiveStream::timerEvent(QTimerEvent *event) {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
       mergeEvents(received_events_);
+      uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
+      lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
       received_events_.clear();
     }
     if (!all_events_.empty()) {
@@ -136,8 +138,8 @@ void LiveStream::updateEvents() {
 void LiveStream::seekTo(double sec) {
   sec = std::max(0.0, sec);
   first_update_ts = nanos_since_boot();
-  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
-  post_last_event = (first_event_ts == lastEventMonoTime());
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastest_event_ts);
+  post_last_event = (first_event_ts == lastest_event_ts);
   emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
 }
 
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 9ca7e8d745..24b9285092 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <algorithm>
 #include <memory>
 #include <vector>
 
@@ -14,9 +15,10 @@ public:
   LiveStream(QObject *parent);
   virtual ~LiveStream();
   void start() override;
-  void stop() override;
+  void stop();
   inline QDateTime beginDateTime() const { return begin_date_time; }
-  inline double routeStartTime() const override { return begin_event_ts / 1e9; }
+  inline uint64_t beginMonoTime() const override { return begin_event_ts; }
+  double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
   void setSpeed(float speed) override { speed_ = speed; }
   double getSpeed() override { return speed_; }
   bool isPaused() const override { return paused_; }
@@ -41,6 +43,7 @@ private:
 
   QDateTime begin_date_time;
   uint64_t begin_event_ts = 0;
+  uint64_t lastest_event_ts = 0;
   uint64_t current_event_ts = 0;
   uint64_t first_event_ts = 0;
   uint64_t first_update_ts = 0;
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 3e76247680..ad792ec292 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -12,6 +12,12 @@
 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
 
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
 struct PandaStreamConfig {
   QString serial = "";
   std::vector<BusConfig> bus_config;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 302a25696e..09ba3db417 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -88,16 +88,10 @@ void ReplayStream::start() {
   replay->start();
 }
 
-void ReplayStream::stop() {
-  if (replay) {
-    replay->stop();
-  }
-}
-
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
-    double current_sec = event->mono_time / 1e9 - routeStartTime();
+    double current_sec = toSeconds(event->mono_time);
     capnp::FlatArrayMessageReader reader(event->data);
     auto e = reader.getRoot<cereal::Event>();
     for (const auto &c : e.getCan()) {
@@ -115,11 +109,6 @@ bool ReplayStream::eventFilter(const Event *event) {
   return true;
 }
 
-void ReplayStream::seekTo(double ts) {
-  current_sec_ = ts;
-  replay->seekTo(std::max(double(0), ts), false);
-}
-
 void ReplayStream::pause(bool pause) {
   replay->pause(pause);
   emit(pause ? paused() : resume());
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index ced78680d1..217d1ac1d3 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -16,17 +16,16 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override;
-  void stop() override;
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
-  void seekTo(double ts) override;
+  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
-  double totalSeconds() const override { return replay->totalSeconds(); }
+  double minSeconds() const override { return replay->minSeconds(); }
+  double maxSeconds() const { return replay->maxSeconds(); }
   inline QDateTime beginDateTime() const { return replay->routeDateTime(); }
-  inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
-  inline const Route *route() const { return replay->route(); }
+  inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 387a912787..8e1749ba8e 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -46,7 +46,7 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
     auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
     if (it != last) {
       auto values = s.values;
-      values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
       std::lock_guard lk(lock);
       filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
     }
@@ -217,10 +217,10 @@ void FindSignalDlg::setInitialSignals() {
   double first_time_val = first_time_edit->text().toDouble();
   double last_time_val = last_time_edit->text().toDouble();
   auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val);
-  uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
+  uint64_t first_time = can->toMonoTime(first_sec);
   model->last_time = std::numeric_limits<uint64_t>::max();
   if (last_sec > 0) {
-    model->last_time = (can->routeStartTime() + last_sec) * 1e9;
+    model->last_time = can->toMonoTime(last_sec);
   }
   model->initial_signals.clear();
 
diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc
index 10f69ad548..79ca97ba8f 100644
--- a/tools/cabana/utils/export.cc
+++ b/tools/cabana/utils/export.cc
@@ -10,11 +10,10 @@ namespace utils {
 void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
   QFile file(file_name);
   if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    const uint64_t start_time = can->routeStartTime();
     QTextStream stream(&file);
     stream << "time,addr,bus,data\n";
     for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
-      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
              << "0x" << QString::number(e->address, 16) << "," << e->src << ","
              << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
     }
@@ -30,9 +29,8 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
       stream << "," << s->name;
     stream << "\n";
 
-    const uint64_t start_time = can->routeStartTime();
     for (auto e : can->events(msg_id)) {
-      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
              << "0x" << QString::number(e->address, 16) << "," << e->src;
       for (auto s : msg->sigs) {
         double value = 0;
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index d2f78babc1..8d2f8674b3 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -27,6 +27,13 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
+static Replay *getReplay() {
+  auto stream = qobject_cast<ReplayStream *>(can);
+  if (!stream) return nullptr;
+
+  return stream->getReplay();
+}
+
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
@@ -76,7 +83,7 @@ QHBoxLayout *VideoWidget::createPlaybackController() {
       // set speed to 1.0
       speed_btn->menu()->actions()[7]->setChecked(true);
       can->pause(false);
-      can->seekTo(can->totalSeconds() + 1);
+      can->seekTo(can->maxSeconds() + 1);
     });
   }
 
@@ -141,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -149,9 +156,11 @@ QWidget *VideoWidget::createCameraWidget() {
 
   l->addWidget(slider = new Slider(w));
   slider->setSingleStep(0);
+  slider->setTimeRange(can->minSeconds(), can->maxSeconds());
 
-  setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
+  QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
+  QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); });
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -161,7 +170,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   auto replay = static_cast<ReplayStream*>(can)->getReplay();
   QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
-  QObject::connect(replay, &Replay::totalSecondsUpdated, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
+  QObject::connect(replay, &Replay::minMaxTimeChanged, this, &VideoWidget::timeRangeChanged, Qt::QueuedConnection);
   return w;
 }
 
@@ -185,7 +194,7 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }
 
 void VideoWidget::loopPlaybackClicked() {
-  auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  auto replay = getReplay();
   if (!replay) return;
 
   if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
@@ -197,18 +206,15 @@ void VideoWidget::loopPlaybackClicked() {
   }
 }
 
-void VideoWidget::setMaximumTime(double sec) {
-  maximum_time = sec;
-  slider->setTimeRange(0, sec);
-}
-
-void VideoWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
+void VideoWidget::timeRangeChanged() {
+  const auto time_range = can->timeRange();
   if (can->liveStreaming()) {
     skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
   time_range ? slider->setTimeRange(time_range->first, time_range->second)
-             : slider->setTimeRange(0, maximum_time);
+             : slider->setTimeRange(can->minSeconds(), can->maxSeconds());
+  updateState();
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -219,8 +225,9 @@ QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
 
 void VideoWidget::updateState() {
   if (slider) {
-    if (!slider->isSliderDown())
+    if (!slider->isSliderDown()) {
       slider->setCurrentSecond(can->currentSec());
+    }
     alert_label->showAlert(slider->alertInfo(can->currentSec()));
     time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
@@ -242,15 +249,14 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
 }
 
 AlertInfo Slider::alertInfo(double seconds) {
-  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  uint64_t mono_time = can->toMonoTime(seconds);
   auto alert_it = alerts.lower_bound(mono_time);
   bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
   return has_alert ? alert_it->second : AlertInfo{};
 }
 
 QPixmap Slider::thumbnail(double seconds)  {
-  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
-  auto it = thumbnails.lowerBound(mono_time);
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
   return it != thumbnails.end() ? it.value() : QPixmap();
 }
 
@@ -298,16 +304,18 @@ void Slider::paintEvent(QPaintEvent *ev) {
     p.fillRect(r, color);
   };
 
-  const auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
-  for (auto [begin, end, type] : replay->getTimeline()) {
-    fillRange(begin, end, timeline_colors[(int)type]);
-  }
+  auto replay = getReplay();
+  if (replay) {
+    for (auto [begin, end, type] : replay->getTimeline()) {
+      fillRange(begin, end, timeline_colors[(int)type]);
+    }
 
-  QColor empty_color = palette().color(QPalette::Window);
-  empty_color.setAlpha(160);
-  for (const auto &[n, seg] : replay->segments()) {
-    if (!(seg && seg->isLoaded()))
-      fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
+    QColor empty_color = palette().color(QPalette::Window);
+    empty_color.setAlpha(160);
+    for (const auto &[n, seg] : replay->segments()) {
+      if (!(seg && seg->isLoaded()))
+        fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
+    }
   }
 
   QStyleOptionSlider opt;
@@ -411,3 +419,22 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
     p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
   }
 }
+
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent)
+    : CameraWidget(stream_name, stream_type, zoom, parent) {
+  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
+  fade_animation->setDuration(500);
+  fade_animation->setStartValue(0.2f);
+  fade_animation->setEndValue(0.7f);
+}
+
+void StreamCameraView::paintGL() {
+  CameraWidget::paintGL();
+
+  if (can->isPaused()) {
+    QPainter p(this);
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
+    p.setFont(QFont(font().family(), 16, QFont::Bold));
+    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
+  }
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index ac34c66007..1e793e9d1d 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -4,10 +4,12 @@
 #include <memory>
 #include <optional>
 #include <set>
+#include <string>
 #include <utility>
 
 #include <QHBoxLayout>
 #include <QFrame>
+#include <QPropertyAnimation>
 #include <QSlider>
 #include <QTabBar>
 
@@ -57,16 +59,34 @@ private:
   InfoLabel *thumbnail_label;
 };
 
+class StreamCameraView : public CameraWidget {
+  Q_OBJECT
+  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
+
+public:
+  StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
+  void paintGL() override;
+  void showPausedOverlay() { fade_animation->start(); }
+  float overlayOpacity() const { return overlay_opacity; }
+  void setOverlayOpacity(float opacity) {
+    overlay_opacity = opacity;
+    update();
+  }
+
+private:
+  float overlay_opacity;
+  QPropertyAnimation *fade_animation;
+};
+
 class VideoWidget : public QFrame {
   Q_OBJECT
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void setMaximumTime(double sec);
 
 protected:
   QString formatTime(double sec, bool include_milliseconds = false);
-  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
+  void timeRangeChanged();
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
@@ -74,8 +94,7 @@ protected:
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
-  CameraWidget *cam_widget;
-  double maximum_time = 0;
+  StreamCameraView *cam_widget;
   QToolButton *time_btn = nullptr;
   ToolButton *seek_backward_btn = nullptr;
   ToolButton *play_btn = nullptr;
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index eaff78c691..21ca0ad74b 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -171,7 +171,7 @@ void ConsoleUI::updateStatus() {
 
   if (status != Status::Paused) {
     auto events = replay->events();
-    uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9;
+    uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9;
     bool playing = !events->empty() && events->back().mono_time > current_mono_time;
     status = playing ? Status::Playing : Status::Waiting;
   }
@@ -262,10 +262,10 @@ void ConsoleUI::updateTimeline() {
   mvwhline(win, 2, 0, ' ', width);
   wattroff(win, COLOR_PAIR(Color::Disengaged));
 
-  const int total_sec = replay->totalSeconds();
+  const int total_sec = replay->maxSeconds() - replay->minSeconds();
   for (auto [begin, end, type] : replay->getTimeline()) {
-    int start_pos = (begin / total_sec) * width;
-    int end_pos = (end / total_sec) * width;
+    int start_pos = ((begin - replay->minSeconds()) / total_sec) * width;
+    int end_pos = ((end - replay->minSeconds()) / total_sec) * width;
     if (type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
@@ -280,7 +280,7 @@ void ConsoleUI::updateTimeline() {
     }
   }
 
-  int cur_pos = ((double)replay->currentSeconds() / total_sec) * width;
+  int cur_pos = ((replay->currentSeconds() - replay->minSeconds()) / total_sec) * width;
   wattron(win, COLOR_PAIR(Color::BrightWhite));
   mvwaddch(win, 0, cur_pos, ACS_VLINE);
   mvwaddch(win, 3, cur_pos, ACS_VLINE);
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 15daecf01f..4fea879f8b 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -85,6 +85,7 @@ bool Replay::load() {
     return false;
   }
   rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size());
+  max_seconds_ = (segments_.rbegin()->first + 1) * 60;
   return true;
 }
 
@@ -108,7 +109,11 @@ void Replay::seekTo(double seconds, bool relative) {
     target_time = std::max(double(0.0), target_time);
     int target_segment = (int)target_time / 60;
     if (segments_.count(target_segment) == 0) {
-      rWarning("Can't seek to %d s segment %d is invalid", (int)target_time, target_segment);
+      rWarning("Can't seek to %.2f s segment %d is invalid", target_time, target_segment);
+      return true;
+    }
+    if (target_time > max_seconds_) {
+      rWarning("Can't seek to %.2f s, time is invalid", target_time);
       return true;
     }
 
@@ -193,15 +198,22 @@ void Replay::buildTimeline() {
       }
     }
 
+    if (it->first == route_segments.rbegin()->first) {
+      if (engaged) {
+        timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged});
+      }
+      if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+        timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]});
+      }
+
+      max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time));
+      emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_);
+    }
     {
       std::lock_guard lk(timeline_lock);
       timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
       std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
     }
-
-    if (it->first == route_segments.rbegin()->first) {
-      emit totalSecondsUpdated(toSeconds(log->events.back().mono_time));
-    }
     emit qLogLoaded(log);
   }
 }
@@ -463,7 +475,7 @@ void Replay::streamThread() {
       int last_segment = segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
-        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
+        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, minSeconds(), false), Qt::QueuedConnection);
       }
     }
   }
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 7e1815ede0..ac829ffb71 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -76,9 +76,10 @@ public:
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline QDateTime routeDateTime() const { return route_date_time_; }
   inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); }
-  inline uint64_t routeStartTime() const { return route_start_ts_; }
+  inline uint64_t routeStartNanos() const { return route_start_ts_; }
   inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
-  inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
+  inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; }
+  inline double maxSeconds() const { return max_seconds_; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event> *events() const { return &events_; }
@@ -95,7 +96,7 @@ signals:
   void seeking(double sec);
   void seekedTo(double sec);
   void qLogLoaded(std::shared_ptr<LogReader> qlog);
-  void totalSecondsUpdated(double sec);
+  void minMaxTimeChanged(double min_sec, double max_sec);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -133,6 +134,7 @@ protected:
   QDateTime route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
+  std::atomic<double> max_seconds_ = 0;
   std::vector<Event> events_;
   std::set<int> merged_segments_;
 

From 2246f087cd660aab812aba7f2bd0f684b2cce1e3 Mon Sep 17 00:00:00 2001
From: dany7915 <dany7915@gmail.com>
Date: Tue, 9 Jul 2024 06:54:11 +0900
Subject: [PATCH 0165/1243] Fingerprint: Kia K5 HEV 2020 (#32875)

fingerprint added
old-commit-hash: 67038d5b59d82b1eb094746ab99fa7d8e7d10e71
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index c7e1418cb6..4ad7e0e0aa 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -585,6 +585,7 @@ FW_VERSIONS = {
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.01 99210-L2000 191022',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],

From 0a8581934018320d802f24bba6c31d7f0dcf8ff7 Mon Sep 17 00:00:00 2001
From: JaReal07 <153245974+JaReal07@users.noreply.github.com>
Date: Mon, 8 Jul 2024 18:58:22 -0300
Subject: [PATCH 0166/1243] Update fingerprints.py Corolla 2024 (South America)
 (#32864)

Add Corolla Sedan 2024 (South America), new 'engine' and 'eps' fwversion
old-commit-hash: 4014109666e66ca8ed0b096159d424b4b55caca4
---
 selfdrive/car/toyota/fingerprints.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 5e746d1311..67203da7d0 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -441,6 +441,7 @@ FW_VERSIONS = {
       b'\x01896630ZU8000\x00\x00\x00\x00',
       b'\x01896630ZU9000\x00\x00\x00\x00',
       b'\x01896630ZX4000\x00\x00\x00\x00',
+      b'\x01896630ZX7100\x00\x00\x00\x00',
       b'\x018966312L8000\x00\x00\x00\x00',
       b'\x018966312M0000\x00\x00\x00\x00',
       b'\x018966312M9000\x00\x00\x00\x00',
@@ -516,6 +517,7 @@ FW_VERSIONS = {
       b'\x018965B1254000\x00\x00\x00\x00',
       b'\x018965B1255000\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
+      b'\x018965B1270000\x00\x00\x00\x00',
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
       b'8965B16011\x00\x00\x00\x00\x00\x00',

From 856e536aa84d474707beb82cd137ee0b2ce48a82 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Mon, 8 Jul 2024 19:42:26 -0400
Subject: [PATCH 0167/1243] CI: Compile openpilot on macOS (#32909)

* working

* cache

* bring back
old-commit-hash: 15d3397ec6d32bb4e3319ff615526b175b267949
---
 .github/workflows/selfdrive_tests.yaml | 13 +++++++++++--
 tools/mac_setup.sh                     |  1 +
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 3359f2a15e..419c472084 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -106,8 +106,17 @@ jobs:
         SKIP_PROMPT: 1
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
-    - name: Test openpilot environment
-      run: . .venv/bin/activate && scons -h
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
 
   static_analysis:
     name: static analysis
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 6b2d668524..9823427e65 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -63,6 +63,7 @@ brew "qt@5"
 brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
+brew "gcc@13"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"

From 1490a714a0407c995de6d7222e72a383bbdfc943 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Jul 2024 16:55:16 -0700
Subject: [PATCH 0168/1243] mvp of new docs.comma.ai (#32926)

* ssh docs

* strict

* need an index

* push to prod
old-commit-hash: f6189568eab0244ed792ef299fb781cc4c92fb9b
---
 .github/workflows/docs.yaml                   |  2 +-
 docs/docs/car-porting/what-is-a-car-port.md   | 25 +++++++++----
 docs/docs/contributing/architecture.md        |  1 +
 docs/docs/contributing/roadmap.md             |  5 +++
 .../docs/getting-started/what-is-openpilot.md |  2 +-
 .../docs/how-to/connect-to-comma.md           | 36 ++++++++++---------
 docs/docs/how-to/first-pr.md                  |  0
 docs/docs/index.md                            |  1 +
 docs/mkdocs.yml                               | 16 ++++++++-
 {tools/ssh => system/hardware/tici}/id_rsa    |  0
 10 files changed, 63 insertions(+), 25 deletions(-)
 create mode 100644 docs/docs/contributing/architecture.md
 create mode 100644 docs/docs/contributing/roadmap.md
 rename tools/ssh/README.md => docs/docs/how-to/connect-to-comma.md (63%)
 create mode 100644 docs/docs/how-to/first-pr.md
 create mode 120000 docs/docs/index.md
 rename {tools/ssh => system/hardware/tici}/id_rsa (100%)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index cb55d2f831..b14ae65842 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -62,4 +62,4 @@ jobs:
         git commit -m "build docs"
 
         # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages2
+        git push -f origin tmp:gh-pages
diff --git a/docs/docs/car-porting/what-is-a-car-port.md b/docs/docs/car-porting/what-is-a-car-port.md
index d089d9513e..b918bb50e0 100644
--- a/docs/docs/car-porting/what-is-a-car-port.md
+++ b/docs/docs/car-porting/what-is-a-car-port.md
@@ -1,9 +1,22 @@
 # What is a car port?
 
-All car ports live in `openpilot/selfdrive/car/`.
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
 
-* interface.py: Interface for the car, defines the CarInterface class
-* carstate.py: Reads CAN from car and builds openpilot CarState message
-* carcontroller.py: Builds CAN messages to send to car
-* values.py: Limits for actuation, general constants for cars, and supported car documentation
-* radar_interface.py: Interface for parsing radar points from the car
+The complexity of a car port varies depending on many factors including:
+* existing openpilot support for similar cars
+* architecture and APIs available in the car
+
+
+# Structure of a car port
+* `interface.py`: Interface for the car, defines the CarInterface class
+* `carstate.py`: Reads CAN from car and builds openpilot CarState message
+* `carcontroller.py`: Builds CAN messages to send to car
+* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
+* `radar_interface.py`: Interface for parsing radar points from the car
+
+
+# Overiew
+
+[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
+
+https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
diff --git a/docs/docs/contributing/architecture.md b/docs/docs/contributing/architecture.md
new file mode 100644
index 0000000000..c79bec1ac6
--- /dev/null
+++ b/docs/docs/contributing/architecture.md
@@ -0,0 +1 @@
+# Architecture
diff --git a/docs/docs/contributing/roadmap.md b/docs/docs/contributing/roadmap.md
new file mode 100644
index 0000000000..64ccdb3b75
--- /dev/null
+++ b/docs/docs/contributing/roadmap.md
@@ -0,0 +1,5 @@
+# Roadmap
+
+Coming soon...
+
+For now, check out our GitHub [milestones](https://github.com/commaai/openpilot/milestones) and [bounties](https://comma.ai/bounties).
diff --git a/docs/docs/getting-started/what-is-openpilot.md b/docs/docs/getting-started/what-is-openpilot.md
index de45ae035b..b3c56c8410 100644
--- a/docs/docs/getting-started/what-is-openpilot.md
+++ b/docs/docs/getting-started/what-is-openpilot.md
@@ -1,6 +1,6 @@
 # What is openpilot?
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
 
 
 ## How do I use it?
diff --git a/tools/ssh/README.md b/docs/docs/how-to/connect-to-comma.md
similarity index 63%
rename from tools/ssh/README.md
rename to docs/docs/how-to/connect-to-comma.md
index 588ea71579..53460ac990 100644
--- a/tools/ssh/README.md
+++ b/docs/docs/how-to/connect-to-comma.md
@@ -1,39 +1,42 @@
-# SSH
+# connect to a comma 3/3X
 
-## Quick Start
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+
+## Serial Console
+
+On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
+
+On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+
+## SSH
 
 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
 
 * Enable SSH in your device's settings
 * Enter your GitHub username in the device's settings
 * Connect to your device
-  * Username: `comma`
-  * Port: `22` or `8022`
+    * Username: `comma`
+    * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
 `ssh comma@192.168.43.1`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
-## Notes
+### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+#### ssh.comma.ai proxy
 
-# Connecting to ssh.comma.ai
-SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
+With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
-## Setup
-
-With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
-
-## Recommended .ssh/config
-
-With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.<br />
-For example: `ssh comma-ffffffffffffffff`
+With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
 
 ```
 Host comma-*
@@ -41,6 +44,7 @@ Host comma-*
   User comma
   IdentityFile ~/.ssh/my_github_key
   ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+
 Host ssh.comma.ai
   Hostname ssh.comma.ai
   Port 22
diff --git a/docs/docs/how-to/first-pr.md b/docs/docs/how-to/first-pr.md
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/docs/docs/index.md b/docs/docs/index.md
new file mode 120000
index 0000000000..74ea27aeeb
--- /dev/null
+++ b/docs/docs/index.md
@@ -0,0 +1 @@
+getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index b0f571954d..45a1503b0c 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -1,6 +1,9 @@
 site_name: openpilot docs
 docs_dir: docs
 repo_url: https://github.com/commaai/openpilot/
+site_url: https://docs.comma.ai
+
+strict: true
 
 theme:
   name: terminal
@@ -11,8 +14,19 @@ nav:
   - Getting Started:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
-    - Turn the speed blue: how-to/turning-the-speed-blue.md
+    #- Make my first pull request: how-to/first-pr.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md
     - Porting a car brand: car-porting/brand-port.md
     - Porting a car model: car-porting/model-port.md
+  - Contributing:
+    - Roadmap: contributing/roadmap.md
+    #- Architecture: contributing/architecture.md
+    - Contributing: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+  - Links:
+    - Blog: https://blog.comma.ai
+    - Bounties: https://comma.ai/bounties
+    - GitHub: https://github.com/commaai
+    - Discord: https://discord.comma.ai
+    - X: https://x.com/comma_ai
diff --git a/tools/ssh/id_rsa b/system/hardware/tici/id_rsa
similarity index 100%
rename from tools/ssh/id_rsa
rename to system/hardware/tici/id_rsa

From 6ffb0d544564ea9dd720ea177380d09cdab12c8a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Jul 2024 17:05:42 -0700
Subject: [PATCH 0169/1243] site -> docs

old-commit-hash: 8c6c6e435f0ef18456ad553cbf5c1555bfc210c7
---
 .github/workflows/docs.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index b14ae65842..f5cc0d5003 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -52,11 +52,11 @@ jobs:
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs/site/ site/
+        cp -r ../docs/site/ docs/
 
         # GitHub pages config
-        touch site/.nojekyll
-        echo -n docs.comma.ai > site/CNAME
+        touch docs/.nojekyll
+        echo -n docs.comma.ai > docs/CNAME
 
         git add -f .
         git commit -m "build docs"

From 1e6e3243efc2c9b6a1ea123dd1a54acd101342d5 Mon Sep 17 00:00:00 2001
From: signed-long <38993953+signed-long@users.noreply.github.com>
Date: Mon, 8 Jul 2024 21:07:34 -0600
Subject: [PATCH 0170/1243] Update ci weekly report summary (#32911)

* update ci weekly report summary

* don't add skipped jobs to report

* uncomment job condition

* use jinja template

* add run number to failure links

* add run number to failure links

* Log for run #<num>

* use list

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: 6745c66352ffacabbf1201f766ab7ff308724d18
---
 .github/workflows/ci_weekly_report.yaml | 104 ++++++++++--------------
 1 file changed, 41 insertions(+), 63 deletions(-)

diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index c5c98b46b5..22b8745872 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -10,38 +10,30 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+env:
+  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
+
 jobs:
   setup:
     if: github.repository == 'commaai/openpilot'
     runs-on: ubuntu-latest
     outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
+      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
     steps:
       - id: ci_runs_setup
+        name: CI_RUNS=${{ env.CI_RUNS }}
         run: |
-          CI_RUNS=${{ inputs.ci_runs || '50' }}
-          mylist="value=["
-
-          for i in $(seq 1 $CI_RUNS);
-          do
-              if [ $i != $CI_RUNS ]; then
-                  mylist+="\"$i\", "
-              else
-                  mylist+="\"$i\"]"
-              fi
-          done
+          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
+          echo "matrix=$matrix" >> $GITHUB_OUTPUT
 
-          echo "$mylist" >> $GITHUB_OUTPUT
-          echo "Number of CI runs for report: $CI_RUNS"
   ci_matrix_run:
     needs: [ setup ]
     strategy:
       fail-fast: false
-      matrix:
-        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
     uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
     with:
-      run_number: ${{ matrix.value }}
+      run_number: ${{ matrix.run_number }}
 
   report:
     needs: [ci_matrix_run]
@@ -62,62 +54,48 @@ jobs:
               })
             var report = {}
             jobs.slice(1, jobs.length-1).forEach(job => {
-              const jobName = job.name.split('/')[2].trim();
+              if (job.conclusion === "skipped") return;
+              const jobName = job.name.split(" / ")[2];
+              const runRegex = /\((.*?)\)/;
+              const run = job.name.match(runRegex)[1];
               report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
               switch (job.conclusion) {
                 case "success":
-                  report[jobName].successes.push(job.html_url); break;
+                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
-                  report[jobName].failures.push(job.html_url); break;
+                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
                 case "cancelled":
-                  report[jobName].cancelled.push(job.html_url); break;
+                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
-            return JSON.stringify(report);
+            return JSON.stringify({"jobs": report});
 
       - name: Add job results to summary
         env:
           JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
         run: |
-          echo $JOB_RESULTS > job_results.json
-          generate_html_table() {
-            echo "<table>"
-            echo "<thead>"
-            echo "  <tr>"
-            echo "    <th>Job</th>"
-            echo "    <th>Succeeded ✅</th>"
-            echo "    <th>Failed ❌</th>"
-            echo "    <th>Cancelled (timed out) ⏰</th>"
-            echo "  </tr>"
-            echo "</thead>"
-            jq -r '
-              "<tbody>",
-              keys[] as $job |
-              "<tr>",
-              "  <td>\($job)</td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].successes | length))</summary>",
-              "      \(.[$job].successes[])<br>",
-              "    </details>",
-              "  </td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].failures | length))</summary>",
-              "      \(.[$job].failures[])<br>",
-              "    </details>",
-              "  </td>",
-              "  <td>",
-              "    <details>",
-              "      <summary>(\(.[$job].cancelled | length))</summary>",
-              "      \(.[$job].cancelled[])<br>",
-              "    </details>",
-              "  </td>",
-              "</tr>"
-            ' job_results.json
-            echo  "</tbody>"
-            echo  "</table>"
-          }
-          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
-          generate_html_table >> $GITHUB_STEP_SUMMARY
+          cat <<EOF >> template.html
+          <table>
+            <thead>
+              <tr>
+                <th></th>
+                <th>Job</th>
+                <th>✅ Passing</th>
+                <th>❌ Failure Details</th>
+              </tr>
+            </thead>
+            <tbody>
+              {% for key in jobs.keys() %}<tr>
+                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
+                <td>{{ key }}</td>
+                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
+                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
+                </td>
+              </tr>{% endfor %}
+          </table>
+          EOF
 
+          pip install jinja2-cli
+          echo $JOB_RESULTS | jinja2 template.html > report.html
+          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
+          cat report.html >> $GITHUB_STEP_SUMMARY

From ddde57d56c454e1a741d6793fbe83ddf0336e17d Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Tue, 9 Jul 2024 08:08:38 +0300
Subject: [PATCH 0171/1243] Rewrite git history (#31562)

* bfg

* filter repo is the new shit

* down to 27M

* move big files to lfs; remove external and phonelibs

* wip - rebase devel; don't delete external and phonelibs anymore

* wip - rebase devel hacks

* wip - rebase devel updates

* wip - rebase updates; lfs updates

* cleaned unused scripts

* wip - lfs fixes

* bfg with rebase with correct dates

* bfg script with cherry-pick method

* latest git-filter-repo analysis

* latest git-filter-repo 'before' analysis

* new lfs import

* latest git-filter-repo analysis

* lfs update; renamed rebase repos

* renamed scripts

* different tmp folders for rewrite scripts; lfs update

* gitattributes after lfs import

* tag-commit-map file with old tags pointing to old commits

* new tags

* final touches

* squash setup commits; cherry-pick validation; reverted to commaai remote

* removed rebase version

* 0.9.7 tag in tag-commit-map

* removed unused openpilot-release-archive

* fixed archive of old history because of 2 GB limit

* archive of old history push master first

* fix tags being deleted

* cleaning and more logs

* rewrite other branches with master history

* Former-commit-id

* updates to previous commits

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: 481e5b28bd886703e69b05b9b342a7ef9804f9d6
---
 scripts/git_rewrite/rewrite-git-history.sh | 357 +++++++++++++++++++++
 scripts/git_rewrite/tag-commit-map.txt     |  82 +++++
 2 files changed, 439 insertions(+)
 create mode 100755 scripts/git_rewrite/rewrite-git-history.sh
 create mode 100644 scripts/git_rewrite/tag-commit-map.txt

diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
new file mode 100755
index 0000000000..4130b55db9
--- /dev/null
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -0,0 +1,357 @@
+#!/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt
+exec > >(tee -a "$LOG_FILE") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files"
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)"
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
+  cd $SRC_CLONE
+
+  # empty file
+  > branch-diff.txt
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$')
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+      
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+      
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+      
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt
+            echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+      
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+      
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt
+       echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt
+       git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
+  cd $SRC_CLONE
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+  VALIDATE_IGNORE_FILES=(
+    ".github/ISSUE_TEMPLATE/bug_report.md"
+    ".github/pull_request_template.md"
+  )
+
+  # empty file
+  > commit-diff.txt
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> commit-diff.txt
+  echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt
+  echo "Different commits: $COUNT_DIFF" >> commit-diff.txt
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*)
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2)
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt
new file mode 100644
index 0000000000..66b1fb00c1
--- /dev/null
+++ b/scripts/git_rewrite/tag-commit-map.txt
@@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
+v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
+v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
+v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
+v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
+v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
+v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
+v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
+v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
+v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
+v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
+v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
+v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
+v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
+v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
+v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
+v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
+v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
+v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
+v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
+v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
+v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
+v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
+v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
+v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
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From abd29fa6467c5d1a72e45e5a39701e89abb2cc79 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 Jul 2024 22:53:59 -0700
Subject: [PATCH 0172/1243] torqued: rename lat_active (#32942)

* Update torqued.py

* lint

* not necessary
old-commit-hash: 35df0a4fda99e42f49a734890de2dea5a641c639
---
 selfdrive/locationd/torqued.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 569496b584..c254896e2b 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -159,7 +159,7 @@ class TorqueEstimator(ParameterEstimator):
   def handle_log(self, t, which, msg):
     if which == "carControl":
       self.raw_points["carControl_t"].append(t + self.lag)
-      self.raw_points["active"].append(msg.latActive)
+      self.raw_points["lat_active"].append(msg.latActive)
     elif which == "carOutput":
       self.raw_points["carOutput_t"].append(t + self.lag)
       self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
@@ -171,12 +171,12 @@ class TorqueEstimator(ParameterEstimator):
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]
         roll = msg.orientationNED.value[0]
-        active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
         steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
         steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
         lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
-        if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
+        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
           self.filtered_points.add_point(float(steer), float(lateral_acc))
 
   def get_msg(self, valid=True, with_points=False):

From d0e257250725406fa2409deadc45eb5a1dccf545 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 9 Jul 2024 15:01:16 -0700
Subject: [PATCH 0173/1243] switch cereal to pytest (#32950)

pytest
old-commit-hash: 133f25eecbd7be2343624c8ed3c426663bd027e5
---
 cereal/messaging/tests/test_messaging.py      | 52 ++++++++-----------
 cereal/messaging/tests/test_pub_sub_master.py | 44 +++++++---------
 cereal/messaging/tests/test_services.py       | 13 ++---
 pyproject.toml                                |  2 +-
 4 files changed, 45 insertions(+), 66 deletions(-)
 mode change 100755 => 100644 cereal/messaging/tests/test_messaging.py
 mode change 100755 => 100644 cereal/messaging/tests/test_pub_sub_master.py
 mode change 100755 => 100644 cereal/messaging/tests/test_services.py

diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
old mode 100755
new mode 100644
index 429c2d3c53..58fa7f7b28
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@@ -6,8 +5,8 @@ import numbers
 import random
 import threading
 import time
-import unittest
 from parameterized import parameterized
+import pytest
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -28,12 +27,6 @@ def zmq_sleep(t=1):
   if "ZMQ" in os.environ:
     time.sleep(t)
 
-def zmq_expected_failure(func):
-  if "ZMQ" in os.environ:
-    return unittest.expectedFailure(func)
-  else:
-    return func
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -58,12 +51,12 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging(unittest.TestCase):
+class TestMessaging:
   def setUp(self):
     # TODO: ZMQ tests are too slow; all sleeps will need to be
     # replaced with logic to block on the necessary condition
     if "ZMQ" in os.environ:
-      raise unittest.SkipTest
+      pytest.skip()
 
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
@@ -75,9 +68,9 @@ class TestMessaging(unittest.TestCase):
       msg = messaging.new_message(evt)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
-    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
-    self.assertFalse(msg.valid)
-    self.assertEqual(evt, msg.which())
+    assert (time.monotonic() - msg.logMonoTime) < 0.1
+    assert not msg.valid
+    assert evt == msg.which()
 
   @parameterized.expand(events)
   def test_pub_sock(self, evt):
@@ -99,8 +92,8 @@ class TestMessaging(unittest.TestCase):
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertEqual(len(msgs), 0)
+    assert isinstance(msgs, list)
+    assert len(msgs) == 0
 
     # no wait but msgs are queued up
     num_msgs = random.randrange(3, 10)
@@ -108,9 +101,9 @@ class TestMessaging(unittest.TestCase):
       pub_sock.send(messaging.new_message(sock).to_bytes())
     time.sleep(0.1)
     msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
-    self.assertEqual(len(msgs), num_msgs)
+    assert isinstance(msgs, list)
+    assert all(isinstance(msg, expected_type) for msg in msgs)
+    assert len(msgs) == num_msgs
 
   def test_recv_sock(self):
     sock = "carState"
@@ -120,14 +113,14 @@ class TestMessaging(unittest.TestCase):
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # no wait and one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     time.sleep(0.01)
     recvd = messaging.recv_sock(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     # https://github.com/python/mypy/issues/13038
     assert_carstate(msg.carState, recvd.carState)
 
@@ -139,16 +132,16 @@ class TestMessaging(unittest.TestCase):
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @zmq_expected_failure
+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
@@ -157,13 +150,13 @@ class TestMessaging(unittest.TestCase):
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
   def test_recv_one_retry(self):
@@ -179,7 +172,7 @@ class TestMessaging(unittest.TestCase):
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
       time.sleep(sock_timeout*15)
-      self.assertTrue(p.is_alive())
+      assert p.is_alive()
       p.terminate()
 
     # wait 15 socket timeouts before sending
@@ -187,9 +180,6 @@ class TestMessaging(unittest.TestCase):
     delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
old mode 100755
new mode 100644
index 81a1cf2d57..ba5b397aad
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -1,8 +1,6 @@
-#!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
-import unittest
 
 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@@ -10,9 +8,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so
                                                   zmq_sleep
 
 
-class TestSubMaster(unittest.TestCase):
+class TestSubMaster:
 
-  def setUp(self):
+  def setup_method(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -21,21 +19,21 @@ class TestSubMaster(unittest.TestCase):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(events))
+      assert len(cast(Sized, p)) == len(events)
 
   def test_init_state(self):
     socks = random_socks()
     sm = messaging.SubMaster(socks)
-    self.assertEqual(sm.frame, -1)
-    self.assertFalse(any(sm.updated.values()))
-    self.assertFalse(any(sm.alive.values()))
-    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
-    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
-    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
+    assert sm.frame == -1
+    assert not any(sm.updated.values())
+    assert not any(sm.alive.values())
+    assert all(t == 0. for t in sm.recv_time.values())
+    assert all(f == 0 for f in sm.recv_frame.values())
+    assert all(t == 0 for t in sm.logMonoTime.values())
 
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(socks))
+      assert len(cast(Sized, p)) == len(socks)
 
   def test_getitem(self):
     sock = "carState"
@@ -59,8 +57,8 @@ class TestSubMaster(unittest.TestCase):
       msg = messaging.new_message(sock)
       pub_sock.send(msg.to_bytes())
       sm.update(1000)
-      self.assertEqual(sm.frame, i)
-      self.assertTrue(all(sm.updated.values()))
+      assert sm.frame == i
+      assert all(sm.updated.values())
 
   def test_update_timeout(self):
     sock = random_sock()
@@ -70,9 +68,9 @@ class TestSubMaster(unittest.TestCase):
       start_time = time.monotonic()
       sm.update(timeout)
       t = time.monotonic() - start_time
-      self.assertGreaterEqual(t, timeout/1000.)
-      self.assertLess(t, 5)
-      self.assertFalse(any(sm.updated.values()))
+      assert t >= timeout/1000.
+      assert t < 5
+      assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
@@ -118,12 +116,12 @@ class TestSubMaster(unittest.TestCase):
       pub_sock.send(msg.to_bytes())
       time.sleep(0.01)
     sm.update(1000)
-    self.assertEqual(sm[sock].vEgo, n)
+    assert sm[sock].vEgo == n
 
 
-class TestPubMaster(unittest.TestCase):
+class TestPubMaster:
 
-  def setUp(self):
+  def setup_method(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -156,8 +154,4 @@ class TestPubMaster(unittest.TestCase):
         if capnp:
           msg.clear_write_flag()
           msg = msg.to_bytes()
-        self.assertEqual(msg, recvd, i)
-
-
-if __name__ == "__main__":
-  unittest.main()
+        assert msg == recvd, i
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
old mode 100755
new mode 100644
index ec96c90bc2..01e859a5a3
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,26 +1,21 @@
-#!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
-import unittest
 from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
 
 
-class TestServices(unittest.TestCase):
+class TestServices:
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
     service = SERVICE_LIST[s]
-    self.assertTrue(service.frequency <= 104)
-    self.assertTrue(service.decimation != 0)
+    assert service.frequency <= 104
+    assert service.decimation != 0
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
       ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      self.assertEqual(ret, 0, "generated services header is not valid C")
-
-if __name__ == "__main__":
-  unittest.main()
+      assert ret == 0, "generated services header is not valid C"
diff --git a/pyproject.toml b/pyproject.toml
index 1023de9186..0f5d9aa1cc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -136,7 +136,7 @@ packages = [ "." ]
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"

From 49469d9ffae220470f0970f8324df35b61ce72a7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jul 2024 21:16:36 -0700
Subject: [PATCH 0174/1243] format torqued.py

old-commit-hash: 0c58e35b6c2294ef9ad149081a95739524fe74ae
---
 selfdrive/locationd/torqued.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index c254896e2b..4ec4b928ab 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -36,8 +36,8 @@ ALLOWED_CARS = ['toyota', 'hyundai']
 
 
 def slope2rot(slope):
-  sin = np.sqrt(slope**2 / (slope**2 + 1))
-  cos = np.sqrt(1 / (slope**2 + 1))
+  sin = np.sqrt(slope ** 2 / (slope ** 2 + 1))
+  cos = np.sqrt(1 / (slope ** 2 + 1))
   return np.array([[cos, -sin], [sin, cos]])
 
 
@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2   # from controlsd
+    self.lag = CP.steerActuatorDelay + .2  # from controlsd
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
@@ -242,8 +242,10 @@ def main(demo=False):
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
+
 if __name__ == "__main__":
   import argparse
+
   parser = argparse.ArgumentParser(description='Process the --demo argument.')
   parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
   args = parser.parse_args()

From 11617a42dd371e148edf9cbdc4721336461b6370 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jul 2024 22:21:50 -0700
Subject: [PATCH 0175/1243] torqued: option to keep track of all points
 (#32957)

* how about this

* here

* rename

* revert

* revert this too

* can do this

* ugh inside TorqueBuckets it implicitly limits steer torque to 50%!!!!!!!!

* fix

* move up
old-commit-hash: 5efdaf202624956f03a9c5f521bf692dae213c48
---
 selfdrive/locationd/torqued.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 4ec4b928ab..cb10fa93ab 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -50,9 +50,10 @@ class TorqueBuckets(PointBuckets):
 
 
 class TorqueEstimator(ParameterEstimator):
-  def __init__(self, CP, decimated=False):
+  def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
@@ -135,6 +136,7 @@ class TorqueEstimator(ParameterEstimator):
                                          min_points_total=self.min_points_total,
                                          points_per_bucket=POINTS_PER_BUCKET,
                                          rowsize=3)
+    self.all_torque_points = []
 
   def estimate_params(self):
     points = self.filtered_points.get_points(self.fit_points)
@@ -174,10 +176,14 @@ class TorqueEstimator(ParameterEstimator):
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
         steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
-        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
-        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
-        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
-          self.filtered_points.add_point(float(steer), float(lateral_acc))
+        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
+        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
+        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD):
+          if abs(lateral_acc) <= LAT_ACC_THRESHOLD:
+            self.filtered_points.add_point(steer, lateral_acc)
+
+          if self.track_all_points:
+            self.all_torque_points.append([steer, lateral_acc])
 
   def get_msg(self, valid=True, with_points=False):
     msg = messaging.new_message('liveTorqueParameters')

From 1b4583a63ec63cab0424c2b195265432213b272f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 Jul 2024 22:26:58 -0700
Subject: [PATCH 0176/1243] torqued: clean up (#32958)

* formatting

* function signatures didn't match

* function signatures didn't match

* filtered and raw mean something totally different when it comes to params

filtered and raw mean something totally different when it comes to params

* cmt

* probably better for organization

* add todo

* STASH

* revert some stuff

* clean up

* oof
old-commit-hash: fbc53a24a3b1977814b50c4021ba9c445c8f7f74
---
 selfdrive/locationd/helpers.py | 2 +-
 selfdrive/locationd/torqued.py | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 786bdbbfec..8f7211aebf 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -38,7 +38,7 @@ class PointBuckets:
   def is_calculable(self) -> bool:
     return all(len(v) > 0 for v in self.buckets.values())
 
-  def add_point(self, x: float, y: float, bucket_val: float) -> None:
+  def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
   def get_points(self, num_points: int = None) -> Any:
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index cb10fa93ab..ba649b318d 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -120,7 +120,8 @@ class TorqueEstimator(ParameterEstimator):
     for param in initial_params:
       self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL)
 
-  def get_restore_key(self, CP, version):
+  @staticmethod
+  def get_restore_key(CP, version):
     a, b = None, None
     if CP.lateralTuning.which() == 'torque':
       a = CP.lateralTuning.torque.friction
@@ -167,8 +168,11 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
     elif which == "carState":
       self.raw_points["carState_t"].append(t + self.lag)
+      # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
+
+    # calculate lateral accel from past steering torque
     elif which == "liveLocationKalman":
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]

From a18df70a3fa8c65e9bf5db0831b01c33bfe5da0a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 11 Jul 2024 06:10:24 +0800
Subject: [PATCH 0177/1243] cabana: simplify stream management and remove
 problematic autosave feature (#32945)

simplify code and remove problematic code
old-commit-hash: c17c34187b6e9c14b3c00135386625bbb601ed22
---
 tools/cabana/cabana.cc                  |  29 +---
 tools/cabana/chart/chart.cc             |   9 +-
 tools/cabana/chart/chartswidget.h       |   1 -
 tools/cabana/chart/signalselector.cc    |   3 +-
 tools/cabana/chart/sparkline.cc         |   9 +-
 tools/cabana/chart/sparkline.h          |   1 +
 tools/cabana/dbc/dbcfile.cc             |  23 +--
 tools/cabana/dbc/dbcfile.h              |   6 +-
 tools/cabana/mainwin.cc                 | 207 +++++++++---------------
 tools/cabana/mainwin.h                  |  17 +-
 tools/cabana/signalview.cc              |   2 +-
 tools/cabana/signalview.h               |   1 +
 tools/cabana/streams/abstractstream.cc  |  11 --
 tools/cabana/streams/abstractstream.h   |  21 +--
 tools/cabana/streams/devicestream.cc    |  11 +-
 tools/cabana/streams/devicestream.h     |   6 +-
 tools/cabana/streams/livestream.cc      |   1 -
 tools/cabana/streams/pandastream.cc     |  13 +-
 tools/cabana/streams/pandastream.h      |   6 +-
 tools/cabana/streams/replaystream.cc    |  17 +-
 tools/cabana/streams/replaystream.h     |   8 +-
 tools/cabana/streams/socketcanstream.cc |  13 +-
 tools/cabana/streams/socketcanstream.h  |   6 +-
 tools/cabana/streamselector.cc          |  16 +-
 tools/cabana/streamselector.h           |   6 +-
 25 files changed, 134 insertions(+), 309 deletions(-)

diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 4a3b4126dd..a798d13a81 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -38,26 +38,19 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
 
-  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
-
   AbstractStream *stream = nullptr;
+
   if (cmd_parser.isSet("stream")) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
-    PandaStreamConfig config = {};
-    if (cmd_parser.isSet("panda-serial")) {
-      config.serial = cmd_parser.value("panda-serial");
-    }
     try {
-      stream = new PandaStream(&app, config);
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
   } else if (cmd_parser.isSet("socketcan")) {
-    SocketCanStreamConfig config = {};
-    config.device = cmd_parser.value("socketcan");
-    stream = new SocketCanStream(&app, config);
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -73,24 +66,14 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
-      auto replay_stream = new ReplayStream(&app);
+      auto replay_stream = std::make_unique<ReplayStream>(&app);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
       }
-      stream = replay_stream;
+      stream = replay_stream.release();
     }
   }
 
-  MainWindow w;
-  if (stream) {
-    stream->start();
-    if (!dbc_file.isEmpty()) {
-      w.loadFile(dbc_file);
-    }
-  } else {
-    w.openStream();
-  }
-  w.show();
-
+  MainWindow w(stream, cmd_parser.value("dbc"));
   return app.exec();
 }
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 128c33baec..6c13252e80 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -155,11 +155,10 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 }
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
-    for (const auto &s : sigs) {
-      if (s.sig == sig && s.series->color() != sig->color) {
-        setSeriesColor(s.series, sig->color);
-      }
+  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
+  if (it != sigs.end()) {
+    if (it->series->color() != sig->color) {
+      setSeriesColor(it->series, sig->color);
     }
     updateTitle();
     updateSeries(sig);
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 0b948b3421..a925191792 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -110,7 +110,6 @@ private:
   QTimer *align_timer;
   int current_theme = 0;
   bool value_tip_visible_ = false;
-  friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;
 };
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 0ddb212a8a..63f3a7d575 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) {
   MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
   auto selected_items = seletedItems();
   for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(),
+                                   [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; });
     if (!is_selected) {
       addItemToList(available_list, msg_id, s);
     }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 1cadda2bd8..094fe96182 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -4,8 +4,6 @@
 #include <limits>
 #include <QPainter>
 
-#include "tools/cabana/streams/abstractstream.h"
-
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
   const auto &msgs = can->events(msg_id);
 
@@ -14,11 +12,6 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
   auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
 
-  if (first == last || size.isEmpty()) {
-    pixmap = QPixmap();
-    return;
-  }
-
   points.clear();
   double value = 0;
   for (auto it = first; it != last; ++it) {
@@ -27,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
     }
   }
 
-  if (points.empty()) {
+  if (points.empty() || size.isEmpty()) {
     pixmap = QPixmap();
     return;
   }
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 3bdd8a3ee5..806f0a61eb 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -5,6 +5,7 @@
 #include <vector>
 
 #include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class Sparkline {
 public:
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 4a1c52819a..cca9d0c0fa 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
     filename = dbc_file_name;
-    // Remove auto save file extension
-    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
-      filename.chop(AUTO_SAVE_EXTENSION.length());
-    }
     parse(file.readAll());
   } else {
     throw std::runtime_error("Failed to open file.");
@@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
 }
 
 DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  // Open from clipboard
   parse(content);
 }
 
 bool DBCFile::save() {
   assert(!filename.isEmpty());
-  if (writeContents(filename)) {
-    cleanupAutoSaveFile();
-    return true;
-  }
-  return false;
+  return writeContents(filename);
 }
 
 bool DBCFile::saveAs(const QString &new_filename) {
@@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) {
   return save();
 }
 
-bool DBCFile::autoSave() {
-  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
-}
-
-void DBCFile::cleanupAutoSaveFile() {
-  if (!filename.isEmpty()) {
-    QFile::remove(filename + AUTO_SAVE_EXTENSION);
-  }
-}
-
 bool DBCFile::writeContents(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
@@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 20de04a861..bd267898f9 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -5,8 +5,6 @@
 
 #include "tools/cabana/dbc/dbc.h"
 
-const QString AUTO_SAVE_EXTENSION = ".tmp";
-
 class DBCFile {
 public:
   DBCFile(const QString &dbc_file_name);
@@ -15,9 +13,7 @@ public:
 
   bool save();
   bool saveAs(const QString &new_filename);
-  bool autoSave();
   bool writeContents(const QString &fn);
-  void cleanupAutoSaveFile();
   QString generateDBC();
 
   void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
@@ -27,7 +23,7 @@ public:
   cabana::Msg *msg(uint32_t address);
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString name);
+  cabana::Signal *signal(uint32_t address, const QString &name);
 
   inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
   inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index bf1db63eea..34432707db 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -12,6 +12,7 @@
 #include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
@@ -23,9 +24,8 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
-#include "tools/replay/replay.h"
 
-MainWindow::MainWindow() : QMainWindow() {
+MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
@@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
+
+  QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
+  show();
 }
 
 void MainWindow::loadFingerprints() {
@@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() {
   if (json_file.open(QIODevice::ReadOnly)) {
     fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
-  // get opendbc names
-  for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    opendbc_names << QFileInfo(fn).baseName();
-  }
 }
 
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream);
   close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
   export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV);
   close_stream_act->setEnabled(false);
@@ -96,20 +92,15 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
+  QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus);
 
   open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
-  for (int i = 0; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i] = new QAction(this);
-    recent_files_acts[i]->setVisible(false);
-    QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile);
-    open_recent_menu->addAction(recent_files_acts[i]);
-  }
-  updateRecentFileActions();
+  QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu);
 
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : opendbc_names) {
+  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
@@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() {
   messages_widget = new MessagesWidget(this);
   messages_dock->setWidget(messages_widget);
   QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle);
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
 
   // right panel
   charts_widget = new ChartsWidget(this);
@@ -209,67 +201,52 @@ void MainWindow::createStatusBar() {
   progress_bar->setVisible(false);
   statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
   statusBar()->addPermanentWidget(progress_bar);
-
   statusBar()->addPermanentWidget(status_label = new QLabel(this));
   updateStatus();
 }
 
 void MainWindow::createShortcuts() {
   auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut);
-  QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); });
+  QObject::connect(shortcut, &QShortcut::activated, this, []() {
+    if (can) can->pause(!can->isPaused());
+  });
   // TODO: add more shortcuts here.
 }
 
-void MainWindow::undoStackIndexChanged(int index) {
-  int count = UndoStack::instance()->count();
-  if (count >= 0) {
-    QString command_text;
-    if (index == count) {
-      command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1);
-    } else if (index < prev_undostack_index) {
-      command_text = tr("Undo %1").arg(UndoStack::instance()->text(index));
-    } else if (index > prev_undostack_index) {
-      command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1));
-    }
-    statusBar()->showMessage(command_text, 2000);
-  }
-  prev_undostack_index = index;
-  prev_undostack_count = count;
-  autoSave();
-  updateLoadSaveMenus();
-}
-
 void MainWindow::undoStackCleanChanged(bool clean) {
-  if (clean) {
-    prev_undostack_index = 0;
-    prev_undostack_count = 0;
-  }
   setWindowModified(!clean);
 }
 
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
-  updateLoadSaveMenus();
+
+  // Update file menu
+  int cnt = dbc()->nonEmptyDBCCount();
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
+  save_dbc->setEnabled(cnt > 0);
+  save_dbc_as->setEnabled(cnt == 1);
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(cnt == 1);
+  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
+
+  QStringList title;
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+  }
+  setWindowFilePath(title.join(" | "));
 }
 
-void MainWindow::openStream() {
-  AbstractStream *stream = nullptr;
-  StreamSelector dlg(&stream, this);
+void MainWindow::selectAndOpenStream() {
+  StreamSelector dlg(this);
   if (dlg.exec()) {
-    if (!dlg.dbcFile().isEmpty()) {
-      loadFile(dlg.dbcFile());
-    }
-    stream->start();
-    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
+    openStream(dlg.stream(), dlg.dbcFile());
   } else if (!can) {
-    stream = new DummyStream(this);
-    stream->start();
+    openStream(new DummyStream(this));
   }
 }
 
 void MainWindow::closeStream() {
-  AbstractStream *stream = new DummyStream(this);
-  stream->start();
+  openStream(new DummyStream(this));
   if (dbc()->nonEmptyDBCCount() > 0) {
     emit dbc()->DBCFileChanged();
   }
@@ -301,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
     closeFile(s);
 
-    QString dbc_fn = fn;
-    // Prompt user to load auto saved file if it exists.
-    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
-      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
-      if (ret == QMessageBox::Yes) {
-        dbc_fn += AUTO_SAVE_EXTENSION;
-        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
-      }
-    }
-
     QString error;
-    if (dbc()->open(s, dbc_fn, &error)) {
+    if (dbc()->open(s, fn, &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -323,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   }
 }
 
-void MainWindow::openRecentFile() {
-  if (auto action = qobject_cast<QAction *>(sender())) {
-    loadFile(action->data().toString());
-  }
-}
-
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
-  loadFile(opendbc_file_path);
+  loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name));
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
@@ -349,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   }
 }
 
-void MainWindow::changingStream() {
+void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
-}
 
-void MainWindow::streamStarted() {
+  delete can;
+  can = stream;
+  can->setParent(this);  // take ownership
+  can->start();
+
+  loadFile(dbc_file);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
   export_to_csv_act->setEnabled(has_stream);
@@ -372,9 +338,20 @@ void MainWindow::streamStarted() {
     newFile();
   }
 
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+
+  if (has_stream) {
+    auto wait_dlg = new QProgressDialog(
+        can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."),
+        tr("&Abort"), 0, 100, this);
+    wait_dlg->setWindowModality(Qt::WindowModal);
+    wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height());
+    QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close);
+    QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater);
+    QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) {
+      wait_dlg->setValue((int)((cur / (double)total) * 100));
+    });
+  }
 }
 
 void MainWindow::eventsMerged() {
@@ -383,12 +360,8 @@ void MainWindow::eventsMerged() {
                                     .arg(can->routeName())
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
-      auto dbc_name = fingerprint_to_dbc[car_fingerprint];
-      if (dbc_name != QJsonValue::Undefined) {
-        // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
-      }
+    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
+      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
     }
   }
 }
@@ -409,22 +382,6 @@ void MainWindow::saveAs() {
   }
 }
 
-void MainWindow::autoSave() {
-  if (!UndoStack::instance()->isClean()) {
-    for (auto dbc_file : dbc()->allDBCFiles()) {
-      if (!dbc_file->filename.isEmpty()) {
-        dbc_file->autoSave();
-      }
-    }
-  }
-}
-
-void MainWindow::cleanupAutoSaveFile() {
-  for (auto dbc_file : dbc()->allDBCFiles()) {
-    dbc_file->cleanupAutoSaveFile();
-  }
-}
-
 void MainWindow::closeFile(SourceSet s) {
   remindSaveChanges();
   if (s == SOURCE_ALL) {
@@ -448,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
-    updateLoadSaveMenus();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
@@ -464,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
-    updateLoadSaveMenus();
   }
 }
 
@@ -483,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 }
 
 void MainWindow::updateLoadSaveMenus() {
-  int cnt = dbc()->nonEmptyDBCCount();
-  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
-  save_dbc->setEnabled(cnt > 0);
-  save_dbc_as->setEnabled(cnt == 1);
-
-  // TODO: Support clipboard for multiple files
-  copy_dbc_to_clipboard->setEnabled(cnt == 1);
-
   manage_dbcs_menu->clear();
-  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
 
   for (int source : can->sources) {
     if (source >= 64) continue; // Sent and blocked buses are handled implicitly
@@ -505,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() {
     bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
 
     // Show sub-menu for each dbc for this source.
-    QString file_name = "No DBCs loaded";
-    if (auto dbc_file = dbc()->findDBCFile(source)) {
+    auto dbc_file = dbc()->findDBCFile(source);
+    if (dbc_file) {
       bus_menu->addSeparator();
       bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
@@ -514,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() {
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
-
-      file_name = dbc_file->name();
     }
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
-  }
-
-  QStringList title;
-  for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
   }
-  setWindowFilePath(title.join(" | "));
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
@@ -536,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) {
     settings.recent_files.removeLast();
   }
   settings.last_dir = QFileInfo(fn).absolutePath();
-  updateRecentFileActions();
 }
 
-void MainWindow::updateRecentFileActions() {
+void MainWindow::updateRecentFileMenu() {
+  open_recent_menu->clear();
+
   int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
+  if (!num_recent_files) {
+    open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false);
+    return;
+  }
+
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    recent_files_acts[i]->setText(text);
-    recent_files_acts[i]->setData(settings.recent_files[i]);
-    recent_files_acts[i]->setVisible(true);
-  }
-  for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i]->setVisible(false);
+    open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); });
   }
-  open_recent_menu->setEnabled(num_recent_files > 0);
 }
 
 void MainWindow::remindSaveChanges() {
@@ -606,7 +544,6 @@ void MainWindow::toggleChartsDocking() {
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
-  cleanupAutoSaveFile();
   remindSaveChanges();
 
   installDownloadProgressHandler(nullptr);
@@ -618,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   // save states
   settings.geometry = saveGeometry();
   settings.window_state = saveState();
-  if (!can->liveStreaming()) {
+  if (can && !can->liveStreaming()) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 77add4d789..9bc94c090f 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -20,22 +20,20 @@ class MainWindow : public QMainWindow {
   Q_OBJECT
 
 public:
-  MainWindow();
+  MainWindow(AbstractStream *stream, const QString &dbc_file);
   void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
 
 public slots:
-  void openStream();
+  void selectAndOpenStream();
+  void openStream(AbstractStream *stream, const QString &dbc_file = {});
   void closeStream();
   void exportToCSV();
-  void changingStream();
-  void streamStarted();
 
   void newFile(SourceSet s = SOURCE_ALL);
   void openFile(SourceSet s = SOURCE_ALL);
-  void openRecentFile();
   void loadDBCFromOpendbc(const QString &name);
   void save();
   void saveAs();
@@ -55,10 +53,8 @@ protected:
   void saveFileToClipboard(DBCFile *dbc_file);
   void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
-  void autoSave();
-  void cleanupAutoSaveFile();
   void updateRecentFiles(const QString &fn);
-  void updateRecentFileActions();
+  void updateRecentFileMenu();
   void createActions();
   void createDockWindows();
   void createStatusBar();
@@ -70,7 +66,6 @@ protected:
   void findSimilarBits();
   void findSignal();
   void undoStackCleanChanged(bool clean);
-  void undoStackIndexChanged(int index);
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
@@ -88,10 +83,8 @@ protected:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
-  QStringList opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
-  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
   QMenu *open_recent_menu = nullptr;
   QMenu *manage_dbcs_menu = nullptr;
   QMenu *tools_menu = nullptr;
@@ -101,8 +94,6 @@ protected:
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;
   QString car_fingerprint;
-  int prev_undostack_index = 0;
-  int prev_undostack_count = 0;
   QByteArray default_state;
 };
 
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 8288c801b5..130b76d502 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -494,6 +494,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }
 
 void SignalView::setMessage(const MessageId &id) {
+  max_value_width = 0;
   filter_edit->clear();
   model->setMessage(id);
 }
@@ -617,7 +618,6 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
-  int max_value_width = 0;
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 6320b9b621..4e746ea105 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -135,6 +135,7 @@ private:
       QTreeView::leaveEvent(event);
     }
   };
+  int max_value_width = 0;
   int value_column_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index ee6a1143c8..9bf80deb98 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -10,11 +10,6 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
 
 AbstractStream *can = nullptr;
 
-StreamNotifier *StreamNotifier::instance() {
-  static StreamNotifier notifier;
-  return &notifier;
-}
-
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
   event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
@@ -24,12 +19,6 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
-  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
-    emit StreamNotifier::instance()->changingStream();
-    delete can;
-    can = this;
-    emit StreamNotifier::instance()->streamStarted();
-  });
 }
 
 void AbstractStream::updateMasks() {
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 9e3f92dc5d..7ae119bcf0 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -96,7 +96,6 @@ signals:
   void seeking(double sec);
   void seekedTo(double sec);
   void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
-  void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
@@ -133,15 +132,11 @@ private:
 class AbstractOpenStreamWidget : public QWidget {
   Q_OBJECT
 public:
-  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
-  virtual bool open() = 0;
-  virtual QString title() = 0;
+  AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual AbstractStream *open() = 0;
 
 signals:
   void enableOpenButton(bool);
-
-protected:
-  AbstractStream **stream = nullptr;
 };
 
 class DummyStream : public AbstractStream {
@@ -149,17 +144,7 @@ class DummyStream : public AbstractStream {
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
   QString routeName() const override { return tr("No Stream"); }
-  void start() override { emit streamStarted(); }
-};
-
-class StreamNotifier : public QObject {
-  Q_OBJECT
-public:
-  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
-  static StreamNotifier* instance();
-signals:
-  void streamStarted();
-  void changingStream();
+  void start() override {}
 };
 
 // A global pointer referring to the unique AbstractStream object
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 80507391a7..6de63dfbbc 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -33,13 +33,9 @@ void DeviceStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
-  return new OpenDeviceWidget(stream);
-}
-
 // OpenDeviceWidget
 
-OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
   QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
   ip_address = new QLineEdit(this);
@@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream
   zmq->setChecked(true);
 }
 
-bool OpenDeviceWidget::open() {
+AbstractStream *OpenDeviceWidget::open() {
   QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
   bool msgq = group->checkedId() == 0;
-  *stream = new DeviceStream(qApp, msgq ? "" : ip);
-  return true;
+  return new DeviceStream(qApp, msgq ? "" : ip);
 }
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
index a65f073458..3bdf224998 100644
--- a/tools/cabana/streams/devicestream.h
+++ b/tools/cabana/streams/devicestream.h
@@ -6,7 +6,6 @@ class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
   }
@@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenDeviceWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Device"); }
+  OpenDeviceWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   QLineEdit *ip_address;
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 6bcb1c1d54..ac9a6fa105 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() {
 }
 
 void LiveStream::start() {
-  emit streamStarted();
   stream_thread->start();
   startUpdateTimer();
   begin_date_time = QDateTime::currentDateTime();
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 030783a899..cdf6da6d83 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -77,13 +77,9 @@ void PandaStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
-  return new OpenPandaWidget(stream);
-}
-
 // OpenPandaWidget
 
-OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
     form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
@@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() {
   }
 }
 
-bool OpenPandaWidget::open() {
+AbstractStream *OpenPandaWidget::open() {
   try {
-    *stream = new PandaStream(qApp, config);
-    return true;
+    return new PandaStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
 }
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index ad792ec292..826b1aa986 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -28,7 +28,6 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Panda: %1").arg(config.serial);
   }
@@ -45,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenPandaWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Panda"); }
+  OpenPandaWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   void refreshSerials();
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 09ba3db417..1616f2aec3 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -83,11 +83,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   return success;
 }
 
-void ReplayStream::start() {
-  emit streamStarted();
-  replay->start();
-}
-
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
@@ -115,13 +110,9 @@ void ReplayStream::pause(bool pause) {
 }
 
 
-AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
-  return new OpenReplayWidget(stream);
-}
-
 // OpenReplayWidget
 
-OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QGridLayout *grid_layout = new QGridLayout(this);
   grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
   grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
@@ -154,7 +145,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
   });
 }
 
-bool OpenReplayWidget::open() {
+AbstractStream *OpenReplayWidget::open() {
   QString route = route_edit->text();
   QString data_dir;
   if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
@@ -173,8 +164,8 @@ bool OpenReplayWidget::open() {
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
     if (replay_stream->loadRoute(route, data_dir, flags)) {
-      *stream = replay_stream.release();
+      return replay_stream.release();
     }
   }
-  return *stream != nullptr;
+  return nullptr;
 }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 217d1ac1d3..25d6ef4a72 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -15,7 +15,7 @@ class ReplayStream : public AbstractStream {
 
 public:
   ReplayStream(QObject *parent);
-  void start() override;
+  void start() override { replay->start(); }
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
@@ -31,7 +31,6 @@ public:
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
 private:
   void mergeSegments();
@@ -44,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenReplayWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Replay"); }
+  OpenReplayWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   QLineEdit *route_edit;
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index 0f13b9901b..1346a496bb 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -66,11 +66,7 @@ void SocketCanStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
-  return new OpenSocketCanWidget(stream);
-}
-
-OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->addStretch(1);
 
@@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() {
 }
 
 
-bool OpenSocketCanWidget::open() {
+AbstractStream *OpenSocketCanWidget::open() {
   try {
-    *stream = new SocketCanStream(qApp, config);
+    return new SocketCanStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
-  return true;
 }
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 952f1aaa5c..8083b687e9 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
   ~SocketCanStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   static bool available();
 
   inline QString routeName() const override {
@@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenSocketCanWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&SocketCAN"); }
+  OpenSocketCanWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   void refreshDevices();
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index 209b577c9a..efd00d3985 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -10,7 +10,7 @@
 #include "tools/cabana/streams/replaystream.h"
 #include "tools/cabana/streams/socketcanstream.h"
 
-StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
+StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
   QVBoxLayout *layout = new QVBoxLayout(this);
   tab = new QTabWidget(this);
@@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   layout->addWidget(btn_box);
 
-  addStreamWidget(ReplayStream::widget(stream));
-  addStreamWidget(PandaStream::widget(stream));
+  addStreamWidget(new OpenReplayWidget, tr("&Replay"));
+  addStreamWidget(new OpenPandaWidget, tr("&Panda"));
   if (SocketCanStream::available()) {
-    addStreamWidget(SocketCanStream::widget(stream));
+    addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
   }
-  addStreamWidget(DeviceStream::widget(stream));
+  addStreamWidget(new OpenDeviceWidget, tr("&Device"));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
   QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
     setEnabled(false);
-    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
+    if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) {
       accept();
     }
     setEnabled(true);
@@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   });
 }
 
-void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
-  tab->addTab(w, w->title());
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) {
+  tab->addTab(w, title);
   auto open_btn = btn_box->button(QDialogButtonBox::Open);
   QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }
diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h
index a702fc76ad..0919195e4e 100644
--- a/tools/cabana/streamselector.h
+++ b/tools/cabana/streamselector.h
@@ -11,11 +11,13 @@ class StreamSelector : public QDialog {
   Q_OBJECT
 
 public:
-  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
-  void addStreamWidget(AbstractOpenStreamWidget *w);
+  StreamSelector(QWidget *parent = nullptr);
+  void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title);
   QString dbcFile() const { return dbc_file->text(); }
+  AbstractStream *stream() const { return stream_; }
 
 private:
+  AbstractStream *stream_ = nullptr;
   QLineEdit *dbc_file;
   QTabWidget *tab;
   QDialogButtonBox *btn_box;

From d7f77d0dc7ea342d11300770cd16b86040ef692a Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 10 Jul 2024 18:10:42 -0400
Subject: [PATCH 0178/1243] Improved PlotJuggler layout for lateral accel
 torque controller (#32949)

* improved PlotJuggler layout for lat accel controller

* help estimate steerActuatorDelay

* update Actuator Performance, add Vehicle Dynamics

* disable Y limits on actuator performance because sunny

* apply delay estimation feedback from harald

* gc extra custom series that PJ copied in

* label wordsmithing
old-commit-hash: e36ff90996ca55ae80530f9e6e436da58d0b7c89
---
 .../plotjuggler/layouts/torque-controller.xml | 231 +++++++++++++++---
 1 file changed, 192 insertions(+), 39 deletions(-)

diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index d6e4684d63..b4edfdcc18 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -1,45 +1,193 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="tab1" containers="1">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="Lateral Plan Conformance">
    <Container>
-    <DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
        <limitY/>
-       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
-       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
+     <DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
        <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
        <limitY/>
-       <curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
-        <transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
-         <options time_offset="0" value_scale="-1" value_offset="0"/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" time_offset="0" value_offset="0"/>
         </transform>
        </curve>
-       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
-       <curve name="/carState/steeringPressed" color="#ff000f"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
+     <DockArea name="vehicle speed">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
        <limitY/>
-       <curve name="carState.vEgo mph" color="#d62728"/>
-       <curve name="carState.vEgo kmh" color="#1ac938"/>
-       <curve name="/carState/vEgo" color="#ff7f0e"/>
+       <curve color="#d62728" name="carState.vEgo mph"/>
+       <curve color="#1ac938" name="carState.vEgo kmh"/>
+       <curve color="#ff7f0e" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Performance">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
+       <curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
+       <limitY/>
+       <curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
+       <curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
+       <curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Vehicle Dynamics">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carParams/steerRatio"/>
+       <curve color="#1ac938" name="/liveParameters/steerRatio"/>
+      </plot>
+     </DockArea>
+     <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
+       <limitY/>
+       <curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
+       <curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
+       <curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Controller PIF Terms">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+       <limitY/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
+       <limitY/>
+       <curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
+       <curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
+       <curve color="#756a6a" name="Zero"/>
+      </plot>
+     </DockArea>
+     <DockArea name="road roll angle, from openpilot localizer">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/roll"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Delay Estimation">
+   <Container>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (baseline)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.1" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.2" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.3" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -57,34 +205,39 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="carState.vEgo mph">
+  <snippet name="Zero">
    <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
   </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
+  <snippet name="Actual lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
+  <snippet name="Desired lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->

From bb67139ca772f3aa94a7a57b087a19f8b339e28f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 10 Jul 2024 17:25:39 -0700
Subject: [PATCH 0179/1243] torqued: check steer override to current time
 (#32963)

* lat active/steer override: check up to now

* lint

* Update ref_commit
old-commit-hash: b247c3caaa5b5d503a9c1aa3336a7a206765167c
---
 selfdrive/locationd/torqued.py           | 7 +++++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index ba649b318d..e0784eb8e6 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -177,8 +177,11 @@ class TorqueEstimator(ParameterEstimator):
       if len(self.raw_points['steer_torque']) == self.hist_len:
         yaw_rate = msg.angularVelocityCalibrated.value[2]
         roll = msg.orientationNED.value[0]
-        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
-        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
+        # check lat active up to now (without lag compensation)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                               self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
+        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                                   self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
         steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
         lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1635012f3e..13b427b894 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f6ff3601bd0496e78d8bc3b019d58bb7739f096b
\ No newline at end of file
+0adff03d45c99dcfb330c48b2aa9d2093ce674a2

From 1d480761bd5f90d110896f98cc92648ed937c1cb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 11 Jul 2024 02:49:42 -0700
Subject: [PATCH 0180/1243] hardwared: don't ignore quick ignition cycles
 (#32938)

* check on either edge

* clean up

* clean up

* good thing I tested this first :P
old-commit-hash: 11db7b683b4ea0427c0060b48bd17ac5b61b11ff
---
 system/hardware/hardwared.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index e3a4c81711..ff34d95828 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -230,8 +230,8 @@ def hardware_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
-    # Run at 2Hz, plus rising edge of ignition
-    ign_edge = started_ts is None and onroad_conditions["ignition"]
+    # Run at 2Hz, plus either edge of ignition
+    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 

From 68fc530eca3d38277ae7442f666916cd595634e2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 11 Jul 2024 14:06:51 -0700
Subject: [PATCH 0181/1243] long planner: formatting

old-commit-hash: 71dd1e2ff6768c649d3d885d30280d9ca46841a4
---
 .../controls/lib/longitudinal_planner.py      | 31 +++++++++----------
 1 file changed, 15 insertions(+), 16 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c59955d551..6a2a1570d8 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -45,22 +45,21 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 def get_accel_from_plan(CP, speeds, accels):
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
+  if len(speeds) == CONTROL_N:
+    v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
-      v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
 
-      v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-    should_stop = (v_target < CP.vEgoStopping and
-                    v_target_1sec < CP.vEgoStopping)
-    return a_target, should_stop
+    v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < CP.vEgoStopping and
+                 v_target_1sec < CP.vEgoStopping)
+  return a_target, should_stop
 
 
 class LongitudinalPlanner:
@@ -82,8 +81,8 @@ class LongitudinalPlanner:
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
-       len(model_msg.velocity.x) == ModelConstants.IDX_N and
-       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
+      len(model_msg.velocity.x) == ModelConstants.IDX_N and
+      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
       x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
       v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)

From 283574f334c27b3ffcfd307c5c0bf8bcd695478d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 01:38:07 +0800
Subject: [PATCH 0182/1243] cabana: fix wrong file path handling for recent
 files menu (#32969)

fix lambda
old-commit-hash: e3e54fb28bad2e4848d9f3a510be8a45d9bd6ffa
---
 tools/cabana/mainwin.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 34432707db..ee8f42ea72 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -487,7 +487,7 @@ void MainWindow::updateRecentFileMenu() {
 
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); });
+    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); });
   }
 }
 

From 3b95cc95143e0004a7871079b998ea51820f68a6 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 07:20:49 +0800
Subject: [PATCH 0183/1243] pandad: remove return statement in constructor
 (#32975)

remove return
old-commit-hash: 2156870df991bf6231121460810b0edcde74137b
---
 selfdrive/pandad/panda.cc | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index a404ad3880..fcb4ac67a4 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -26,8 +26,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
 
   hw_type = get_hw_type();
   can_reset_communications();
-
-  return;
 }
 
 bool Panda::connected() {

From 656b72ee2dd495235d341f6e42b78a6bd4edaa57 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Sat, 13 Jul 2024 02:32:04 +0300
Subject: [PATCH 0184/1243] start for `curl openpilot.comma.ai | bash` (#32967)

* initial setup.sh for curl|bash

* --single-branch for faster pull and some final instructions

* fix git lfs pull
old-commit-hash: 122a7f2f0f6b0db435118e7f3e997c1528c8d8aa
---
 tools/setup.sh | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100755 tools/setup.sh

diff --git a/tools/setup.sh b/tools/setup.sh
new file mode 100755
index 0000000000..22d10be80b
--- /dev/null
+++ b/tools/setup.sh
@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ ! -f launch_openpilot.sh ]; then
+  if [ ! -d openpilot ]; then
+    git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git
+  fi
+  cd openpilot
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  tools/mac_setup.sh
+else
+  tools/ubuntu_setup.sh
+fi
+
+git lfs pull
+
+source .venv/bin/activate
+
+echo "Building openpilot"
+scons -u -j$(nproc)
+
+echo
+echo "----   OPENPILOT BUILDING DONE   ----"
+echo "To push changes to your fork, run the following commands:"
+echo "git remote remove origin"
+echo "git remote add origin git@github.com:<YOUR_USERNAME>/openpilot.git"
+echo "git fetch"
+echo "git commit -m \"first commit\""
+echo "git push"

From cb80c49b5a604f2e9f729bdd5e2d888bc3795e4b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 07:42:10 +0800
Subject: [PATCH 0185/1243] replay: update README (#32966)

update README
old-commit-hash: f1416f337cbf40c11de88903e13177f9f54dc544
---
 tools/replay/README.md | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/tools/replay/README.md b/tools/replay/README.md
index 91e89176a2..bf7280ae80 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -34,10 +34,21 @@ Options:
   -h, --help             Displays this help.
   -a, --allow <allow>    whitelist of services to send
   -b, --block <block>    blacklist of services to send
+  -c, --cache <n>        cache <n> segments in memory. default is 5
   -s, --start <seconds>  start from <seconds>
+  -x <speed>             playback <speed>. between 0.2 - 3
   --demo                 use a demo route instead of providing your own
+  --data_dir <data_dir>  local directory with routes
+  --prefix <prefix>      set OPENPILOT_PREFIX
   --dcam                 load driver camera
   --ecam                 load wide road camera
+  --no-loop              stop at the end of the route
+  --no-cache             turn off local cache
+  --qcam                 load qcamera
+  --no-hw-decoder        disable HW video decoding
+  --no-vipc              do not output video
+  --all                  do output all messages including uiDebug, userFlag.
+                         this may causes issues when used along with UI
 
 Arguments:
   route                  the drive to replay. find your drives at

From 76b55d39d75e3f55fe344868a3f9a8074a000008 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 13 Jul 2024 07:42:45 +0800
Subject: [PATCH 0186/1243] cabana: update README (#32965)

improve README
old-commit-hash: 32a5cfd84c804b671c54688120265b436610d7a9
---
 tools/cabana/README.md | 70 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 69 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 53723ef8a6..dbbdd8020c 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -29,4 +29,72 @@ Arguments:
                                  connect.comma.ai
 ```
 
-See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+## Examples
+
+### Running Cabana in Demo Mode
+To run Cabana using a built-in demo route, use the following command:
+
+```shell
+cabana --demo
+```
+
+### Loading a Specific Route
+
+To load a specific route for replay, provide the route as an argument:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+```
+
+Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+
+
+### Running Cabana with multiple cameras
+To run Cabana with multiple cameras, use the following command:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+```
+
+### Streaming CAN Messages from a comma Device
+
+[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
+
+```shell
+cd /data/openpilot/cereal/messaging/
+./bridge &
+```
+
+Then Run Cabana with the device's IP address:
+
+```shell
+cabana --stream <ipaddress>
+```
+
+Replace &lt;ipaddress&gt; with your comma device's IP address.
+
+While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.
+
+After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.
+
+### Streaming CAN Messages from Panda
+
+To read CAN messages from a connected Panda, use the following command:
+
+```shell
+cabana --panda
+```
+
+### Using the Stream Selector Dialog
+
+If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.
+
+```shell
+cabana
+```
+
+## Additional Information
+
+For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+
+If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091)
\ No newline at end of file

From 83bd7a786e4276ff098a30656e2683801e9ae876 Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Sat, 13 Jul 2024 07:44:22 +0800
Subject: [PATCH 0187/1243] PC: added missing hexdump package for
 selfdrive/debug/dump.py (#32959)

added missing hexdump package
old-commit-hash: 0f34e6e3b6e3627416129c34e4b9ff463d87c2ac
---
 pyproject.toml | 1 +
 uv.lock        | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 0f5d9aa1cc..82f9c563bd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -115,6 +115,7 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
+  "hexdump",
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
diff --git a/uv.lock b/uv.lock
index 2797eee62f..57f8d9d7ee 100644
--- a/uv.lock
+++ b/uv.lock
@@ -766,6 +766,12 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a8/4d/3cbfd81ed84db450dbe73a89afcd8bc405273918415649ac6683356afe92/gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e", size = 953939 },
 ]
 
+[[distribution]]
+name = "hexdump"
+version = "3.3"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/55/b3/279b1d57fa3681725d0db8820405cdcb4e62a9239c205e4ceac4391c78e4/hexdump-3.3.zip", hash = "sha256:d781a43b0c16ace3f9366aade73e8ad3a7bd5137d58f0b45ab2d3f54876f20db", size = 12658 }
+
 [[distribution]]
 name = "humanfriendly"
 version = "10.0"
@@ -1537,6 +1543,7 @@ dev = [
     { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
+    { name = "hexdump" },
     { name = "inputs" },
     { name = "lru-dict" },
     { name = "matplotlib" },

From 25985e39990e303f0a522bdb5e41f2f6fd0007e4 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Sat, 13 Jul 2024 02:44:52 +0300
Subject: [PATCH 0188/1243] Rewrite git history update (#32955)

Rewrite git history final touches
old-commit-hash: 50f55684a2a6b04bb744e7af1b8efbd26ac114be
---
 scripts/git_rewrite/rewrite-git-history.sh | 119 +++++++++++++--------
 1 file changed, 76 insertions(+), 43 deletions(-)

diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
index 4130b55db9..5a97e6bbad 100755
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -1,15 +1,40 @@
-#!/bin/bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
+#!/bin/bash -e
 
 SRC=/tmp/openpilot/
 SRC_CLONE=/tmp/openpilot-clone/
 OUT=/tmp/openpilot-tiny/
 
-LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt
-exec > >(tee -a "$LOG_FILE") 2>&1
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
 
 # INSTALL git-filter-repo
 if [ ! -f /tmp/git-filter-repo ]; then
@@ -40,7 +65,7 @@ if [ ! -d $SRC ]; then
   git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
   git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
   # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
 fi
 
 # REWRITE master and tags
@@ -52,7 +77,7 @@ if [ ! -d $SRC_CLONE ]; then
 
   echo "Checking out old history..."
 
-  git checkout tags/v0.7.1
+  git checkout tags/v0.7.1 > /dev/null 2>&1
   # checkout as main, since we need master ref later
   git checkout -b main
 
@@ -60,22 +85,26 @@ if [ ! -d $SRC_CLONE ]; then
 
   # rm these so we don't get conflicts later
   git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files"
+  git commit -m "removed conflicting files" > /dev/null
 
   # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
   # we don't care about fetching/pushing lfs right now
   git lfs install --skip-smudge --local
 
   # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)"
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
 
   # get commits we want to cherry-pick
   # will start with the next commit after #59b3d06 tools is local now
   COMMITS=$(git rev-list --reverse 59b3d06..master)
 
   # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w)
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
   CURRENT_COMMIT_NUMBER=0
 
   # empty this file
@@ -85,7 +114,8 @@ if [ ! -d $SRC_CLONE ]; then
 
   for COMMIT in $COMMITS; do
       CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
 
       # set environment variables to preserve author/committer and dates
       export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
@@ -119,6 +149,12 @@ if [ ! -d $SRC_CLONE ]; then
         # append the old commit ID to the commit message
         git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
       fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
   done
 
   echo "Rewriting tags..."
@@ -137,7 +173,7 @@ if [ ! -d $SRC_CLONE ]; then
       NEW_COMMIT=$OLD_COMMIT
     fi
 
-    printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT"
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
     git tag -f "$TAG" "$NEW_COMMIT"
   done < "$DIR/tag-commit-map.txt"
 
@@ -153,19 +189,20 @@ if [ ! -d $SRC_CLONE ]; then
 fi
 
 # REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
   cd $SRC_CLONE
+  > rewrite-branches-done
 
   # empty file
-  > branch-diff.txt
+  > $BRANCH_DIFF_LOG
 
   echo "Rewriting branches based on master..."
 
   # will store raw diffs here, if exist
   mkdir -p differences
 
-  # get a list of all branches except master
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$')
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
 
   for BRANCH in $BRANCHES; do
     # check if the branch is based on master history
@@ -176,7 +213,7 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
       # create a new branch based on the new master
       NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
       if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
         continue
       fi
       git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
@@ -208,8 +245,8 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
             echo "$COMMIT EMPTY" >> commit-map.txt
           else
             # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt
-            echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}"
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
             git cherry-pick --abort
             git push --delete origin ${BRANCH}
             HAS_ERROR=1
@@ -239,28 +276,24 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
       git checkout master > /dev/null
       git branch -D ${BRANCH}_new > /dev/null
     else
-      # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt
-       echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt
-       git push --delete origin ${BRANCH}
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
     fi
   done
 fi
 
 # VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
   cd $SRC_CLONE
+  > validation-done
 
   TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
   CURRENT_COMMIT_NUMBER=0
   COUNT_SAME=0
   COUNT_DIFF=0
-  VALIDATE_IGNORE_FILES=(
-    ".github/ISSUE_TEMPLATE/bug_report.md"
-    ".github/pull_request_template.md"
-  )
 
   # empty file
-  > commit-diff.txt
+  > $COMMIT_DIFF_LOG
 
   echo "Validating commits..."
 
@@ -273,7 +306,7 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
       continue
     fi
     if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
       continue
     fi
     CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
@@ -283,7 +316,8 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
     OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
     NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
 
-    echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
     
     # generate lists of files and their hashes for the old and new commits, excluding ignored files
     OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
@@ -294,17 +328,17 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
       # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
       COUNT_SAME=$((COUNT_SAME + 1))
     else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
       COUNT_DIFF=$((COUNT_DIFF + 1))
       set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
       set -e
     fi
   done < "commit-map.txt"
 
-  echo "Summary:" >> commit-diff.txt
-  echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt
-  echo "Different commits: $COUNT_DIFF" >> commit-diff.txt
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
 fi
 
 if [ ! -d $OUT ]; then
@@ -313,7 +347,6 @@ if [ ! -d $OUT ]; then
   cd $OUT
 
   # remove all non-master branches
-  # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*)
   # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
 
   # echo "cleaning up refs"
@@ -322,7 +355,8 @@ if [ ! -d $OUT ]; then
 
   echo "importing new lfs files"
   # import "almost" everything to lfs
-  git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
 
   echo "reflog and gc"
   # this is needed after lfs import
@@ -351,7 +385,6 @@ git lfs fetch --all || true
 
 # final push - will also push lfs
 # TODO: switch to git@github.com:commaai/openpilot.git when ready
-# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2)
 # git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

From 5cdff92d43638cbfd1c8a346e00db07e803a53b6 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 12 Jul 2024 17:07:57 -0700
Subject: [PATCH 0189/1243] Re-use "is_metric" declaration (#32948)

old-commit-hash: 953e5667b1dce769611e742622e3612b0b09d9f4
---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index b08420a713..60f2380dc5 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -31,11 +31,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
 
+  is_metric = s.scene.is_metric;
+
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
   setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
   is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
-  if (is_cruise_set && !s.scene.is_metric) {
+  if (is_cruise_set && !is_metric) {
     setSpeed *= KM_TO_MILE;
   }
 
@@ -43,10 +45,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
   float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  is_metric = s.scene.is_metric;
-  speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   status = s.status;
 

From 6766df5f388401c23fed68c5d4ad4b2ad9f4c8a2 Mon Sep 17 00:00:00 2001
From: savojovic <74861870+savojovic@users.noreply.github.com>
Date: Sat, 13 Jul 2024 22:36:21 +0200
Subject: [PATCH 0190/1243] Replace ui.py with a Rerun visualizer (#32850)

* Replace ui.py with rerun

* Visualizing radarpoints

* Visualizing all points

* Code clean-up

* Merging matrices into one

* Removing pygame depndency

* Replacing ui.py with rp_visualization.py

* Minor fix, changing color names

* Update README.md
old-commit-hash: 75b07c042f09f39275452df84c5dfd46e2f4e7f0
---
 tools/replay/README.md           |   6 +-
 tools/replay/lib/rp_helpers.py   | 108 ++++++++++++++
 tools/replay/lib/ui_helpers.py   | 231 ------------------------------
 tools/replay/rp_visualization.py |  59 ++++++++
 tools/replay/ui.py               | 238 -------------------------------
 5 files changed, 171 insertions(+), 471 deletions(-)
 create mode 100644 tools/replay/lib/rp_helpers.py
 delete mode 100644 tools/replay/lib/ui_helpers.py
 create mode 100755 tools/replay/rp_visualization.py
 delete mode 100755 tools/replay/ui.py

diff --git a/tools/replay/README.md b/tools/replay/README.md
index bf7280ae80..122af71521 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -19,8 +19,10 @@ tools/replay/replay --demo
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
 
-# or try out a debug visualizer:
-python replay/ui.py
+# or try out radar point visualization in Rerun:
+python replay/rp_visualization.py
+
+# NOTE: To visualize radar points, make sure tools/replay/replay is running.
 ```
 
 ## usage
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
new file mode 100644
index 0000000000..95eef9d233
--- /dev/null
+++ b/tools/replay/lib/rp_helpers.py
@@ -0,0 +1,108 @@
+import numpy as np
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+
+# Color palette used for rerun AnnotationContext
+rerunColorPalette = [(96, "red", (255, 0, 0)),
+                     (100, "pink", (255, 36, 0)),
+                     (124, "yellow", (255, 255, 0)),
+                     (230, "vibrantpink", (255, 36, 170)),
+                     (240, "orange", (255, 146, 0)),
+                     (255, "white", (255, 255, 255)),
+                     (110, "carColor", (255,0,127))]
+
+
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = rerunColorPalette[6][0]
+UP = UIParams
+
+
+def to_topdown_pt(y, x):
+  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
+  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
+    return int(px), int(py)
+  return -1, -1
+
+
+def draw_path(path, lid_overlay, lid_color=None):
+  x, y = np.asarray(path.x), np.asarray(path.y)
+  # draw lidar path point on lidar
+  if lid_color is not None and lid_overlay is not None:
+    for i in range(len(x)):
+      px, py = to_topdown_pt(x[i], y[i])
+      if px != -1:
+        lid_overlay[px, py] = lid_color
+
+
+def plot_model(m, lid_overlay):
+  if lid_overlay is None:
+    return
+  for lead in m.leadsV3:
+    if lead.prob < 0.5:
+      continue
+    x, y = lead.x[0], lead.y[0]
+    x_std = lead.xStd[0]
+    x -= RADAR_TO_CAMERA
+    _, py_top = to_topdown_pt(x + x_std, y)
+    px, py_bottom = to_topdown_pt(x - x_std, y)
+    lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
+
+  for path in m.laneLines:
+    draw_path(path, lid_overlay, rerunColorPalette[2][0])
+  for edge in m.roadEdges:
+    draw_path(edge, lid_overlay, rerunColorPalette[0][0])
+  draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
+
+
+def plot_lead(rs, lid_overlay):
+  for lead in [rs.leadOne, rs.leadTwo]:
+    if not lead.status:
+      continue
+    x = lead.dRel
+    px_left, py = to_topdown_pt(x, -10)
+    px_right, _ = to_topdown_pt(x, 10)
+    lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
+
+
+def maybe_update_radar_points(lt, lid_overlay):
+  ar_pts = []
+  if lt is not None:
+    ar_pts = {}
+    for track in lt:
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
+  for ids, pt in ar_pts.items():
+    # negative here since radar is left positive
+    px, py = to_topdown_pt(pt[0], -pt[1])
+    if px != -1:
+      if pt[-1]:
+        color = rerunColorPalette[4][0]
+      elif pt[-2]:
+        color = rerunColorPalette[3][0]
+      else:
+        color = rerunColorPalette[5][0]
+      if int(ids) == 1:
+        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
+      else:
+        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+
+
+def get_blank_lid_overlay(UP):
+  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
+  # Draw the car.
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
+                                                      UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
+                                                      UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  return lid_overlay
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
deleted file mode 100644
index 11b5182a6b..0000000000
--- a/tools/replay/lib/ui_helpers.py
+++ /dev/null
@@ -1,231 +0,0 @@
-import itertools
-from typing import Any
-
-import matplotlib.pyplot as plt
-import numpy as np
-import pygame
-
-from matplotlib.backends.backend_agg import FigureCanvasAgg
-
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-
-
-RED = (255, 0, 0)
-GREEN = (0, 255, 0)
-BLUE = (0, 0, 255)
-YELLOW = (255, 255, 0)
-BLACK = (0, 0, 0)
-WHITE = (255, 255, 255)
-
-class UIParams:
-  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
-  car_hwidth = 1.7272 / 2 * lidar_zoom
-  car_front = 2.6924 * lidar_zoom
-  car_back = 1.8796 * lidar_zoom
-  car_color = 110
-UP = UIParams
-
-METER_WIDTH = 20
-
-class Calibration:
-  def __init__(self, num_px, rpy, intrinsic, calib_scale):
-    self.intrinsic = intrinsic
-    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
-    self.zoom = calib_scale
-
-  def car_space_to_ff(self, x, y, z):
-    car_space_projective = np.column_stack((x, y, z)).T
-
-    ep = self.extrinsics_matrix.dot(car_space_projective)
-    kep = self.intrinsic.dot(ep)
-    return (kep[:-1, :] / kep[-1, :]).T
-
-  def car_space_to_bb(self, x, y, z):
-    pts = self.car_space_to_ff(x, y, z)
-    return pts / self.zoom
-
-
-_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
-def find_color(lidar_surface, color):
-  if color in _COLOR_CACHE:
-    return _COLOR_CACHE[color]
-  tcolor = 0
-  ret = 255
-  for x in lidar_surface.get_palette():
-    if x[0:3] == color:
-      ret = tcolor
-      break
-    tcolor += 1
-  _COLOR_CACHE[color] = ret
-  return ret
-
-
-def to_topdown_pt(y, x):
-  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
-  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
-    return int(px), int(py)
-  return -1, -1
-
-
-def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
-  x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
-  pts = calibration.car_space_to_bb(x, y, z)
-  pts = np.round(pts).astype(int)
-
-  # draw lidar path point on lidar
-  # find color in 8 bit
-  if lid_color is not None and top_down is not None:
-    tcolor = find_color(top_down[0], lid_color)
-    for i in range(len(x)):
-      px, py = to_topdown_pt(x[i], y[i])
-      if px != -1:
-        top_down[1][px, py] = tcolor
-
-  height, width = img.shape[:2]
-  for x, y in pts:
-    if 1 < x < width - 1 and 1 < y < height - 1:
-      for a, b in itertools.permutations([-1, 0, -1], 2):
-        img[y + a, x + b] = color
-
-
-def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
-  color_palette = { "r": (1, 0, 0),
-                    "g": (0, 1, 0),
-                    "b": (0, 0, 1),
-                    "k": (0, 0, 0),
-                    "y": (1, 1, 0),
-                    "p": (0, 1, 1),
-                    "m": (1, 0, 1)}
-
-  dpi = 90
-  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
-  canvas = FigureCanvasAgg(fig)
-
-  fig.set_facecolor((0.2, 0.2, 0.2))
-
-  axs = []
-  for pn in range(len(plot_ylims)):
-    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
-    ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
-    ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
-    ax.patch.set_facecolor((0.4, 0.4, 0.4))
-    axs.append(ax)
-
-  plots, idxs, plot_select = [], [], []
-  for i, pl_list in enumerate(plot_names):
-    for j, item in enumerate(pl_list):
-      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
-                          label=item,
-                          color=color_palette[plot_colors[i][j]],
-                          linestyle=plot_styles[i][j])
-      plots.append(plot)
-      idxs.append(name_to_arr_idx[item])
-      plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
-    axs[i].tick_params(axis="x", colors="white")
-    axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
-
-    if i < len(plot_ylims) - 1:
-      axs[i].set_xticks([])
-
-  canvas.draw()
-
-  def draw_plots(arr):
-    for ax in axs:
-      ax.draw_artist(ax.patch)
-    for i in range(len(plots)):
-      plots[i].set_ydata(arr[:, idxs[i]])
-      axs[plot_select[i]].draw_artist(plots[i])
-
-    raw_data = canvas.buffer_rgba()
-    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
-    return plot_surface
-
-  return draw_plots
-
-
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
-def plot_model(m, img, calibration, top_down):
-  if calibration is None or top_down is None:
-    return
-
-  for lead in m.leadsV3:
-    if lead.prob < 0.5:
-      continue
-
-    x, y = lead.x[0], lead.y[0]
-    x_std = lead.xStd[0]
-    x -= RADAR_TO_CAMERA
-
-    _, py_top = to_topdown_pt(x + x_std, y)
-    px, py_bottom = to_topdown_pt(x - x_std, y)
-    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
-
-  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
-    color = (0, int(255 * prob), 0)
-    draw_path(path, color, img, calibration, top_down, YELLOW)
-
-  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
-    prob = max(1 - std, 0)
-    color = (int(255 * prob), 0, 0)
-    draw_path(edge, color, img, calibration, top_down, RED)
-
-  color = (255, 0, 0)
-  draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
-
-
-def plot_lead(rs, top_down):
-  for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
-      continue
-
-    x = lead.dRel
-    px_left, py = to_topdown_pt(x, -10)
-    px_right, _ = to_topdown_pt(x, 10)
-    top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
-
-
-def maybe_update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
-    ar_pts = {}
-    for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = 240
-      elif pt[-2]:
-        color = 230
-      else:
-        color = 255
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
-
-def get_blank_lid_overlay(UP):
-  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
-  # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  return lid_overlay
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
new file mode 100755
index 0000000000..853a83c150
--- /dev/null
+++ b/tools/replay/rp_visualization.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+import numpy as np
+import rerun as rr
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
+                                         get_blank_lid_overlay,
+                                         maybe_update_radar_points, plot_lead,
+                                         plot_model)
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+UP.lidar_zoom = 6
+
+def visualize(addr):
+  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while True:
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+    new_data = vipc_client.recv()
+    if new_data is None or not new_data.data.any():
+      continue
+
+    sm.update(0)
+    lid_overlay = get_blank_lid_overlay(UP)
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], lid_overlay)
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], lid_overlay)
+    liveTracksTime = sm.logMonoTime['liveTracks']
+    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    rr.set_time_nanos("TIMELINE", liveTracksTime)
+    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+  rr.init("RadarPoints", spawn= True)
+  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
+  visualize(args.ip_address)
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
deleted file mode 100755
index b1fe70ef3c..0000000000
--- a/tools/replay/ui.py
+++ /dev/null
@@ -1,238 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-
-import cv2
-import numpy as np
-import pygame
-
-import cereal.messaging as messaging
-from openpilot.common.numpy_fast import clip
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.replay.lib.ui_helpers import (UP,
-                                         BLACK, GREEN,
-                                         YELLOW, Calibration,
-                                         get_blank_lid_overlay, init_plots,
-                                         maybe_update_radar_points, plot_lead,
-                                         plot_model,
-                                         pygame_modules_have_loaded)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-ANGLE_SCALE = 5.0
-
-def ui_thread(addr):
-  cv2.setNumThreads(1)
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
-
-  disp_info = pygame.display.Info()
-  max_height = disp_info.current_h
-
-  hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960+300 else hor_mode
-
-  if hor_mode:
-    size = (640+384+640, 960)
-    write_x = 5
-    write_y = 680
-  else:
-    size = (640+384, 960+300)
-    write_x = 645
-    write_y = 970
-
-  pygame.display.set_caption("openpilot debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
-
-  alert1_font = pygame.font.SysFont("arial", 30)
-  alert2_font = pygame.font.SysFont("arial", 20)
-  info_font = pygame.font.SysFont("arial", 15)
-
-  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
-  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
-
-  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
-
-  img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
-  num_px = 0
-  calibration = None
-
-  lid_overlay_blank = get_blank_lid_overlay(UP)
-
-  # plots
-  name_to_arr_idx = { "gas": 0,
-                      "computer_gas": 1,
-                      "user_brake": 2,
-                      "computer_brake": 3,
-                      "v_ego": 4,
-                      "v_pid": 5,
-                      "angle_steers_des": 6,
-                      "angle_steers": 7,
-                      "angle_steers_k": 8,
-                      "steer_torque": 9,
-                      "v_override": 10,
-                      "v_cruise": 11,
-                      "a_ego": 12,
-                      "a_target": 13}
-
-  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
-
-  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
-                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-                ["v_ego", "v_override", "v_pid", "v_cruise"],
-                ["a_ego", "a_target"]]
-  plot_colors = [["b", "b", "g", "r", "y"],
-                 ["b", "g", "y", "r"],
-                 ["b", "g", "r", "y"],
-                 ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-"]]
-
-  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
-
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    for event in pygame.event.get():
-      if event.type == pygame.QUIT:
-        pygame.quit()
-        sys.exit()
-
-    screen.fill((64, 64, 64))
-    lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_surface, lid_overlay
-
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      continue
-
-    sm.update(0)
-
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.
-    calib_scale = camera.fcam.width / 640.
-    zoom_matrix = np.asarray([
-        [bb_scale, 0., 0.],
-        [0., bb_scale, 0.],
-        [0., 0., 1.]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
-
-    intrinsic_matrix = camera.fcam.intrinsics
-
-    w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrStateDEPRECATED':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
-    elif w == 'indiState':
-      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
-    else:
-      angle_steers_k = np.inf
-
-    plot_arr[:-1] = plot_arr[1:]
-    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
-    # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
-    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
-    # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
-    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
-
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
-
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], img, calibration, top_down)
-
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], top_down)
-
-    # draw all radar points
-    maybe_update_radar_points(sm['liveTracks'], top_down[1])
-
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
-
-    # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
-
-    # display alerts
-    alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
-    alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
-    screen.blit(alert_line1, (180, 150))
-    screen.blit(alert_line2, (180, 190))
-
-    if hor_mode:
-      screen.blit(draw_plots(plot_arr), (640+384, 0))
-    else:
-      screen.blit(draw_plots(plot_arr), (0, 600))
-
-    pygame.surfarray.blit_array(*top_down)
-    screen.blit(top_down[0], (640, 0))
-
-    SPACING = 25
-
-    lines = [
-      info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
-      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
-      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
-      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
-      None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
-      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
-    ]
-
-    for i, line in enumerate(lines):
-      if line is not None:
-        screen.blit(line, (write_x, write_y + i * SPACING))
-
-    # this takes time...vsync or something
-    pygame.display.flip()
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
-
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  if args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
-
-  ui_thread(args.ip_address)

From 4d20528d47e3ea3f3afd0c6390231fd1a3e4b695 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 13 Jul 2024 13:41:38 -0700
Subject: [PATCH 0191/1243] remove pygame (#32981)

old-commit-hash: e7388c3743242938d07694864f8db011c00554df
---
 pyproject.toml |   1 -
 uv.lock        | 481 ++++++++++++++++++++++++-------------------------
 2 files changed, 240 insertions(+), 242 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 82f9c563bd..13800fc1c5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -107,7 +107,6 @@ dev = [
   "parameterized >=0.8, <0.9",
   #pprofile = "*"
   "pyautogui",
-  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pywinctl",
   "pyprof2calltree",
diff --git a/uv.lock b/uv.lock
index 57f8d9d7ee..873d388808 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,6 @@ requires-python = ">=3.11"
 name = "aiohttp"
 version = "3.9.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
 dependencies = [
     { name = "aiosignal" },
     { name = "attrs" },
@@ -13,6 +12,7 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/67/f5/aa23d04a1bb57e5f51108a6473964a2618cc83e608e23e3543031aa2bb3a/aiohttp-3.9.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e0ae53e33ee7476dd3d1132f932eeb39bf6125083820049d06edcdca4381f342", size = 599387 },
     { url = "https://files.pythonhosted.org/packages/97/e7/575ca16871071313a7a7a03fa055f0c3d52f77eb8583b373ac17fc87ec15/aiohttp-3.9.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c088c4d70d21f8ca5c0b8b5403fe84a7bc8e024161febdd4ef04575ef35d474d", size = 402427 },
@@ -50,11 +50,11 @@ wheels = [
 name = "aioice"
 version = "0.9.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
 dependencies = [
     { name = "dnspython" },
     { name = "ifaddr" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/b6/35/d21e48d3ba25d32aba5d142d54c4491376c659dd74d052a30dd25198007b/aioice-0.9.0-py3-none-any.whl", hash = "sha256:b609597a3a5a611e0004ff04772e16aceb881d51c25c0afc4ceac05d5e50024e", size = 24177 },
 ]
@@ -63,7 +63,6 @@ wheels = [
 name = "aiortc"
 version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 dependencies = [
     { name = "aioice" },
     { name = "av" },
@@ -74,6 +73,7 @@ dependencies = [
     { name = "pylibsrtp" },
     { name = "pyopenssl" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 wheels = [
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     { url = "https://files.pythonhosted.org/packages/4c/6d/76ed96521080492c7264eacf73a8cba2202f1ff9f59af1776c5a2532f332/aiortc-1.9.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:d893cb3d4ffa0ff4f9bb03a88f0a700cdbcd4c0dc060a46c59a27ccd1c890663", size = 896012 },
@@ -88,10 +88,10 @@ wheels = [
 name = "aiosignal"
 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
 dependencies = [
     { name = "frozenlist" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
 wheels = [
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@@ -138,12 +138,12 @@ wheels = [
 name = "azure-core"
 version = "1.30.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 }
 dependencies = [
     { name = "requests" },
     { name = "six" },
     { name = "typing-extensions" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 }
 wheels = [
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@@ -152,7 +152,6 @@ wheels = [
 name = "azure-identity"
 version = "1.17.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/51/c9/f7e3926686a89670ce641b360bd2da9a2d7a12b3e532403462d99f81e9d5/azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea", size = 246652 }
 dependencies = [
     { name = "azure-core" },
     { name = "cryptography" },
@@ -160,6 +159,7 @@ dependencies = [
     { name = "msal-extensions" },
     { name = "typing-extensions" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/51/c9/f7e3926686a89670ce641b360bd2da9a2d7a12b3e532403462d99f81e9d5/azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea", size = 246652 }
 wheels = [
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@@ -168,13 +168,13 @@ wheels = [
 name = "azure-storage-blob"
 version = "12.20.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1b/0f/86cdaec4be486d12fd5bd2c56e835492a58d3bcd4915d24473e889b70f2c/azure-storage-blob-12.20.0.tar.gz", hash = "sha256:eeb91256e41d4b5b9bad6a87fd0a8ade07dd58aa52344e2c8d2746e27a017d3b", size = 551196 }
 dependencies = [
     { name = "azure-core" },
     { name = "cryptography" },
     { name = "isodate" },
     { name = "typing-extensions" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/1b/0f/86cdaec4be486d12fd5bd2c56e835492a58d3bcd4915d24473e889b70f2c/azure-storage-blob-12.20.0.tar.gz", hash = "sha256:eeb91256e41d4b5b9bad6a87fd0a8ade07dd58aa52344e2c8d2746e27a017d3b", size = 551196 }
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@@ -192,11 +192,11 @@ wheels = [
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 version = "4.35.0"
 source = { registry = "https://pypi.org/simple" }
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 dependencies = [
     { name = "docutils" },
     { name = "sphinx" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/a2/9f/0c6f4ae0608d5edbb1df357c2487edfcbda13e75f4e48a898972592e2e48/breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386", size = 83358 }
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@@ -205,10 +205,10 @@ wheels = [
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+sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 }
 wheels = [
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 ]
@@ -5420,12 +5419,12 @@ wheels = [
 name = "yapf"
 version = "0.40.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b9/14/c1f0ebd083fddd38a7c832d5ffde343150bd465689d12c549c303fbcd0f5/yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b", size = 252068 }
 dependencies = [
     { name = "importlib-metadata" },
     { name = "platformdirs" },
     { name = "tomli" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/b9/14/c1f0ebd083fddd38a7c832d5ffde343150bd465689d12c549c303fbcd0f5/yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b", size = 252068 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/66/c9/d4b03b2490107f13ebd68fe9496d41ae41a7de6275ead56d0d4621b11ffd/yapf-0.40.2-py3-none-any.whl", hash = "sha256:adc8b5dd02c0143108878c499284205adb258aad6db6634e5b869e7ee2bd548b", size = 254707 },
 ]
@@ -5434,11 +5433,11 @@ wheels = [
 name = "yarl"
 version = "1.9.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e0/ad/bedcdccbcbf91363fd425a948994f3340924145c2bc8ccb296f4a1e52c28/yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf", size = 141869 }
 dependencies = [
     { name = "idna" },
     { name = "multidict" },
 ]
+sdist = { url = "https://files.pythonhosted.org/packages/e0/ad/bedcdccbcbf91363fd425a948994f3340924145c2bc8ccb296f4a1e52c28/yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf", size = 141869 }
 wheels = [
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From 76e85acc5315d3a9332b27a9d1adeab9b29625e8 Mon Sep 17 00:00:00 2001
From: pantew869 <173707415+pantew869@users.noreply.github.com>
Date: Sun, 14 Jul 2024 17:35:24 +0300
Subject: [PATCH 0192/1243] Bump submodules that used numpy-stubs in pre-commit
 config (#32983)

update submodules that used numpy-stubs in pre-commit config
old-commit-hash: 7ed3f62f0c4fcd43f8f8251e3aec47e77da3f6c7
---
 body         | 2 +-
 panda        | 2 +-
 rednose_repo | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/body b/body
index 0e74db67ae..c433da944f 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
+Subproject commit c433da944f0e4d974cd66601effa66a06355debe
diff --git a/panda b/panda
index 376408bb4f..481d2bec59 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 376408bb4f6706b682eb6d607bedd14958665084
+Subproject commit 481d2bec595b64bb44ad70455b69fd3dd148ed4b
diff --git a/rednose_repo b/rednose_repo
index 72b3479bab..023a6195db 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc
+Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0

From 97e0d7719a2815a34698d518d87f0d245023b27a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 14 Jul 2024 15:56:44 -0700
Subject: [PATCH 0193/1243] bump panda

old-commit-hash: cbee4421da690fa7b260f62c4a2c72ccacc6c902
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 481d2bec59..b4e3d5cdd2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 481d2bec595b64bb44ad70455b69fd3dd148ed4b
+Subproject commit b4e3d5cdd2dec2a58807b0d710a5d3561a59529d

From a11f57cc7db13836925bf3037efc74177b509553 Mon Sep 17 00:00:00 2001
From: signed-long <38993953+signed-long@users.noreply.github.com>
Date: Mon, 15 Jul 2024 09:01:51 -0600
Subject: [PATCH 0194/1243] CI: fix ui report directory  (#32991)

fix report artifact name
old-commit-hash: c759fe900276a6e622b51302fb9897e590edf3fd
---
 .github/workflows/selfdrive_tests.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 419c472084..8968b493cf 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -335,8 +335,8 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number }}
-          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
+          name: report-${{ inputs.run_number || '1' }}
+          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number || '1' }}
       - name: Get changes to selfdrive/ui
         if: ${{ github.event_name == 'pull_request' }}
         id: changed-files
@@ -359,7 +359,7 @@ jobs:
           git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
-          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
+          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report_1/screenshots/* .
           git add .
           git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
           git push origin openpilot/pr-${{ github.event.pull_request.number }} --force

From daf3d15d722455c89f45667f50b385462faf9f9b Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 15 Jul 2024 10:29:57 -0700
Subject: [PATCH 0195/1243] [bot] Update Python packages and pre-commit hooks
 (#32990)

* Update Python packages and pre-commit hooks

* fix ruff

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: dd2787b7a1f2ebb6f71eb3a667848db6caa9963c
---
 .pre-commit-config.yaml                       |   4 +-
 .../sim/bridge/metadrive/metadrive_process.py |   2 +-
 uv.lock                                       | 217 ++++++++++--------
 3 files changed, 121 insertions(+), 102 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fd27ad4852..6aa2a065ac 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.1
+    rev: v0.5.2
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -93,6 +93,6 @@ repos:
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.0
     hooks:
     -   id: check-github-workflows
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 38c13a1434..2486d87ff9 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -89,7 +89,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     cam.get_cam().setPos(C3_POSITION)
     cam.get_cam().setHpr(C3_HPR)
     img = cam.perceive(to_float=False)
-    if type(img) != np.ndarray:
+    if not isinstance(img, np.ndarray):
       img = img.get() # convert cupy array to numpy
     return img
 
diff --git a/uv.lock b/uv.lock
index 873d388808..b0ba09ca3c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -437,31 +437,31 @@ wheels = [
 
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@@ -5213,9 +5232,9 @@ dependencies = [
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From 58df39a2ba515f8439fce3d9d20369dff421a7ff Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 16 Jul 2024 02:12:24 +0800
Subject: [PATCH 0196/1243] selfdrive/car: ban imports from external modules
 (#32973)

* lint import

* Update selfdrive/car/__init__.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 83d4623590f87dcb7df2b458a8814d5ad6ea711b
---
 .importlinter                                 | 36 +++++++++++++++++++
 .pre-commit-config.yaml                       |  7 ++++
 pyproject.toml                                |  1 +
 selfdrive/car/__init__.py                     |  1 +
 selfdrive/car/body/carcontroller.py           |  2 +-
 selfdrive/car/body/interface.py               |  3 +-
 selfdrive/car/card.py                         |  3 +-
 selfdrive/car/chrysler/carcontroller.py       |  3 +-
 selfdrive/car/gm/carcontroller.py             |  3 +-
 selfdrive/car/honda/carcontroller.py          |  2 +-
 selfdrive/car/hyundai/carcontroller.py        |  3 +-
 selfdrive/car/interfaces.py                   |  3 +-
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_lateral_limits.py    |  2 +-
 selfdrive/car/tests/test_models.py            |  5 ++-
 selfdrive/car/toyota/carstate.py              |  2 +-
 selfdrive/car/volkswagen/carcontroller.py     |  3 +-
 selfdrive/controls/controlsd.py               |  3 +-
 selfdrive/controls/lib/drive_helpers.py       |  2 +-
 selfdrive/controls/lib/events.py              |  2 +-
 selfdrive/controls/lib/latcontrol.py          |  2 +-
 selfdrive/controls/lib/longcontrol.py         |  2 +-
 selfdrive/controls/radard.py                  |  3 +-
 .../controls/tests/test_state_machine.py      |  2 +-
 selfdrive/debug/cycle_alerts.py               |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 tools/replay/can_replay.py                    |  3 +-
 27 files changed, 73 insertions(+), 32 deletions(-)
 create mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
new file mode 100644
index 0000000000..3cb9e6b471
--- /dev/null
+++ b/.importlinter
@@ -0,0 +1,36 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6aa2a065ac..ab9ce08c7a 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -96,3 +96,10 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
+-   repo: local
+    hooks:
+    -   id: import-linter
+        name: import linter
+        entry: lint-imports
+        language: system
+        pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index 13800fc1c5..e9c999400d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -73,6 +73,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
+  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 4a1df550d0..6f3bde7f0c 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,6 +11,7 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 259126c416..c45dc7f0d2 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index f797a7ecf8..50564d3ed8 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d9ee020ba4..37f51b9aba 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,9 +9,10 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 85f53f68eb..c9e7e2c9ed 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,6 +1,5 @@
 from opendbc.can.packer import CANPacker
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index b204d3b80f..013e72ad0b 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index fe023ea17d..66bd500485 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,8 +2,8 @@ from collections import namedtuple
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4038ddcca9..3d7768a83b 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 54070284e4..9f1b650158 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,8 +13,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index bb97ac8a9a..4ca19f019e 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,8 +6,7 @@ import importlib
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index e61d197f4b..24eac01fcd 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@ from parameterized import parameterized_class
 import pytest
 import sys
 
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b5d75e665b..02e99f0b82 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,14 +12,13 @@ from parameterized import parameterized_class
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a596881c33..e02293da4e 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index a4e0c8946a..8e8652d3be 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,8 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 583cbaea1f..df84fc718e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -15,9 +15,10 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cfc6374a1d..a87e385b68 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -3,7 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 25833da741..6c1c1d8c84 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -9,7 +9,7 @@ from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 AlertSize = log.ControlsState.AlertSize
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index fddb331ccb..69d64d66af 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,7 +1,7 @@
 from abc import abstractmethod, ABC
 
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index e4841c705f..0aa2a25171 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index c3fb60c61a..6a4db0b4e9 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -8,10 +8,11 @@ import capnp
 from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
+from openpilot.selfdrive.car import DT_CTRL
 
 
 # Default lead acceleration decay set to 50% at 1s
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index b6ec512dc4..ebb742f4b1 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -1,5 +1,5 @@
 from cereal import car, log
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 93b0430c1e..980c491c9c 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -4,7 +4,7 @@ import random
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c7f57fd9bc..3ba129d031 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -20,8 +20,8 @@ from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoi
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
-from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 3ab33a1dfd..9eea6b9050 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -7,7 +7,8 @@ import threading
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Ratekeeper
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
 from panda import PandaJungle

From a878118b00df5434651a3b31107b052f135c938a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Jul 2024 11:14:04 -0700
Subject: [PATCH 0197/1243] Revert "selfdrive/car: ban imports from external
 modules" (#32993)

Revert "selfdrive/car: ban imports from external modules (#32973)"

This reverts commit c1e8ff2dbc47ccb07fb41a4e88bfb66af2669254.
old-commit-hash: 35a4a773f1ff6c7b171b7acdb2fd4a65279edebd
---
 .importlinter                                 | 36 -------------------
 .pre-commit-config.yaml                       |  7 ----
 pyproject.toml                                |  1 -
 selfdrive/car/__init__.py                     |  1 -
 selfdrive/car/body/carcontroller.py           |  2 +-
 selfdrive/car/body/interface.py               |  3 +-
 selfdrive/car/card.py                         |  3 +-
 selfdrive/car/chrysler/carcontroller.py       |  3 +-
 selfdrive/car/gm/carcontroller.py             |  3 +-
 selfdrive/car/honda/carcontroller.py          |  2 +-
 selfdrive/car/hyundai/carcontroller.py        |  3 +-
 selfdrive/car/interfaces.py                   |  3 +-
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_lateral_limits.py    |  2 +-
 selfdrive/car/tests/test_models.py            |  5 +--
 selfdrive/car/toyota/carstate.py              |  2 +-
 selfdrive/car/volkswagen/carcontroller.py     |  3 +-
 selfdrive/controls/controlsd.py               |  3 +-
 selfdrive/controls/lib/drive_helpers.py       |  2 +-
 selfdrive/controls/lib/events.py              |  2 +-
 selfdrive/controls/lib/latcontrol.py          |  2 +-
 selfdrive/controls/lib/longcontrol.py         |  2 +-
 selfdrive/controls/radard.py                  |  3 +-
 .../controls/tests/test_state_machine.py      |  2 +-
 selfdrive/debug/cycle_alerts.py               |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 tools/replay/can_replay.py                    |  3 +-
 27 files changed, 32 insertions(+), 73 deletions(-)
 delete mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
deleted file mode 100644
index 3cb9e6b471..0000000000
--- a/.importlinter
+++ /dev/null
@@ -1,36 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    openpilot.system
-    openpilot.body
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    openpilot.selfdrive.car.card -> openpilot.common.realtime
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
-    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ab9ce08c7a..6aa2a065ac 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -96,10 +96,3 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
--   repo: local
-    hooks:
-    -   id: import-linter
-        name: import linter
-        entry: lint-imports
-        language: system
-        pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index e9c999400d..13800fc1c5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -73,7 +73,6 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6f3bde7f0c..4a1df550d0 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,7 +11,6 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
-DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index c45dc7f0d2..259126c416 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 50564d3ed8..f797a7ecf8 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,6 +1,7 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 37f51b9aba..d9ee020ba4 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,10 +9,9 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index c9e7e2c9ed..85f53f68eb 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,5 +1,6 @@
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 013e72ad0b..b204d3b80f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,8 +1,9 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66bd500485..fe023ea17d 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,8 +2,8 @@ from collections import namedtuple
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3d7768a83b..4038ddcca9 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,8 +1,9 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9f1b650158..54070284e4 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,7 +13,8 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4ca19f019e..bb97ac8a9a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,7 +6,8 @@ import importlib
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 24eac01fcd..e61d197f4b 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@ from parameterized import parameterized_class
 import pytest
 import sys
 
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 02e99f0b82..b5d75e665b 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,13 +12,14 @@ from parameterized import parameterized_class
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e02293da4e..a596881c33 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 8e8652d3be..a4e0c8946a 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,7 +2,8 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index df84fc718e..583cbaea1f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -15,10 +15,9 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index a87e385b68..cfc6374a1d 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -3,7 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 6c1c1d8c84..25833da741 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -9,7 +9,7 @@ from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 AlertSize = log.ControlsState.AlertSize
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 69d64d66af..fddb331ccb 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,7 +1,7 @@
 from abc import abstractmethod, ABC
 
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 0aa2a25171..e4841c705f 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 6a4db0b4e9..c3fb60c61a 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -8,11 +8,10 @@ import capnp
 from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.car import DT_CTRL
 
 
 # Default lead acceleration decay set to 50% at 1s
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index ebb742f4b1..b6ec512dc4 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -1,5 +1,5 @@
 from cereal import car, log
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 980c491c9c..93b0430c1e 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -4,7 +4,7 @@ import random
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 3ba129d031..c7f57fd9bc 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -20,8 +20,8 @@ from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoi
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
+from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 9eea6b9050..3ab33a1dfd 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -7,8 +7,7 @@ import threading
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from openpilot.common.realtime import config_realtime_process, Ratekeeper
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
 from panda import PandaJungle

From e8c4fb0177eeebf225e142144b14cc84dce609d2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Jul 2024 11:59:25 -0700
Subject: [PATCH 0198/1243] Reapply "selfdrive/car: ban imports from external
 modules" (#32993) (#32994)

* Reapply "selfdrive/car: ban imports from external modules" (#32993)

This reverts commit 626d78ec548fe19acfdf3c2c3e063fac3b257dc6.

* controls will just use controls

* also these

* ignore
old-commit-hash: d684d8f0f6900d80a2a1618099b0b8e19e6492a2
---
 .importlinter                              | 44 ++++++++++++++++++++++
 .pre-commit-config.yaml                    |  7 ++++
 pyproject.toml                             |  1 +
 selfdrive/car/__init__.py                  |  1 +
 selfdrive/car/body/carcontroller.py        |  2 +-
 selfdrive/car/body/interface.py            |  3 +-
 selfdrive/car/card.py                      |  3 +-
 selfdrive/car/chrysler/carcontroller.py    |  3 +-
 selfdrive/car/gm/carcontroller.py          |  3 +-
 selfdrive/car/honda/carcontroller.py       |  2 +-
 selfdrive/car/hyundai/carcontroller.py     |  3 +-
 selfdrive/car/interfaces.py                |  3 +-
 selfdrive/car/tests/test_car_interfaces.py |  3 +-
 selfdrive/car/tests/test_lateral_limits.py |  2 +-
 selfdrive/car/tests/test_models.py         |  5 +--
 selfdrive/car/toyota/carstate.py           |  2 +-
 selfdrive/car/volkswagen/carcontroller.py  |  3 +-
 17 files changed, 68 insertions(+), 22 deletions(-)
 create mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
new file mode 100644
index 0000000000..594d75ee4a
--- /dev/null
+++ b/.importlinter
@@ -0,0 +1,44 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+    openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6aa2a065ac..ab9ce08c7a 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -96,3 +96,10 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
+-   repo: local
+    hooks:
+    -   id: import-linter
+        name: import linter
+        entry: lint-imports
+        language: system
+        pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index 13800fc1c5..e9c999400d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -73,6 +73,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
+  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 4a1df550d0..6f3bde7f0c 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,6 +11,7 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 259126c416..c45dc7f0d2 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index f797a7ecf8..50564d3ed8 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d9ee020ba4..37f51b9aba 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,9 +9,10 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 85f53f68eb..c9e7e2c9ed 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,6 +1,5 @@
 from opendbc.can.packer import CANPacker
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index b204d3b80f..013e72ad0b 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index fe023ea17d..66bd500485 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,8 +2,8 @@ from collections import namedtuple
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4038ddcca9..3d7768a83b 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 54070284e4..9f1b650158 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,8 +13,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index bb97ac8a9a..4ca19f019e 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,8 +6,7 @@ import importlib
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index e61d197f4b..24eac01fcd 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@ from parameterized import parameterized_class
 import pytest
 import sys
 
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b5d75e665b..02e99f0b82 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,14 +12,13 @@ from parameterized import parameterized_class
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a596881c33..e02293da4e 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index a4e0c8946a..8e8652d3be 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,8 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags

From 34e307fd94006dbf3b4b986bc4fb080b6a56e0cb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 16 Jul 2024 03:05:20 +0800
Subject: [PATCH 0199/1243] selfdrive/car/ecu_addrs: prefix internal functions
 with underscore (#32980)

underscore prefix
old-commit-hash: c0739cd9ee41ccd372bd8cd816c44dfce4e3a8a2
---
 selfdrive/car/ecu_addrs.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 756cd7f963..0fd4bbd0be 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 
-def make_tester_present_msg(addr, bus, subaddr=None):
+def _make_tester_present_msg(addr, bus, subaddr=None):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
   if subaddr is not None:
     dat.insert(0, subaddr)
@@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
   return make_can_msg(addr, bytes(dat), bus)
 
 
-def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
+def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0
@@ -33,7 +33,7 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
   return False
 
 
-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
   queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
@@ -44,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
                   responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
   ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
-    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+    msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
     messaging.drain_sock_raw(logcan)
     sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
@@ -58,7 +58,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
             continue
 
           subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
             if debug:
               print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
               if (msg.address, subaddr, msg.src) in ecu_responses:
@@ -94,7 +94,7 @@ if __name__ == "__main__":
   set_obd_multiplexing(params, not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
   print("Found ECUs on rx addresses:")

From e0d15b715f41487aeed7e28ef5c3339f9b5e49d9 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 15 Jul 2024 12:05:33 -0700
Subject: [PATCH 0200/1243] [bot] Bump submodules (#32989)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 00af33c6ed3ada846ccfec9de489452c900afffd
---
 msgq_repo      | 2 +-
 opendbc        | 2 +-
 teleoprtc_repo | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 74074d650f..d7b99c4296 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537
+Subproject commit d7b99c4296f7a5c098e756bad73af8ef38370261
diff --git a/opendbc b/opendbc
index de39b143a3..5ba787024f 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit de39b143a31cd29b4df4c0cbba71316c1bc8e71b
+Subproject commit 5ba787024f53a00d76c7b253d1f3fee87763c679
diff --git a/teleoprtc_repo b/teleoprtc_repo
index fdcff87aaf..389815b8ca 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5
+Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b

From 927bde493657dca9a9269450ea91ba9c61eb3d41 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Jul 2024 14:40:24 -0700
Subject: [PATCH 0201/1243] [bot] Fingerprints: add missing FW versions from
 new users (#32996)

Export fingerprints
old-commit-hash: aa8484093e886cd8ae90e4eb42118306794fc439
---
 selfdrive/car/hyundai/fingerprints.py | 1 +
 selfdrive/car/toyota/fingerprints.py  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 4ad7e0e0aa..4c659f053f 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -171,6 +171,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 67203da7d0..a4d0ad1707 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -167,6 +167,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'F152606210\x00\x00\x00\x00\x00\x00',
       b'F152606230\x00\x00\x00\x00\x00\x00',
+      b'F152606260\x00\x00\x00\x00\x00\x00',
       b'F152606270\x00\x00\x00\x00\x00\x00',
       b'F152606290\x00\x00\x00\x00\x00\x00',
       b'F152606410\x00\x00\x00\x00\x00\x00',

From a3aa8c5eaf55522e91e7684b78e60c4aeba35d14 Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Tue, 16 Jul 2024 18:24:01 -0700
Subject: [PATCH 0202/1243] use rounded constant instead of hard-coded value
 for incrementing set speed (#32992)

* use rounded constant instead of hard-coded value for incrementing set speed

* better comment
old-commit-hash: 4b794773b0486a15732ce5551771584af7c41e43
---
 selfdrive/controls/lib/drive_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cfc6374a1d..bd74051374 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -13,7 +13,7 @@ V_CRUISE_MAX = 145
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
 V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
-IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
+IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
 
 MIN_SPEED = 1.0
 CONTROL_N = 17

From 28a91c4e2322745d3760dc5ecc8f22941efe1f58 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 17 Jul 2024 16:17:23 -0700
Subject: [PATCH 0203/1243] livePose log (#32868)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* add livepose

* Formatting

* Add to sevices

* Update locationd to publish livePose

* Remove fields and increase decimation

* Fix field indices

* Remove the line

* Add livePose to pubmaster

* Fix llk decimation

* Update ref commit

* XYZ measurements instead of lists

* Update locationd

* Update ref commit

* Lower the qlog size in test_onroad

* Update lower and upper boundary

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
old-commit-hash: 996bced674e6943976f1d6dba37075e113bf9288
---
 cereal/log.capnp                              | 33 +++++++
 cereal/services.py                            |  3 +-
 selfdrive/locationd/locationd.cc              | 90 +++++++++++++++----
 selfdrive/locationd/locationd.h               |  7 +-
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/test_onroad.py                 |  2 +-
 7 files changed, 117 insertions(+), 22 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3a53db9cc4..d94d9632fe 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1252,6 +1252,38 @@ struct LiveLocationKalman {
   }
 }
 
+
+struct LivePose {
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  orientationNED @0 :XYZMeasurement;
+  velocityDevice @1 :XYZMeasurement;
+  accelerationDevice @2 :XYZMeasurement;
+  angularVelocityDevice @3 :XYZMeasurement;
+
+  inputsOK @4 :Bool = false;
+  posenetOK @5 :Bool = false;
+  sensorsOK @6 :Bool = false;
+
+  filterState @7 :FilterState;
+
+  struct XYZMeasurement {
+    x @0 :Float32;
+    y @1 :Float32;
+    z @2 :Float32;
+    xStd @3 :Float32;
+    yStd @4 :Float32;
+    zStd @5 :Float32;
+    valid @6 :Bool;
+  }
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -2293,6 +2325,7 @@ struct Event {
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
+    livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
diff --git a/cereal/services.py b/cereal/services.py
index f1e1935c54..f2d01b9220 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -47,7 +47,8 @@ _services: dict[str, tuple] = {
   "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
+  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 2ac392a778..5607871f5f 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -41,14 +41,25 @@ const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
 
 const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
 
-static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
-  VectorXd res(floatlist.size());
+template <typename ListType, typename Vector>
+static Vector floatlist2vector(const ListType& floatlist) {
+  Vector res(floatlist.size());
   for (int i = 0; i < floatlist.size(); i++) {
     res[i] = floatlist[i];
   }
   return res;
 }
 
+template <typename ListType>
+static VectorXd float64list2vector(const ListType& floatlist) {
+  return floatlist2vector<ListType, VectorXd>(floatlist);
+}
+
+template <typename ListType>
+static VectorXf float32list2vector(const ListType& floatlist) {
+  return floatlist2vector<ListType, VectorXf>(floatlist);
+}
+
 static Vector4d quat2vector(const Quaterniond& quat) {
   return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
 }
@@ -63,6 +74,11 @@ static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder me
   meas.setValid(valid);
 }
 
+static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXf& val, const VectorXf& std, bool valid) {
+  meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]);
+  meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]);
+  meas.setValid(valid);
+}
 
 static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
   // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
@@ -91,6 +107,30 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) {
   this->configure_gnss_source(gnss_source);
 }
 
+void Localizer::build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation) {
+  // Just copy the values from liveLocation to livePose for now
+  VectorXf orientation_ned = float32list2vector(liveLocation.getOrientationNED().getValue()), orientation_ned_std = float32list2vector(liveLocation.getOrientationNED().getStd());
+  init_xyz_measurement(livePose.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
+  VectorXf velocity_device = float32list2vector(liveLocation.getVelocityDevice().getValue()), velocity_device_std = float32list2vector(liveLocation.getVelocityDevice().getStd());
+  init_xyz_measurement(livePose.initVelocityDevice(), velocity_device, velocity_device_std, true);
+  VectorXf acceleration_device = float32list2vector(liveLocation.getAccelerationDevice().getValue()), acceleration_device_std = float32list2vector(liveLocation.getAccelerationDevice().getStd());
+  init_xyz_measurement(livePose.initAccelerationDevice(), acceleration_device, acceleration_device_std, true);
+  VectorXf ang_velocity_device = float32list2vector(liveLocation.getAngularVelocityDevice().getValue()), ang_velocity_device_std = float32list2vector(liveLocation.getAngularVelocityDevice().getStd());
+  init_xyz_measurement(livePose.initAngularVelocityDevice(), ang_velocity_device, ang_velocity_device_std, true);
+
+  if (DEBUG) {
+    VectorXd filter_state = float64list2vector(liveLocation.getFilterState().getValue()), filter_state_std = float64list2vector(liveLocation.getFilterState().getStd());
+    cereal::LivePose::FilterState::Builder filter_state_builder = livePose.initFilterState();
+    filter_state_builder.setValue(kj::arrayPtr(filter_state.data(), filter_state.size()));
+    filter_state_builder.setStd(kj::arrayPtr(filter_state_std.data(), filter_state_std.size()));
+    filter_state_builder.setValid(true);
+  }
+
+  livePose.setInputsOK(liveLocation.getInputsOK());
+  livePose.setPosenetOK(liveLocation.getPosenetOK());
+  livePose.setSensorsOK(liveLocation.getSensorsOK());
+}
+
 void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   VectorXd predicted_state = this->kf->get_x();
   MatrixXdr predicted_cov = this->kf->get_P();
@@ -279,7 +319,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     // TODO: reduce false positives and re-enable this check
     // check if device fell, estimate 10 for g
     // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
-    // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+    // this->device_fell |= (float64list2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
 
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
     if (meas.norm() < ACCEL_SANITY_CHECK) {
@@ -311,7 +351,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
-  bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
+  bool gps_vel_insane = (float64list2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
   if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
@@ -450,8 +490,8 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
 }
 
 void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
-  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
-  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+  VectorXd rot_device = this->device_from_calib * float64list2vector(log.getRot());
+  VectorXd trans_device = this->device_from_calib * float64list2vector(log.getTrans());
 
   if (!this->is_timestamp_valid(current_time)) {
     this->observation_timings_invalid = true;
@@ -463,8 +503,8 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
     return;
   }
 
-  VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
-  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
+  VectorXd rot_calib_std = float64list2vector(log.getRotStd());
+  VectorXd trans_calib_std = float64list2vector(log.getTransStd());
 
   if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
     this->observation_values_invalid["cameraOdometry"] += 1.0;
@@ -499,7 +539,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
   }
 
   if (log.getRpyCalib().size() > 0) {
-    auto live_calib = floatlist2vector(log.getRpyCalib());
+    auto live_calib = float64list2vector(log.getRpyCalib());
     if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
       this->observation_values_invalid["liveCalibration"] += 1.0;
       return;
@@ -611,8 +651,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
   this->update_reset_tracker();
 }
 
-kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK,
-                                                       bool sensorsOK, bool gpsOK, bool msgValid) {
+void Localizer::build_location_message(
+  MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid) {
   cereal::Event::Builder evt = msg_builder.initEvent();
   evt.setValid(msgValid);
   cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
@@ -620,7 +660,19 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
   liveLoc.setSensorsOK(sensorsOK);
   liveLoc.setGpsOK(gpsOK);
   liveLoc.setInputsOK(inputsOK);
-  return msg_builder.toBytes();
+}
+
+void Localizer::build_pose_message(
+  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
+  cereal::Event::Builder evt = msg_builder.initEvent();
+  evt.setValid(msgValid);
+  cereal::LivePose::Builder livePose = evt.initLivePose();
+
+  cereal::LiveLocationKalman::Reader location_msg = location_msg_builder.getRoot<cereal::Event>().getLiveLocationKalman().asReader();
+  this->build_live_pose(livePose, location_msg);
+
+  livePose.setSensorsOK(sensorsOK);
+  livePose.setInputsOK(inputsOK);
 }
 
 bool Localizer::is_gps_ok() {
@@ -692,7 +744,7 @@ int Localizer::locationd_thread() {
                                                           "carState", "accelerometer", "gyroscope"};
 
   SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
-  PubMaster pm({"liveLocationKalman"});
+  PubMaster pm({"liveLocationKalman", "livePose"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
@@ -726,9 +778,15 @@ int Localizer::locationd_thread() {
         this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
       }
 
-      MessageBuilder msg_builder;
-      kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
-      pm.send("liveLocationKalman", bytes.begin(), bytes.size());
+      MessageBuilder location_msg_builder, pose_msg_builder;
+      this->build_location_message(location_msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
+      this->build_pose_message(pose_msg_builder, location_msg_builder, inputsOK, sensorsOK, filterInitialized);
+
+      kj::ArrayPtr<capnp::byte> location_bytes = location_msg_builder.toBytes();
+      pm.send("liveLocationKalman", location_bytes.begin(), location_bytes.size());
+
+      kj::ArrayPtr<capnp::byte> pose_bytes = pose_msg_builder.toBytes();
+      pm.send("livePose", pose_bytes.begin(), pose_bytes.size());
 
       if (cnt % 1200 == 0 && gpsOK) {  // once a minute
         VectorXd posGeo = this->get_position_geodetic();
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index 47c8bf5627..615f31c9d0 100644
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -45,9 +45,12 @@ public:
   bool are_inputs_ok();
   void observation_timings_invalid_reset();
 
-  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
-    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_location_message(
+    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_pose_message(
+  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
   void build_live_location(cereal::LiveLocationKalman::Builder& fix);
+  void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation);
 
   Eigen::VectorXd get_position_geodetic();
   Eigen::VectorXd get_state();
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c7f57fd9bc..eae6abfaad 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -532,7 +532,7 @@ CONFIGS = [
       "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
       "liveCalibration", "carState", "gpsLocation"
     ],
-    subs=["liveLocationKalman"],
+    subs=["liveLocationKalman", "livePose"],
     ignore=["logMonoTime"],
     config_callback=locationd_config_pubsub_callback,
     tolerance=NUMPY_TOLERANCE,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 13b427b894..02e4b997aa 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0adff03d45c99dcfb330c48b2aa9d2093ce674a2
+3942de8e75caa7a99828e65c3396abd94d6b3da7
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 78486a176d..bbb99d13b9 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -206,7 +206,7 @@ class TestOnroad:
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.6 < sz < 1.0
+        assert 0.4 < sz < 0.6
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 8740f8618b83f92d76c152d8a8c2e0d18498a98a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 17 Jul 2024 19:31:29 -0700
Subject: [PATCH 0204/1243] increase cameraOdometry decimation (#33010)

reduce cameraOdometry decimation
old-commit-hash: 7f9cdf8e43e50c9ec4c90cf96bfa4317094cc8f2
---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index f2d01b9220..6ff821e7f1 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -50,7 +50,7 @@ _services: dict[str, tuple] = {
   "livePose": (True, 20., 4),
   "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),

From 75c33e7a1cd2afeb7c7166e65c85a8ca19834a4b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 17 Jul 2024 20:42:12 -0700
Subject: [PATCH 0205/1243] increase longitudinalPlan decimation (#33009)

change longitudinalPlan decimation
old-commit-hash: 3c48a6154b95f0ae2ab84fd916e02b704c74b258
---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index 6ff821e7f1..7d73374df1 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -38,7 +38,7 @@ _services: dict[str, tuple] = {
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
+  "longitudinalPlan": (True, 20., 10),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),

From 85b77e0387ff51cd7dc8129ddac28980dbe109c3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 17 Jul 2024 21:57:36 -0700
Subject: [PATCH 0206/1243] qlog_size: decimate rlog option (#33011)

* decimate option

* clean up

* check exists
old-commit-hash: f31ad97e924af579ec60961bc7cc3c170525fcef
---
 selfdrive/debug/internal/qlog_size.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 2d17a1ee28..7dc61ed9df 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -5,6 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 
@@ -48,9 +49,29 @@ def make_pie(msgs, typ):
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View log size breakdown by message type')
   parser.add_argument('route', help='route to use')
+  parser.add_argument('--as-qlog', action='store_true', help='decimate rlog using latest decimation factors')
   args = parser.parse_args()
 
   msgs = list(LogReader(args.route))
 
+  if args.as_qlog:
+    new_msgs = []
+    msg_cnts: dict[str, int] = defaultdict(int)
+    for msg in msgs:
+      msg_which = msg.which()
+      if msg.which() in ("initData", "sentinel"):
+        new_msgs.append(msg)
+        continue
+
+      if msg_which not in SERVICE_LIST:
+        continue
+
+      decimation = SERVICE_LIST[msg_which].decimation
+      if decimation is not None and msg_cnts[msg_which] % decimation == 0:
+        new_msgs.append(msg)
+      msg_cnts[msg_which] += 1
+
+    msgs = new_msgs
+
   make_pie(msgs, 'qlog')
   plt.show()

From acdbe2440fb1494d9b837ea4e40f01a727ed39b7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 18 Jul 2024 18:48:54 -0700
Subject: [PATCH 0207/1243] tici: set STM_BOOT0 in reset (#33015)

* tici: reset panda boot0

* ooops
old-commit-hash: 560e37cd83c51149328aedc83b7d34c40941bf46
---
 system/hardware/tici/hardware.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index a5dee88b56..eb524dbafa 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -563,8 +563,10 @@ class Tici(HardwareBase):
 
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
 
     gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 0)
     time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
 

From 1b4147093995e8452b772ce4706c38ff99ce0ca2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 18 Jul 2024 19:26:22 -0700
Subject: [PATCH 0208/1243] nightly build takes longer than this

old-commit-hash: fd5549bba1dc33e16a8e3e09b02393d8f0dd4aa6
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 654aed49c5..d2dffeecc7 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -82,7 +82,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 20, unit: 'MINUTES') {
+        timeout(time: 35, unit: 'MINUTES') {
           retry (3) {
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }

From 4efe8d811853cc85ad491fc814a8f0d1860692f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 18 Jul 2024 20:19:39 -0700
Subject: [PATCH 0209/1243] Fix msgq context overrides (#33014)

* Fix msgq context overrides

* Remove unneccesary changes

* add reset_context helper

* Remove redundant import
old-commit-hash: c96dbd5a0b681c76b94191d1b928e29eb2b72119
---
 cereal/messaging/__init__.py                           | 7 ++++++-
 selfdrive/debug/internal/measure_torque_time_to_max.py | 2 +-
 system/manager/process.py                              | 2 +-
 tools/camerastream/compressed_vipc.py                  | 7 ++++---
 tools/lib/live_logreader.py                            | 2 +-
 tools/replay/rp_visualization.py                       | 2 +-
 tools/tuning/measure_steering_accuracy.py              | 2 +-
 7 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 8dfa42056d..9646047de3 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -2,7 +2,8 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+import msgq
 
 import os
 import capnp
@@ -17,6 +18,10 @@ from cereal.services import SERVICE_LIST
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
+def reset_context():
+  msgq.context = Context()
+
+
 def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
   with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py
index ef3152b50c..7052dccf7d 100755
--- a/selfdrive/debug/internal/measure_torque_time_to_max.py
+++ b/selfdrive/debug/internal/measure_torque_time_to_max.py
@@ -18,7 +18,7 @@ if __name__ == "__main__":
 
   if args.addr != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
   poller = messaging.Poller()
   messaging.sub_sock('can', poller, addr=args.addr)
diff --git a/system/manager/process.py b/system/manager/process.py
index 9214e417c1..c78d263dcc 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -30,7 +30,7 @@ def launcher(proc: str, name: str) -> None:
     setthreadname(proc)
 
     # create new context since we forked
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
     # add daemon name tag to logs
     cloudlog.bind(daemon=name)
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 6c27e861ff..f531a289f9 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -8,6 +8,7 @@ import multiprocessing
 import time
 import signal
 
+
 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 
@@ -42,7 +43,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
     codec = av.CodecContext.create("hevc", "r")
 
   os.environ["ZMQ"] = "1"
-  messaging.context = messaging.Context()
+  messaging.reset_context()
   sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False)
   cnt = 0
   last_idx = -1
@@ -109,12 +110,12 @@ class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
     sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr)
     while min(sm.recv_frame.values()) == 0:
       sm.update(100)
     os.environ.pop("ZMQ")
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py
index 6a7ecee6fd..edc4ac1611 100644
--- a/tools/lib/live_logreader.py
+++ b/tools/lib/live_logreader.py
@@ -10,7 +10,7 @@ ALL_SERVICES = list(SERVICE_LIST.keys())
 def raw_live_logreader(services: list[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable:
   if addr != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
   poller = messaging.Poller()
 
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
index 853a83c150..01058967b2 100755
--- a/tools/replay/rp_visualization.py
+++ b/tools/replay/rp_visualization.py
@@ -53,7 +53,7 @@ if __name__ == "__main__":
   args = get_arg_parser().parse_args(sys.argv[1:])
   if args.ip_address != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
   rr.init("RadarPoints", spawn= True)
   rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
   visualize(args.ip_address)
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 6abf1338dc..0b8916343e 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -147,7 +147,7 @@ if __name__ == "__main__":
   else:
     if args.addr != "127.0.0.1":
       os.environ["ZMQ"] = "1"
-      messaging.context = messaging.Context()
+      messaging.reset_context()
 
     carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
     sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr)

From cc3f9090bf904f3b76ca4d1003f78260106a8511 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 20 Jul 2024 01:14:04 +0800
Subject: [PATCH 0210/1243] cereal: deprecate FrameData.frameType (#33019)

deprecate FrameData.frameType
old-commit-hash: 917ea5699f3af241e60311455af5f20c0c55a8c4
---
 cereal/log.capnp                       | 5 ++---
 system/camerad/cameras/camera_qcom2.cc | 1 -
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d94d9632fe..d849f4840b 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -137,8 +137,6 @@ struct FrameData {
   requestId @28 :UInt32;
   encodeId @1 :UInt32;
 
-  frameType @7 :FrameType;
-
   # Timestamps
   timestampEof @2 :UInt64;
   timestampSof @8 :UInt64;
@@ -158,7 +156,7 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameType {
+  enum FrameTypeDEPRECATED {
     unknown @0;
     neo @1;
     chffrAndroid @2;
@@ -175,6 +173,7 @@ struct FrameData {
 
   frameLengthDEPRECATED @3 :Int32;
   globalGainDEPRECATED @5 :Int32;
+  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
   lensPosDEPRECATED @11 :Int32;
   lensSagDEPRECATED @12 :Float32;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 096e288cc2..47ea5ded4d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -932,7 +932,6 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
-  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
   fill_frame_data(framed, c->buf.cur_frame_data, c);
 
   c->ci->processRegisters(c, framed);

From 91db4a0908c02669e7b4356988af05853ab77eb5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 10:19:38 -0700
Subject: [PATCH 0211/1243] make pyproject.toml pep508 compliant (#33021)

pep508
old-commit-hash: 07fcc4825f7e669068024c12987120a7662b220f
---
 pyproject.toml |  8 ++---
 uv.lock        | 93 +++++++++++++++++++++++++++++++-------------------
 2 files changed, 61 insertions(+), 40 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index e9c999400d..126e122ab3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -100,7 +100,7 @@ dev = [
   "inputs",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator; platform_machine != 'aarch64'",
+  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
   "mpld3",
   "myst-parser",
   "natsort",
@@ -122,9 +122,6 @@ dev = [
 
 ]
 
-[tool.uv.sources]
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
-
 [project.urls]
 Homepage = "https://comma.ai"
 
@@ -135,6 +132,9 @@ build-backend = "hatchling.build"
 [tool.hatch.build.targets.wheel]
 packages = [ "." ]
 
+[tool.hatch.metadata]
+allow-direct-references = true
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
diff --git a/uv.lock b/uv.lock
index b0ba09ca3c..48d53bbda9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -214,12 +214,6 @@ wheels = [
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 [[distribution]]
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+    { url = "https://files.pythonhosted.org/packages/7d/f8/910deab3002c6c70909430d99854889886090f4c9bf1063b63e18747414e/grimp-3.4.1-cp312-none-win_amd64.whl", hash = "sha256:2d515079b33497d83d3bd34c47ebb6bc6cbadcb0ec5405100c15027176e618ca", size = 239266 },
+    { url = "https://files.pythonhosted.org/packages/ad/8e/7188f23347b39a0144f9f94337d6fc32fa22c5a2d79b35c545183ddca3d0/grimp-3.4.1-cp313-none-win32.whl", hash = "sha256:e3a5e969246562cb405a3acfc35a1d1a014f1764d5d0398b4d3e9b6a9f956efb", size = 228767 },
+    { url = "https://files.pythonhosted.org/packages/00/ab/fd0b42471e3bc167761e1406732b57ba9448fa7ecb9bc9af97dd55fe1c3c/grimp-3.4.1-cp313-none-win_amd64.whl", hash = "sha256:17edd54ad125a9650c8dc9ca7a57ba913043ace3f7053e51ffa900236f8fddc9", size = 239009 },
+]
+
 [[distribution]]
 name = "gymnasium"
 version = "0.29.1"
@@ -833,6 +841,20 @@ wheels = [
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 ]
 
+[[distribution]]
+name = "import-linter"
+version = "2.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "click" },
+    { name = "grimp" },
+    { name = "typing-extensions" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/d4/3a/6b433eace42d2f92cb96667f326b11582004b74acd045bf10a277761eed4/import-linter-2.0.tar.gz", hash = "sha256:b067cf0cdbf11c4f87524e32c2e3eaa62d46572e9e06511e6b453198b15b1c9a", size = 28678 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/81/82/5a23aefe774927b45d9964282496c5228d537bb5de1e54eedce832fa4901/import_linter-2.0-py3-none-any.whl", hash = "sha256:200f9b46d20a055c1f6f514e4cd8074852261bc9c8733d028201a55be6058bb0", size = 41018 },
+]
+
 [[distribution]]
 name = "importlib-metadata"
 version = "8.0.0"
@@ -1142,7 +1164,7 @@ wheels = [
 [[distribution]]
 name = "metadrive-simulator"
 version = "0.4.2.3"
-source = { git = "https://github.com/commaai/metadrive.git?branch=opencv_headless#9b6ddb791919249effa0573883076681514787e4" }
+source = { git = "https://github.com/commaai/metadrive?rev=opencv_headless#9b6ddb791919249effa0573883076681514787e4" }
 dependencies = [
     { name = "filelock" },
     { name = "geopandas" },
@@ -1571,6 +1593,7 @@ docs = [
 testing = [
     { name = "coverage" },
     { name = "hypothesis" },
+    { name = "import-linter" },
     { name = "mypy" },
     { name = "pre-commit" },
     { name = "pytest" },
@@ -4623,8 +4646,6 @@ sdist = { url = "https://files.pythonhosted.org/packages/28/6c/640e3f5c734c296a7
 wheels = [
     { url = "https://files.pythonhosted.org/packages/0f/28/fcaf2aeede42456538d1543aefa253d70282bf326f5f795c99233366b66f/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-abi3-macosx_10_13_intel.whl", hash = "sha256:894ca4ae767a8d6cf5903784b71f755073c78cb8c167eecf6e4ed6b3b055ac6a", size = 47599356 },
     { url = "https://files.pythonhosted.org/packages/91/cf/cc705497cdae04c3c0bc34f94b91e31b6585bb65eb561f18473c998caae1/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-abi3-manylinux2014_x86_64.whl", hash = "sha256:29889845688a54d62820585ad5b2e0200a36b304ff3d7a555e95599f110ba4ce", size = 68328841 },
-    { url = "https://files.pythonhosted.org/packages/b7/3e/a10c682f8ee33583cdc86a0d0eafe82b39156be3771abaa219b6e50251cd/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-none-win32.whl", hash = "sha256:ea24f24b7679bf393dd2e4f53fe0ce65021be18304c1ff7a226c2fc5c356d0da", size = 48859916 },
-    { url = "https://files.pythonhosted.org/packages/aa/72/754c693db0e745b9fe47debc3ec52844461f090d5beff28489a0cde5ef82/PyQt5-5.15.2-5.15.2-cp35.cp36.cp37.cp38.cp39-none-win_amd64.whl", hash = "sha256:faaecb76ec65e12673a968e7f5bc02495957e6996f0a3fa0d98895f9e4113746", size = 56911575 },
 ]
 
 [[distribution]]

From 6c4afa3ef231a49dd5ed0385de5045f438fc78d0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 19 Jul 2024 15:39:44 -0700
Subject: [PATCH 0212/1243] ui: fix flipped experimental path acceleration
 (#33026)

* fix

* clean up

* better comment

* Update selfdrive/ui/qt/onroad/annotated_camera.cc
old-commit-hash: 0907b30d7b87957ae14cad7954358c1d78d9a528
---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 60f2380dc5..484075b3e2 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -177,10 +177,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
-      if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
+      int track_idx = (scene.track_vertices.length() / 2) - i;  // flip idx to start from top
+      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
 
       // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
+      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
 
       // speed up: 120, slow down: 0
       float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);

From c7cbbae265381c1b90af8689798edf51a3b6fdb4 Mon Sep 17 00:00:00 2001
From: jamperezmondragon <70548653+jamperezmondragon@users.noreply.github.com>
Date: Sat, 20 Jul 2024 16:54:51 -0600
Subject: [PATCH 0213/1243] Spanish Translation Update (#32995)

* Update main_es.ts

* Update main_es.ts

* Update Spanish Translation [(#32995)](https://github.com/commaai/openpilot/pull/32995)
old-commit-hash: 1aa467cb003e7915a6dbc1ee7786f8c199cf6223
---
 selfdrive/ui/translations/main_es.ts | 152 +++++++++++++--------------
 1 file changed, 76 insertions(+), 76 deletions(-)

diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 941b30e2d0..c8093e3029 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -64,7 +64,7 @@
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evitar grandes descargas de datos cuando tiene una conexión limitada</translation>
+        <translation>Evitar grandes descargas de datos cuando tenga una conexión limitada</translation>
     </message>
     <message>
         <source>Hidden Network</source>
@@ -72,7 +72,7 @@
     </message>
     <message>
         <source>CONNECT</source>
-        <translation>CONNECTAR</translation>
+        <translation>CONECTAR</translation>
     </message>
     <message>
         <source>Enter SSID</source>
@@ -117,7 +117,7 @@
     <name>DeclinePage</name>
     <message>
         <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Debe aceptar los terminos y condiciones para poder utilizar openpilot.</translation>
+        <translation>Debe aceptar los términos y condiciones para poder utilizar openpilot.</translation>
     </message>
     <message>
         <source>Back</source>
@@ -164,11 +164,11 @@
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (El vehículo tiene que estar apagado)</translation>
+        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (el vehículo tiene que estar apagado)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>Reiniciar Calibración</translation>
+        <translation>Formatear Calibración</translation>
     </message>
     <message>
         <source>RESET</source>
@@ -176,11 +176,11 @@
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>¿Seguro qué quiere reiniciar la calibración?</translation>
+        <translation>¿Seguro que quiere formatear la calibración?</translation>
     </message>
     <message>
         <source>Reset</source>
-        <translation>Reiniciar</translation>
+        <translation>Formatear</translation>
     </message>
     <message>
         <source>Review Training Guide</source>
@@ -196,7 +196,7 @@
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>¿Seguro qué quiere revisar la guía de entrenamiento?</translation>
+        <translation>¿Seguro que quiere revisar la guía de entrenamiento?</translation>
     </message>
     <message>
         <source>Review</source>
@@ -232,11 +232,11 @@
     </message>
     <message>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot requiere que el dispositivo sea montado entre 4° izquierda o derecha y entre 5° arriba o 9° abajo. openpilot está constantemente en calibración, reiniciar es rara vez necesario.</translation>
+        <translation>openpilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. openpilot está constantemente en calibración, formatear rara vez es necesario.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Su dispositivo está apuntando %1° %2 e %3° %4.</translation>
+        <translation> Su dispositivo está apuntando %1° %2 y %3° %4.</translation>
     </message>
     <message>
         <source>down</source>
@@ -286,7 +286,7 @@
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>MODO TRANQUILO</translation>
+        <translation>MODO CHILL</translation>
     </message>
 </context>
 <context>
@@ -298,7 +298,7 @@
     <message numerus="yes">
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>¡Necesita mínimo %n caractere!</numerusform>
+            <numerusform>¡Necesita mínimo %n caracter!</numerusform>
             <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
         </translation>
     </message>
@@ -314,7 +314,7 @@
     <name>MultiOptionDialog</name>
     <message>
         <source>Select</source>
-        <translation>Seleccione</translation>
+        <translation>Seleccionar</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -337,22 +337,22 @@
     </message>
     <message>
         <source>Wrong password</source>
-        <translation>Contraseña equivocada</translation>
+        <translation>Contraseña incorrecta</translation>
     </message>
 </context>
 <context>
     <name>OffroadAlert</name>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Temperatura de dispositivo muy alta. Systema enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+        <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
     </message>
     <message>
         <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation>Inmediatamente conectar al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciara en %1</translation>
+        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciará en %1</translation>
     </message>
     <message>
         <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conectar al internet para buscar actualizaciones. openpilot no iniciara automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+        <translation>Conectese al internet para buscar actualizaciones. openpilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
     </message>
     <message>
         <source>Unable to download updates
@@ -362,7 +362,7 @@
     </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Tomando instantáneas de la cámara. El sistema no se iniciará hasta que finalice.</translation>
+        <translation>Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice.</translation>
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
@@ -370,7 +370,7 @@
     </message>
     <message>
         <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation>El dispositivo no pudo registrarse. No se conectará ni cargará en los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
+        <translation>El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
@@ -378,15 +378,15 @@
     </message>
     <message>
         <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>Se detectó una unidad NVMe no compatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a que NVMe no es compatible.</translation>
+        <translation>Se detectó una unidad NVMe incompatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a esto.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Envíe una solicitud de extracción para agregar las versiones de firmware al vehículo adecuado. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que comma power esté completamente insertada en el puerto OBD-II del vehículo. ¿Necesitas ayuda? Únase a discord.comma.ai.</translation>
+        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase discord.comma.ai.</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
@@ -439,15 +439,15 @@
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Ve a https://connect.comma.ai en su telefono</translation>
+        <translation>Vaya a https://connect.comma.ai en su teléfono</translation>
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Clic en &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+        <translation>Seleccione &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Marcar connect.comma.ai como su pantalla de inicio para usarlo como una aplicación</translation>
+        <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
     </message>
 </context>
 <context>
@@ -469,7 +469,7 @@
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Hazte miembro prime de comma en connect.comma.ai</translation>
+        <translation>Hazte miembro de comma prime en connect.comma.ai</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
@@ -485,11 +485,11 @@
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation>1 año de almacenamiento en disco</translation>
+        <translation>1 año de almacenamiento</translation>
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation>Istantánea remota</translation>
+        <translation>Capturas remotas</translation>
     </message>
 </context>
 <context>
@@ -547,25 +547,25 @@
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>Reset fallido. Reinicie de nuevo.</translation>
+        <translation>Formateo fallido. Reinicie para reintentar.</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>Reiniciando dispositivo...
-Esto puede tardar hasta un minuto.</translation>
+        <translation>formateando dispositivo...
+Esto puede tardar un minuto.</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>¿Seguro que quiere reiniciar su dispositivo?</translation>
+        <translation>¿Seguro que quiere formatear su dispositivo?</translation>
     </message>
     <message>
         <source>System Reset</source>
-        <translation>Reiniciar Sistema</translation>
+        <translation>Formatear Sistema</translation>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Reinicio del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
+        <translation>Formateo del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -581,7 +581,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>No es posible montar una partición de datos. Partición corrompida. Confirme para borrar y reiniciar su dispositivo.</translation>
+        <translation>No es posible montar una partición de datos. La partición podría estar corrompida. Confirme para borrar y formatear su dispositivo.</translation>
     </message>
 </context>
 <context>
@@ -615,19 +615,19 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Asegurese de que la URL insertada es válida, y que el dispositivo tiene buena conexión.</translation>
+        <translation>Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión.</translation>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation>No hay software personalizado en esta URL.</translation>
+        <translation>No encontramos software personalizado en esta URL.</translation>
     </message>
     <message>
         <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Volage bajo</translation>
+        <translation>ALERTA: Voltaje bajo</translation>
     </message>
     <message>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Encender su dispositivo en el auto con el arnés o proceda bajo su propio riesgo.</translation>
+        <translation>Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo.</translation>
     </message>
     <message>
         <source>Power off</source>
@@ -643,11 +643,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de comenzar, terminemos la instalación y cubramos algunos detalles.</translation>
+        <translation>Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>Conectar a la Wi-Fi</translation>
+        <translation>Conectarse al Wi-Fi</translation>
     </message>
     <message>
         <source>Back</source>
@@ -663,7 +663,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation>Elija el software para instalar</translation>
+        <translation>Elija el software a instalar</translation>
     </message>
     <message>
         <source>openpilot</source>
@@ -699,7 +699,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Select a language</source>
-        <translation>Seleccione el idioma</translation>
+        <translation>Seleccione un idioma</translation>
     </message>
 </context>
 <context>
@@ -710,7 +710,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+        <translation>Empareje su dispositivo con comma connect (connect.comma.ai) y reclame su oferta de comma prime.</translation>
     </message>
     <message>
         <source>Pair device</source>
@@ -725,11 +725,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>OFFLINE</source>
-        <translation>SIN LINEA</translation>
+        <translation>OFFLINE</translation>
     </message>
     <message>
         <source>ONLINE</source>
-        <translation>EN LINEA</translation>
+        <translation>EN LÍNEA</translation>
     </message>
     <message>
         <source>ERROR</source>
@@ -745,7 +745,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>GOOD</source>
-        <translation>BUENO</translation>
+        <translation>BUENA</translation>
     </message>
     <message>
         <source>OK</source>
@@ -769,7 +769,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>SEARCH</source>
-        <translation>BUSQUEDA</translation>
+        <translation>BÚSQUEDA</translation>
     </message>
     <message>
         <source>--</source>
@@ -804,7 +804,7 @@ Esto puede tardar hasta un minuto.</translation>
     <name>SoftwarePanel</name>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation>Apague el auto para descargar actualizaciones.</translation>
+        <translation>Actualizaciones solo se descargan con el auto apagado.</translation>
     </message>
     <message>
         <source>Current Version</source>
@@ -856,7 +856,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation>no se pudo buscar actualización</translation>
+        <translation>no se pudo buscar actualizaciones</translation>
     </message>
     <message>
         <source>DOWNLOAD</source>
@@ -883,7 +883,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca inserte un nombre de usuario de Github que no sea suyo. Un empleado de comma nunca le pedirá que añada su nombre de Github.</translation>
+        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca ingrese un nombre de usuario de Github que no sea suyo. Un empleado de comma NUNCA le pedirá que añada un usuario de Github que no sea el suyo.</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -891,7 +891,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>Ingresa tu usuario de GitHub</translation>
+        <translation>Ingrese su usuario de GitHub</translation>
     </message>
     <message>
         <source>LOADING</source>
@@ -903,7 +903,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Nombre de usuario &quot;%1” no tiene claves en GitHub</translation>
+        <translation>El usuario &quot;%1” no tiene claves en GitHub</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -911,7 +911,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Nombre de usuario &apos;%1&apos; no existe en Github</translation>
+        <translation>El usuario &apos;%1&apos; no existe en Github</translation>
     </message>
 </context>
 <context>
@@ -925,7 +925,7 @@ Esto puede tardar hasta un minuto.</translation>
     <name>TermsPage</name>
     <message>
         <source>Terms &amp; Conditions</source>
-        <translation>Terminos &amp; Condiciones</translation>
+        <translation>Términos &amp; Condiciones</translation>
     </message>
     <message>
         <source>Decline</source>
@@ -948,19 +948,19 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilice el sistema openpilot para control de crucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+        <translation>Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de openpilot (Alfa)</translation>
+        <translation>Control longitudinal de openpilot (fase experimental)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>Aviso: el control longitudinal de openpilot está en fase alfa para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+        <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>En este vehículo, openpilot se configura de manera predeterminada con el Control de Crucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal alfa de openpilot.</translation>
+        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
     </message>
     <message>
         <source>Experimental Mode</source>
@@ -972,23 +972,23 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Cuando esté activado, presionar el acelerador deshabilitará el openpilot.</translation>
+        <translation>Cuando esté activado, presionar el acelerador deshabilitará openpilot.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>Activar Aviso de Salida de Carril</translation>
+        <translation>Activar Avisos de Salida de Carril</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Recibir alertas para volver dentro del carril cuando su vehículo se sale fuera del carril sin que esté activado la señal de giro mientras esté conduciendo por encima de 50 km/h (31 mph).</translation>
+        <translation>Recibir alertas para volver al carril cuando su vehículo se salga fuera del carril sin que esté activada la señal de giro y esté conduciendo por encima de 50 km/h (31 mph).</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
-        <translation>Monitoreo del Conductor Siempre Activo</translation>
+        <translation>Monitoreo Permanente del Conductor</translation>
     </message>
     <message>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Habilite el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
+        <translation>Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
     </message>
     <message>
         <source>Record and Upload Driver Camera</source>
@@ -996,7 +996,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitorización del conductor.</translation>
+        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitoreo del conductor.</translation>
     </message>
     <message>
         <source>Use Metric System</source>
@@ -1024,19 +1024,19 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Se recomienda estándar. En el modo agresivo, openpilot seguirá a los autos líderes más cerca y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los coches líderes. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
+        <translation>Se recomienda el modo estándar. En el modo agresivo, openpilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
     </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que no están listos para el modo chill. Los recursos del modo expeimental están listados abajo:</translation>
+        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation>🌮 Control Longitudinal de Punta a Punta 🌮</translation>
+        <translation>Control Longitudinal de Punta a Punta</translation>
     </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot va a conducir como lo haría una persona, incluiyendo parar en los semaforos en rojo y las señales de stop. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida actuará como limitador. Este recurso es de una calidad alfa; errores pueden ocurrir.</translation>
+        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1044,11 +1044,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental se mostrará en la esquina superior derecha.</translation>
+        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental también se mostrará en la esquina superior derecha.</translation>
     </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC del auto está siendo usado para el control longitudinal.</translation>
+        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
@@ -1056,11 +1056,11 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas sin liberación.</translation>
+        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas no liberadas.</translation>
     </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activar el control longitudinal experimental para permitir el modo Experimental.</translation>
+        <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
 </context>
 <context>
@@ -1071,7 +1071,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo a Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
+        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo al Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
@@ -1106,7 +1106,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>Conectar a Wi-Fi para subir los datos de conducir para mejorar openpilot</translation>
+        <translation>Conectarse al Wi-Fi para subir los datos de conducción y mejorar openpilot</translation>
     </message>
     <message>
         <source>Open Settings</source>
@@ -1137,7 +1137,7 @@ Esto puede tardar hasta un minuto.</translation>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Olvidar Red Wi-Fi &quot;%1&quot;?</translation>
+        <translation>¿Olvidar la Red de Wi-Fi &quot;%1&quot;?</translation>
     </message>
     <message>
         <source>Forget</source>

From 3f327ef4d3fcb19ea34ce0840c417fcf7eb367fd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 22 Jul 2024 10:19:34 +0800
Subject: [PATCH 0214/1243] camerad: add CameraConfig struct for initializing
 CameraState in constructor (#33034)

* Add CameraConfig struct for initializing CameraState in constructor

* Update system/camerad/cameras/camera_qcom2.h

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: dc886e195f9815c77b721a8a438bbdffe9067e38
---
 system/camerad/cameras/camera_common.h |  3 --
 system/camerad/cameras/camera_qcom2.cc | 43 +++++++++++++++---------
 system/camerad/cameras/camera_qcom2.h  | 46 +++++++++++++++++++++-----
 3 files changed, 65 insertions(+), 27 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 555362ab8b..f97940b669 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -18,9 +18,6 @@ enum CameraType {
 };
 
 // for debugging
-const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
-const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
-const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 47ea5ded4d..2eba1e3615 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
+CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
+  : multi_cam_state(multi_camera_state),
+    camera_num(config.camera_num),
+    stream_type(config.stream_type),
+    focal_len(config.focal_len),
+    enabled(config.enabled) {
+}
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -434,39 +442,36 @@ void CameraState::sensor_set_parameters() {
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs(MultiCameraState *s) {
+void CameraState::camera_map_bufs() {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
+void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
   request_id_last = 0;
   skipped = true;
 
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
-  camera_map_bufs(s);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+  camera_map_bufs();
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
-  multi_cam_state = multi_cam_state_;
-  camera_num = camera_num_;
-  enabled = enabled_;
+void CameraState::camera_open() {
   if (!enabled) return;
 
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
@@ -644,9 +649,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
-  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
-  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
+  s->driver_cam.camera_init(v, device_id, ctx);
+  s->road_cam.camera_init(v, device_id, ctx);
+  s->wide_road_cam.camera_init(v, device_id, ctx);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -690,11 +695,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open(s, 2, !env_disable_driver);
+  s->driver_cam.camera_open();
   LOGD("driver camera opened");
-  s->road_cam.camera_open(s, 1, !env_disable_road);
+  s->road_cam.camera_open();
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
+  s->wide_road_cam.camera_open();
   LOGD("wide road camera opened");
 }
 
@@ -956,6 +961,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
+MultiCameraState::MultiCameraState()
+  : driver_cam(this, DRIVER_CAMERA_CONFIG),
+    road_cam(this, ROAD_CAMERA_CONFIG),
+    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
+}
+
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 0b15c9c3f0..bdebeef9f8 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,15 +11,41 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
-#define DRIVER_FL_MM 1.71f
+struct CameraConfig {
+  int camera_num;
+  VisionStreamType stream_type;
+  float focal_len;  // millimeters
+  bool enabled;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+  .camera_num = 0,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_WIDE_ROAD"),
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+  .camera_num = 1,
+  .stream_type = VISION_STREAM_ROAD,
+  .focal_len = 8.0,
+  .enabled = !getenv("DISABLE_ROAD"),
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+  .camera_num = 2,
+  .stream_type = VISION_STREAM_DRIVER,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_DRIVER"),
+};
 
 class CameraState {
 public:
   MultiCameraState *multi_cam_state;
   std::unique_ptr<const SensorInfo> ci;
   bool enabled;
+  VisionStreamType stream_type;
+  float focal_len;
 
   std::mutex exp_lock;
 
@@ -44,17 +70,18 @@ public:
   int camera_num;
   float fl_pix;
 
+  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void camera_open();
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
+  void camera_map_bufs();
+  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
 
   int32_t session_handle;
@@ -90,7 +117,10 @@ private:
   Params params;
 };
 
-typedef struct MultiCameraState {
+class MultiCameraState {
+public:
+  MultiCameraState();
+
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
@@ -102,4 +132,4 @@ typedef struct MultiCameraState {
   CameraState driver_cam;
 
   PubMaster *pm;
-} MultiCameraState;
+};

From 5025140f37889cbee699ec0a21007e723f2d1c7b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jul 2024 20:36:45 -0700
Subject: [PATCH 0215/1243] Revert "camerad: add CameraConfig struct for
 initializing CameraState in constructor (#33034)"

This reverts commit 8ef650da47eec8b64e2aedcba5114ca1a2428a89.

old-commit-hash: cefe00c964d41f5ac15f13bc83b3e389d8965a5e
---
 system/camerad/cameras/camera_common.h |  3 ++
 system/camerad/cameras/camera_qcom2.cc | 43 +++++++++---------------
 system/camerad/cameras/camera_qcom2.h  | 46 +++++---------------------
 3 files changed, 27 insertions(+), 65 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index f97940b669..555362ab8b 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -18,6 +18,9 @@ enum CameraType {
 };
 
 // for debugging
+const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
+const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
+const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 2eba1e3615..47ea5ded4d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,14 +26,6 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
-CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
-  : multi_cam_state(multi_camera_state),
-    camera_num(config.camera_num),
-    stream_type(config.stream_type),
-    focal_len(config.focal_len),
-    enabled(config.enabled) {
-}
-
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -442,36 +434,39 @@ void CameraState::sensor_set_parameters() {
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs() {
+void CameraState::camera_map_bufs(MultiCameraState *s) {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
   request_id_last = 0;
   skipped = true;
 
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
-  camera_map_bufs();
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
+  camera_map_bufs(s);
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open() {
+void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
+  multi_cam_state = multi_cam_state_;
+  camera_num = camera_num_;
+  enabled = enabled_;
   if (!enabled) return;
 
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
@@ -649,9 +644,9 @@ void CameraState::camera_open() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(v, device_id, ctx);
-  s->road_cam.camera_init(v, device_id, ctx);
-  s->wide_road_cam.camera_init(v, device_id, ctx);
+  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
+  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
+  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -695,11 +690,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open();
+  s->driver_cam.camera_open(s, 2, !env_disable_driver);
   LOGD("driver camera opened");
-  s->road_cam.camera_open();
+  s->road_cam.camera_open(s, 1, !env_disable_road);
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open();
+  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
   LOGD("wide road camera opened");
 }
 
@@ -961,12 +956,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
-MultiCameraState::MultiCameraState()
-  : driver_cam(this, DRIVER_CAMERA_CONFIG),
-    road_cam(this, ROAD_CAMERA_CONFIG),
-    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
-}
-
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index bdebeef9f8..0b15c9c3f0 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,41 +11,15 @@
 
 #define FRAME_BUF_COUNT 4
 
-struct CameraConfig {
-  int camera_num;
-  VisionStreamType stream_type;
-  float focal_len;  // millimeters
-  bool enabled;
-};
-
-const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
-  .camera_num = 0,
-  .stream_type = VISION_STREAM_WIDE_ROAD,
-  .focal_len = 1.71,
-  .enabled = !getenv("DISABLE_WIDE_ROAD"),
-};
-
-const CameraConfig ROAD_CAMERA_CONFIG = {
-  .camera_num = 1,
-  .stream_type = VISION_STREAM_ROAD,
-  .focal_len = 8.0,
-  .enabled = !getenv("DISABLE_ROAD"),
-};
-
-const CameraConfig DRIVER_CAMERA_CONFIG = {
-  .camera_num = 2,
-  .stream_type = VISION_STREAM_DRIVER,
-  .focal_len = 1.71,
-  .enabled = !getenv("DISABLE_DRIVER"),
-};
+#define ROAD_FL_MM 8.0f
+#define WIDE_FL_MM 1.71f
+#define DRIVER_FL_MM 1.71f
 
 class CameraState {
 public:
   MultiCameraState *multi_cam_state;
   std::unique_ptr<const SensorInfo> ci;
   bool enabled;
-  VisionStreamType stream_type;
-  float focal_len;
 
   std::mutex exp_lock;
 
@@ -70,18 +44,17 @@ public:
   int camera_num;
   float fl_pix;
 
-  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open();
+  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs();
-  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void camera_map_bufs(MultiCameraState *s);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
   void camera_close();
 
   int32_t session_handle;
@@ -117,10 +90,7 @@ private:
   Params params;
 };
 
-class MultiCameraState {
-public:
-  MultiCameraState();
-
+typedef struct MultiCameraState {
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
@@ -132,4 +102,4 @@ public:
   CameraState driver_cam;
 
   PubMaster *pm;
-};
+} MultiCameraState;

From 039d41fbaf2095c9634fda522126d9bbe15114f7 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 22 Jul 2024 10:10:39 -0700
Subject: [PATCH 0216/1243] [bot] Update Python packages and pre-commit hooks
 (#33037)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 27faa8f82b67989dc099b39483d2c8dbd3b05676
---
 .pre-commit-config.yaml |   2 +-
 uv.lock                 | 251 ++++++++++++++++++++--------------------
 2 files changed, 124 insertions(+), 129 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ab9ce08c7a..10939f4289 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.2
+    rev: v0.5.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/uv.lock b/uv.lock
index 48d53bbda9..7808954e72 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,22 +116,22 @@ wheels = [
 
 [[distribution]]
 name = "av"
-version = "12.2.0"
+version = "12.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/9e/e2/1c5708feb7ceb46c8ab9d2e3fbd451a725f0741d7c5336020d13be527490/av-12.2.0.tar.gz", hash = "sha256:460670325bbd64b7a6774b6bda05985cbe4582d111f81993bfbb08058f8c0484", size = 3828627 }
+sdist = { url = "https://files.pythonhosted.org/packages/00/f8/5adeeae0c42a7130933d168b8d84a21c98a32cb9fcf9222e2541ed0d9c7b/av-12.3.0.tar.gz", hash = "sha256:04b1892562aff3277efc79f32bd8f1d0cbb64ed011241cb3e96f9ad471816c22", size = 3833953 }
 wheels = [
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 [[distribution]]
@@ -166,7 +166,7 @@ wheels = [
 
 [[distribution]]
 name = "azure-storage-blob"
-version = "12.20.0"
+version = "12.21.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "azure-core" },
@@ -174,9 +174,9 @@ dependencies = [
     { name = "isodate" },
     { name = "typing-extensions" },
 ]
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@@ -439,36 +439,31 @@ sdist = { url = "https://files.pythonhosted.org/packages/6b/b0/e595ce2a2527e169c
 
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+sdist = { url = "https://files.pythonhosted.org/packages/ca/99/5a5b6f19ff9f083671ddf7b9632028436167cd3d33e11015754e41b249a4/sympy-1.13.1.tar.gz", hash = "sha256:9cebf7e04ff162015ce31c9c6c9144daa34a93bd082f54fd8f12deca4f47515f", size = 7533040 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/62/74/7e6c65ee89ff43942bffffdbb238634f16967bf327aee3c76efcf6e49587/sympy-1.13.0-py3-none-any.whl", hash = "sha256:6b0b32a4673fb91bd3cac3b55406c8e01d53ae22780be467301cc452f6680c92", size = 6188245 },
+    { url = "https://files.pythonhosted.org/packages/b2/fe/81695a1aa331a842b582453b605175f419fe8540355886031328089d840a/sympy-1.13.1-py3-none-any.whl", hash = "sha256:db36cdc64bf61b9b24578b6f7bab1ecdd2452cf008f34faa33776680c26d66f8", size = 6189177 },
 ]
 
 [[distribution]]

From 83d6af5162b20fa822f408cf8147964924ddadbc Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 22 Jul 2024 11:45:39 -0700
Subject: [PATCH 0217/1243] ci: bring back aarch64 (#33017)

* casadi wheel

* ci

* test 312

* test with new aarch64 build

* use release wheels

* assert

* bool

* try this

* maybe

* work

* use final wheel
old-commit-hash: dcdac84f0c7944433f262af903a39e6b5d3a026a
---
 .github/workflows/selfdrive_tests.yaml  | 26 ++++++++++++++++++++++---
 pyproject.toml                          |  3 ++-
 selfdrive/ui/SConscript                 |  2 +-
 third_party/libyuv/larch64/lib/libyuv.a |  4 ++--
 uv.lock                                 | 14 ++++++++++++-
 5 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8968b493cf..42c1dbb5eb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -74,8 +74,11 @@ jobs:
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
-    runs-on: ubuntu-latest
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -84,7 +87,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
@@ -118,6 +121,23 @@ jobs:
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
diff --git a/pyproject.toml b/pyproject.toml
index 126e122ab3..1226c8345a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -52,7 +52,8 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi",
+  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
+  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
   "future-fstrings",
 
   # these should be removed
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 9046ecc228..c6b4860bf7 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -109,7 +109,7 @@ if GetOption('extras') and arch != "Darwin":
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
     f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
-    assert f[0].get_size() < 350*1e3
+    assert f[0].get_size() < 370*1e3
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
index fd18814ef1..1c91250231 100644
--- a/third_party/libyuv/larch64/lib/libyuv.a
+++ b/third_party/libyuv/larch64/lib/libyuv.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:85e765be665eab8ce8b64d6a884148e0ff3905fadcef6c0daa75e4efd84bb5cb
-size 499734
+oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363
+size 462482
diff --git a/uv.lock b/uv.lock
index 7808954e72..8a0dc29b2a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -227,6 +227,17 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/88/08/c55e2172f033a44b831ee771bb32fa89c369311c0598a52c03755f29a75e/casadi-3.6.5-cp312-none-win_amd64.whl", hash = "sha256:fe2b64d777e36cc3f101220dd1e219a0e11c3e4ee2b5e708b30fea9a27107e41", size = 43057681 },
 ]
 
+[[distribution]]
+name = "casadi"
+version = "3.6.6"
+source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }
+dependencies = [
+    { name = "numpy" },
+]
+wheels = [
+    { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" },
+]
+
 [[distribution]]
 name = "certifi"
 version = "2024.7.4"
@@ -1519,7 +1530,8 @@ source = { editable = "." }
 dependencies = [
     { name = "aiohttp" },
     { name = "aiortc" },
-    { name = "casadi" },
+    { name = "casadi", version = "3.6.5", source = { registry = "https://pypi.org/simple" }, marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "casadi", version = "3.6.6", source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }, marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
     { name = "cffi" },
     { name = "crcmod" },
     { name = "cython" },

From 8a16d47e7e4af881ac5af78f8273bec13a5b9f38 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 22 Jul 2024 11:51:39 -0700
Subject: [PATCH 0218/1243] [bot] Bump submodules (#33036)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 1da71f5c3c3234e9c6c7486437adfb3bf41181f5
---
 opendbc | 2 +-
 panda   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc b/opendbc
index 5ba787024f..cff2af8ff8 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5ba787024f53a00d76c7b253d1f3fee87763c679
+Subproject commit cff2af8ff8690466109f56be62129ebfb85cd5dc
diff --git a/panda b/panda
index b4e3d5cdd2..f6375848ca 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b4e3d5cdd2dec2a58807b0d710a5d3561a59529d
+Subproject commit f6375848ca393a9483921665b6a2d131d7ec9b20

From 41ee057acdf67d8a43d11cf51d79a5726e3563d7 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Mon, 22 Jul 2024 15:05:03 -0400
Subject: [PATCH 0219/1243] tools/Rerun: Add video logging features (#32810)

* working

* multiprocessing

* fix that

* print services

* all services + fix

* less verbose

* start readme

* segment range

* cleanup

* update readme + fix bug in 'all'

* cleanup + update readme

* update readme

* cleanup

* cleanup

* rm frame_iter

* cleanup

* staticmethod

* proc kill

* split files

* fix range with hevc vids

* update reamde + add prompt

* readme

* readme

* readme
old-commit-hash: 5e0aff92ae24952bfb13271c7875e89487da5b31
---
 tools/rerun/README.md        |  57 ++++++++++
 tools/rerun/camera_reader.py |  92 +++++++++++++++
 tools/rerun/run.py           | 214 ++++++++++++++++++++++++-----------
 3 files changed, 299 insertions(+), 64 deletions(-)
 create mode 100644 tools/rerun/README.md
 create mode 100644 tools/rerun/camera_reader.py

diff --git a/tools/rerun/README.md b/tools/rerun/README.md
new file mode 100644
index 0000000000..0fd50e1562
--- /dev/null
+++ b/tools/rerun/README.md
@@ -0,0 +1,57 @@
+# Rerun
+Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs.
+
+[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer.
+
+## Usage
+```
+usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
+
+A helper to run rerun on openpilot routes
+
+options:
+  -h, --help                  show this help message and exit
+  --demo                      Use the demo route instead of providing one (default: False)
+  --qcam                      Log decimated driving camera (default: False)
+  --fcam                      Log driving camera (default: False)
+  --ecam                      Log wide camera (default: False)
+  --dcam                      Log driver monitoring camera (default: False)
+  --print_services            List out openpilot services (default: False)
+  --services [SERVICES ...]   Specify openpilot services that will be logged. No service will be logged if not specified.
+                              To log all services include 'all' as one of your services (default: [])
+  --route [ROUTE]             The route or segment name to plot (default: None)
+```
+
+Examples using route name to observe accelerometer and qcamera:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
+
+`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+
+## Cautions:
+- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
+
+- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
+
+This example draws 13GB of memory:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+
+## Openpilot services
+To list all openpilot services:
+
+`./run.py --print_services`
+
+Examples including openpilot services:
+
+`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+Examples including all services:
+
+`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+## Demo
+`./run.py --services accelerometer carcontrol caroutput --qcam --demo`
diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py
new file mode 100644
index 0000000000..325fad18b8
--- /dev/null
+++ b/tools/rerun/camera_reader.py
@@ -0,0 +1,92 @@
+import tqdm
+import subprocess
+import multiprocessing
+from enum import StrEnum
+from functools import partial
+from collections import namedtuple
+
+from openpilot.tools.lib.framereader import ffprobe
+
+CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
+
+class CameraType(StrEnum):
+  qcam = "qcamera"
+  fcam = "fcamera"
+  ecam = "ecamera"
+  dcam = "dcamera"
+
+
+def probe_packet_info(camera_path):
+  args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
+  dat = subprocess.check_output(args)
+  dat = dat.decode().split()
+  return dat
+
+
+class _FrameReader:
+  def __init__(self, camera_path, segment, h, w, start_time):
+    self.camera_path = camera_path
+    self.segment = segment
+    self.h = h
+    self.w = w
+    self.start_time = start_time
+
+    self.ts = self._get_ts()
+
+  def _read_stream_nv12(self):
+    frame_sz = self.w * self.h * 3 // 2
+    proc = subprocess.Popen(
+             ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+             stdout=subprocess.PIPE,
+             stderr=subprocess.DEVNULL
+           )
+    try:
+      while True:
+        dat = proc.stdout.read(frame_sz)
+        if len(dat) == 0:
+          break
+        yield dat
+    finally:
+      proc.kill()
+
+  def _get_ts(self):
+    dat = probe_packet_info(self.camera_path)
+    try:
+      ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
+    except ValueError:
+      # pts_times aren't available. Infer timestamps from duration_times
+      ret = [d for d in dat if d.startswith("duration_time")]
+      ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
+    return ret
+
+  def __iter__(self):
+    for i, frame in enumerate(self._read_stream_nv12()):
+      yield self.ts[i], frame
+
+
+class CameraReader:
+  def __init__(self, camera_paths, start_time, seg_idxs):
+    self.seg_idxs = seg_idxs
+    self.camera_paths = camera_paths
+    self.start_time = start_time
+
+    probe = ffprobe(camera_paths[0])["streams"][0]
+    self.h = probe["height"]
+    self.w = probe["width"]
+
+    self.__frs = {}
+
+  def _get_fr(self, i):
+    if i not in self.__frs:
+      self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
+    return self.__frs[i]
+
+  def _run_on_segment(self, func, i):
+    return func(self._get_fr(i))
+
+  def run_across_segments(self, num_processes, func):
+    with multiprocessing.Pool(num_processes) as pool:
+      num_segs = len(self.seg_idxs)
+      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs):
+        continue
+
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 9975478a73..421785a2d5 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -6,84 +6,170 @@ import rerun as rr
 import rerun.blueprint as rrb
 from functools import partial
 
-from openpilot.tools.lib.logreader import LogReader
 from cereal.services import SERVICE_LIST
+from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentRange
 
 
 NUM_CPUS = multiprocessing.cpu_count()
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+RR_TIMELINE_NAME = "Timeline"
+RR_WIN = "rerun_test"
+
+
+class Rerunner:
+  def __init__(self, route, segment_range, camera_config, enabled_services):
+    self.enabled_services = [s.lower() for s in enabled_services]
+    self.log_all = "all" in self.enabled_services
+    self.lr = LogReader(route_or_segment_name)
+
+    # hevc files don't have start_time. We get it from qcamera.ts
+    start_time = 0
+    dat = probe_packet_info(r.qcamera_paths()[0])
+    for d in dat:
+      if d.startswith("pts_time="):
+        start_time = float(d.split('=')[1])
+        break
+
+    qcam, fcam, ecam, dcam = camera_config
+    self.camera_readers = {}
+    if qcam:
+      self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs)
+    if fcam:
+      self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs)
+    if ecam:
+      self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs)
+    if dcam:
+      self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
+
+  def _start_rerun(self):
+    self.blueprint = self._create_blueprint()
+    rr.init(RR_WIN, spawn=True)
+
+  def _create_blueprint(self):
+    blueprint = None
+    service_views = []
+
+    log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
+    for topic in sorted(SERVICE_LIST.keys()):
+      if not self.log_all and topic.lower() not in self.enabled_services:
+        continue
+      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
+      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+
+    blueprint = rrb.Blueprint(
+      rrb.Horizontal(
+        rrb.Vertical(*service_views),
+        rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
+      ),
+      rrb.SelectionPanel(expanded=False),
+      rrb.TimePanel(expanded=False)
+    )
+    return blueprint
+
+  @staticmethod
+  def _log_msg(msg, parent_key=''):
+    stack = [(msg, parent_key)]
+    while stack:
+      current_msg, current_parent_key = stack.pop()
+      if isinstance(current_msg, list):
+        for index, item in enumerate(current_msg):
+          new_key = f"{current_parent_key}/{index}"
+          if isinstance(item, (int, float)):
+            rr.log(new_key, rr.Scalar(item))
+          elif isinstance(item, dict):
+            stack.append((item, new_key))
+      elif isinstance(current_msg, dict):
+        for key, value in current_msg.items():
+          new_key = f"{current_parent_key}/{key}"
+          if isinstance(value, (int, float)):
+            rr.log(new_key, rr.Scalar(value))
+          elif isinstance(value, dict):
+            stack.append((value, new_key))
+          elif isinstance(value, list):
+            for index, item in enumerate(value):
+              if isinstance(item, (int, float)):
+                rr.log(f"{new_key}/{index}", rr.Scalar(item))
+      else:
+        pass  # Not a plottable value
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_log_msgs(blueprint, enabled_services, log_all, lr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    for msg in lr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
+      msg_type = msg.which()
+
+      if not log_all and msg_type.lower() not in enabled_services:
+        continue
+
+      if msg_type != "thumbnail":
+        Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
+      else:
+        rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
+
+    return []
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_cam_readers(blueprint, cam_type, h, w, fr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    size_hint = (h, w)
+    for ts, frame in fr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
+      rr.log(cam_type, rr.ImageEncoded(contents=frame,format=rr.ImageFormat.NV12(size_hint)))
+
+  def load_data(self):
+    self._start_rerun()
+    if len(self.enabled_services) > 0:
+      self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
+    for cam_type, cr in self.camera_readers.items():
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
 
-def log_msg(msg, parent_key=''):
-  stack = [(msg, parent_key)]
-  while stack:
-    current_msg, current_parent_key = stack.pop()
-    if isinstance(current_msg, list):
-      for index, item in enumerate(current_msg):
-        new_key = f"{current_parent_key}/{index}"
-        if isinstance(item, (int, float)):
-          rr.log(str(new_key), rr.Scalar(item))
-        elif isinstance(item, dict):
-          stack.append((item, new_key))
-    elif isinstance(current_msg, dict):
-      for key, value in current_msg.items():
-        new_key = f"{current_parent_key}/{key}"
-        if isinstance(value, (int, float)):
-          rr.log(str(new_key), rr.Scalar(value))
-        elif isinstance(value, dict):
-          stack.append((value, new_key))
-        elif isinstance(value, list):
-          for index, item in enumerate(value):
-            if isinstance(item, (int, float)):
-              rr.log(f"{new_key}/{index}", rr.Scalar(item))
-    else:
-      pass  # Not a plottable value
-
-def createBlueprint():
-  blueprint = None
-  timeSeriesViews = []
-  for topic in sorted(SERVICE_LIST.keys()):
-    timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
-    rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
-    blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
-                                        rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
-  return blueprint
-
-def log_thumbnail(thumbnailMsg):
-  bytesImgData = thumbnailMsg.get('thumbnail')
-  rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
-
-@rr.shutdown_at_exit
-def process(blueprint, lr):
-  rr.init("rerun_test")
-  rr.connect(default_blueprint=blueprint)
-
-  ret = []
-  for msg in lr:
-    ret.append(msg)
-    rr.set_time_nanos("TIMELINE", msg.logMonoTime)
-    if msg.which() != "thumbnail":
-      log_msg(msg.to_dict()[msg.which()], msg.which())
-    else:
-      log_thumbnail(msg.to_dict()[msg.which()])
-  return ret
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+  parser.add_argument("--qcam", action="store_true", help="Log decimated driving camera")
+  parser.add_argument("--fcam", action="store_true", help="Log driving camera")
+  parser.add_argument("--ecam", action="store_true", help="Log wide camera")
+  parser.add_argument("--dcam", action="store_true", help="Log driver monitoring camera")
+  parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
+  parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
+                                                                No service will be logged if not specified.\
+                                                                To log all services include 'all' as one of your services")
+  parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
+  args = parser.parse_args()
 
-  if len(sys.argv) == 1:
+  if not args.demo and not args.route:
     parser.print_help()
     sys.exit()
 
-  args = parser.parse_args()
+  if args.print_services:
+    print("\n".join(SERVICE_LIST.keys()))
+    sys.exit()
+
+  camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
+
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip()
+  sr = SegmentRange(route_or_segment_name)
+  r = Route(sr.route_name)
+
+  if len(sr.seg_idxs) > 10:
+    print("You're requesting more than 10 segments of the route, " + \
+          "please be aware that might take a lot of memory")
+    response = input("Do you wish to continue? (Y/n): ")
+    if response.strip() != "Y":
+      sys.exit()
 
-  blueprint = createBlueprint()
-  rr.init("rerun_test")
-  rr.spawn(connect=False) # child processes stream data to Viewer
+  rerunner = Rerunner(r, sr, camera_config, args.services)
+  rerunner.load_data()
 
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  print("Getting route log paths")
-  lr = LogReader(route_or_segment_name)
-  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))

From 30848f76d7802d29f160b184daec49eb000e3878 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 22 Jul 2024 13:05:57 -0700
Subject: [PATCH 0220/1243] [bot] Fingerprints: add missing FW versions from
 new users (#33038)

Export fingerprints
old-commit-hash: 8d77cea3a509ac80c18ecdd705a9f01754d1cb2c
---
 selfdrive/car/chrysler/fingerprints.py | 3 +++
 selfdrive/car/hyundai/fingerprints.py  | 1 +
 2 files changed, 4 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5528bfd5d5..74a5368145 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -26,6 +26,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
+      b'04672758AB',
       b'68226356AF',
       b'68226356AH',
       b'68226356AI',
@@ -47,6 +48,7 @@ FW_VERSIONS = {
       b'68352654AE ',
       b'68366851AH ',
       b'68366853AE ',
+      b'68366853AG ',
       b'68372861AF ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -60,6 +62,7 @@ FW_VERSIONS = {
       b'68277374AD',
       b'68277374AN',
       b'68367471AC',
+      b'68367471AD',
       b'68380571AB',
     ],
   },
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 4c659f053f..a9ab8bb79e 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -408,6 +408,7 @@ FW_VERSIONS = {
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',

From 0a667d79d057e6a46df409d03e44eefb581b97c2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Jul 2024 12:09:00 -0800
Subject: [PATCH 0221/1243] espActive: `IMMEDIATE_DISABLE` -> `SOFT_DISABLE`
 (#33003)

* espActive: `IMMEDIATE_DISABLE` -> `SOFT_DISABLE`

* only stock long

* just soft disable for now

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: a654e5bd05811a896005ebb41bc2f15dcf443b5d
---
 selfdrive/controls/lib/events.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 25833da741..588e638c95 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -832,7 +832,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.espActive: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
+    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"),
     ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
   },
 

From fd0fc08f8a81b20c692d60844005998e3ff3474d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 22 Jul 2024 13:36:53 -0700
Subject: [PATCH 0222/1243] [bot] Fingerprints: add missing FW versions from
 new users (#33039)

Export fingerprints
old-commit-hash: bd00a9d800c1cf308feb2bf85f7fde11d6f0ff7b
---
 selfdrive/car/chrysler/fingerprints.py | 9 +++++++++
 selfdrive/car/hyundai/fingerprints.py  | 3 +++
 selfdrive/car/toyota/fingerprints.py   | 2 ++
 3 files changed, 14 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 74a5368145..5198c661d7 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -390,6 +390,7 @@ FW_VERSIONS = {
       b'68294051AI',
       b'68294052AG',
       b'68294052AH',
+      b'68294059AI',
       b'68294063AG',
       b'68294063AH',
       b'68294063AI',
@@ -400,6 +401,7 @@ FW_VERSIONS = {
       b'68434858AC',
       b'68434859AC',
       b'68434860AC',
+      b'68453471AD',
       b'68453483AC',
       b'68453483AD',
       b'68453487AD',
@@ -424,11 +426,13 @@ FW_VERSIONS = {
       b'68527346AE',
       b'68527361AD',
       b'68527375AD',
+      b'68527381AD',
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
       b'68527383AE',
       b'68527387AE',
+      b'68527397AD',
       b'68527403AC',
       b'68527403AD',
       b'68546047AF',
@@ -519,6 +523,7 @@ FW_VERSIONS = {
       b'05036066AE ',
       b'05036193AA ',
       b'05149368AA ',
+      b'05149374AA ',
       b'05149591AD ',
       b'05149591AE ',
       b'05149592AE ',
@@ -549,6 +554,7 @@ FW_VERSIONS = {
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
+      b'68460927AA ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -567,6 +573,7 @@ FW_VERSIONS = {
       b'68539650AF',
       b'68539651AD',
       b'68586101AA ',
+      b'68586102AA ',
       b'68586105AB ',
       b'68629919AC ',
       b'68629922AC ',
@@ -605,6 +612,8 @@ FW_VERSIONS = {
       b'68520867AE',
       b'68520867AF',
       b'68520870AC',
+      b'68520871AC',
+      b'68528325AE',
       b'68540431AB',
       b'68540433AB',
       b'68551676AA',
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index a9ab8bb79e..30e4b9ed74 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -292,6 +292,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310GA000\x00 4TSHA100',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
       b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
     ],
@@ -482,11 +483,13 @@ FW_VERSIONS = {
   },
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CU-      1.00 1.01 96400-B1110         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
       b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index a4d0ad1707..37c69b54fb 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1152,6 +1152,7 @@ FW_VERSIONS = {
   },
   CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R440\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R50000\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
@@ -1173,6 +1174,7 @@ FW_VERSIONS = {
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634AJ3000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
       b'\x01896634AL6000\x00\x00\x00\x00',
       b'\x01896634AL8000\x00\x00\x00\x00',

From 29dda3b2324120feaa1fab487c798e9fcd4abb7e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 24 Jul 2024 00:27:10 +0800
Subject: [PATCH 0223/1243] Fix FutureWarning "Cython directive
 'language_level' not set" (#33046)

fix FutureWarning
old-commit-hash: fb3336614484553456bee6c2116b729177ecbc46
---
 selfdrive/modeld/models/commonmodel_pyx.pyx  | 2 +-
 selfdrive/modeld/runners/runmodel_pyx.pyx    | 2 +-
 selfdrive/modeld/runners/snpemodel_pyx.pyx   | 2 +-
 selfdrive/modeld/runners/thneedmodel_pyx.pyx | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index e292bb0d2d..ecbe644e09 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 import numpy as np
 cimport numpy as cnp
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index e1b201a6a9..12b8ec10ff 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 from libcpp.string cimport string
 
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
index c3b2b7e9bd..f83b7c8cff 100644
--- a/selfdrive/modeld/runners/snpemodel_pyx.pyx
+++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 import os
 from libcpp cimport bool
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
index 53487afa1b..6f8fdd255f 100644
--- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 from libcpp cimport bool
 from libcpp.string cimport string

From de3ce0b3bb434d0a43fbb45f0480c6ebe5c11985 Mon Sep 17 00:00:00 2001
From: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com>
Date: Tue, 23 Jul 2024 12:35:19 -0500
Subject: [PATCH 0224/1243] README.md: 275+ cars (#33048)

275+ cars
old-commit-hash: 93eb7ee0cc5af0d7c86248cbcafad86dd374976f
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index db74ee6a1a..5afaf6e7d6 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +19,7 @@ To start using openpilot in a car
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
 2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

From 11132cdb2ab19b80423fecab4af3c0f7f8dd84eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:11:31 -0700
Subject: [PATCH 0225/1243] CI: setup triggering jenkins for forks (#33049)

old-commit-hash: d828ac43444dad2d25dafcd4ba7543230b1f156f
---
 .github/workflows/jenkins-pr-trigger.yaml | 50 +++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 .github/workflows/jenkins-pr-trigger.yaml

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
new file mode 100644
index 0000000000..42ef4a7391
--- /dev/null
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -0,0 +1,50 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: github.event.issue.pull_request != null
+    steps:
+    - name: Check if comment contains trigger phrase and is from someone with write access
+      id: check_comment
+      uses: actions/github-script@v6
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: boolean
+
+    - name: Set PR number
+      id: set_pr_number
+      if: steps.check_comment.outputs.result == 'true'
+      run: echo "PR_NUMBER=$(echo ${{ github.event.issue.number }})" >> $GITHUB_ENV
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: ${{ github.event.issue.pull_request.head.ref }}
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ env.PR_NUMBER }}
+        git push -f origin tmp-jenkins-${{ env.PR_NUMBER }}

From 7cba0e1adad0f19798b09e9a548cefdac6967291 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:14:00 -0700
Subject: [PATCH 0226/1243] json encoding

old-commit-hash: e7ec1b8ff16feeb3d02200c95692aa4bcb402337
---
 .github/workflows/jenkins-pr-trigger.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index 42ef4a7391..10c601777d 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -28,7 +28,7 @@ jobs:
           const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
 
           return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: boolean
+        result-encoding: json
 
     - name: Set PR number
       id: set_pr_number

From 5745c5a90ff1bd26315eb1c74f2fb862d436f21a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:27:56 -0700
Subject: [PATCH 0227/1243] jenkins trigger fixups

old-commit-hash: ef5d6a0466dd2ebf0b5595150b68b3c59722f397
---
 .github/workflows/jenkins-pr-trigger.yaml | 19 +++++++------------
 1 file changed, 7 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index 10c601777d..acdf5feb86 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -2,17 +2,17 @@ name: jenkins scan
 
 on:
   issue_comment:
-    types: [created]
+    types: [created, edited]
 
 jobs:
   # TODO: gc old branches in a separate job in this workflow
   scan-comments:
     runs-on: ubuntu-latest
-    if: github.event.issue.pull_request != null
+    if: ${{ github.event.issue.pull_request }}
     steps:
-    - name: Check if comment contains trigger phrase and is from someone with write access
+    - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v6
+      uses: actions/github-script@v7
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -30,21 +30,16 @@ jobs:
           return (hasWriteAccess && comment.includes(triggerPhrase));
         result-encoding: json
 
-    - name: Set PR number
-      id: set_pr_number
-      if: steps.check_comment.outputs.result == 'true'
-      run: echo "PR_NUMBER=$(echo ${{ github.event.issue.number }})" >> $GITHUB_ENV
-
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
       uses: actions/checkout@v4
       with:
-        ref: ${{ github.event.issue.pull_request.head.ref }}
+        ref: refs/pull/${{ github.event.issue.number }}/head
 
     - name: Push to tmp-jenkins branch
       if: steps.check_comment.outputs.result == 'true'
       run: |
         git config --global user.name "github-actions[bot]"
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ env.PR_NUMBER }}
-        git push -f origin tmp-jenkins-${{ env.PR_NUMBER }}
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        git push -f origin tmp-jenkins-${{ github.event.issue.number }}

From 0dcbc9cb15b93bb5876b24ce2ff9b3b754f8b94b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:32:51 -0700
Subject: [PATCH 0228/1243] skip lfs

old-commit-hash: 29d0bfe1ab832832f027c899e337551fd8716a49
---
 .github/workflows/jenkins-pr-trigger.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index acdf5feb86..eb2a7271be 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -42,4 +42,4 @@ jobs:
         git config --global user.name "github-actions[bot]"
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_SMUDGE=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

From 31a82aabd59b0250853c13a1959f4617f7f83510 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jul 2024 11:41:27 -0700
Subject: [PATCH 0229/1243] skip push

old-commit-hash: 9b8c1693c9c74bae87c44615e90fc372c551900c
---
 .github/workflows/jenkins-pr-trigger.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index eb2a7271be..db1d524018 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -42,4 +42,4 @@ jobs:
         git config --global user.name "github-actions[bot]"
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_SMUDGE=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

From 61c4da30f559eefa9b7873c316e77dc08834876f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 24 Jul 2024 02:53:40 +0800
Subject: [PATCH 0230/1243] Fix `/usr/bin/ld: skipping incompatible
 /usr/lib/libgcc_s.so.1` warnings (#33047)

fix incompatible lib warning
old-commit-hash: fbbd4ee692d2f84b90bfaf93499c6360e5bdad2b
---
 SConstruct | 1 -
 1 file changed, 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 0c4dbee18e..1f83b1e43d 100644
--- a/SConstruct
+++ b/SConstruct
@@ -102,7 +102,6 @@ if arch == "larch64":
 
   libpath = [
     "/usr/local/lib",
-    "/usr/lib",
     "/system/vendor/lib64",
     f"#third_party/acados/{arch}/lib",
   ]

From 543e691203141911940c001f9612b333571374f1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 23 Jul 2024 13:55:30 -0700
Subject: [PATCH 0231/1243] Longcontrol: engage into stopped state when needed
 (#33042)

test stay stopped
old-commit-hash: 3bc1b173d2390a93b0c31090861bbc597eff4d2c
---
 selfdrive/controls/lib/longcontrol.py        | 14 +++--
 selfdrive/controls/tests/test_longcontrol.py | 56 ++++++++++++++++++++
 2 files changed, 65 insertions(+), 5 deletions(-)
 create mode 100644 selfdrive/controls/tests/test_longcontrol.py

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index e4841c705f..efeb76c4a8 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -22,22 +22,26 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
     long_control_state = LongCtrlState.off
 
   else:
-    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
-      long_control_state = LongCtrlState.pid
-      if stopping_condition:
+    if long_control_state == LongCtrlState.off:
+      if not starting_condition:
         long_control_state = LongCtrlState.stopping
+      else:
+        if starting_condition and CP.startingState:
+          long_control_state = LongCtrlState.starting
+        else:
+          long_control_state = LongCtrlState.pid
+
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition and CP.startingState:
         long_control_state = LongCtrlState.starting
       elif starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state == LongCtrlState.starting:
+    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
       elif started_condition:
         long_control_state = LongCtrlState.pid
-
   return long_control_state
 
 class LongControl:
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
new file mode 100644
index 0000000000..ab50810d89
--- /dev/null
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -0,0 +1,56 @@
+from cereal import car
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+
+
+
+
+class TestLongControlStateTransition:
+
+  def test_stay_stopped(self):
+    CP = car.CarParams.new_message()
+    active = True
+    current_state = LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
+    active = False
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.off
+
+def test_engage():
+  CP = car.CarParams.new_message()
+  active = True
+  current_state = LongCtrlState.off
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
+
+def test_starting():
+  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  active = True
+  current_state = LongCtrlState.starting
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.starting
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid

From e34c6db18c991a9c1cc8b44ade7484efea2d8c02 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 14:52:08 -0700
Subject: [PATCH 0232/1243] don't lock when installing python packages (#33051)

frozen
old-commit-hash: 1e9738131d7737cbc9af161cf829c83c67577970
---
 tools/install_python_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 276de58db7..a90462888f 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -34,7 +34,7 @@ update_uv
 
 # TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."
-uv --no-cache sync --all-extras
+uv --no-cache sync --frozen --all-extras
 source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env

From 870a213e6bee499a5304fda3f2365909252060c4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 21:47:07 -0700
Subject: [PATCH 0233/1243] op tool helper (#33053)

* op

* change this

* juggler

* options

* fix

* submodules

* typo

* venv

* clean + install
old-commit-hash: f60dfd4dbb5d33bb1ec36c550742d185e2c4bf78
---
 tools/op.sh | 262 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 262 insertions(+)
 create mode 100755 tools/op.sh

diff --git a/tools/op.sh b/tools/op.sh
new file mode 100755
index 0000000000..d8a3f4b809
--- /dev/null
+++ b/tools/op.sh
@@ -0,0 +1,262 @@
+#!/bin/bash
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+function op_first_install() {
+  (set -e
+
+  echo "Installing op system-wide..."
+  RC_FILE="${HOME}/.$(basename ${SHELL})rc"
+  if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
+    RC_FILE="$HOME/.bash_profile"
+  fi
+  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
+
+  )
+}
+
+# be default, assume openpilot dir is in current directory
+OPENPILOT_ROOT=$(pwd)
+function op_check_openpilot_dir() {
+  (set -e
+
+  if [ ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]; then
+    echo "openpilot directory not found!"
+    return 1
+  fi
+
+  )
+}
+
+function op_check_git() {
+  (set -e
+
+  cd $OPENPILOT_ROOT
+
+  echo "Checking for git..."
+  if ! command -v "git" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n"
+  fi
+
+  echo "Checking for git lfs files..."
+  if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n"
+  fi
+
+  echo "Checking for git submodules..."
+  if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then
+    echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n"
+  fi
+
+  )
+}
+
+function op_check_os() {
+  (set -e
+
+  echo "Checking for compatible os version..."
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+
+    if [ -f "/etc/os-release" ]; then
+      source /etc/os-release
+      case "$VERSION_CODENAME" in
+        "jammy" | "kinetic" | "noble" | "focal")
+          OS_VERSION="Ubuntu"
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
+          ;;
+        * )
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
+          return 1
+          ;;
+      esac
+    else
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
+      return 1
+    fi
+
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
+    OS_VERSION="Darwin"
+  else
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
+    return 1
+  fi
+
+  )
+}
+
+function op_check_python() {
+  (set -e
+
+  echo "Checking for compatible python version..."
+  export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ')
+  if ! command -v "python3" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
+    return 1
+  else
+    if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then
+      echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n"
+    else
+      echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
+      return 1
+    fi
+  fi
+
+  )
+}
+
+# this must be run in the same shell as the user calling "op"
+function op_venv() {
+  op_check_openpilot_dir || return 1
+  source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
+}
+
+function op_check() {
+  (set -e
+
+  op_check_openpilot_dir
+  cd $OPENPILOT_ROOT
+  op_check_git
+  op_check_os
+  op_check_python
+
+  )
+}
+
+function op_run() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+  $OPENPILOT_ROOT/launch_openpilot.sh
+
+  )
+}
+
+function op_install() {
+  (set -e
+
+  op_check_openpilot_dir
+  cd $OPENPILOT_ROOT
+
+  op_check_os
+  op_check_python
+
+  case "$OS_VERSION" in
+    "Ubuntu")
+      $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+      ;;
+    "Darwin")
+      $OPENPILOT_ROOT/tools/mac_setup.sh
+      ;;
+  esac
+
+  git submodules update --init --recursive
+  git lfs pull
+
+  )
+}
+
+function op_build() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+
+  scons $@ || echo -e "\nBuild failed. Have you ran 'op install' ?"
+
+  )
+}
+
+function op_juggle() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+
+  $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+
+  )
+}
+
+function op_default() {
+  echo "An openpilot helper"
+  echo ""
+  echo -e "\e[4mUsage:\e[0m op [OPTIONS] <COMMAND>"
+  echo ""
+  echo -e "\e[4mCommands:\e[0m"
+  echo "  venv       Activate the virtual environment"
+  echo "  check      Check system requirements (git, os, python) to start using openpilot"
+  echo "  install    Install requirements to use openpilot"
+  echo "  build      Build openpilot"
+  echo "  run        Run openpilot"
+  echo "  juggle     Run Plotjuggler"
+  echo "  help       Show this message"
+  echo "  --install  Install this tool system wide"
+  echo ""
+  echo -e "\e[4mOptions:\e[0m"
+  echo "  -d, --dir"
+  echo "          Specify the openpilot directory you want to use"
+  echo "          Default to the current working directory"
+  echo ""
+  echo -e "\e[4mExamples:\e[0m"
+  echo "  op --dir /tmp/openpilot check"
+  echo "          Run the check command on openpilot located in /tmp/openpilot"
+  echo ""
+  echo "  op juggle --install"
+  echo "          Install plotjuggler in the openpilot located in your current"
+  echo "          working directory"
+  echo ""
+  echo "  op --dir /tmp/openpilot build -j4"
+  echo "          Run the build command on openpilot located in /tmp/openpilot"
+  echo "          on 4 cores"
+}
+
+
+function _op() {
+  # parse Options
+  case $1 in
+    -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+  esac
+
+  # parse Commands
+  case $1 in
+    venv )      shift 1; op_venv "$@" ;;
+    check )     shift 1; op_check "$@" ;;
+    install )   shift 1; op_install "$@" ;;
+    build )     shift 1; op_build "$@" ;;
+    run )       shift 1; op_run "$@" ;;
+    juggle )    shift 1; op_juggle "$@" ;;
+    --install ) shift 1; op_first_install "$@" ;;
+    * ) op_default "$@" ;;
+  esac
+}
+
+_op $@
+
+# remove from env
+unset -f _op
+unset -f op_check
+unset -f op_install
+unset -f op_build
+unset -f op_run
+unset -f op_juggle
+unset -f op_venv
+unset -f op_check_openpilot_dir
+unset -f op_check_git
+unset -f op_check_python
+unset -f op_check_os
+unset -f op_first_install
+unset -f op_default

From 4dbf2cd0024dc7962dc0a74e918418f0c52c2a6c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 22:34:21 -0700
Subject: [PATCH 0234/1243] Update op.sh old-commit-hash:
 3382002cd03604710f39d01f19a37f4bb66b7cdf

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index d8a3f4b809..f7caa9d047 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -163,7 +163,7 @@ function op_install() {
       ;;
   esac
 
-  git submodules update --init --recursive
+  git submodule update --init --recursive
   git lfs pull
 
   )

From d33651d6628112a9f5f7cac0a96e684343143c6a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 23 Jul 2024 23:04:42 -0700
Subject: [PATCH 0235/1243] Update op.sh old-commit-hash:
 18c310addf7e19688f6cfc4530026b281ac7e75f

---
 tools/op.sh | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index f7caa9d047..bbc4ded445 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -73,7 +73,6 @@ function op_check_os() {
       source /etc/os-release
       case "$VERSION_CODENAME" in
         "jammy" | "kinetic" | "noble" | "focal")
-          OS_VERSION="Ubuntu"
           echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
           ;;
         * )
@@ -88,7 +87,6 @@ function op_check_os() {
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
-    OS_VERSION="Darwin"
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
@@ -154,14 +152,11 @@ function op_install() {
   op_check_os
   op_check_python
 
-  case "$OS_VERSION" in
-    "Ubuntu")
-      $OPENPILOT_ROOT/tools/ubuntu_setup.sh
-      ;;
-    "Darwin")
-      $OPENPILOT_ROOT/tools/mac_setup.sh
-      ;;
-  esac
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    $OPENPILOT_ROOT/tools/mac_setup.sh
+  fi
 
   git submodule update --init --recursive
   git lfs pull

From 7382299fda8875b40ecfb66130aec0ce08d80d60 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 25 Jul 2024 00:42:31 +0800
Subject: [PATCH 0236/1243] ui: fix wayland requestActivate warning on device
 (#33054)

fix wayland requestActivate warning in fullscreen mode
old-commit-hash: bd8dd65ce0e5477100e07f33d2b237111e922c62
---
 selfdrive/ui/qt/qt_window.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
index f71cea04e9..8d3d7cf72e 100644
--- a/selfdrive/ui/qt/qt_window.cc
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -18,7 +18,9 @@ void setMainWindow(QWidget *w) {
   wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w->windowHandle()));
   wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
   wl_surface_commit(s);
-  w->showFullScreen();
+
+  w->setWindowState(Qt::WindowFullScreen);
+  w->setVisible(true);
 
   // ensure we have a valid eglDisplay, otherwise the ui will silently fail
   void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());

From 4d6d229820d888546ff68ac9ac54eb822cb4856b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 25 Jul 2024 01:07:10 +0800
Subject: [PATCH 0237/1243] camerad: refactor camera_open() into separate
 functions for clarity (#33056)

split function
old-commit-hash: 0fa6745a67b60a572cfa4060d8155ac50f4e4e06
---
 system/camerad/cameras/camera_qcom2.cc | 32 +++++++++++++++++++-------
 system/camerad/cameras/camera_qcom2.h  |  5 ++++
 2 files changed, 29 insertions(+), 8 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 47ea5ded4d..7c1f8e44e7 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -469,6 +469,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   enabled = enabled_;
   if (!enabled) return;
 
+  if (!openSensor()) {
+    return;
+  }
+
+  configISP();
+  configCSIPHY();
+  linkDevices();
+}
+
+bool CameraState::openSensor() {
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
   assert(sensor_fd >= 0);
   LOGD("opened sensor for %d", camera_num);
@@ -493,7 +503,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
       !init_sensor_lambda(new OS04C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
     enabled = false;
-    return;
+    return false;
   }
   LOGD("-- Probing sensor %d success", camera_num);
 
@@ -512,7 +522,10 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
   LOG("-- Configuring sensor");
   sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
+  return true;
+}
 
+void CameraState::configISP() {
   // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
   // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
   if (!enabled) return;
@@ -570,6 +583,13 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   isp_dev_handle = *isp_dev_handle_;
   LOGD("acquire isp dev");
 
+  // config ISP
+  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
+                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
+  config_isp(0, 0, 1, buf0_handle, 0);
+}
+
+void CameraState::configCSIPHY() {
   csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num);
   assert(csiphy_fd >= 0);
   LOGD("opened csiphy for %d", camera_num);
@@ -580,11 +600,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   csiphy_dev_handle = *csiphy_dev_handle_;
   LOGD("acquire csiphy dev");
 
-  // config ISP
-  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
-                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
-  config_isp(0, 0, 1, buf0_handle, 0);
-
   // config csiphy
   LOG("-- Config CSI PHY");
   {
@@ -612,15 +627,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
   }
+}
 
-  // link devices
+void CameraState::linkDevices() {
   LOG("-- Link devices");
   struct cam_req_mgr_link_info req_mgr_link_info = {0};
   req_mgr_link_info.session_hdl = session_handle;
   req_mgr_link_info.num_devices = 2;
   req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
   req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
   link_handle = req_mgr_link_info.link_hdl;
   LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
 
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 0b15c9c3f0..b702d1bb69 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -86,6 +86,11 @@ public:
   void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
 
 private:
+  bool openSensor();
+  void configISP();
+  void configCSIPHY();
+  void linkDevices();
+
   // for debugging
   Params params;
 };

From 2c010fe5a8a95ea76e12e2748144983e0057b1ae Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 10:31:27 -0700
Subject: [PATCH 0238/1243] ci: fix ui preview (#33002)

* use pull_request_target

* env for name
old-commit-hash: d49c5193c33a41447d1d5748a069972893b7c6ec
---
 .github/workflows/selfdrive_tests.yaml | 55 +---------------
 .github/workflows/ui_preview.yaml      | 91 ++++++++++++++++++++++++++
 2 files changed, 94 insertions(+), 52 deletions(-)
 create mode 100644 .github/workflows/ui_preview.yaml

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 42c1dbb5eb..1154948ace 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -338,6 +338,7 @@ jobs:
             })
 
   create_ui_report:
+    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
     steps:
@@ -355,55 +356,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}
-          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number || '1' }}
-      - name: Get changes to selfdrive/ui
-        if: ${{ github.event_name == 'pull_request' }}
-        id: changed-files
-        uses: tj-actions/changed-files@v44
-        with:
-         files: |
-            selfdrive/ui/**
-      - name: Checkout ci-artifacts
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-          ref: master
-      - name: Push Screenshots
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        working-directory: ${{ github.workspace }}/ci-artifacts
-        run: |
-          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report_1/screenshots/* .
-          git add .
-          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
-          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
-      - name: Comment Screenshots on PR
-        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Screenshots
-            <table>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
-              </tr>
-            </table>
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.pull_request.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          name: report-${{ github.event.number }}
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
new file mode 100644
index 0000000000..c05c01f3e3
--- /dev/null
+++ b/.github/workflows/ui_preview.yaml
@@ -0,0 +1,91 @@
+name: "ui preview"
+on:
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/ui/**'
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - name: Waiting for ui test to start
+        run: sleep 30
+
+      - name: Wait for ui report
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          check-name: $UI_JOB_NAME
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Get workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "$UI_JOB_NAME") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Checkout ci-artifacts
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+
+      - name: Download artifact
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: report-${{ github.event.number }}
+          path: ${{ github.workspace }}/ci-artifacts
+
+      - name: Push Screenshots
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git add ${{ github.workspace }}/ci-artifacts/*
+          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git push origin openpilot/pr-${{ github.event.number }} --force
+
+      - name: Comment Screenshots on PR
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From e02af37ac8dc85104cb23bf5bfa473a658652965 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Wed, 24 Jul 2024 10:36:28 -0700
Subject: [PATCH 0239/1243] CI: remove redundant save cache step (#33052)

remove
old-commit-hash: 344694110751b8282eabe0b8b1e4de38646e4623
---
 .github/workflows/tools_tests.yaml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index b64963fb60..9085556392 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -73,12 +73,6 @@ jobs:
           scons-${{ runner.arch }}-ubuntu2004
     - name: Building openpilot
       run: uv run scons -u -j$(nproc)
-    - name: Saving scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   devcontainer:
     name: devcontainer

From d7721e3a4d57d02ff8477099f0ef18d4e690fd10 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 11:03:24 -0700
Subject: [PATCH 0240/1243] ci: use github env for ui preview job name (#33060)

fix this
old-commit-hash: 2221ffcf0ea0d0631d92e016d5c1bd98116b9aba
---
 .github/workflows/ui_preview.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index c05c01f3e3..bc19e23778 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -28,7 +28,7 @@ jobs:
         uses: lewagon/wait-on-check-action@v1.3.4
         with:
           ref: ${{ github.event.pull_request.head.sha }}
-          check-name: $UI_JOB_NAME
+          check-name: ${{ env.UI_JOB_NAME }}
           repo-token: ${{ secrets.GITHUB_TOKEN }}
           allowed-conclusions: success
           wait-interval: 20
@@ -36,7 +36,7 @@ jobs:
       - name: Get workflow run ID
         id: get_run_id
         run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "$UI_JOB_NAME") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Checkout ci-artifacts
         uses: actions/checkout@v4

From f22ef8fc5a8f3afdf3431014c1aa7f59271e2171 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 24 Jul 2024 12:11:20 -0700
Subject: [PATCH 0241/1243] rerun: link to upstream issues

old-commit-hash: 31036771ee8ba71e3fbe7c7f08aad3b5be0127e6
---
 tools/rerun/run.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 421785a2d5..6d9554038c 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -18,6 +18,12 @@ RR_TIMELINE_NAME = "Timeline"
 RR_WIN = "rerun_test"
 
 
+"""
+Relevant upstream Rerun issues:
+- large time series: https://github.com/rerun-io/rerun/issues/5967
+- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
+"""
+
 class Rerunner:
   def __init__(self, route, segment_range, camera_config, enabled_services):
     self.enabled_services = [s.lower() for s in enabled_services]

From 309ccf64820ae718cea00c96b288fa2e133770c8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 24 Jul 2024 14:47:33 -0700
Subject: [PATCH 0242/1243] LogReader: support multiple log extensions in route
 (#33066)

* support rlog.zst

* TODO
old-commit-hash: e38a1428aa20aad134b4ad9fd1abab33a1de70b9
---
 tools/lib/logreader.py | 1 +
 tools/lib/route.py     | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 6ad77bf823..07a4b2003e 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -140,6 +140,7 @@ def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") ->
   def get_internal_url(sr: SegmentRange, seg, file):
     return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"
 
+  # TODO: list instead of using static URLs to support routes with multiple file extensions
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
 
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 6ff5d19208..ddb8b0486e 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -11,7 +11,7 @@ from openpilot.tools.lib.helpers import RE
 
 QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
 QCAMERA_FILENAMES = ['qcamera.ts']
-LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2']
+LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2', 'rlog.zst']
 CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
 DCAMERA_FILENAMES = ['dcamera.hevc']
 ECAMERA_FILENAMES = ['ecamera.hevc']

From 5fdbd73ba3165db0eb4f95b0d937d719aa574b1e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 24 Jul 2024 14:48:33 -0700
Subject: [PATCH 0243/1243] athenad: log failed upload items

old-commit-hash: add958bb08890c653be89999701cb3d794c5c717
---
 system/athena/athenad.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9769f065f6..b4f9b8b6a7 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -401,6 +401,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
   resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
   if failed:
+    cloudlog.event("athena.uploadFilesToUrls.failed", failed=failed, error=True)
     resp["failed"] = failed
 
   return resp

From 79b9f0b185066995fb412008b838b064fc7f8a5f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 14:49:35 -0700
Subject: [PATCH 0244/1243] op.sh: general improvements (#33062)

* color

* format

* dry

* unset

* venv

* search for openpilot

* linter

* replay
old-commit-hash: 71ad5a8deef595d3e0cb01d3e8a4d8ced1ae5085
---
 tools/op.sh | 106 +++++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 81 insertions(+), 25 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index bbc4ded445..111a06e81c 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -2,6 +2,8 @@
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
 NC='\033[0m'
 
 function op_first_install() {
@@ -12,7 +14,7 @@ function op_first_install() {
   if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
     RC_FILE="$HOME/.bash_profile"
   fi
-  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 
   )
@@ -21,14 +23,25 @@ function op_first_install() {
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
 function op_check_openpilot_dir() {
-  (set -e
+  while [[ "$OPENPILOT_ROOT" != '/' ]];
+  do
+    if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
+      return 0
+    fi
+    OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
+  done
 
-  if [ ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]; then
-    echo "openpilot directory not found!"
-    return 1
-  fi
+  echo "openpilot directory not found! Make sure that you are inside openpilot"
+  echo "directory or specify one with the --dir option!"
+  return 1
+}
 
-  )
+function op_run_command() {
+  CMD="$@"
+  echo -e "${BOLD}Running:${NC} $CMD"
+  if [[ -z "$DRY" ]]; then
+    $CMD
+  fi
 }
 
 function op_check_git() {
@@ -118,7 +131,7 @@ function op_check_python() {
 # this must be run in the same shell as the user calling "op"
 function op_venv() {
   op_check_openpilot_dir || return 1
-  source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
+  op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
 }
 
 function op_check() {
@@ -138,7 +151,8 @@ function op_run() {
 
   op_venv
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/launch_openpilot.sh
+
+  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
 
   )
 }
@@ -170,7 +184,7 @@ function op_build() {
   op_venv
   cd $OPENPILOT_ROOT
 
-  scons $@ || echo -e "\nBuild failed. Have you ran 'op install' ?"
+  op_run_command scons $@
 
   )
 }
@@ -181,7 +195,28 @@ function op_juggle() {
   op_venv
   cd $OPENPILOT_ROOT
 
-  $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+  op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+
+  )
+}
+
+function op_linter() {
+  (set -e
+
+  op_venv
+  cd $OPENPILOT_ROOT
+
+  op_run_command pre-commit run --all $@
+
+  )
+}
+
+function op_replay() {
+  (set -e
+  op_check_openpilot_dir
+  cd $OPENPILOT_ROOT
+
+  op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
 
   )
 }
@@ -189,24 +224,37 @@ function op_juggle() {
 function op_default() {
   echo "An openpilot helper"
   echo ""
-  echo -e "\e[4mUsage:\e[0m op [OPTIONS] <COMMAND>"
+  echo -e "${BOLD}${UNDERLINE}Description:${NC}"
+  echo "  op is your entry point for all things related to openpilot development."
+  echo "  op is only a wrapper for scripts, tools  and commands already existing."
+  echo "  op will always show you what it will run on your system."
+  echo ""
+  echo "  op will try to find your openpilot directory in the following order:"
+  echo "   1: use the directory specified with the --dir option"
+  echo "   2: use the current working directory"
+  echo "   3: go up the file tree non-recursively"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
-  echo -e "\e[4mCommands:\e[0m"
-  echo "  venv       Activate the virtual environment"
-  echo "  check      Check system requirements (git, os, python) to start using openpilot"
-  echo "  install    Install requirements to use openpilot"
-  echo "  build      Build openpilot"
-  echo "  run        Run openpilot"
-  echo "  juggle     Run Plotjuggler"
-  echo "  help       Show this message"
-  echo "  --install  Install this tool system wide"
+  echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
+  echo -e "  ${BOLD}venv${NC}       Activate the virtual environment"
+  echo -e "  ${BOLD}check${NC}      Check system requirements (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
+  echo -e "  ${BOLD}build${NC}      Build openpilot"
+  echo -e "  ${BOLD}run${NC}        Run openpilot"
+  echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
+  echo -e "  ${BOLD}replay${NC}     Run replay"
+  echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}help${NC}       Show this message"
+  echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
   echo ""
-  echo -e "\e[4mOptions:\e[0m"
-  echo "  -d, --dir"
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-d, --dir${NC}"
   echo "          Specify the openpilot directory you want to use"
-  echo "          Default to the current working directory"
+  echo -e "  ${BOLD}--dry${NC}"
+  echo "          Don't actually run anything, just print what would be"
   echo ""
-  echo -e "\e[4mExamples:\e[0m"
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
   echo "          Run the check command on openpilot located in /tmp/openpilot"
   echo ""
@@ -224,6 +272,7 @@ function _op() {
   # parse Options
   case $1 in
     -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+    --dry )      shift 1; DRY="1" ;;
   esac
 
   # parse Commands
@@ -234,6 +283,8 @@ function _op() {
     build )     shift 1; op_build "$@" ;;
     run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
+    linter )    shift 1; op_linter "$@" ;;
+    replay )    shift 1; op_replay "$@" ;;
     --install ) shift 1; op_first_install "$@" ;;
     * ) op_default "$@" ;;
   esac
@@ -255,3 +306,8 @@ unset -f op_check_python
 unset -f op_check_os
 unset -f op_first_install
 unset -f op_default
+unset -f op_run_command
+unset -f op_linter
+unset -f op_replay
+unset DRY
+unset OPENPILOT_ROOT

From bc8e1101b3aeadf700555956b800592e25d11d91 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 22:20:16 -0700
Subject: [PATCH 0245/1243] op.sh: improvements (#33067)

* cabana

* pre-check

* cd

* change this

* fix

* fix install
old-commit-hash: 4ac938a578e68c88e39b73fa35024a4320557f64
---
 tools/op.sh | 183 +++++++++++++++++++++++++++++++---------------------
 1 file changed, 110 insertions(+), 73 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 111a06e81c..27f1817211 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
@@ -14,64 +14,66 @@ function op_first_install() {
   if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
     RC_FILE="$HOME/.bash_profile"
   fi
-  op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 
   )
 }
 
+function op_run_command() {
+  CMD="$@"
+  echo -e "${BOLD}Running:${NC} $CMD"
+  if [[ -z "$DRY" ]]; then
+    $CMD
+  fi
+}
+
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
 function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
+      echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
       return 0
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
 
-  echo "openpilot directory not found! Make sure that you are inside openpilot"
-  echo "directory or specify one with the --dir option!"
+  echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
+  echo "       inside the openpilot directory or specify one with the"
+  echo "       --dir option!"
   return 1
 }
 
-function op_run_command() {
-  CMD="$@"
-  echo -e "${BOLD}Running:${NC} $CMD"
-  if [[ -z "$DRY" ]]; then
-    $CMD
-  fi
-}
-
 function op_check_git() {
   (set -e
 
-  cd $OPENPILOT_ROOT
-
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then
-    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull"
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n"
   fi
 
   echo "Checking for git submodules..."
-  if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then
-    echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'"
-    return 1
-  else
-    echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n"
-  fi
+  for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
+    if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n"
+      return 1
+    fi
+  done
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n"
 
   )
 }
@@ -89,19 +91,19 @@ function op_check_os() {
           echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
           ;;
         * )
-          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n"
           return 1
           ;;
       esac
     else
-      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n"
       return 1
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
-    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n"
     return 1
   fi
 
@@ -112,78 +114,100 @@ function op_check_python() {
   (set -e
 
   echo "Checking for compatible python version..."
-  export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ')
-  if ! command -v "python3" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
+  REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
+  INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
+
+  if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
     return 1
+  elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n"
   else
-    if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then
-      echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n"
-    else
-      echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!"
-      return 1
-    fi
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    return 1
   fi
 
   )
 }
 
-# this must be run in the same shell as the user calling "op"
-function op_venv() {
-  op_check_openpilot_dir || return 1
-  op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1)
+function op_check_venv() {
+  echo "Checking for venv..."
+  if source $OPENPILOT_ROOT/.venv/bin/activate; then
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n"
+  else
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n"
+  fi
 }
 
-function op_check() {
-  (set -e
+function op_before_cmd() {
+  if [[ ! -z "$NO_VERIFY" ]]; then
+    return 0
+  fi
 
   op_check_openpilot_dir
   cd $OPENPILOT_ROOT
   op_check_git
   op_check_os
+  op_check_venv
   op_check_python
-
-  )
+  echo -e "-----------------------------\n"
 }
 
-function op_run() {
+function op_install() {
   (set -e
 
-  op_venv
+  op_check_openpilot_dir
   cd $OPENPILOT_ROOT
+  op_check_os
+  op_check_python
 
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
+  fi
+
+  op_run_command git submodule update --init --recursive
+  op_run_command git lfs pull
 
   )
 }
 
-function op_install() {
-  (set -e
+function op_venv() {
+  ( set -e
 
-  op_check_openpilot_dir
-  cd $OPENPILOT_ROOT
+  op_before_cmd
 
-  op_check_os
-  op_check_python
+  )
 
-  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    $OPENPILOT_ROOT/tools/ubuntu_setup.sh
-  elif [[ "$OSTYPE" == "darwin"* ]]; then
-    $OPENPILOT_ROOT/tools/mac_setup.sh
+  if [[ "$?" -eq 0 ]]; then
+    # this must be run in the same shell as the user calling "op"
+    op_check_openpilot_dir > /dev/null
+    op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
   fi
+}
 
-  git submodule update --init --recursive
-  git lfs pull
+function op_check() {
+  (set -e
+
+  op_before_cmd
 
   )
 }
 
-function op_build() {
+function op_run() {
   (set -e
 
-  op_venv
-  cd $OPENPILOT_ROOT
+  op_before_cmd
+  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
+
+  )
+}
 
+function op_build() {
+  (set -e
+
+  op_before_cmd
   op_run_command scons $@
 
   )
@@ -192,9 +216,7 @@ function op_build() {
 function op_juggle() {
   (set -e
 
-  op_venv
-  cd $OPENPILOT_ROOT
-
+  op_before_cmd
   op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
 
   )
@@ -203,9 +225,7 @@ function op_juggle() {
 function op_linter() {
   (set -e
 
-  op_venv
-  cd $OPENPILOT_ROOT
-
+  op_before_cmd
   op_run_command pre-commit run --all $@
 
   )
@@ -213,14 +233,22 @@ function op_linter() {
 
 function op_replay() {
   (set -e
-  op_check_openpilot_dir
-  cd $OPENPILOT_ROOT
 
+  op_before_cmd
   op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
 
   )
 }
 
+function op_cabana() {
+  (set -e
+
+  op_before_cmd
+  op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@
+
+  )
+}
+
 function op_default() {
   echo "An openpilot helper"
   echo ""
@@ -244,6 +272,7 @@ function op_default() {
   echo -e "  ${BOLD}run${NC}        Run openpilot"
   echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}     Run replay"
+  echo -e "  ${BOLD}cabana${NC}     Run cabana"
   echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
   echo -e "  ${BOLD}help${NC}       Show this message"
   echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
@@ -253,6 +282,8 @@ function op_default() {
   echo "          Specify the openpilot directory you want to use"
   echo -e "  ${BOLD}--dry${NC}"
   echo "          Don't actually run anything, just print what would be"
+  echo -e "  ${BOLD}-n, --no-verify${NC}"
+  echo "          Don't run checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
@@ -271,8 +302,9 @@ function op_default() {
 function _op() {
   # parse Options
   case $1 in
-    -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
-    --dry )      shift 1; DRY="1" ;;
+    -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+    --dry )            shift 1; DRY="1" ;;
+    -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
   esac
 
   # parse Commands
@@ -283,6 +315,7 @@ function _op() {
     build )     shift 1; op_build "$@" ;;
     run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
+    cabana )    shift 1; op_cabana "$@" ;;
     linter )    shift 1; op_linter "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     --install ) shift 1; op_first_install "$@" ;;
@@ -309,5 +342,9 @@ unset -f op_default
 unset -f op_run_command
 unset -f op_linter
 unset -f op_replay
+unset -f op_cabana
+unset -f op_check_venv
+unset -f op_before_cmd
 unset DRY
 unset OPENPILOT_ROOT
+unset NO_VERIFY

From b6881ce1618a3fa68bb574518841c85e833c21eb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 24 Jul 2024 23:11:23 -0700
Subject: [PATCH 0246/1243] Update op.sh old-commit-hash:
 6cdf2a1499885acec46d77498e96cad0f972592b

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 27f1817211..7ad9697185 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -24,7 +24,7 @@ function op_run_command() {
   CMD="$@"
   echo -e "${BOLD}Running:${NC} $CMD"
   if [[ -z "$DRY" ]]; then
-    $CMD
+    eval "$CMD"
   fi
 }
 

From 7ddd4a8e59ad25441ce12f14f6efec1871ff1b45 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 01:16:59 +0800
Subject: [PATCH 0247/1243] scons: move `-Ithird_party/qrcode` to qt modules
 (#33071)

move -Ithird_party/qrcode to qt modeules
old-commit-hash: edd8759f3934b44c640d7d044bd0c383caf68a42
---
 SConstruct | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 1f83b1e43d..90fc5b5ee7 100644
--- a/SConstruct
+++ b/SConstruct
@@ -205,7 +205,6 @@ env = Environment(
     "#third_party/json11",
     "#third_party/linux/include",
     "#third_party/snpe/include",
-    "#third_party/qrcode",
     "#third_party",
     "#cereal",
     "#msgq",
@@ -314,7 +313,7 @@ try:
 except SCons.Errors.UserError:
   qt_env.Tool('qt')
 
-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",

From 5b5e3ef0532b4207a50d740e1e3ddc328c0fa213 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 04:09:03 +0800
Subject: [PATCH 0248/1243] camerad: add CameraConfig struct for initializing
 CameraState in constructor (#33065)

* Add CameraConfig struct for initializing CameraState in constructor

* init member variables
old-commit-hash: 75f49f84f3b71c970e7f4a5768016a092175e870
---
 system/camerad/cameras/camera_common.cc |   2 +-
 system/camerad/cameras/camera_common.h  |   3 -
 system/camerad/cameras/camera_qcom2.cc  |  50 ++++++-----
 system/camerad/cameras/camera_qcom2.h   | 108 +++++++++++++++---------
 4 files changed, 97 insertions(+), 66 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 9d82284d9f..aef00c1bba 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -324,7 +324,7 @@ void camerad_thread() {
 #endif
 
   {
-    MultiCameraState cameras = {};
+    MultiCameraState cameras;
     VisionIpcServer vipc_server("camerad", device_id, context);
 
     cameras_open(&cameras);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 555362ab8b..f97940b669 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -18,9 +18,6 @@ enum CameraType {
 };
 
 // for debugging
-const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
-const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
-const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 7c1f8e44e7..5767bec870 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
+CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
+  : multi_cam_state(multi_camera_state),
+    camera_num(config.camera_num),
+    stream_type(config.stream_type),
+    focal_len(config.focal_len),
+    enabled(config.enabled) {
+}
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -425,48 +433,38 @@ void CameraState::set_exposure_rect() {
 }
 
 void CameraState::sensor_set_parameters() {
-  target_grey_fraction = 0.3;
-
-  dc_gain_enabled = false;
   dc_gain_weight = ci->dc_gain_min_weight;
   gain_idx = ci->analog_gain_rec_idx;
-  exposure_time = 5;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs(MultiCameraState *s) {
+void CameraState::camera_map_bufs() {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
+void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
-  request_id_last = 0;
-  skipped = true;
-
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
-  camera_map_bufs(s);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+  camera_map_bufs();
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
-  multi_cam_state = multi_cam_state_;
-  camera_num = camera_num_;
-  enabled = enabled_;
+void CameraState::camera_open() {
   if (!enabled) return;
 
   if (!openSensor()) {
@@ -660,9 +658,9 @@ void CameraState::linkDevices() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
-  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
-  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
+  s->driver_cam.camera_init(v, device_id, ctx);
+  s->road_cam.camera_init(v, device_id, ctx);
+  s->wide_road_cam.camera_init(v, device_id, ctx);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -706,11 +704,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open(s, 2, !env_disable_driver);
+  s->driver_cam.camera_open();
   LOGD("driver camera opened");
-  s->road_cam.camera_open(s, 1, !env_disable_road);
+  s->road_cam.camera_open();
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
+  s->wide_road_cam.camera_open();
   LOGD("wide road camera opened");
 }
 
@@ -972,6 +970,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
+MultiCameraState::MultiCameraState()
+  : driver_cam(this, DRIVER_CAMERA_CONFIG),
+    road_cam(this, ROAD_CAMERA_CONFIG),
+    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
+}
+
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index b702d1bb69..47981e0753 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,67 +11,94 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
-#define DRIVER_FL_MM 1.71f
+struct CameraConfig {
+  int camera_num;
+  VisionStreamType stream_type;
+  float focal_len;  // millimeters
+  bool enabled;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+  .camera_num = 0,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_WIDE_ROAD"),
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+  .camera_num = 1,
+  .stream_type = VISION_STREAM_ROAD,
+  .focal_len = 8.0,
+  .enabled = !getenv("DISABLE_ROAD"),
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+  .camera_num = 2,
+  .stream_type = VISION_STREAM_DRIVER,
+  .focal_len = 1.71,
+  .enabled = !getenv("DISABLE_DRIVER"),
+};
 
 class CameraState {
 public:
-  MultiCameraState *multi_cam_state;
+  MultiCameraState *multi_cam_state = nullptr;
   std::unique_ptr<const SensorInfo> ci;
-  bool enabled;
+  bool enabled = true;
+  VisionStreamType stream_type;
+  float focal_len = 0;
 
   std::mutex exp_lock;
 
-  int exposure_time;
-  bool dc_gain_enabled;
-  int dc_gain_weight;
-  int gain_idx;
-  float analog_gain_frac;
+  int exposure_time = 5;
+  bool dc_gain_enabled = false;
+  int dc_gain_weight = 0;
+  int gain_idx = 0;
+  float analog_gain_frac = 0;
 
-  float cur_ev[3];
-  float best_ev_score;
-  int new_exp_g;
-  int new_exp_t;
+  float cur_ev[3] = {};
+  float best_ev_score = 0;
+  int new_exp_g = 0;
+  int new_exp_t = 0;
 
-  Rect ae_xywh;
-  float measured_grey_fraction;
-  float target_grey_fraction;
+  Rect ae_xywh = {};
+  float measured_grey_fraction = 0;
+  float target_grey_fraction = 0.3;
 
   unique_fd sensor_fd;
   unique_fd csiphy_fd;
 
-  int camera_num;
-  float fl_pix;
+  int camera_num = 0;
+  float fl_pix = 0;
 
+  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void camera_open();
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
+  void camera_map_bufs();
+  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
 
-  int32_t session_handle;
-  int32_t sensor_dev_handle;
-  int32_t isp_dev_handle;
-  int32_t csiphy_dev_handle;
+  int32_t session_handle = -1;
+  int32_t sensor_dev_handle = -1;
+  int32_t isp_dev_handle = -1;
+  int32_t csiphy_dev_handle = -1;
 
-  int32_t link_handle;
+  int32_t link_handle = -1;
 
-  int buf0_handle;
-  int buf_handle[FRAME_BUF_COUNT];
-  int sync_objs[FRAME_BUF_COUNT];
-  int request_ids[FRAME_BUF_COUNT];
-  int request_id_last;
-  int frame_id_last;
-  int idx_offset;
-  bool skipped;
+  int buf0_handle = 0;
+  int buf_handle[FRAME_BUF_COUNT] = {};
+  int sync_objs[FRAME_BUF_COUNT] = {};
+  int request_ids[FRAME_BUF_COUNT] = {};
+  int request_id_last = 0;
+  int frame_id_last = 0;
+  int idx_offset = 0;
+  bool skipped = true;
 
   CameraBuf buf;
   MemoryManager mm;
@@ -95,16 +122,19 @@ private:
   Params params;
 };
 
-typedef struct MultiCameraState {
+class MultiCameraState {
+public:
+  MultiCameraState();
+
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
-  int device_iommu;
-  int cdm_iommu;
+  int device_iommu = -1;
+  int cdm_iommu = -1;
 
   CameraState road_cam;
   CameraState wide_road_cam;
   CameraState driver_cam;
 
   PubMaster *pm;
-} MultiCameraState;
+};

From 3be2c138b9c82abbaac14e4ca86f29875930269d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 04:10:36 +0800
Subject: [PATCH 0249/1243] scons: remove redundant -DSWAGLOG Flag (#33070)

remove redundant_-DSWAGLOG Flag
old-commit-hash: 2da4aef2683dc9af4ff49435c8d021b6261d329b
---
 SConstruct | 1 -
 1 file changed, 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 90fc5b5ee7..329ebe3308 100644
--- a/SConstruct
+++ b/SConstruct
@@ -169,7 +169,6 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
-cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 ccflags_option = GetOption('ccflags')

From 757cb2eb6c805f3664eab8ae99bd17ae72ef3170 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 04:36:44 +0800
Subject: [PATCH 0250/1243] mcid.py: optimize FFT and A-weighting calculations
 (#33057)

* Precomputing weighting

* add comments back

* use cache

* spacing

spacing

* clean up

* lower by diff

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 313a2826c268a7974ce7422084ab294767b7c9bd
---
 selfdrive/test/test_onroad.py |  2 +-
 system/micd.py                | 22 ++++++++++++----------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index bbb99d13b9..1e4669fb0a 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -56,7 +56,7 @@ PROCS = {
   "system.logmessaged": 0.2,
   "system.tombstoned": 0,
   "logcatd": 0,
-  "system.micd": 6.0,
+  "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
diff --git a/system/micd.py b/system/micd.py
index 8b738ebe93..af1aa31360 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
+from functools import cache
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
@@ -10,7 +11,16 @@ RATE = 10
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096 # (approx 100ms)
+SAMPLE_BUFFER = 4096  # approx 100ms
+
+
+@cache
+def get_a_weighting_filter():
+  # Calculate the A-weighting filter
+  # https://en.wikipedia.org/wiki/A-weighting
+  freqs = np.fft.fftfreq(FFT_SAMPLES, d=1 / SAMPLE_RATE)
+  A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2)))
+  return A / np.max(A)
 
 
 def calculate_spl(measurements):
@@ -27,16 +37,8 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
   # Generate a Hanning window of the same length as the audio measurements
   measurements_windowed = measurements * np.hanning(len(measurements))
 
-  # Calculate the frequency axis for the signal
-  freqs = np.fft.fftfreq(measurements_windowed.size, d=1 / SAMPLE_RATE)
-
-  # Calculate the A-weighting filter
-  # https://en.wikipedia.org/wiki/A-weighting
-  A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2)))
-  A /= np.max(A)  # Normalize the filter
-
   # Apply the A-weighting filter to the signal
-  return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * A))
+  return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * get_a_weighting_filter()))
 
 
 class Mic:

From 805f2ff3bf0556c5693dfb58f81c4a72f134cd98 Mon Sep 17 00:00:00 2001
From: eivegau <ebgauruocius@gmail.com>
Date: Thu, 25 Jul 2024 21:47:43 +0100
Subject: [PATCH 0251/1243] Kia: add missing Optima EUR FW versions (#33027)

* Update fingerprints.py

* Apply suggestions from code review

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: cd8a603ad0f14d744d12e2f5f743c7880ce907a3
---
 selfdrive/car/hyundai/fingerprints.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 30e4b9ed74..5f959bd68d 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -765,9 +765,11 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
+      b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
+      b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20',
     ],
   },
   CAR.KIA_OPTIMA_G4_FL: {

From dd7e41e32667e3731267712dad2b5db6482f5f09 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 14:20:00 -0700
Subject: [PATCH 0252/1243] new README (#33073)

* commonmark

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* relock

* copy paste

* Update README.md

* looks better like this

* cleanup
old-commit-hash: ed86910536e7036020a0a54be02e267db36653fe
---
 .github/workflows/docs.yaml |   2 +-
 README.md                   |  56 +++++++++-----
 docs/mkdocs.yml             |   3 +
 pyproject.toml              |   9 ++-
 uv.lock                     | 141 +++++++++++++++---------------------
 5 files changed, 105 insertions(+), 106 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index f5cc0d5003..7fe4263db5 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,7 +29,7 @@ jobs:
     - name: Build docs
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs mkdocs-terminal
+        pip install mkdocs==1.4.3 mkdocs-terminal mkdocs-plugin-commonmark
         cd docs
         mkdocs build
 
diff --git a/README.md b/README.md
index 5afaf6e7d6..8ebc733e63 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,32 @@
-[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x)
+<div align="center" style="text-align: center;">
 
-What is openpilot?
-------
+<h1>openpilot</h1>
+
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 275+ supported cars.
+</p>
+
+<h3>
+  <a href="https://docs.comma.ai">Read the docs</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
+
+Quick start: `curl -fsSL openpilot.comma.ai | bash`
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
+
+</div>
 
 <table>
   <tr>
@@ -49,18 +72,6 @@ Safety and Testing
 * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
 Licensing
 ------
 
@@ -72,9 +83,14 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
 
----
+User Data and comma Account
+------
 
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 45a1503b0c..92cb501b8b 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -5,6 +5,9 @@ site_url: https://docs.comma.ai
 
 strict: true
 
+plugins:
+  - commonmark
+
 theme:
   name: terminal
   features:
diff --git a/pyproject.toml b/pyproject.toml
index 1226c8345a..f5eb5a4370 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -67,8 +67,9 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "mkdocs",
+  "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
   "mkdocs-terminal",
+  "mkdocs-plugin-commonmark",
 ]
 
 testing = [
@@ -227,7 +228,7 @@ lint.ignore = [
   "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
-target-version="py311"
+target-version ="py311"
 exclude = [
   "body",
   "cereal",
@@ -239,7 +240,8 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-lint.flake8-implicit-str-concat.allow-multiline=false
+lint.flake8-implicit-str-concat.allow-multiline = false
+
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
@@ -251,5 +253,6 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+
 [tool.ruff.format]
 quote-style = "preserve"
diff --git a/uv.lock b/uv.lock
index 8a0dc29b2a..5c0de703f2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -863,14 +863,14 @@ wheels = [
 
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 dependencies = [
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+sdist = { url = "https://files.pythonhosted.org/packages/f6/a1/db39a513aa99ab3442010a994eef1cb977a436aded53042e69bee6959f74/importlib_metadata-8.2.0.tar.gz", hash = "sha256:72e8d4399996132204f9a16dcc751af254a48f8d1b20b9ff0f98d4a8f901e73d", size = 53907 }
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+    { url = "https://files.pythonhosted.org/packages/82/47/bb25ec04985d0693da478797c3d8c1092b140f3a53ccb984fbbd38affa5b/importlib_metadata-8.2.0-py3-none-any.whl", hash = "sha256:11901fa0c2f97919b288679932bb64febaeacf289d18ac84dd68cb2e74213369", size = 25920 },
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 name = "markdown"
-version = "3.6"
+version = "3.3.7"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/22/02/4785861427848cc11e452cc62bb541006a1087cf04a1de83aedd5530b948/Markdown-3.6.tar.gz", hash = "sha256:ed4f41f6daecbeeb96e576ce414c41d2d876daa9a16cb35fa8ed8c2ddfad0224", size = 354715 }
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 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
 ]
 
 [[distribution]]
@@ -1196,9 +1196,18 @@ dependencies = [
     { name = "yapf" },
 ]
 
+[[distribution]]
+name = "mistletoe"
+version = "1.4.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/11/96/ea46a376a7c4cd56955ecdfff0ea68de43996a4e6d1aee4599729453bd11/mistletoe-1.4.0.tar.gz", hash = "sha256:1630f906e5e4bbe66fdeb4d29d277e2ea515d642bb18a9b49b136361a9818c9d", size = 107203 }
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+
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 name = "mkdocs"
-version = "1.6.0"
+version = "1.4.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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@@ -1206,32 +1215,29 @@ dependencies = [
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     { name = "jinja2" },
     { name = "markdown" },
-    { name = "markupsafe" },
     { name = "mergedeep" },
-    { name = "mkdocs-get-deps" },
     { name = "packaging" },
-    { name = "pathspec" },
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 [[distribution]]
-name = "mkdocs-get-deps"
-version = "0.2.0"
+name = "mkdocs-plugin-commonmark"
+version = "0.0.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "mergedeep" },
-    { name = "platformdirs" },
-    { name = "pyyaml" },
+    { name = "markdown" },
+    { name = "mistletoe" },
+    { name = "mkdocs" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/fa/a1/4aaa744deec61d75dbe3c67c18f6e4c1fa7699bc2661b6eff5f891e83023/mkdocs-plugin-commonmark-0.0.4.tar.gz", hash = "sha256:9034507af26646e95188a130782dd07d65c86507fddd3b47ea340c02683e85e7", size = 10805 }
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+    { url = "https://files.pythonhosted.org/packages/f9/4a/4333ef1eb57ff130c7715ba0847dbdae471d153d94507004c92c591cb3c5/mkdocs_plugin_commonmark-0.0.4-py3-none-any.whl", hash = "sha256:70a33394d86a04ec97877ca1b2dff6181de3ec01ef4c7add178fa45b327da535", size = 12532 },
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 [[distribution]]
@@ -1594,6 +1600,7 @@ dev = [
 docs = [
     { name = "jinja2" },
     { name = "mkdocs" },
+    { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
 ]
 testing = [
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-version = "0.12.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ca/bc/f35b8446f4531a7cb215605d100cd88b7ac6f44ab3fc94870c120ab3adbf/pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712", size = 51043 }
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 name = "pillow"
 version = "10.4.0"
@@ -2042,15 +2040,15 @@ wheels = [
 
 [[distribution]]
 name = "pymdown-extensions"
-version = "10.8.1"
+version = "10.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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 [[distribution]]
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@@ -4713,9 +4711,9 @@ dependencies = [
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 [[distribution]]
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 [[distribution]]
@@ -5124,15 +5121,15 @@ wheels = [
 
 [[distribution]]
 name = "sentry-sdk"
-version = "2.10.0"
+version = "2.11.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/34/d8/ec3e43d4ce31e4f4cb6adb7210950362d71ce87a96c89934c4ac94f7110f/sentry_sdk-2.10.0.tar.gz", hash = "sha256:545fcc6e36c335faa6d6cda84669b6e17025f31efbf3b2211ec14efe008b75d1", size = 273996 }
+sdist = { url = "https://files.pythonhosted.org/packages/6d/b3/39e4cd04b75a1ada788342d0d30a781cf65b5e43da806d5bf2bad4846ea3/sentry_sdk-2.11.0.tar.gz", hash = "sha256:4ca16e9f5c7c6bc2fb2d5c956219f4926b148e511fffdbbde711dc94f1e0468f", size = 276242 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/bc/3c/a8ab3309d22c1d7142f811882e7d45449696f87c6e4e723b1433b6069b84/sentry_sdk-2.11.0-py2.py3-none-any.whl", hash = "sha256:d964710e2dbe015d9dc4ff0ad16225d68c3b36936b742a6fe0504565b760a3b7", size = 303581 },
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@@ -5167,26 +5164,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d4/c3/e98e3eb9f06def32b8e2454ab718cafb99149f023dff023e257125132d6e/shapely-2.0.5-cp312-cp312-win_amd64.whl", hash = "sha256:30e8737983c9d954cd17feb49eb169f02f1da49e24e5171122cf2c2b62d65c95", size = 1442365 },
 ]
 
-[[distribution]]
-name = "siphash24"
-version = "1.6"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/19/d8/beb5183d1acc5a013d273452eac750b51e40855917a1841dead80fcf3086/siphash24-1.6.tar.gz", hash = "sha256:242d6901a81260f618938635a25ae7f208e744f7ee6c571f1b255c1c4c62917d", size = 19659 }
-wheels = [
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-    { url = "https://files.pythonhosted.org/packages/5d/d4/b6a0c9f119b22938e36d74e0859167ae76c0ea0f7d7786eb48120b0e129d/siphash24-1.6-cp312-cp312-win32.whl", hash = "sha256:2dab672fcda08149b8c15f82ee74d732386428f53239cdb002ac2ad0a1f2f2bc", size = 68366 },
-    { url = "https://files.pythonhosted.org/packages/ef/de/6ebd0f96184f8479e8348dcba93a9f14ff54ac3c6a68866cc77c334d7bdf/siphash24-1.6-cp312-cp312-win_amd64.whl", hash = "sha256:226af78af3b992c953cc4808f2c6a4bba320e91e6c89b34aa2492064fa417ae8", size = 81096 },
-]
-
 [[distribution]]
 name = "six"
 version = "1.16.0"

From fbdb5f3495ac5bac8edd6c62adf2b646bba98f14 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 14:27:25 -0700
Subject: [PATCH 0253/1243] mac's getting there

old-commit-hash: c8622c9553d02486ddea43810e428bce6414ed5d
---
 .github/workflows/selfdrive_tests.yaml |  3 +--
 tools/mac_setup.sh                     | 19 ++++++-------------
 2 files changed, 7 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 1154948ace..a178634321 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -96,7 +96,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   build_mac:
-    name: build macos
+    name: build macOS
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v4
@@ -106,7 +106,6 @@ jobs:
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
-        SKIP_PROMPT: 1
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 9823427e65..d19f1cae86 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -2,19 +2,12 @@
 
 set -e
 
-if [ -z "$SKIP_PROMPT" ]; then
-  echo "---------------   macOS support   ---------------"
-  echo "Running openpilot natively on macOS is not officially supported."
-  echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
-  echo
-  echo "Check out devcontainers for a seamless experience (see tools/README.md)."
-  echo "-------------------------------------------------"
-  echo -n "Are you sure you want to continue? [y/N] "
-  read -r response
-  if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
-    exit 1
-  fi
-fi
+echo "---------------   macOS support   ---------------"
+echo "Running openpilot natively on macOS is still a work-in-progress."
+echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
+echo
+echo "Check out devcontainers for a seamless experience (see tools/README.md)."
+echo "-------------------------------------------------"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"

From 8b1766caa0b0c0ab0d6f4721644eba27218e84cc Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 14:28:41 -0700
Subject: [PATCH 0254/1243] curl pc installer (#33072)

* setup

* curl

* usable right now

* op sim

* cleanup

* show cmd
old-commit-hash: 173a633a75692ae104fa9c6e99501fec4df9ebb7
---
 tools/op.sh           | 24 ++++++++++++++-
 tools/setup.sh        | 68 ++++++++++++++++++++++++++++---------------
 tools/ubuntu_setup.sh |  5 ----
 3 files changed, 68 insertions(+), 29 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 7ad9697185..42bbb1973d 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -161,14 +161,23 @@ function op_install() {
   op_check_os
   op_check_python
 
+  echo "Installing dependencies..."
   if [[ "$OSTYPE" == "linux-gnu"* ]]; then
     op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
   fi
+  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n"
 
+  echo "Getting git submodules..."
   op_run_command git submodule update --init --recursive
+  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n"
+
+  echo "Pulling git lfs files..."
   op_run_command git lfs pull
+  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully.\n"
+
+  op_check
 
   )
 }
@@ -199,7 +208,7 @@ function op_run() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh
+  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@
 
   )
 }
@@ -249,6 +258,16 @@ function op_cabana() {
   )
 }
 
+function op_sim() {
+  (set -e
+
+  op_before_cmd
+  op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py &
+  op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh
+
+  )
+}
+
 function op_default() {
   echo "An openpilot helper"
   echo ""
@@ -270,6 +289,7 @@ function op_default() {
   echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
   echo -e "  ${BOLD}build${NC}      Build openpilot"
   echo -e "  ${BOLD}run${NC}        Run openpilot"
+  echo -e "  ${BOLD}sim${NC}        Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}     Run replay"
   echo -e "  ${BOLD}cabana${NC}     Run cabana"
@@ -318,6 +338,7 @@ function _op() {
     cabana )    shift 1; op_cabana "$@" ;;
     linter )    shift 1; op_linter "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
+    sim )       shift 1; op_sim "$@" ;;
     --install ) shift 1; op_first_install "$@" ;;
     * ) op_default "$@" ;;
   esac
@@ -345,6 +366,7 @@ unset -f op_replay
 unset -f op_cabana
 unset -f op_check_venv
 unset -f op_before_cmd
+unset -f op_sim
 unset DRY
 unset OPENPILOT_ROOT
 unset NO_VERIFY
diff --git a/tools/setup.sh b/tools/setup.sh
index 22d10be80b..42b8d6fd4c 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -1,32 +1,54 @@
 #!/usr/bin/env bash
 
-set -e
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
 
-if [ ! -f launch_openpilot.sh ]; then
-  if [ ! -d openpilot ]; then
-    git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git
-  fi
-  cd openpilot
+if [ -z "$OPENPILOT_ROOT" ]; then
+  # default to current directory for installation
+  OPENPILOT_ROOT="$(pwd)/openpilot"
 fi
 
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  tools/mac_setup.sh
-else
-  tools/ubuntu_setup.sh
-fi
+function check_dir() {
+  echo "Checking for installation directory..."
+  if [ -d "$OPENPILOT_ROOT" ]; then
+    echo -e " ↳ [${RED}✗${NC}] can't install openpilot in $OPENPILOT_ROOT !"
+    return 1
+  fi
+
+  echo -e " ↳ [${GREEN}✔${NC}] Successfully chosen $OPENPILOT_ROOT as installation directory\n"
+}
+
+function check_git() {
+  echo "Checking for git..."
+  if ! command -v "git" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+  fi
+}
+
+function git_clone() {
+  echo "Cloning openpilot..."
+  if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+    if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
+      echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
+      return 0
+    fi
+  fi
 
-git lfs pull
+  echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
+  return 1
+}
 
-source .venv/bin/activate
+function install_with_op() {
+  cd $OPENPILOT_ROOT
+  $OPENPILOT_ROOT/tools/op.sh --install
+  $OPENPILOT_ROOT/tools/op.sh install
 
-echo "Building openpilot"
-scons -u -j$(nproc)
+  # make op usable right now
+  alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""
+}
 
-echo
-echo "----   OPENPILOT BUILDING DONE   ----"
-echo "To push changes to your fork, run the following commands:"
-echo "git remote remove origin"
-echo "git remote add origin git@github.com:<YOUR_USERNAME>/openpilot.git"
-echo "git fetch"
-echo "git commit -m \"first commit\""
-echo "git push"
+check_dir && check_git && git_clone && install_with_op
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 1bdeb50e0d..f425e14cf2 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -8,8 +8,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 $DIR/install_ubuntu_dependencies.sh
 $DIR/install_python_dependencies.sh
-
-echo
-echo "----   OPENPILOT SETUP DONE   ----"
-echo "Open a new shell or configure your active shell env by running:"
-echo "source ~/.bashrc"

From 3c0aac0315f3c4dce2f59edfbce11945d84b1266 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 14:38:47 -0700
Subject: [PATCH 0255/1243] Update setup.sh old-commit-hash:
 1989fbd4c4a40188fbb673d2f5e1dd467d255ad5

---
 tools/setup.sh | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/tools/setup.sh b/tools/setup.sh
index 42b8d6fd4c..8aca889b8c 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -52,3 +52,8 @@ function install_with_op() {
 }
 
 check_dir && check_git && git_clone && install_with_op
+
+unset OPENPILOT_ROOT
+unset RED
+unset GREEN
+unset NC

From 01ac526046fff2292abcd711f380800be06fbc1f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 26 Jul 2024 06:05:14 +0800
Subject: [PATCH 0256/1243] camerad: merge thread functions into one (#33025)

merge multiple thread functions into one
old-commit-hash: ccd369ee9639beae479704615f198902d58135b9
---
 system/camerad/cameras/camera_common.cc | 32 +-------------
 system/camerad/cameras/camera_common.h  |  6 +--
 system/camerad/cameras/camera_qcom2.cc  | 55 ++++++++++++++-----------
 system/camerad/cameras/camera_qcom2.h   | 11 +++++
 4 files changed, 43 insertions(+), 61 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index aef00c1bba..542be29d80 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -244,7 +244,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
   return dat;
 }
 
-static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
+void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
   auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
   if (thumbnail.size() == 0) return;
 
@@ -284,36 +284,6 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk
   return lum_med / 256.0;
 }
 
-void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
-  const char *thread_name = nullptr;
-  if (cs == &cameras->road_cam) {
-    thread_name = "RoadCamera";
-  } else if (cs == &cameras->driver_cam) {
-    thread_name = "DriverCamera";
-  } else {
-    thread_name = "WideRoadCamera";
-  }
-  util::set_thread_name(thread_name);
-
-  uint32_t cnt = 0;
-  while (!do_exit) {
-    if (!cs->buf.acquire()) continue;
-
-    callback(cameras, cs, cnt);
-
-    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
-      // this takes 10ms???
-      publish_thumbnail(cameras->pm, &(cs->buf));
-    }
-    ++cnt;
-  }
-  return NULL;
-}
-
-std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
-  return std::thread(processing_thread, cameras, cs, callback);
-}
-
 void camerad_thread() {
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 #ifdef QCOM2
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index f97940b669..d58f4d3195 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -2,7 +2,6 @@
 
 #include <fcntl.h>
 #include <memory>
-#include <thread>
 
 #include "cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc_server.h"
@@ -69,13 +68,10 @@ public:
   void queue(size_t buf_idx);
 };
 
-typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
-
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
-std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
-
+void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 5767bec870..2729aa264c 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -31,6 +31,8 @@ CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfi
     camera_num(config.camera_num),
     stream_type(config.stream_type),
     focal_len(config.focal_len),
+    publish_name(config.publish_name),
+    init_camera_state(config.init_camera_state),
     enabled(config.enabled) {
 }
 
@@ -941,33 +943,36 @@ void CameraState::set_camera_exposure(float grey_frac) {
   sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
 }
 
-static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh, 2, 4));
+void CameraState::run() {
+  util::set_thread_name(publish_name);
 
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverCameraState();
-  fill_frame_data(framed, c->buf.cur_frame_data, c);
+  for (uint32_t cnt = 0; !do_exit; ++cnt) {
+    // Acquire the buffer; continue if acquisition fails
+    if (!buf.acquire()) continue;
 
-  c->ci->processRegisters(c, framed);
-  s->pm->send("driverCameraState", msg);
-}
-
-void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  const CameraBuf *b = &c->buf;
+    MessageBuilder msg;
+    auto framed = (msg.initEvent().*init_camera_state)();
+    fill_frame_data(framed, buf.cur_frame_data, this);
 
-  MessageBuilder msg;
-  auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data, c);
-  if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
-    framed.setImage(get_raw_frame_image(b));
-  }
-  LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
+    // Log raw frames for road camera
+    if (env_log_raw_frames && stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
+      framed.setImage(get_raw_frame_image(&buf));
+    }
+    // Log frame id for road and wide road cameras
+    if (stream_type != VISION_STREAM_DRIVER) {
+      LOGT(buf.cur_frame_data.frame_id, "%s: Image set", publish_name);
+    }
 
-  c->ci->processRegisters(c, framed);
-  s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
+    // Process camera registers and set camera exposure
+    ci->processRegisters(this, framed);
+    set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
-  const int skip = 2;
-  c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
+    // Send the message
+    multi_cam_state->pm->send(publish_name, msg);
+    if (stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
+      publish_thumbnail(multi_cam_state->pm, &buf);  // this takes 10ms???
+    }
+  }
 }
 
 MultiCameraState::MultiCameraState()
@@ -979,9 +984,9 @@ MultiCameraState::MultiCameraState()
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
-  if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
-  if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
+  if (s->driver_cam.enabled) threads.emplace_back(&CameraState::run, &s->driver_cam);
+  if (s->road_cam.enabled) threads.emplace_back(&CameraState::run, &s->road_cam);
+  if (s->wide_road_cam.enabled) threads.emplace_back(&CameraState::run, &s->wide_road_cam);
 
   // start devices
   LOG("-- Starting devices");
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 47981e0753..1b27fb18b8 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -15,6 +15,8 @@ struct CameraConfig {
   int camera_num;
   VisionStreamType stream_type;
   float focal_len;  // millimeters
+  const char *publish_name;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
   bool enabled;
 };
 
@@ -22,6 +24,8 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .camera_num = 0,
   .stream_type = VISION_STREAM_WIDE_ROAD,
   .focal_len = 1.71,
+  .publish_name = "wideRoadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
   .enabled = !getenv("DISABLE_WIDE_ROAD"),
 };
 
@@ -29,6 +33,8 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .camera_num = 1,
   .stream_type = VISION_STREAM_ROAD,
   .focal_len = 8.0,
+  .publish_name = "roadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
 };
 
@@ -36,6 +42,8 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .camera_num = 2,
   .stream_type = VISION_STREAM_DRIVER,
   .focal_len = 1.71,
+  .publish_name = "driverCameraState",
+  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
 };
 
@@ -45,6 +53,8 @@ public:
   std::unique_ptr<const SensorInfo> ci;
   bool enabled = true;
   VisionStreamType stream_type;
+  const char *publish_name = nullptr;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)() = nullptr;
   float focal_len = 0;
 
   std::mutex exp_lock;
@@ -83,6 +93,7 @@ public:
   void camera_map_bufs();
   void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
+  void run();
 
   int32_t session_handle = -1;
   int32_t sensor_dev_handle = -1;

From 35f321dc68a3a2a215f00b1010c0eca8d760c0c7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 15:13:47 -0700
Subject: [PATCH 0257/1243] fix pytools (#33076)

fix
old-commit-hash: fb1ad1d26a74e4937801a8b70d8cdce40f2da359
---
 pyproject.toml |  1 +
 uv.lock        | 28 +++++++++++++++++++++++++---
 2 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index f5eb5a4370..79034e25f0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -111,6 +111,7 @@ dev = [
   #pprofile = "*"
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
   "rerun-sdk",
diff --git a/uv.lock b/uv.lock
index 5c0de703f2..7d4870c4b1 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1591,6 +1591,7 @@ dev = [
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
     { name = "pyprof2calltree" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
+    { name = "pytools", marker = "platform_machine != 'aarch64'" },
     { name = "pywinctl" },
     { name = "rerun-sdk" },
     { name = "tabulate" },
@@ -4860,15 +4861,16 @@ sdist = { url = "https://files.pythonhosted.org/packages/ef/c6/2c5999de3bb153352
 
 [[distribution]]
 name = "pytools"
-version = "2024.1.11"
+version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "platformdirs" },
+    { name = "siphash24" },
     { name = "typing-extensions", marker = "python_version < '3.13'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b7/80/188130dc3d1238f35a8a1ed788c42bdf00b9fd00f03a03b150778ceb846f/pytools-2024.1.11.tar.gz", hash = "sha256:fa966e09857bcd9299f961d58fc128e8333e4ac5fcea52473af5aae88f814e38", size = 81917 }
+sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/60/83/df2f2e6de93798cfd1432aafaad6f23c80a217983b022d0b4bd739194072/pytools-2024.1.11-py3-none-any.whl", hash = "sha256:b3f254dcd6986426c21fcd52803a248e837a34b78a8c4abe09724cb60e0901ea", size = 88206 },
+    { url = "https://files.pythonhosted.org/packages/66/cf/0a6aaa44b1f9e02b8c0648b5665a82246a93bcc75224c167b4fafa25c093/pytools-2024.1.10-py3-none-any.whl", hash = "sha256:9cabb71038048291400e244e2da441a051d86053339bc484e64e58d8ea263f44", size = 88108 },
 ]
 
 [[distribution]]
@@ -5164,6 +5166,26 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d4/c3/e98e3eb9f06def32b8e2454ab718cafb99149f023dff023e257125132d6e/shapely-2.0.5-cp312-cp312-win_amd64.whl", hash = "sha256:30e8737983c9d954cd17feb49eb169f02f1da49e24e5171122cf2c2b62d65c95", size = 1442365 },
 ]
 
+[[distribution]]
+name = "siphash24"
+version = "1.6"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/19/d8/beb5183d1acc5a013d273452eac750b51e40855917a1841dead80fcf3086/siphash24-1.6.tar.gz", hash = "sha256:242d6901a81260f618938635a25ae7f208e744f7ee6c571f1b255c1c4c62917d", size = 19659 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/e5/a5/0ffc51fe2e5f96258f0edfae15944006b09517ad7e98fdcbda05c67c70f6/siphash24-1.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:3e1b3963c392a2d63cbe16af9171d789d2f15e69eb8314b21fe1e11bdc08205f", size = 80669 },
+    { url = "https://files.pythonhosted.org/packages/80/ea/41d648cbbf3248a30f545f9e41ad5dedee19fcbad1d2baa7e39ae6f2779e/siphash24-1.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:de23d12c8a015904081e347900433a0c4b5e07690dbd0a104ad88929f3b91948", size = 75379 },
+    { url = "https://files.pythonhosted.org/packages/48/a7/d6dcc551c8d53e436c58b7ecc96d1de0c0379c21b1e71b2543d38c039c95/siphash24-1.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8be513de01677e57989e028185a16e531942f7a9578d441481abe8b1085c45d6", size = 100466 },
+    { url = "https://files.pythonhosted.org/packages/eb/46/b906d7e05e3d84239d6a04e3d5f106d96ab26483951c7cf2c5769ea8c894/siphash24-1.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ef89477ce8f2e67fca025ad9b1c85b7498c6959baa7d9a502cbb5d8c7085f5b7", size = 105913 },
+    { url = "https://files.pythonhosted.org/packages/4c/98/20159e2be9a957da2dffb3e18648c51ea7a0f09c49b8dce1cb268ca55ca7/siphash24-1.6-cp311-cp311-win32.whl", hash = "sha256:f702e646dc60b7d7915fa37f9357a03a2ec41ffb360b6946baf4801eb9f7e98f", size = 67528 },
+    { url = "https://files.pythonhosted.org/packages/0d/0a/d8da621e624f3dbcf9a7a8066c54ddd2f6af437fc23169431caf6f9b403b/siphash24-1.6-cp311-cp311-win_amd64.whl", hash = "sha256:38715f61f0873e4a8b05125e14f349f465c64a1aaf79b6af0ff6f5f420d55dc5", size = 79961 },
+    { url = "https://files.pythonhosted.org/packages/12/e4/ed944e92883b45996cf2c94447dd47b899c87674340b081b9e8cb317a88f/siphash24-1.6-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:51eefacbe82f8f48bc603eb97f54bf3819324349b69a9cd131ba02c40b1e6c61", size = 82399 },
+    { url = "https://files.pythonhosted.org/packages/f9/d1/6ddbd7ba8972789f60282b9b9b1f88f08d26ef0913906e8ad5a9806c8432/siphash24-1.6-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:c63321003aa1856b1bfd48e6ffbd4bff98afeaacb0fc902cb2ae44b861476335", size = 76253 },
+    { url = "https://files.pythonhosted.org/packages/0d/87/0f125c1e069d09c4a39ab09d76fa9d4fe698bde68197627faeb38603f643/siphash24-1.6-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f0ff4d068e9b0b3f138ef8e8b6f5de1990539d9d590e75a9a8beb6887535184a", size = 98184 },
+    { url = "https://files.pythonhosted.org/packages/86/57/a274de0a91016cd4f870334a2af1193ffcdb88e34345ca098afea6dd10cb/siphash24-1.6-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c1a671d91095e1872ca9988695200064ccca8db60133638d6061755fe669552", size = 103311 },
+    { url = "https://files.pythonhosted.org/packages/5d/d4/b6a0c9f119b22938e36d74e0859167ae76c0ea0f7d7786eb48120b0e129d/siphash24-1.6-cp312-cp312-win32.whl", hash = "sha256:2dab672fcda08149b8c15f82ee74d732386428f53239cdb002ac2ad0a1f2f2bc", size = 68366 },
+    { url = "https://files.pythonhosted.org/packages/ef/de/6ebd0f96184f8479e8348dcba93a9f14ff54ac3c6a68866cc77c334d7bdf/siphash24-1.6-cp312-cp312-win_amd64.whl", hash = "sha256:226af78af3b992c953cc4808f2c6a4bba320e91e6c89b34aa2492064fa417ae8", size = 81096 },
+]
+
 [[distribution]]
 name = "six"
 version = "1.16.0"

From 81ca279fb97aa348f35400bf896fb3ff1a73bfbd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 16:07:59 -0700
Subject: [PATCH 0258/1243] cleanup python dependencies (#33077)

* cleanup python dependencies

* fix ruff
old-commit-hash: e5b803f28eb3c63105c3560b2fe07b5fddffbee6
---
 pyproject.toml                        |  10 +-
 tools/latencylogger/latency_logger.py |  13 +-
 uv.lock                               | 207 +-------------------------
 3 files changed, 9 insertions(+), 221 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 79034e25f0..8288340e5a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -60,13 +60,14 @@ dependencies = [
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
 
-  #logreader
+  # logreader
   "zstd",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
+  "natsort",
   "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
   "mkdocs-terminal",
   "mkdocs-plugin-commonmark",
@@ -95,7 +96,6 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "breathe",
   "control",
   "dictdiffer",
   "flaky",
@@ -103,12 +103,9 @@ dev = [
   "lru-dict",
   "matplotlib",
   "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "mpld3",
-  "myst-parser",
-  "natsort",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
-  #pprofile = "*"
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -122,7 +119,6 @@ dev = [
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-
 ]
 
 [project.urls]
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 8691149e94..f145cc35e4 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -3,7 +3,6 @@ import argparse
 import json
 import matplotlib.patches as mpatches
 import matplotlib.pyplot as plt
-import mpld3
 import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
@@ -174,7 +173,6 @@ def print_timestamps(timestamps, durations, start_times, relative):
         print("    "+'%-53s%-53s' %(event, str(time*1000)))
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  # mpld3 doesn't convert properly to D3 font sizes
   plt.rcParams.update({'font.size': 18})
 
   t0 = find_t0(start_times)
@@ -203,15 +201,14 @@ def graph_timestamps(timestamps, start_times, end_times, relative, offset_servic
           points['labels'].append(event[0])
     ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
 
-  scatter = ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points['labels'])
-  mpld3.plugins.connect(fig, tooltip)
+  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
+  for i, label in enumerate(points['labels']):
+    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
 
   plt.title(title)
-  # Set size relative window size is not trivial: https://github.com/mpld3/mpld3/issues/65
   fig.set_size_inches(18, 9)
   plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  return fig
+  plt.show()
 
 def get_timestamps(lr):
   lr = list(lr)
@@ -239,4 +236,4 @@ if __name__ == "__main__":
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
   if args.plot:
-    mpld3.show(graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r))
+    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/uv.lock b/uv.lock
index 7d4870c4b1..fa873c6313 100644
--- a/uv.lock
+++ b/uv.lock
@@ -96,15 +96,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/76/ac/a7305707cb852b7e16ff80eaf5692309bde30e2b1100a1fcacdc8f731d97/aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17", size = 7617 },
 ]
 
-[[distribution]]
-name = "alabaster"
-version = "0.7.16"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c9/3e/13dd8e5ed9094e734ac430b5d0eb4f2bb001708a8b7856cbf8e084e001ba/alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65", size = 23776 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/32/34/d4e1c02d3bee589efb5dfa17f88ea08bdb3e3eac12bc475462aec52ed223/alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92", size = 13511 },
-]
-
 [[distribution]]
 name = "attrs"
 version = "23.2.0"
@@ -179,28 +170,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f4/da/4033cee3855395e84ff73da4b50d3528f9338205299cde89676639387fcc/azure_storage_blob-12.21.0-py3-none-any.whl", hash = "sha256:f9ede187dd5a0ef296b583a7c1861c6938ddd6708d6e70f4203a163c2ab42d43", size = 396449 },
 ]
 
-[[distribution]]
-name = "babel"
-version = "2.15.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/15/d2/9671b93d623300f0aef82cde40e25357f11330bdde91743891b22a555bed/babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413", size = 9390000 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/27/45/377f7e32a5c93d94cd56542349b34efab5ca3f9e2fd5a68c5e93169aa32d/Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb", size = 9634913 },
-]
-
-[[distribution]]
-name = "breathe"
-version = "4.35.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "docutils" },
-    { name = "sphinx" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a2/9f/0c6f4ae0608d5edbb1df357c2487edfcbda13e75f4e48a898972592e2e48/breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386", size = 83358 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/eb/61/faddc25913de74e60e175bcfd962ec83532653c5895c0a06a83a6b5bbf3d/breathe-4.35.0-py3-none-any.whl", hash = "sha256:52c581f42ca4310737f9e435e3851c3d1f15446205a85fbc272f1f97ed74f5be", size = 92955 },
-]
-
 [[distribution]]
 name = "casadi"
 version = "3.6.5"
@@ -538,15 +507,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/87/a1/8c5287991ddb8d3e4662f71356d9656d91ab3a36618c3dd11b280df0d255/dnspython-2.6.1-py3-none-any.whl", hash = "sha256:5ef3b9680161f6fa89daf8ad451b5f1a33b18ae8a1c6778cdf4b43f08c0a6e50", size = 307696 },
 ]
 
-[[distribution]]
-name = "docutils"
-version = "0.21.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ae/ed/aefcc8cd0ba62a0560c3c18c33925362d46c6075480bfa4df87b28e169a9/docutils-0.21.2.tar.gz", hash = "sha256:3a6b18732edf182daa3cd12775bbb338cf5691468f91eeeb109deff6ebfa986f", size = 2204444 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8f/d7/9322c609343d929e75e7e5e6255e614fcc67572cfd083959cdef3b7aad79/docutils-0.21.2-py3-none-any.whl", hash = "sha256:dafca5b9e384f0e419294eb4d2ff9fa826435bf15f15b7bd45723e8ad76811b2", size = 587408 },
-]
-
 [[distribution]]
 name = "ewmhlib"
 version = "0.2"
@@ -838,15 +798,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9c/1f/19ebc343cc71a7ffa78f17018535adc5cbdd87afb31d7c34874680148b32/ifaddr-0.2.0-py3-none-any.whl", hash = "sha256:085e0305cfe6f16ab12d72e2024030f5d52674afad6911bb1eee207177b8a748", size = 12314 },
 ]
 
-[[distribution]]
-name = "imagesize"
-version = "1.4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a7/84/62473fb57d61e31fef6e36d64a179c8781605429fd927b5dd608c997be31/imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a", size = 1280026 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ff/62/85c4c919272577931d407be5ba5d71c20f0b616d31a0befe0ae45bb79abd/imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b", size = 8769 },
-]
-
 [[distribution]]
 name = "import-linter"
 version = "2.0"
@@ -1066,18 +1017,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
 ]
 
-[[distribution]]
-name = "markdown-it-py"
-version = "3.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "mdurl" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/38/71/3b932df36c1a044d397a1f92d1cf91ee0a503d91e470cbd670aa66b07ed0/markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb", size = 74596 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/42/d7/1ec15b46af6af88f19b8e5ffea08fa375d433c998b8a7639e76935c14f1f/markdown_it_py-3.0.0-py3-none-any.whl", hash = "sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1", size = 87528 },
-]
-
 [[distribution]]
 name = "markupsafe"
 version = "2.1.5"
@@ -1137,27 +1076,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/e3/31/aeab8a3db1fb22a7d04c5215f872b92451baf7f6595ffd59004aeead0b2c/matplotlib-3.9.1-cp312-cp312-win_amd64.whl", hash = "sha256:44a21d922f78ce40435cb35b43dd7d573cf2a30138d5c4b709d19f00e3907fd7", size = 7974774 },
 ]
 
-[[distribution]]
-name = "mdit-py-plugins"
-version = "0.4.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown-it-py" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/00/6c/79c52651b22b64dba5c7bbabd7a294cc410bfb2353250dc8ade44d7d8ad8/mdit_py_plugins-0.4.1.tar.gz", hash = "sha256:834b8ac23d1cd60cec703646ffd22ae97b7955a6d596eb1d304be1e251ae499c", size = 42713 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/f7/8a4dcea720a581e69ac8c5a38524baf0e3e2bb5f3819a9ff661464fe7d10/mdit_py_plugins-0.4.1-py3-none-any.whl", hash = "sha256:1020dfe4e6bfc2c79fb49ae4e3f5b297f5ccd20f010187acc52af2921e27dc6a", size = 54794 },
-]
-
-[[distribution]]
-name = "mdurl"
-version = "0.1.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d6/54/cfe61301667036ec958cb99bd3efefba235e65cdeb9c84d24a8293ba1d90/mdurl-0.1.2.tar.gz", hash = "sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba", size = 8729 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl", hash = "sha256:84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8", size = 9979 },
-]
-
 [[distribution]]
 name = "mergedeep"
 version = "1.3.4"
@@ -1267,19 +1185,6 @@ dependencies = [
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/fa/b2ba8229b9381e8f6381c1dcae6f4159a7f72349e414ed19cfbbd1817173/MouseInfo-0.1.3.tar.gz", hash = "sha256:2c62fb8885062b8e520a3cce0a297c657adcc08c60952eb05bc8256ef6f7f6e7", size = 10850 }
 
-[[distribution]]
-name = "mpld3"
-version = "0.5.10"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "jinja2" },
-    { name = "matplotlib" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/58/19378f4189a034eb3efc17b133426b8551af1d3b2c70d641a63124579629/mpld3-0.5.10.tar.gz", hash = "sha256:a478eb404fa5212505c59133cf272cd9a94105872e605597720e7f84de38fbc7", size = 1027709 }
-wheels = [
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-
 [[distribution]]
 name = "mpmath"
 version = "1.3.0"
@@ -1387,23 +1292,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/2a/e2/5d3f6ada4297caebe1a2add3b126fe800c96f56dbe5d1988a2cbe0b267aa/mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d", size = 4695 },
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-[[distribution]]
-name = "myst-parser"
-version = "3.0.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "docutils" },
-    { name = "jinja2" },
-    { name = "markdown-it-py" },
-    { name = "mdit-py-plugins" },
-    { name = "pyyaml" },
-    { name = "sphinx" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/49/64/e2f13dac02f599980798c01156393b781aec983b52a6e4057ee58f07c43a/myst_parser-3.0.1.tar.gz", hash = "sha256:88f0cb406cb363b077d176b51c476f62d60604d68a8dcdf4832e080441301a87", size = 92392 }
-wheels = [
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-]
-
 [[distribution]]
 name = "natsort"
 version = "8.4.0"
@@ -1573,7 +1461,6 @@ dev = [
     { name = "av" },
     { name = "azure-identity" },
     { name = "azure-storage-blob" },
-    { name = "breathe" },
     { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
@@ -1582,9 +1469,6 @@ dev = [
     { name = "lru-dict" },
     { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "mpld3" },
-    { name = "myst-parser" },
-    { name = "natsort" },
     { name = "opencv-python-headless" },
     { name = "parameterized" },
     { name = "pyautogui" },
@@ -1603,6 +1487,7 @@ docs = [
     { name = "mkdocs" },
     { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
+    { name = "natsort" },
 ]
 testing = [
     { name = "coverage" },
@@ -5204,15 +5089,6 @@ wheels = [
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-[[distribution]]
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-version = "2.2.0"
-source = { registry = "https://pypi.org/simple" }
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 [[distribution]]
 name = "sortedcontainers"
 version = "2.4.0"
@@ -5237,87 +5113,6 @@ wheels = [
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 ]
 
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-name = "sphinx"
-version = "7.4.7"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
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-    { name = "babel" },
-    { name = "colorama", marker = "sys_platform == 'win32'" },
-    { name = "docutils" },
-    { name = "imagesize" },
-    { name = "jinja2" },
-    { name = "packaging" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "snowballstemmer" },
-    { name = "sphinxcontrib-applehelp" },
-    { name = "sphinxcontrib-devhelp" },
-    { name = "sphinxcontrib-htmlhelp" },
-    { name = "sphinxcontrib-jsmath" },
-    { name = "sphinxcontrib-qthelp" },
-    { name = "sphinxcontrib-serializinghtml" },
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-name = "sphinxcontrib-htmlhelp"
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-
-[[distribution]]
-name = "sphinxcontrib-jsmath"
-version = "1.0.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b2/e8/9ed3830aeed71f17c026a07a5097edcf44b692850ef215b161b8ad875729/sphinxcontrib-jsmath-1.0.1.tar.gz", hash = "sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8", size = 5787 }
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-
-[[distribution]]
-name = "sphinxcontrib-qthelp"
-version = "1.0.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a6/67/f5c7df6457315877202f370450acb28626d033822eec1e8163600612b4ef/sphinxcontrib_qthelp-1.0.8.tar.gz", hash = "sha256:db3f8fa10789c7a8e76d173c23364bdf0ebcd9449969a9e6a3dd31b8b7469f03", size = 16778 }
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From 5ca7e0bc30c1c5298feb9275a0475e8dcf2f71f0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 16:57:43 -0700
Subject: [PATCH 0259/1243] op.sh: improvements (#33078)

improvements
old-commit-hash: 3c192cbf88f1272622dcf7428fbb8624edb02689
---
 tools/op.sh | 139 ++++++++++++++++++++++++++++++++--------------------
 1 file changed, 87 insertions(+), 52 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 42bbb1973d..c7431c135b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -6,7 +6,7 @@ UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
-function op_first_install() {
+function op_install() {
   (set -e
 
   echo "Installing op system-wide..."
@@ -30,16 +30,22 @@ function op_run_command() {
 
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
-function op_check_openpilot_dir() {
-  echo "Checking for openpilot directory..."
+function op_get_openpilot_dir() {
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
-      echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
       return 0
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
+}
+
+function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
+  if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
+    return 0
+  fi
 
   echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
   echo "       inside the openpilot directory or specify one with the"
@@ -52,28 +58,28 @@ function op_check_git() {
 
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n"
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git found."
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then
-    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n"
-    return 1
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n"
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
+    return 1
   fi
 
   echo "Checking for git submodules..."
   for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
-      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n"
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1
     fi
   done
-  echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
 
   )
 }
@@ -88,22 +94,22 @@ function op_check_os() {
       source /etc/os-release
       case "$VERSION_CODENAME" in
         "jammy" | "kinetic" | "noble" | "focal")
-          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
           ;;
         * )
-          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n"
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
           return 1
           ;;
       esac
     else
-      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n"
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
       return 1
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
-    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n"
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
   fi
 
@@ -118,12 +124,12 @@ function op_check_python() {
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
 
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   fi
 
@@ -133,9 +139,9 @@ function op_check_python() {
 function op_check_venv() {
   echo "Checking for venv..."
   if source $OPENPILOT_ROOT/.venv/bin/activate; then
-    echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n"
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
   fi
 }
 
@@ -144,20 +150,32 @@ function op_before_cmd() {
     return 0
   fi
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
-  op_check_git
-  op_check_os
-  op_check_venv
-  op_check_python
-  echo -e "-----------------------------\n"
+
+  result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
+
+  op_activate_venv
+
+  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
+
+  if [[ -z $VERBOSE ]]; then
+    echo -e "Checking system → [${GREEN}✔${NC}] system is good."
+  else
+    echo -e "$result"
+  fi
 }
 
-function op_install() {
+function op_setup() {
   (set -e
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
+
+  op_check_openpilot_dir
   op_check_os
   op_check_python
 
@@ -182,6 +200,10 @@ function op_install() {
   )
 }
 
+function op_activate_venv() {
+  source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+}
+
 function op_venv() {
   ( set -e
 
@@ -191,7 +213,7 @@ function op_venv() {
 
   if [[ "$?" -eq 0 ]]; then
     # this must be run in the same shell as the user calling "op"
-    op_check_openpilot_dir > /dev/null
+    op_get_openpilot_dir
     op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
   fi
 }
@@ -199,7 +221,9 @@ function op_venv() {
 function op_check() {
   (set -e
 
+  VERBOSE=1
   op_before_cmd
+  unset VERBOSE
 
   )
 }
@@ -208,7 +232,7 @@ function op_run() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@
+  op_run_command ./launch_openpilot.sh $@
 
   )
 }
@@ -226,7 +250,7 @@ function op_juggle() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+  op_run_command tools/plotjuggler/juggle.py $@
 
   )
 }
@@ -244,7 +268,7 @@ function op_replay() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
+  op_run_command tools/replay/replay $@
 
   )
 }
@@ -253,7 +277,7 @@ function op_cabana() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@
+  op_run_command tools/cabana/cabana $@
 
   )
 }
@@ -262,8 +286,8 @@ function op_sim() {
   (set -e
 
   op_before_cmd
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py &
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh
+  op_run_command exec tools/sim/run_bridge.py &
+  op_run_command exec tools/sim/launch_openpilot.sh
 
   )
 }
@@ -284,18 +308,18 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}       Activate the virtual environment"
-  echo -e "  ${BOLD}check${NC}      Check system requirements (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
-  echo -e "  ${BOLD}build${NC}      Build openpilot"
-  echo -e "  ${BOLD}run${NC}        Run openpilot"
-  echo -e "  ${BOLD}sim${NC}        Run openpilot in a simulator"
-  echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
-  echo -e "  ${BOLD}replay${NC}     Run replay"
-  echo -e "  ${BOLD}cabana${NC}     Run cabana"
-  echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
-  echo -e "  ${BOLD}help${NC}       Show this message"
-  echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
+  echo -e "  ${BOLD}venv${NC}     Activate the virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check system requirements (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Setup requirements to use openpilot"
+  echo -e "  ${BOLD}build${NC}    Build openpilot"
+  echo -e "  ${BOLD}run${NC}      Run openpilot"
+  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
+  echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
+  echo -e "  ${BOLD}replay${NC}   Run replay"
+  echo -e "  ${BOLD}cabana${NC}   Run cabana"
+  echo -e "  ${BOLD}linter${NC}   Run all the pre-commit checks"
+  echo -e "  ${BOLD}help${NC}     Show this message"
+  echo -e "  ${BOLD}install${NC}  Install this tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
@@ -304,6 +328,8 @@ function op_default() {
   echo "          Don't actually run anything, just print what would be"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
   echo "          Don't run checks before running a command"
+  echo -e "  ${BOLD}-v, --verbose${NC}"
+  echo "          Show the result of all checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
@@ -325,13 +351,14 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
+    -v | --verbose ) shift 1; VERBOSE="1" ;;
   esac
 
   # parse Commands
   case $1 in
     venv )      shift 1; op_venv "$@" ;;
     check )     shift 1; op_check "$@" ;;
-    install )   shift 1; op_install "$@" ;;
+    setup )   shift 1; op_setup "$@" ;;
     build )     shift 1; op_build "$@" ;;
     run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
@@ -339,7 +366,7 @@ function _op() {
     linter )    shift 1; op_linter "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
-    --install ) shift 1; op_first_install "$@" ;;
+    install )   shift 1; op_install "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
@@ -349,7 +376,7 @@ _op $@
 # remove from env
 unset -f _op
 unset -f op_check
-unset -f op_install
+unset -f op_setup
 unset -f op_build
 unset -f op_run
 unset -f op_juggle
@@ -358,7 +385,7 @@ unset -f op_check_openpilot_dir
 unset -f op_check_git
 unset -f op_check_python
 unset -f op_check_os
-unset -f op_first_install
+unset -f op_install
 unset -f op_default
 unset -f op_run_command
 unset -f op_linter
@@ -367,6 +394,14 @@ unset -f op_cabana
 unset -f op_check_venv
 unset -f op_before_cmd
 unset -f op_sim
+unset -f op_activate_venv
+unset -f op_get_openpilot_dir
 unset DRY
+unset NC
+unset RED
+unset GREEN
+unset UNDERLINE
+unset BOLD
 unset OPENPILOT_ROOT
 unset NO_VERIFY
+unset VERBOSE

From a7ea42c4ea318684ae0584a83cce74a3fdf5663a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 25 Jul 2024 16:59:42 -0700
Subject: [PATCH 0260/1243] Update setup.sh old-commit-hash:
 02e30ac14053212436ea5129030742a8c7dfe3fb

---
 tools/setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup.sh b/tools/setup.sh
index 8aca889b8c..2091886103 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -44,8 +44,8 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh --install
   $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh setup
 
   # make op usable right now
   alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""

From 630f460442ce6cf4c28f4e6f6124fd0d5cbd3231 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 18:21:42 -0700
Subject: [PATCH 0261/1243] op.sh: misc fixups (#33080)

* rm run

* little more

* lint

* one more lint

* cleanup
old-commit-hash: 8827067eaeba384722066caeeee4a35f30026d07
---
 tools/op.sh | 36 ++++++++++++------------------------
 1 file changed, 12 insertions(+), 24 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index c7431c135b..55cc3d60d9 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -228,15 +228,6 @@ function op_check() {
   )
 }
 
-function op_run() {
-  (set -e
-
-  op_before_cmd
-  op_run_command ./launch_openpilot.sh $@
-
-  )
-}
-
 function op_build() {
   (set -e
 
@@ -255,7 +246,7 @@ function op_juggle() {
   )
 }
 
-function op_linter() {
+function op_lint() {
   (set -e
 
   op_before_cmd
@@ -297,7 +288,7 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Description:${NC}"
   echo "  op is your entry point for all things related to openpilot development."
-  echo "  op is only a wrapper for scripts, tools  and commands already existing."
+  echo "  op is only a wrapper for existing scripts, tools, and commands."
   echo "  op will always show you what it will run on your system."
   echo ""
   echo "  op will try to find your openpilot directory in the following order:"
@@ -308,26 +299,25 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}     Activate the virtual environment"
-  echo -e "  ${BOLD}check${NC}    Check system requirements (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}setup${NC}    Setup requirements to use openpilot"
+  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Build openpilot"
-  echo -e "  ${BOLD}run${NC}      Run openpilot"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
-  echo -e "  ${BOLD}linter${NC}   Run all the pre-commit checks"
+  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
   echo -e "  ${BOLD}help${NC}     Show this message"
-  echo -e "  ${BOLD}install${NC}  Install this tool system wide"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
   echo "          Specify the openpilot directory you want to use"
   echo -e "  ${BOLD}--dry${NC}"
-  echo "          Don't actually run anything, just print what would be"
+  echo "          Don't actually run anything, just print what would be run"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
-  echo "          Don't run checks before running a command"
+  echo "          Skip environment check before running commands"
   echo -e "  ${BOLD}-v, --verbose${NC}"
   echo "          Show the result of all checks before running a command"
   echo ""
@@ -358,12 +348,11 @@ function _op() {
   case $1 in
     venv )      shift 1; op_venv "$@" ;;
     check )     shift 1; op_check "$@" ;;
-    setup )   shift 1; op_setup "$@" ;;
+    setup )     shift 1; op_setup "$@" ;;
     build )     shift 1; op_build "$@" ;;
-    run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
     cabana )    shift 1; op_cabana "$@" ;;
-    linter )    shift 1; op_linter "$@" ;;
+    lint )      shift 1; op_lint "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
     install )   shift 1; op_install "$@" ;;
@@ -378,7 +367,6 @@ unset -f _op
 unset -f op_check
 unset -f op_setup
 unset -f op_build
-unset -f op_run
 unset -f op_juggle
 unset -f op_venv
 unset -f op_check_openpilot_dir
@@ -388,7 +376,7 @@ unset -f op_check_os
 unset -f op_install
 unset -f op_default
 unset -f op_run_command
-unset -f op_linter
+unset -f op_lint
 unset -f op_replay
 unset -f op_cabana
 unset -f op_check_venv

From b6f9ab20a09e1fe401bd7bb60400aa4e73013cbf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 18:59:29 -0700
Subject: [PATCH 0262/1243] setup.sh: fast git clone (#33081)

* setup.sh: filter clone

* no submodules
old-commit-hash: d128dbe27f9a4b87f6f37d68b22e0a385cf29d70
---
 tools/setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup.sh b/tools/setup.sh
index 2091886103..9b1ee9c0c1 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -31,7 +31,7 @@ function check_git() {
 
 function git_clone() {
   echo "Cloning openpilot..."
-  if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+  if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
     if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
       return 0

From 488e08507a6a86921d9ef4546a36e3d6ef85a8f8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 25 Jul 2024 19:30:40 -0700
Subject: [PATCH 0263/1243] remove opencv-python-headless (#33082)

old-commit-hash: f39c5c22e80740700aa3c9bd8cba2a684903e9d2
---
 pyproject.toml         | 1 -
 tools/webcam/camera.py | 1 +
 uv.lock                | 1 -
 3 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 8288340e5a..afebfe7a7d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,7 +103,6 @@ dev = [
   "lru-dict",
   "matplotlib",
   "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   #"pprofile",
   "pyautogui",
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index d1d61b64d7..ddff46c5d3 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,3 +1,4 @@
+# TODO: remove the cv2 dependency, it's only used here
 import cv2 as cv
 import numpy as np
 
diff --git a/uv.lock b/uv.lock
index fa873c6313..866cf921ae 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1469,7 +1469,6 @@ dev = [
     { name = "lru-dict" },
     { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "opencv-python-headless" },
     { name = "parameterized" },
     { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },

From 539c8288616b0dbd0fd5e812105771e02b6c62f2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 25 Jul 2024 22:05:10 -0700
Subject: [PATCH 0264/1243] tools: keep re pattern file small (#33084)

remove bz2 from re file
old-commit-hash: e68bb26e14d4e85f61ab3f58ac9667ca9d6ea565
---
 selfdrive/debug/run_process_on_route.py         |  3 +--
 selfdrive/test/process_replay/model_replay.py   |  3 +--
 selfdrive/test/process_replay/regen.py          |  3 +--
 selfdrive/test/process_replay/test_processes.py |  3 +--
 tools/lib/helpers.py                            | 13 -------------
 tools/lib/logreader.py                          | 10 ++++++++++
 tools/plotjuggler/juggle.py                     |  3 +--
 7 files changed, 15 insertions(+), 23 deletions(-)

diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 90db14bc9a..c98763f3c9 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -3,8 +3,7 @@
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 0e43cad820..a58a58107e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -10,8 +10,7 @@ from openpilot.tools.lib.openpilotci import BASE_URL, get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index bf7a4bfd97..fe33443b49 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FR
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 
 
 class DummyFrameReader(BaseFrameReader):
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 533ab125f9..3bd58dfacb 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, f
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_openpilot_enabled, check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index e9b4b85e70..7c34e17cb1 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,6 +1,3 @@
-import bz2
-
-
 # regex patterns
 class RE:
   DONGLE_ID = r'(?P<dongle_id>[a-f0-9]{16})'
@@ -18,13 +15,3 @@ class RE:
 
   EXPLORER_FILE = fr'^(?P<segment_name>{SEGMENT_NAME})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
-
-
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress:
-    dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 07a4b2003e..2df1c05256 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -27,6 +27,16 @@ LogIterable = Iterable[LogMessage]
 RawLogIterable = Iterable[bytes]
 
 
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress:
+    dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
+
+
 class _LogFileReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1d1612a1cd..22854b368d 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -12,8 +12,7 @@ from functools import partial
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 

From 8af6320ddc5f7ad1c6574ffedaba2053e9e45ddb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 26 Jul 2024 11:34:36 -0700
Subject: [PATCH 0265/1243] op.sh: run pytest (#33090)

test
old-commit-hash: a1dce6ef475c69e446ab1ce13f1aadb26092804c
---
 tools/op.sh | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/tools/op.sh b/tools/op.sh
index 55cc3d60d9..3dd375c960 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -255,6 +255,15 @@ function op_lint() {
   )
 }
 
+function op_test() {
+  (set -e
+
+  op_before_cmd
+  op_run_command pytest $@
+
+  )
+}
+
 function op_replay() {
   (set -e
 
@@ -308,6 +317,7 @@ function op_default() {
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
   echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"
   echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
@@ -353,6 +363,7 @@ function _op() {
     juggle )    shift 1; op_juggle "$@" ;;
     cabana )    shift 1; op_cabana "$@" ;;
     lint )      shift 1; op_lint "$@" ;;
+    test )      shift 1; op_test "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
     install )   shift 1; op_install "$@" ;;
@@ -384,6 +395,7 @@ unset -f op_before_cmd
 unset -f op_sim
 unset -f op_activate_venv
 unset -f op_get_openpilot_dir
+unset -f op_test
 unset DRY
 unset NC
 unset RED

From a2667533c9994b1c4a25e97f36803b3fc18ab018 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 14:40:14 -0700
Subject: [PATCH 0266/1243] remove body submodule (#33091)

* remove body submodule

* little more

* fix op
old-commit-hash: d24b80fca4e554325fe455ac2ea2cfbaafe570e8
---
 .gitmodules              | 3 ---
 SConstruct               | 1 -
 body                     | 1 -
 release/release_files.py | 2 --
 tools/op.sh              | 2 +-
 5 files changed, 1 insertion(+), 8 deletions(-)
 delete mode 160000 body

diff --git a/.gitmodules b/.gitmodules
index e33902db52..20c2c848a6 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,9 +10,6 @@
 [submodule "rednose_repo"]
   path = rednose_repo
   url = ../../commaai/rednose.git
-[submodule "body"]
-  path = body
-  url = ../../commaai/body.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = ../../commaai/teleoprtc
diff --git a/SConstruct b/SConstruct
index 329ebe3308..fb5c43c9ad 100644
--- a/SConstruct
+++ b/SConstruct
@@ -360,7 +360,6 @@ Export('messaging')
 
 # Build other submodules
 SConscript([
-  'body/board/SConscript',
   'opendbc/can/SConscript',
   'panda/SConscript',
 ])
diff --git a/body b/body
deleted file mode 160000
index c433da944f..0000000000
--- a/body
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit c433da944f0e4d974cd66601effa66a06355debe
diff --git a/release/release_files.py b/release/release_files.py
index 24ce6d14b3..1590807435 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -10,8 +10,6 @@ ROOT = HERE + "/.."
 # - minimizing release download size
 # - keeping the diff readable
 blacklist = [
-  "body/STL/",
-
   "panda/drivers/",
   "panda/examples/",
   "panda/tests/safety/",
diff --git a/tools/op.sh b/tools/op.sh
index 3dd375c960..d3311c81fa 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -73,7 +73,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git submodules..."
-  for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
+  for name in msgq_repo opendbc panda rednose_repo tinygrad_repo; do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
       echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1

From 07e7b371d929fddba797b78ade35b326c2707277 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:04:57 -0700
Subject: [PATCH 0267/1243] update tinygrad url to tinygrad/tinygrad (#33093)

old-commit-hash: a1d2e84212904e23a1e3585c1f216ed6b94402a4
---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index 20c2c848a6..1d5d04577e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git

From 63f630a98ac0d3c625c6464b927b039286771121 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:08:36 -0700
Subject: [PATCH 0268/1243] op.sh: parallel submodule update old-commit-hash:
 00d9748d9a4cead5c9e968fa9fb607fbf74955e4

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index d3311c81fa..faa75951de 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -188,7 +188,7 @@ function op_setup() {
   echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n"
 
   echo "Getting git submodules..."
-  op_run_command git submodule update --init --recursive
+  op_run_command git submodule update --jobs 4 --init --recursive
   echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n"
 
   echo "Pulling git lfs files..."

From 8f98c76b3d33d72d6f9e9d0598f593de39586bdb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:17:14 -0700
Subject: [PATCH 0269/1243] cleanup macOS dependencies (#33094)

old-commit-hash: 6b5f88a5332b42ceed96e2669208c690f4fde303
---
 tools/mac_setup.sh | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index d19f1cae86..282121ef1d 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -36,12 +36,9 @@ if [[ $(command -v brew) == "" ]]; then
 fi
 
 brew bundle --file=- <<-EOS
-brew "catch2"
-brew "cmake"
 brew "cppcheck"
 brew "git-lfs"
 brew "zlib"
-brew "bzip2"
 brew "capnp"
 brew "coreutils"
 brew "eigen"

From 3a7e9b2a92df528abf1230d9d6b66e617d33d6b3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 26 Jul 2024 15:28:13 -0700
Subject: [PATCH 0270/1243] op.sh: check submodules (#33095)

submodules
old-commit-hash: eab9cd751c99a0a5046cfb31711daab145f164b2
---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index faa75951de..6e07965392 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -73,7 +73,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git submodules..."
-  for name in msgq_repo opendbc panda rednose_repo tinygrad_repo; do
+  for name in $(git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | tr '\n' ' '); do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
       echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1

From bb42f732b28bf39ee3fcdebcff130f300bb58ece Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 15:58:00 -0700
Subject: [PATCH 0271/1243] docs: turning the speed blue (#33079)

* blue speed

* compile

* just blue

* cleanup
old-commit-hash: db2a8e9506bf4b76f34240b79bc5643f1db3e0b1
---
 docs/docs/how-to/first-pr.md               |  0
 docs/docs/how-to/turn-the-speed-blue.md    | 93 ++++++++++++++++++++++
 docs/docs/how-to/turning-the-speed-blue.md |  4 -
 docs/mkdocs.yml                            |  2 +-
 4 files changed, 94 insertions(+), 5 deletions(-)
 delete mode 100644 docs/docs/how-to/first-pr.md
 create mode 100644 docs/docs/how-to/turn-the-speed-blue.md
 delete mode 100644 docs/docs/how-to/turning-the-speed-blue.md

diff --git a/docs/docs/how-to/first-pr.md b/docs/docs/how-to/first-pr.md
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/docs/how-to/turn-the-speed-blue.md
new file mode 100644
index 0000000000..28e1a376ac
--- /dev/null
+++ b/docs/docs/how-to/turn-the-speed-blue.md
@@ -0,0 +1,93 @@
+# Turn the speed blue
+*A getting started guide for openpilot development*
+
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+
+## 1. Setup your development environment
+
+Run this to clone openpilot and install all the dependencies:
+```bash
+curl -fsSL openpilot.comma.ai | bash
+```
+
+Then, compile openpilot:
+```bash
+cd openpilot
+scons -j8
+```
+
+## 2. Run replay
+
+We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
+```bash
+# in terminal 1
+tools/replay/replay --demo
+
+# in terminal 2
+selfdrive/ui/ui
+```
+
+The openpilot UI should launch and show a replay of the demo route.
+
+If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
+
+## 3. Make the speed blue
+
+Search for “mph” with git grep in the `ui` folder.
+```bash
+$ git grep "mph" selfdrive/ui/
+paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+```
+
+The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+```bash
+$ git diff
+diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
+index 821d95115..cc996eaa1 100644
+--- a/selfdrive/ui/paint.cc
++++ b/selfdrive/ui/paint.cc
+@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
+   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
+   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+-  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
++  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
++  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
+ }
+
+ static void ui_draw_vision_event(UIState *s) {
+```
+
+
+## 4. Rebuild UI, and admire your work
+
+```
+scons -j8 && selfdrive/ui/ui
+```
+
+![](https://blog.comma.ai/img/blue_speed_ui.png)
+
+## 5. Push your fork to GitHub
+
+Click fork on GitHub. Then, push with:
+```bash
+git remote rm origin
+git remote add origin git@github.com:<your-github-username>/openpilot.git
+git add .
+git commit -m "Make the speed blue."
+git push --set-upstream origin master
+```
+
+### 6. Run your fork on device in your car!
+
+Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+```
+installer.comma.ai/<your-github-username>/master
+```
+
+### 7. Admire your work IRL
+
+![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/docs/docs/how-to/turning-the-speed-blue.md b/docs/docs/how-to/turning-the-speed-blue.md
deleted file mode 100644
index f68faa7b9f..0000000000
--- a/docs/docs/how-to/turning-the-speed-blue.md
+++ /dev/null
@@ -1,4 +0,0 @@
-This section is for how-to's on common workflows.
-
-They'll be like this blog post we wrote:
-https://blog.comma.ai/turning-the-speed-blue/
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 92cb501b8b..1e19d286a1 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -17,7 +17,7 @@ nav:
   - Getting Started:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
-    #- Make my first pull request: how-to/first-pr.md
+    - Turn the speed blue: how-to/turn-the-speed-blue.md
     - Connect to a comma 3/3X: how-to/connect-to-comma.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md

From f933404ce664e30de501b41613843f760c3a5a82 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 26 Jul 2024 16:10:00 -0700
Subject: [PATCH 0272/1243] op.sh: misc improvements (#33096)

* check for install

* venv

* build
old-commit-hash: d7159cd3c77cbb8eba6c347090780f49e6104cb5
---
 tools/op.sh | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 6e07965392..8533017d8e 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -14,7 +14,8 @@ function op_install() {
   if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
     RC_FILE="$HOME/.bash_profile"
   fi
-  printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE
+  CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
+  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 
   )
@@ -212,6 +213,12 @@ function op_venv() {
   )
 
   if [[ "$?" -eq 0 ]]; then
+
+    if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then
+      echo "Run 'op venv' or 'source op.sh venv' to activate your venv!"
+      return 1
+    fi
+
     # this must be run in the same shell as the user calling "op"
     op_get_openpilot_dir
     op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
@@ -231,7 +238,9 @@ function op_check() {
 function op_build() {
   (set -e
 
+  CDIR=$(pwd)
   op_before_cmd
+  cd "$CDIR"
   op_run_command scons $@
 
   )
@@ -311,7 +320,7 @@ function op_default() {
   echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
   echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
   echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
-  echo -e "  ${BOLD}build${NC}    Build openpilot"
+  echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"

From 67fb848bc19510bdc90e337a65600bfab0863bef Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 26 Jul 2024 16:25:07 -0700
Subject: [PATCH 0273/1243] docs: style for external links

old-commit-hash: c8d5a3fe25dfda776adc3daa7020c20f03e8bf5e
---
 docs/mkdocs.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 1e19d286a1..82db497148 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -26,10 +26,10 @@ nav:
   - Contributing:
     - Roadmap: contributing/roadmap.md
     #- Architecture: contributing/architecture.md
-    - Contributing: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+    - Contributing →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
   - Links:
-    - Blog: https://blog.comma.ai
-    - Bounties: https://comma.ai/bounties
-    - GitHub: https://github.com/commaai
-    - Discord: https://discord.comma.ai
-    - X: https://x.com/comma_ai
+    - Blog →: https://blog.comma.ai
+    - Bounties →: https://comma.ai/bounties
+    - GitHub →: https://github.com/commaai
+    - Discord →: https://discord.comma.ai
+    - X →: https://x.com/comma_ai

From 4ea781b062b44e84e9862776a5d2c22a77d08c68 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Fri, 26 Jul 2024 19:29:08 -0700
Subject: [PATCH 0274/1243] Docs: Added venv step (#33097)

old-commit-hash: 6f1ea5a1fd5606e3407f32ab3eacd86a02d9a6ab
---
 docs/docs/how-to/turn-the-speed-blue.md | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/docs/how-to/turn-the-speed-blue.md
index 28e1a376ac..f76e9e489e 100644
--- a/docs/docs/how-to/turn-the-speed-blue.md
+++ b/docs/docs/how-to/turn-the-speed-blue.md
@@ -12,9 +12,14 @@ Run this to clone openpilot and install all the dependencies:
 curl -fsSL openpilot.comma.ai | bash
 ```
 
-Then, compile openpilot:
+Navigate to openpilot folder & activate a Python virtual environment
 ```bash
 cd openpilot
+source .venv/bin/activate
+```
+
+Then, compile openpilot:
+```bash
 scons -j8
 ```
 

From b0a8b3bc9dbc0554affd55292fdf74cbd8dcd9b0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 26 Jul 2024 19:33:35 -0700
Subject: [PATCH 0275/1243] uploader: compress with zstd (#32736)

* zstd uploader

* fix that

* fix name of function

* comment

* log failed

* fix comma_api_source for routes with both bz2 and zst rlogs

* TODO

* 10-14 achieves almost no benefit on qlogs in a few cases, but takes 2x the time

* these aren't written out

* regen: specify any list of sources

ooh this is pretty nice

* regen and process replay

* damn, actually we don't need all this (cool tho)

Revert "regen: specify any list of sources"

This reverts commit ceb0b4abed9ad463a9fe98d9b98a05875a52806f.

* just let it auto resolve

* fix athenad/uploader tests

* zst here too

* TODOs

* yes

* Revert "TODOs"

This reverts commit 8c7da1dbd0340c72290b5eb5563b642080ddc131.

* Revert "zst here too"

This reverts commit 23b0023ddfd22c8090be7a7caa09e7026a12aa5c.

* Revert "just let it auto resolve"

This reverts commit f296d62424227ad05facc62abc18a6f81b474e84.

* Revert "regen and process replay"

This reverts commit 0768330e96974a42616d229d159780619d049cd0.

* revert readme

* not in save_log either

* lfg

* Revert "lfg"

This reverts commit 3718559c6c4de7d1f0c80dc9f1a1d335fe679a89.
old-commit-hash: 7dec7c39bec0b7015c9cc12ee78f07a07ed47ee6
---
 system/athena/athenad.py              | 17 ++++----
 system/athena/tests/test_athenad.py   | 59 +++++++++++++++------------
 system/loggerd/tests/test_uploader.py | 10 ++---
 system/loggerd/uploader.py            | 13 +++---
 4 files changed, 53 insertions(+), 46 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index b4f9b8b6a7..96c34b0984 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -2,7 +2,6 @@
 from __future__ import annotations
 
 import base64
-import bz2
 import hashlib
 import io
 import json
@@ -15,6 +14,7 @@ import sys
 import tempfile
 import threading
 import time
+import zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
@@ -35,6 +35,7 @@ from openpilot.common.file_helpers import CallbackReader
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
@@ -103,8 +104,8 @@ cancelled_uploads: set[str] = set()
 cur_upload_items: dict[int, UploadItem | None] = {}
 
 
-def strip_bz2_extension(fn: str) -> str:
-  if fn.endswith('.bz2'):
+def strip_zst_extension(fn: str) -> str:
+  if fn.endswith('.zst'):
     return fn[:-4]
   return fn
 
@@ -283,16 +284,16 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
   path = upload_item.path
   compress = False
 
-  # If file does not exist, but does exist without the .bz2 extension we will compress on the fly
-  if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)):
-    path = strip_bz2_extension(path)
+  # If file does not exist, but does exist without the .zst extension we will compress on the fly
+  if not os.path.exists(path) and os.path.exists(strip_zst_extension(path)):
+    path = strip_zst_extension(path)
     compress = True
 
   with open(path, "rb") as f:
     content = f.read()
     if compress:
       cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      content = bz2.compress(content)
+      content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
 
   with io.BytesIO(content) as data:
     return requests.put(upload_item.url,
@@ -375,7 +376,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       continue
 
     path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
+    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
       failed.append(file.fn)
       continue
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 48519a0ffd..413255b587 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
   with Timeout(2, 'HTTP Server seeding failed'):
     while True:
       try:
-        requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
+        requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
         break
       except requests.exceptions.ConnectionError:
         time.sleep(0.1)
@@ -174,54 +174,59 @@ class TestAthenadMethods:
     assert resp, 'list empty!'
     assert len(resp) == len(expected)
 
-  def test_strip_bz2_extension(self):
+  def test_strip_extension(self):
+    # any requested log file with an invalid extension won't return as existing
     fn = self._create_file('qlog.bz2')
     if fn.endswith('.bz2'):
-      assert athenad.strip_bz2_extension(fn) == fn[:-4]
+      assert athenad.strip_zst_extension(fn) == fn
+
+    fn = self._create_file('qlog.zst')
+    if fn.endswith('.zst'):
+      assert athenad.strip_zst_extension(fn) == fn[:-4]
 
   @pytest.mark.parametrize("compress", [True, False])
   def test_do_upload(self, host, compress):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
-    upload_fn = fn + ('.bz2' if compress else '')
+    upload_fn = fn + ('.zst' if compress else '')
     item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
     with pytest.raises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')
     resp = athenad._do_upload(item)
     assert resp.status_code == 201
 
   def test_upload_file_to_url(self, host):
-    fn = self._create_file('qlog.bz2')
+    fn = self._create_file('qlog.zst')
 
-    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
+    resp = dispatcher["uploadFileToUrl"]("qlog.zst", f"{host}/qlog.zst", {})
     assert resp['enqueued'] == 1
     assert 'failed' not in resp
-    assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items()
+    assert {"path": fn, "url": f"{host}/qlog.zst", "headers": {}}.items() <= resp['items'][0].items()
     assert resp['items'][0].get('id') is not None
     assert athenad.upload_queue.qsize() == 1
 
   def test_upload_file_to_url_duplicate(self, host):
-    self._create_file('qlog.bz2')
+    self._create_file('qlog.zst')
 
-    url1 = f"{host}/qlog.bz2?sig=sig1"
-    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+    url1 = f"{host}/qlog.zst?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.zst", url1, {})
 
     # Upload same file again, but with different signature
-    url2 = f"{host}/qlog.bz2?sig=sig2"
-    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    url2 = f"{host}/qlog.zst?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.zst", url2, {})
     assert resp == {'enqueued': 0, 'items': []}
 
   def test_upload_file_to_url_does_not_exist(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.zst", "http://localhost:1238", {})
+    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.zst']}
 
   @with_upload_handler
   def test_upload_handler(self, host):
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -236,8 +241,8 @@ class TestAthenadMethods:
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('requests.put')
     mock_put.return_value.status_code = status
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -251,8 +256,8 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_upload_handler_timeout(self):
     """When an upload times out or fails to connect it should be placed back in the queue"""
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
     item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
 
     athenad.upload_queue.put_nowait(item_no_retry)
@@ -272,7 +277,7 @@ class TestAthenadMethods:
 
   @with_upload_handler
   def test_cancel_upload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+    item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
@@ -291,8 +296,8 @@ class TestAthenadMethods:
     ts = int(t_future.strftime("%s")) * 1000
 
     # Item that would time out if actually uploaded
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=ts, id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -306,8 +311,8 @@ class TestAthenadMethods:
 
   @with_upload_handler
   def test_list_upload_queue_current(self, host: str):
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -317,7 +322,7 @@ class TestAthenadMethods:
     assert items[0]['current']
 
   def test_list_upload_queue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+    item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 6591198281..fa71600263 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -62,10 +62,10 @@ class TestUploader(UploaderTestCase):
   def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]:
     keys = []
     if boot:
-      keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1]
-      keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2]
-    keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
-    keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
+      keys += [f"boot/{self.seg_format.format(i)}.zst" for i in seg1]
+      keys += [f"boot/{self.seg_format2.format(i)}.zst" for i in seg2]
+    keys += [f"{self.seg_format.format(i)}/qlog.zst" for i in seg1]
+    keys += [f"{self.seg_format2.format(i)}/qlog.zst" for i in seg2]
     return keys
 
   def test_upload(self):
@@ -159,7 +159,7 @@ class TestUploader(UploaderTestCase):
     self.join_thread()
 
     for f_path in f_paths:
-      fn = f_path.with_suffix(f_path.suffix.replace(".bz2", ""))
+      fn = f_path.with_suffix(f_path.suffix.replace(".zst", ""))
       uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
       assert not uploaded, "File upload when locked"
 
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 832a227798..ee16193cd2 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import bz2
 import io
 import json
 import os
@@ -9,6 +8,7 @@ import threading
 import time
 import traceback
 import datetime
+import zstd
 from typing import BinaryIO
 from collections.abc import Iterator
 
@@ -26,6 +26,7 @@ UPLOAD_ATTR_NAME = 'user.upload'
 UPLOAD_ATTR_VALUE = b'1'
 
 UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
@@ -83,7 +84,7 @@ class Uploader:
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
@@ -152,8 +153,8 @@ class Uploader:
 
     with open(fn, "rb") as f:
       data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
+      if key.endswith('.zst') and not fn.endswith('.zst'):
+        compressed = zstd.compress(f.read(), LOG_COMPRESSION_LEVEL)
         data = io.BytesIO(compressed)
       else:
         data = f
@@ -218,8 +219,8 @@ class Uploader:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 

From 09df2fbb144de4fcf60df3eb38cb00bdd53f19cb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 26 Jul 2024 21:14:06 -0700
Subject: [PATCH 0276/1243] test_onroad: use zstd compression (#33100)

* use zstd in test_onroad

* debug

* now leans towards 0.4 instead of 0.5

* 5x runs

* better

* more

* Update selfdrive/test/test_onroad.py

* revert Jenkinsfile

* and this
old-commit-hash: 4caecf21439eb65cedb25df589b140c9c09e26fc
---
 selfdrive/test/test_onroad.py | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 1e4669fb0a..d78d2294ad 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -1,4 +1,3 @@
-import bz2
 import math
 import json
 import os
@@ -9,6 +8,7 @@ import shutil
 import subprocess
 import time
 import numpy as np
+import zstd
 from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
@@ -20,9 +20,10 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 
 """
@@ -166,10 +167,10 @@ class TestOnroad:
     cls.log_sizes = {}
     for f in cls.log_path.iterdir():
       assert f.is_file()
-      cls.log_sizes[f]  = f.stat().st_size / 1e6
+      cls.log_sizes[f] = f.stat().st_size / 1e6
       if f.name in ("qlog", "rlog"):
         with open(f, 'rb') as ff:
-          cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6
+          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6
 
 
   @cached_property
@@ -206,7 +207,7 @@ class TestOnroad:
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.4 < sz < 0.6
+        assert 0.4 < sz < 0.5
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 7b67994a050f5252f69fefea23053d2bcbbfcaa9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 28 Jul 2024 02:03:47 -0700
Subject: [PATCH 0277/1243] use zstandard library (#33110)

* use zstandard

* run 10

* bye bye

* this was a little overzealous

* clean up
old-commit-hash: 1b3b5ab75857465f58ec8a687db04c8ee0470e05
---
 pyproject.toml                |   2 +-
 selfdrive/test/test_onroad.py |   4 +-
 system/athena/athenad.py      |   2 +-
 system/loggerd/uploader.py    |   2 +-
 tools/lib/logreader.py        |   2 +-
 uv.lock                       | 134 ++++++++++++++++++++++------------
 6 files changed, 92 insertions(+), 54 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index afebfe7a7d..dd801994f1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -61,7 +61,7 @@ dependencies = [
   "pycryptodome", # used in updated/casync, panda, body, and a test
 
   # logreader
-  "zstd",
+  "zstandard",
 ]
 
 [project.optional-dependencies]
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index d78d2294ad..e29e241da9 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -8,7 +8,7 @@ import shutil
 import subprocess
 import time
 import numpy as np
-import zstd
+import zstandard as zstd
 from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
@@ -207,7 +207,7 @@ class TestOnroad:
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.4 < sz < 0.5
+        assert 0.45 < sz < 0.55
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 96c34b0984..52e3a29ac8 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -14,7 +14,7 @@ import sys
 import tempfile
 import threading
 import time
-import zstd
+import zstandard as zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index ee16193cd2..d984936e88 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -8,7 +8,7 @@ import threading
 import time
 import traceback
 import datetime
-import zstd
+import zstandard as zstd
 from typing import BinaryIO
 from collections.abc import Iterator
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 2df1c05256..0f00596141 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -10,7 +10,7 @@ import sys
 import tqdm
 import urllib.parse
 import warnings
-import zstd
+import zstandard as zstd
 
 from collections.abc import Callable, Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
diff --git a/uv.lock b/uv.lock
index 866cf921ae..fa5c364673 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1422,38 +1422,38 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
-    { name = "aiohttp" },
-    { name = "aiortc" },
+    { name = "aiohttp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "aiortc", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "casadi", version = "3.6.5", source = { registry = "https://pypi.org/simple" }, marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
     { name = "casadi", version = "3.6.6", source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }, marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
-    { name = "cffi" },
-    { name = "crcmod" },
-    { name = "cython" },
-    { name = "future-fstrings" },
-    { name = "json-rpc" },
-    { name = "libusb1" },
-    { name = "numpy" },
-    { name = "onnx" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
-    { name = "psutil" },
-    { name = "pyaudio" },
-    { name = "pycapnp" },
-    { name = "pycryptodome" },
-    { name = "pyjwt" },
-    { name = "pyserial" },
-    { name = "pyzmq" },
-    { name = "requests" },
-    { name = "scons" },
-    { name = "sentry-sdk" },
-    { name = "setuptools" },
-    { name = "smbus2" },
-    { name = "sounddevice" },
-    { name = "spidev", marker = "platform_system == 'Linux'" },
-    { name = "sympy" },
-    { name = "tqdm" },
-    { name = "websocket-client" },
-    { name = "zstd" },
+    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "crcmod", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "cython", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "future-fstrings", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "json-rpc", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" },
+    { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pycryptodome", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyserial", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyzmq", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "scons", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "sentry-sdk", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "setuptools", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "zstandard", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 
 [distribution.optional-dependencies]
@@ -5322,22 +5322,60 @@ wheels = [
 ]
 
 [[distribution]]
-name = "zstd"
-version = "1.5.5.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ba/b4/bf8c6a6b73c6b267a13df955f821f041fcc770b56820b135849f33e3b888/zstd-1.5.5.1.tar.gz", hash = "sha256:1ef980abf0e1e072b028d2d76ef95b476632651c96225cf30b619c6eef625672", size = 1106585 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/10/6f/5b8a828394af6153ec08fd4814c9a4bbae9ec5bce3cb948bb0b9b6872022/zstd-1.5.5.1-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:022f935a8666e08f0fff6204938a84d9fe4fcd8235a205787275933a07a164fb", size = 287614 },
-    { url = "https://files.pythonhosted.org/packages/99/33/a51e2e4e469af134d5a8450d59da05c34017eea9bb16d1d1ed7b83b5ed98/zstd-1.5.5.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:a3d15a2d18dac8bcafdde52fdf5d40ecae1f73b7de19b171f42339d2e51346d0", size = 227505 },
-    { url = "https://files.pythonhosted.org/packages/cf/1a/ec11fdf56b282ca627c979b5b0c9c2ef14b416c0b2ad4264972c6765b634/zstd-1.5.5.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:45b9c67989f50ba63ffa0c50c9eaa037c2d14abacb0813e838ad705135245b4b", size = 1758942 },
-    { url = "https://files.pythonhosted.org/packages/a5/2a/65d09266af0c0a9b077148a6b596c8727de16ef174a6a840a88bc42f8956/zstd-1.5.5.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:97da6a842ba7e4acf8bba7c596057143ee39b3c4a467196c2096d460e44accd6", size = 1784548 },
-    { url = "https://files.pythonhosted.org/packages/f6/d4/7621dffe3a34a948dfa7ba40e77657526f967e3dd086608ab083fc8dd0d4/zstd-1.5.5.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2dafd492fb8ee4ae04c81ab00f5f137860e7071f611335dd4cdb1c38bd8f11bc", size = 1638061 },
-    { url = "https://files.pythonhosted.org/packages/28/0e/a3668ca3147434fd336f66d3f28553e228a73ea6b736f0ad2e9920b7de85/zstd-1.5.5.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:9ee83e0bcbfd776200b026b3b9e86c6c86b8f414749f58d87c85dcf456b27066", size = 1893027 },
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+    { url = "https://files.pythonhosted.org/packages/a2/bf/c6aaba098e2d04781e8f4f7c0ba3c7aa73d00e4c436bcc0cf059a66691d1/zstandard-0.23.0-cp313-cp313-win_amd64.whl", hash = "sha256:f3513916e8c645d0610815c257cbfd3242adfd5c4cfa78be514e5a3ebb42a41b", size = 495578 },
 ]

From bcb5b8a94bec8f3285320b50b103c96f146b271d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 15:05:36 -0700
Subject: [PATCH 0278/1243] docs: start roadmap

old-commit-hash: c51f37f63e58fb2bb28aeae711d688e796d36704
---
 docs/docs/contributing/roadmap.md | 28 ++++++++++++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/docs/docs/contributing/roadmap.md b/docs/docs/contributing/roadmap.md
index 64ccdb3b75..0f536cb515 100644
--- a/docs/docs/contributing/roadmap.md
+++ b/docs/docs/contributing/roadmap.md
@@ -1,5 +1,29 @@
 # Roadmap
 
-Coming soon...
+This is the roadmap for the next major openpilot releases. Also check out
+* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
+* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
+* [Bounties](https://comma.ai/bounties) for paid individual issues
 
-For now, check out our GitHub [milestones](https://github.com/commaai/openpilot/milestones) and [bounties](https://comma.ai/bounties).
+## openpilot 0.10
+
+openpilot 0.10 will be the first release with a driving policy trained in
+a [learned simulator](https://youtu.be/EqQNZXqzFSI).
+
+* Driving model trained in a learned simlator
+* Always-on driver monitoring (behind a toggle)
+* GPS removed from the driving stack
+* 100KB qlogs
+* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
+* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
+* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
+
+## openpilot 1.0
+
+openpilot 1.0 will feature a fully end-to-end driving policy.
+
+* End-to-end longitudinal control in Chill mode
+* Automatic Emergency Braking (AEB)
+* Driver monitoring with sleep detection
+* Rolling updates/releases pushed out by CI
+* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)

From 144e9e271c155c3a7702f62445ad2303ae057c50 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sun, 28 Jul 2024 15:08:27 -0700
Subject: [PATCH 0279/1243] remove cv2 usage (#33101)

remove cv2
old-commit-hash: 583e89d3a4f912911df2f1350cb109baa16c9f22
---
 selfdrive/ui/tests/test_ui/run.py |  3 +--
 tools/webcam/camera.py            | 28 +++++++++++-----------------
 2 files changed, 12 insertions(+), 19 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 98a600eebc..0b1d842499 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -19,7 +19,6 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-from openpilot.tools.webcam.camera import Camera
 
 UI_DELAY = 0.5 # may be slower on CI?
 
@@ -76,7 +75,7 @@ def setup_onroad(click, pm: PubMaster):
 
   time.sleep(0.5) # give time for vipc server to start
 
-  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
+  IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
   IMG_BYTES = IMG.flatten().tobytes()
 
   cams = ('roadCameraState', 'wideRoadCameraState')
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index ddff46c5d3..10900b60ff 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,6 +1,4 @@
-# TODO: remove the cv2 dependency, it's only used here
-import cv2 as cv
-import numpy as np
+import av
 
 class Camera:
   def __init__(self, cam_type_state, stream_type, camera_id):
@@ -12,23 +10,19 @@ class Camera:
     self.stream_type = stream_type
     self.cur_frame_id = 0
 
-    self.cap = cv.VideoCapture(camera_id)
-    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
-    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+    self.container = av.open(camera_id)
+    self.video_stream = self.container.streams.video[0]
+    self.W = self.video_stream.codec_context.width
+    self.H = self.video_stream.codec_context.height
 
   @classmethod
   def bgr2nv12(self, bgr):
-    yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420)
-    uv_row_cnt = yuv.shape[0] // 3
-    uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0])
-    yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1)
-    return yuv
+    frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
+    return frame.reformat(format='nv12').to_ndarray()
 
   def read_frames(self):
-    while True:
-      sts , frame = self.cap.read()
-      if not sts:
-        break
-      yuv = Camera.bgr2nv12(frame)
+    for frame in self.container.decode(self.video_stream):
+      img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
+      yuv = Camera.bgr2nv12(img)
       yield yuv.data.tobytes()
-    self.cap.release()
+    self.container.close()

From 1ce657314127c9791166f068d61fc607a375da10 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 15:38:38 -0700
Subject: [PATCH 0280/1243] docs: fix nested structure (#33114)

* docs: fix nested structure

* test ci

* that too

* update that

* not common mark anymore
old-commit-hash: 4fbac089f81079595df9852eace44cea9de3dd03
---
 .github/workflows/docs.yaml                   |  5 ++--
 .gitignore                                    |  4 +++-
 docs/.gitignore                               |  1 -
 docs/{README.md => README}                    |  0
 docs/{docs => }/car-porting/brand-port.md     |  0
 docs/{docs => }/car-porting/model-port.md     |  0
 .../car-porting/what-is-a-car-port.md         |  0
 docs/{docs => }/contributing/architecture.md  |  0
 docs/{docs => }/contributing/roadmap.md       |  1 +
 .../getting-started/what-is-openpilot.md      |  0
 docs/{docs => }/how-to/connect-to-comma.md    |  0
 docs/{docs => }/how-to/turn-the-speed-blue.md |  0
 docs/{docs => }/index.md                      |  0
 docs/mkdocs.yml => mkdocs.yml                 |  7 +++---
 pyproject.toml                                |  3 +--
 uv.lock                                       | 24 -------------------
 16 files changed, 11 insertions(+), 34 deletions(-)
 delete mode 100644 docs/.gitignore
 rename docs/{README.md => README} (100%)
 rename docs/{docs => }/car-porting/brand-port.md (100%)
 rename docs/{docs => }/car-porting/model-port.md (100%)
 rename docs/{docs => }/car-porting/what-is-a-car-port.md (100%)
 rename docs/{docs => }/contributing/architecture.md (100%)
 rename docs/{docs => }/contributing/roadmap.md (99%)
 rename docs/{docs => }/getting-started/what-is-openpilot.md (100%)
 rename docs/{docs => }/how-to/connect-to-comma.md (100%)
 rename docs/{docs => }/how-to/turn-the-speed-blue.md (100%)
 rename docs/{docs => }/index.md (100%)
 rename docs/mkdocs.yml => mkdocs.yml (95%)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 7fe4263db5..33f61173ff 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,8 +29,7 @@ jobs:
     - name: Build docs
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs==1.4.3 mkdocs-terminal mkdocs-plugin-commonmark
-        cd docs
+        pip install mkdocs mkdocs-terminal
         mkdocs build
 
     # Push to docs.comma.ai
@@ -52,7 +51,7 @@ jobs:
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs/site/ docs/
+        cp -r ../docs_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll
diff --git a/.gitignore b/.gitignore
index ac61591bfd..d66823bb50 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,6 +14,8 @@ model2.png
 a.out
 .hypothesis
 
+/docs_site/
+
 *.dylib
 *.DSYM
 *.d
@@ -102,4 +104,4 @@ Pipfile
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
-.ionide
\ No newline at end of file
+.ionide
diff --git a/docs/.gitignore b/docs/.gitignore
deleted file mode 100644
index 46ff2463e0..0000000000
--- a/docs/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/site/
diff --git a/docs/README.md b/docs/README
similarity index 100%
rename from docs/README.md
rename to docs/README
diff --git a/docs/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md
similarity index 100%
rename from docs/docs/car-porting/brand-port.md
rename to docs/car-porting/brand-port.md
diff --git a/docs/docs/car-porting/model-port.md b/docs/car-porting/model-port.md
similarity index 100%
rename from docs/docs/car-porting/model-port.md
rename to docs/car-porting/model-port.md
diff --git a/docs/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md
similarity index 100%
rename from docs/docs/car-porting/what-is-a-car-port.md
rename to docs/car-porting/what-is-a-car-port.md
diff --git a/docs/docs/contributing/architecture.md b/docs/contributing/architecture.md
similarity index 100%
rename from docs/docs/contributing/architecture.md
rename to docs/contributing/architecture.md
diff --git a/docs/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
similarity index 99%
rename from docs/docs/contributing/roadmap.md
rename to docs/contributing/roadmap.md
index 0f536cb515..22622a7a96 100644
--- a/docs/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -1,6 +1,7 @@
 # Roadmap
 
 This is the roadmap for the next major openpilot releases. Also check out
+
 * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
 * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
 * [Bounties](https://comma.ai/bounties) for paid individual issues
diff --git a/docs/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
similarity index 100%
rename from docs/docs/getting-started/what-is-openpilot.md
rename to docs/getting-started/what-is-openpilot.md
diff --git a/docs/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
similarity index 100%
rename from docs/docs/how-to/connect-to-comma.md
rename to docs/how-to/connect-to-comma.md
diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
similarity index 100%
rename from docs/docs/how-to/turn-the-speed-blue.md
rename to docs/how-to/turn-the-speed-blue.md
diff --git a/docs/docs/index.md b/docs/index.md
similarity index 100%
rename from docs/docs/index.md
rename to docs/index.md
diff --git a/docs/mkdocs.yml b/mkdocs.yml
similarity index 95%
rename from docs/mkdocs.yml
rename to mkdocs.yml
index 82db497148..3eb02aac8b 100644
--- a/docs/mkdocs.yml
+++ b/mkdocs.yml
@@ -1,12 +1,13 @@
 site_name: openpilot docs
-docs_dir: docs
 repo_url: https://github.com/commaai/openpilot/
 site_url: https://docs.comma.ai
 
 strict: true
+docs_dir: docs
+site_dir: docs_site/
 
-plugins:
-  - commonmark
+#plugins:
+#  - commonmark
 
 theme:
   name: terminal
diff --git a/pyproject.toml b/pyproject.toml
index dd801994f1..456e8a8cde 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -68,9 +68,8 @@ dependencies = [
 docs = [
   "Jinja2",
   "natsort",
-  "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
+  "mkdocs",
   "mkdocs-terminal",
-  "mkdocs-plugin-commonmark",
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index fa5c364673..980797805f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1114,15 +1114,6 @@ dependencies = [
     { name = "yapf" },
 ]
 
-[[distribution]]
-name = "mistletoe"
-version = "1.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/11/96/ea46a376a7c4cd56955ecdfff0ea68de43996a4e6d1aee4599729453bd11/mistletoe-1.4.0.tar.gz", hash = "sha256:1630f906e5e4bbe66fdeb4d29d277e2ea515d642bb18a9b49b136361a9818c9d", size = 107203 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/0f/b5e545f0c7962be90366af3418989b12cf441d9da1e5d89d88f2f3e5cf8f/mistletoe-1.4.0-py3-none-any.whl", hash = "sha256:44a477803861de1237ba22e375c6b617690a31d2902b47279d1f8f7ed498a794", size = 51304 },
-]
-
 [[distribution]]
 name = "mkdocs"
 version = "1.4.3"
@@ -1144,20 +1135,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
 ]
 
-[[distribution]]
-name = "mkdocs-plugin-commonmark"
-version = "0.0.4"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown" },
-    { name = "mistletoe" },
-    { name = "mkdocs" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/fa/a1/4aaa744deec61d75dbe3c67c18f6e4c1fa7699bc2661b6eff5f891e83023/mkdocs-plugin-commonmark-0.0.4.tar.gz", hash = "sha256:9034507af26646e95188a130782dd07d65c86507fddd3b47ea340c02683e85e7", size = 10805 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f9/4a/4333ef1eb57ff130c7715ba0847dbdae471d153d94507004c92c591cb3c5/mkdocs_plugin_commonmark-0.0.4-py3-none-any.whl", hash = "sha256:70a33394d86a04ec97877ca1b2dff6181de3ec01ef4c7add178fa45b327da535", size = 12532 },
-]
-
 [[distribution]]
 name = "mkdocs-terminal"
 version = "4.4.0"
@@ -1484,7 +1461,6 @@ dev = [
 docs = [
     { name = "jinja2" },
     { name = "mkdocs" },
-    { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
     { name = "natsort" },
 ]

From 5bc7684d2b22705341f7b8dffbe9c9b0c9c6ad54 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 16:07:39 -0700
Subject: [PATCH 0281/1243] docs: readthedocs theme (#33116)

* docs: read the docs theme

* nav depth
old-commit-hash: 691b948ad02a20e507d5059707f8cde51a94a703
---
 .github/workflows/docs.yaml        |  2 +-
 docs/how-to/connect-to-comma.md    |  4 ++--
 docs/how-to/turn-the-speed-blue.md |  4 ++--
 mkdocs.yml                         | 10 +++-------
 pyproject.toml                     |  1 -
 uv.lock                            | 30 ------------------------------
 6 files changed, 8 insertions(+), 43 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 33f61173ff..26b60ffec2 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -29,7 +29,7 @@ jobs:
     - name: Build docs
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs mkdocs-terminal
+        pip install mkdocs
         mkdocs build
 
     # Push to docs.comma.ai
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 53460ac990..d9c0c701c8 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -51,14 +51,14 @@ Host ssh.comma.ai
   IdentityFile ~/.ssh/my_github_key
 ```
 
-## One-off connection
+### One-off connection
 
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
 (Replace `ffffffffffffffff` with your dongle_id)
 
-## ssh.comma.ai host key fingerprint
+### ssh.comma.ai host key fingerprint
 
 ```
 Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index f76e9e489e..643023fdf4 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -86,13 +86,13 @@ git commit -m "Make the speed blue."
 git push --set-upstream origin master
 ```
 
-### 6. Run your fork on device in your car!
+## 6. Run your fork on device in your car!
 
 Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
 ```
 installer.comma.ai/<your-github-username>/master
 ```
 
-### 7. Admire your work IRL
+## 7. Admire your work IRL
 
 ![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/mkdocs.yml b/mkdocs.yml
index 3eb02aac8b..b9a901c4d7 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -6,13 +6,9 @@ strict: true
 docs_dir: docs
 site_dir: docs_site/
 
-#plugins:
-#  - commonmark
-
 theme:
-  name: terminal
-  features:
-    - navigation.side.toc.hide
+  name: readthedocs
+  navigation_depth: 3
 
 nav:
   - Getting Started:
@@ -27,7 +23,7 @@ nav:
   - Contributing:
     - Roadmap: contributing/roadmap.md
     #- Architecture: contributing/architecture.md
-    - Contributing →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
   - Links:
     - Blog →: https://blog.comma.ai
     - Bounties →: https://comma.ai/bounties
diff --git a/pyproject.toml b/pyproject.toml
index 456e8a8cde..86eb08fa1c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -69,7 +69,6 @@ docs = [
   "Jinja2",
   "natsort",
   "mkdocs",
-  "mkdocs-terminal",
 ]
 
 testing = [
diff --git a/uv.lock b/uv.lock
index 980797805f..a08ad9c4be 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1135,22 +1135,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
 ]
 
-[[distribution]]
-name = "mkdocs-terminal"
-version = "4.4.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "jinja2" },
-    { name = "markdown" },
-    { name = "mkdocs" },
-    { name = "pygments" },
-    { name = "pymdown-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b3/a4/afa8826c3d6971f3e93cb3669936b25579314fef2a4d648fe72729c9675f/mkdocs_terminal-4.4.0.tar.gz", hash = "sha256:d72b87b3d0edf470695811cb56c440a43b0387212590a5dfb2f26861c6e518d7", size = 619482 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/93/65/7973dfe5ae03dd83a5a4e203b542ebacb16fd0c796e3f93f3cb98c3ffcc2/mkdocs_terminal-4.4.0-py3-none-any.whl", hash = "sha256:b2c94dc651c840e9762a1040d39371a31cc7482f7768e619e317419ebae4e40e", size = 641788 },
-]
-
 [[distribution]]
 name = "mouseinfo"
 version = "0.1.3"
@@ -1461,7 +1445,6 @@ dev = [
 docs = [
     { name = "jinja2" },
     { name = "mkdocs" },
-    { name = "mkdocs-terminal" },
     { name = "natsort" },
 ]
 testing = [
@@ -1899,19 +1882,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4c/31/85a58625edc0b6967fe0904c9d89d019bcece3f3e3bf775b9151a8cf9d0d/pylibsrtp-0.10.0-cp38-abi3-win_amd64.whl", hash = "sha256:cd965d4b0e9a77b362526cab119f4d9ce39b83f1f20f46c6af8e694b86fa19a7", size = 1448840 },
 ]
 
-[[distribution]]
-name = "pymdown-extensions"
-version = "10.4"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown" },
-    { name = "pyyaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/85/71/5f48080bde77b07ca1eba6d7cb5c5598ac6c8f2a399846159b3c8b45e171/pymdown_extensions-10.4.tar.gz", hash = "sha256:bc46f11749ecd4d6b71cf62396104b4a200bad3498cb0f5dad1b8502fe461a35", size = 785151 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/98/2d/2929de81618c7213176899dd6372d6ec9c8f24337841dd74634fb69864ae/pymdown_extensions-10.4-py3-none-any.whl", hash = "sha256:cfc28d6a09d19448bcbf8eee3ce098c7d17ff99f7bd3069db4819af181212037", size = 240838 },
-]
-
 [[distribution]]
 name = "pymonctl"
 version = "0.92"

From 8cc6b66cde9780c6d190fa33f6d9a23f18b5e2aa Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 28 Jul 2024 16:38:38 -0700
Subject: [PATCH 0282/1243] docs: add concepts section

old-commit-hash: 5ebc65f254f66ff13c679f9f699a92458c41aa8a
---
 docs/concepts/glossary.md                         |  8 ++++++++
 system/loggerd/README.md => docs/concepts/logs.md | 13 ++++++-------
 docs/concepts/safety.md                           |  1 +
 docs/how-to/replay-a-drive.md                     | 14 ++++++++++++++
 mkdocs.yml                                        |  4 ++++
 5 files changed, 33 insertions(+), 7 deletions(-)
 create mode 100644 docs/concepts/glossary.md
 rename system/loggerd/README.md => docs/concepts/logs.md (86%)
 create mode 120000 docs/concepts/safety.md
 create mode 100644 docs/how-to/replay-a-drive.md

diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
new file mode 100644
index 0000000000..46e8e834d2
--- /dev/null
+++ b/docs/concepts/glossary.md
@@ -0,0 +1,8 @@
+# openpilot glossary
+
+* **route**:
+* **segment**: routes are split into one minute chunks called segments.
+* **panda**: this is . See the repo.
+* **onroad**:
+* **offroad**:
+* **comma 3X**:
diff --git a/system/loggerd/README.md b/docs/concepts/logs.md
similarity index 86%
rename from system/loggerd/README.md
rename to docs/concepts/logs.md
index 714e4242a0..46ab2897df 100644
--- a/system/loggerd/README.md
+++ b/docs/concepts/logs.md
@@ -1,10 +1,8 @@
-# loggerd
+# Logging
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
-
-## log types
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
@@ -15,9 +13,10 @@ rlogs contain all the messages passed amongst openpilot's processes. See [cereal
 ## {f,e,d}camera.hevc
 
 Each camera stream is H.265 encoded and written to its respective file.
-* fcamera.hevc is the road camera
-* ecamera.hevc is the wide road camera
-* dcamera.hevc is the driver camera
+
+* `fcamera.hevc` is the road camera
+* `ecamera.hevc` is the wide road camera
+* `dcamera.hevc` is the driver camera
 
 ## qlog.bz2 & qcamera.ts
 
diff --git a/docs/concepts/safety.md b/docs/concepts/safety.md
new file mode 120000
index 0000000000..f286ad4b15
--- /dev/null
+++ b/docs/concepts/safety.md
@@ -0,0 +1 @@
+../SAFETY.md
\ No newline at end of file
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
new file mode 100644
index 0000000000..084b6bf825
--- /dev/null
+++ b/docs/how-to/replay-a-drive.md
@@ -0,0 +1,14 @@
+# Replay
+
+Replaying is a critical tool for openpilot development and debugging.
+
+## Replaying a route
+*Hardware required: none*
+
+Just run `tools/replay/replay --demo`.
+
+## Replaying CAN data
+*Hardware required: jungle and comma 3/3X*
+
+1. Connect your PC to a jungle.
+2.
diff --git a/mkdocs.yml b/mkdocs.yml
index b9a901c4d7..8778e28863 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -16,6 +16,10 @@ nav:
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
     - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    #- Replay a drive: how-to/replay-a-drive.md
+  - Concepts:
+    - Logs: concepts/logs.md
+    - Safety: concepts/safety.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md
     - Porting a car brand: car-porting/brand-port.md

From 760dd26dee5559697464204c32bf2789ae40b896 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 29 Jul 2024 10:24:05 -0700
Subject: [PATCH 0283/1243] [bot] Update Python packages and pre-commit hooks
 (#33122)

Update Python packages and pre-commit hooks

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 1ae3adbe13cc4e9d4049b9c5e5cb398ede93f001
---
 .pre-commit-config.yaml |  4 ++--
 uv.lock                 | 50 +++++++++++++++++++++++++++++++----------
 2 files changed, 40 insertions(+), 14 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 10939f4289..a7a5379088 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.4
+    rev: v0.5.5
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -93,7 +93,7 @@ repos:
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.0
+    rev: 0.29.1
     hooks:
     -   id: check-github-workflows
 -   repo: local
diff --git a/uv.lock b/uv.lock
index a08ad9c4be..089c16464a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1010,11 +1010,11 @@ wheels = [
 
 [[distribution]]
 name = "markdown"
-version = "3.3.7"
+version = "3.6"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d6/58/79df20de6e67a83f0d0bbfe6c19bb82adf68cdf362885257eb01099f930a/Markdown-3.3.7.tar.gz", hash = "sha256:cbb516f16218e643d8e0a95b309f77eb118cb138d39a4f27851e6a63581db874", size = 324130 }
+sdist = { url = "https://files.pythonhosted.org/packages/22/02/4785861427848cc11e452cc62bb541006a1087cf04a1de83aedd5530b948/Markdown-3.6.tar.gz", hash = "sha256:ed4f41f6daecbeeb96e576ce414c41d2d876daa9a16cb35fa8ed8c2ddfad0224", size = 354715 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
+    { url = "https://files.pythonhosted.org/packages/fc/b3/0c0c994fe49cd661084f8d5dc06562af53818cc0abefaca35bdc894577c3/Markdown-3.6-py3-none-any.whl", hash = "sha256:48f276f4d8cfb8ce6527c8f79e2ee29708508bf4d40aa410fbc3b4ee832c850f", size = 105381 },
 ]
 
 [[distribution]]
@@ -1116,7 +1116,7 @@ dependencies = [
 
 [[distribution]]
 name = "mkdocs"
-version = "1.4.3"
+version = "1.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -1124,15 +1124,32 @@ dependencies = [
     { name = "ghp-import" },
     { name = "jinja2" },
     { name = "markdown" },
+    { name = "markupsafe" },
     { name = "mergedeep" },
+    { name = "mkdocs-get-deps" },
     { name = "packaging" },
+    { name = "pathspec" },
     { name = "pyyaml" },
     { name = "pyyaml-env-tag" },
     { name = "watchdog" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b0/ef/49b4427e5eec761b77a3c3c421d3fd63010e2798b7401dc0fa2b875ef6b5/mkdocs-1.4.3.tar.gz", hash = "sha256:5955093bbd4dd2e9403c5afaf57324ad8b04f16886512a3ee6ef828956481c57", size = 3624951 }
+sdist = { url = "https://files.pythonhosted.org/packages/cc/6b/26b33cc8ad54e8bc0345cddc061c2c5c23e364de0ecd97969df23f95a673/mkdocs-1.6.0.tar.gz", hash = "sha256:a73f735824ef83a4f3bcb7a231dcab23f5a838f88b7efc54a0eef5fbdbc3c512", size = 3888392 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b8/c0/930dcf5a3e96b9c8e7ad15502603fc61d495479699e2d2c381e3d37294d1/mkdocs-1.6.0-py3-none-any.whl", hash = "sha256:1eb5cb7676b7d89323e62b56235010216319217d4af5ddc543a91beb8d125ea7", size = 3862264 },
+]
+
+[[distribution]]
+name = "mkdocs-get-deps"
+version = "0.2.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "mergedeep" },
+    { name = "platformdirs" },
+    { name = "pyyaml" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/98/f5/ed29cd50067784976f25ed0ed6fcd3c2ce9eb90650aa3b2796ddf7b6870b/mkdocs_get_deps-0.2.0.tar.gz", hash = "sha256:162b3d129c7fad9b19abfdcb9c1458a651628e4b1dea628ac68790fb3061c60c", size = 10239 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 },
+    { url = "https://files.pythonhosted.org/packages/9f/d4/029f984e8d3f3b6b726bd33cafc473b75e9e44c0f7e80a5b29abc466bdea/mkdocs_get_deps-0.2.0-py3-none-any.whl", hash = "sha256:2bf11d0b133e77a0dd036abeeb06dec8775e46efa526dc70667d8863eefc6134", size = 9521 },
 ]
 
 [[distribution]]
@@ -1525,9 +1542,9 @@ version = "2.2.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12'" },
-    { name = "python-dateutil" },
-    { name = "pytz" },
-    { name = "tzdata" },
+    { name = "python-dateutil", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pytz", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "tzdata", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/88/d9/ecf715f34c73ccb1d8ceb82fc01cd1028a65a5f6dbc57bfa6ea155119058/pandas-2.2.2.tar.gz", hash = "sha256:9e79019aba43cb4fda9e4d983f8e88ca0373adbb697ae9c6c43093218de28b54", size = 4398391 }
 wheels = [
@@ -1556,6 +1573,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/31/13/fe468c8c7400a8eca204e6e160a29bf7dcd45a76e20f1c030f3eaa690d93/parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9", size = 26354 },
 ]
 
+[[distribution]]
+name = "pathspec"
+version = "0.12.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ca/bc/f35b8446f4531a7cb215605d100cd88b7ac6f44ab3fc94870c120ab3adbf/pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712", size = 51043 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/cc/20/ff623b09d963f88bfde16306a54e12ee5ea43e9b597108672ff3a408aad6/pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08", size = 31191 },
+]
+
 [[distribution]]
 name = "pillow"
 version = "10.4.0"
@@ -1629,7 +1655,7 @@ wheels = [
 
 [[distribution]]
 name = "pre-commit"
-version = "3.7.1"
+version = "3.8.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cfgv" },
@@ -1638,9 +1664,9 @@ dependencies = [
     { name = "pyyaml" },
     { name = "virtualenv" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/aa/46/cc214ef6514270328910083d0119d0a80a6d2c4ec8c6608c0219db0b74cf/pre_commit-3.7.1.tar.gz", hash = "sha256:8ca3ad567bc78a4972a3f1a477e94a79d4597e8140a6e0b651c5e33899c3654a", size = 177317 }
+sdist = { url = "https://files.pythonhosted.org/packages/64/10/97ee2fa54dff1e9da9badbc5e35d0bbaef0776271ea5907eccf64140f72f/pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af", size = 177815 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b9/0f/d6d0b4e2f5b2933a557087fc0560371aa545a18232d4d3427eb3bb3af12e/pre_commit-3.7.1-py2.py3-none-any.whl", hash = "sha256:fae36fd1d7ad7d6a5a1c0b0d5adb2ed1a3bda5a21bf6c3e5372073d7a11cd4c5", size = 204268 },
+    { url = "https://files.pythonhosted.org/packages/07/92/caae8c86e94681b42c246f0bca35c059a2f0529e5b92619f6aba4cf7e7b6/pre_commit-3.8.0-py2.py3-none-any.whl", hash = "sha256:9a90a53bf82fdd8778d58085faf8d83df56e40dfe18f45b19446e26bf1b3a63f", size = 204643 },
 ]
 
 [[distribution]]

From a78c63cf7b03d76d01adcf88d4d06aa7c9026b54 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 11:52:33 -0700
Subject: [PATCH 0284/1243] Remove control usage (#33103)

* manual matrix exp

* remove control
old-commit-hash: 01c07569741a84fae9a7fe9c8ef1830d59822f63
---
 pyproject.toml                                    |  1 -
 .../controls/lib/tests/test_vehicle_model.py      | 11 +++++++----
 uv.lock                                           | 15 ---------------
 3 files changed, 7 insertions(+), 20 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 86eb08fa1c..4c1e134431 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -94,7 +94,6 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "control",
   "dictdiffer",
   "flaky",
   "inputs",
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index 4d0e41805d..f666f875a6 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -2,7 +2,6 @@ import pytest
 import math
 
 import numpy as np
-from control import StateSpace
 
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.car.honda.values import CAR
@@ -47,8 +46,12 @@ class TestVehicleModel:
         A, B = create_dyn_state_matrices(u, self.VM)
 
         # Convert to discrete time system
-        ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2)))
-        ss = ss.sample(0.01)
+        dt = 0.01
+        top = np.hstack((A, B))
+        full = np.vstack((top, np.zeros_like(top))) * dt
+        Md = sum([np.linalg.matrix_power(full, k) / math.factorial(k) for k in range(25)])
+        Ad = Md[:A.shape[0], :A.shape[1]]
+        Bd = Md[:A.shape[0], A.shape[1]:]
 
         for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
           inp = np.array([[sa], [roll]])
@@ -56,7 +59,7 @@ class TestVehicleModel:
           # Simulate for 1 second
           x1 = np.zeros((2, 1))
           for _ in range(100):
-            x1 = ss.A @ x1 + ss.B @ inp
+            x1 = Ad @ x1 + Bd @ inp
 
           # Compute steady state solution directly
           x2 = dyn_ss_sol(sa, u, roll, self.VM)
diff --git a/uv.lock b/uv.lock
index 089c16464a..2913075f5b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -369,20 +369,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/78/38/a046bb0ebce6f530175d434e7364149e338ffe1069ee286ed8ba7f6481ee/contourpy-1.2.1-cp312-cp312-win_amd64.whl", hash = "sha256:1a07fc092a4088ee952ddae19a2b2a85757b923217b7eed584fdf25f53a6e7ce", size = 189901 },
 ]
 
-[[distribution]]
-name = "control"
-version = "0.10.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "scipy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ee/64/02fedcf78b070571f5e446efb55b7ec82b68187323402b99b6f98f769530/control-0.10.0.tar.gz", hash = "sha256:2c18b767537f45c7fd07b2e4afe8fbe5964019499b5f52f888edb5d8560bab53", size = 8956376 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/4d/de/327ab576657cb6bd5678e5d4fa266f3c4c7094e99df2bb7760e89176772d/control-0.10.0-py3-none-any.whl", hash = "sha256:ed1e0eb73f1e2945fc9af9d7b9121ef328fe980e7903b2a14b149d4f1855a808", size = 513858 },
-]
-
 [[distribution]]
 name = "coverage"
 version = "7.6.0"
@@ -1439,7 +1425,6 @@ dev = [
     { name = "av" },
     { name = "azure-identity" },
     { name = "azure-storage-blob" },
-    { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
     { name = "hexdump" },

From 3e39d610bccb64d4b7a9e0ba2e738cc280f65f07 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 29 Jul 2024 12:32:51 -0700
Subject: [PATCH 0285/1243] [bot] Fingerprints: add missing FW versions from
 new users (#33123)

Export fingerprints
old-commit-hash: 606890cba5ca8c65391abebba505fc211ca1e6b4
---
 selfdrive/car/hyundai/fingerprints.py | 3 ++-
 selfdrive/car/toyota/fingerprints.py  | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 5f959bd68d..6c7480a15d 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -712,6 +712,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
       b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
@@ -764,8 +765,8 @@ FW_VERSIONS = {
       b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
       b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
+      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 37c69b54fb..a7ea14f203 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -650,6 +650,7 @@ FW_VERSIONS = {
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
       b'881510E01200\x00\x00\x00\x00',
+      b'881510E02100\x00\x00\x00\x00',
       b'881510E02200\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [

From 3c1af12490b1c6ff4bb6b36b27e90e6efdb7929e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 30 Jul 2024 04:43:31 +0800
Subject: [PATCH 0286/1243] uploader.py: ensure proper resource management with
 io.BytesIO (#33108)

* ensure proper resource management with io.BytesIO

* improve
old-commit-hash: 2728c95b0d8f95faca4c1ee11a77a050f0d1c5fb
---
 system/loggerd/uploader.py | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index d984936e88..965d74bef8 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -9,7 +9,6 @@ import time
 import traceback
 import datetime
 import zstandard as zstd
-from typing import BinaryIO
 from collections.abc import Iterator
 
 from cereal import log
@@ -152,14 +151,12 @@ class Uploader:
       return FakeResponse()
 
     with open(fn, "rb") as f:
-      data: BinaryIO
+      content = f.read()
       if key.endswith('.zst') and not fn.endswith('.zst'):
-        compressed = zstd.compress(f.read(), LOG_COMPRESSION_LEVEL)
-        data = io.BytesIO(compressed)
-      else:
-        data = f
+        content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
 
-      return requests.put(url, data=data, headers=headers, timeout=10)
+      with io.BytesIO(content) as data:
+        return requests.put(url, data=data, headers=headers, timeout=10)
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:

From 0fe0c601b1fb31fcbdd609bd5462a4ecb69eb403 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Mon, 29 Jul 2024 23:46:13 +0300
Subject: [PATCH 0287/1243] update mac_setup.sh brew install (#33131)

old-commit-hash: 7d6ff19dead7a9bee819a143eb4c8a929a9e28fd
---
 tools/mac_setup.sh | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 282121ef1d..3465747a50 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -22,16 +22,16 @@ fi
 # Install brew if required
 if [[ $(command -v brew) == "" ]]; then
   echo "Installing Homebrew"
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
   echo "[ ] installed brew t=$SECONDS"
 
   # make brew available now
   if [[ $ARCH == "x86_64" ]]; then
-      echo 'eval "$(/usr/local/homebrew/bin/brew shellenv)"' >> $RC_FILE
-      eval "$(/usr/local/homebrew/bin/brew shellenv)"
+    echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE
+    eval "$(/usr/local/bin/brew shellenv)"
   else
-      echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
-      eval "$(/opt/homebrew/bin/brew shellenv)"
+    echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
+    eval "$(/opt/homebrew/bin/brew shellenv)"
   fi
 fi
 

From 55ccea2c52a96bd0a56f9860a00365f2b5115012 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 30 Jul 2024 04:48:06 +0800
Subject: [PATCH 0288/1243] replay: add support for decompressing ZST log files
 (#32910)

* Add Support for Decompressing ZST Log Files

* 2 space and check magic number

* match BZ2

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: ade13722cd10261696c7b49e7a6e4f6d65f1b74e
---
 tools/cabana/SConscript              |  2 +-
 tools/install_ubuntu_dependencies.sh |  1 +
 tools/replay/SConscript              |  2 +-
 tools/replay/logreader.cc            | 10 ++++++--
 tools/replay/route.cc                |  4 +--
 tools/replay/util.cc                 | 37 +++++++++++++++++++++++++++-
 tools/replay/util.h                  |  2 ++
 7 files changed, 51 insertions(+), 7 deletions(-)

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index ba4a142451..04b768dc69 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -15,7 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 4373760ce6..67b28fa280 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -46,6 +46,7 @@ function install_ubuntu_common_requirements() {
     libssl-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
+    libzstd-dev \
     libsqlite3-dev \
     libsystemd-dev \
     locales \
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index cf9d74a894..1f966d4372 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -12,7 +12,7 @@ else:
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 9b726e067d..415b8c0b5e 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -4,11 +4,17 @@
 #include <utility>
 #include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
+#include "common/util.h"
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (!data.empty() && url.find(".bz2") != std::string::npos)
-    data = decompressBZ2(data, abort);
+  if (!data.empty()) {
+    if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
+      data = decompressBZ2(data, abort);
+    } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
+      data = decompressZST(data, abort);
+    }
+  }
 
   bool success = !data.empty() && load(data.data(), data.size(), abort);
   if (filters_.empty())
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 716b02961e..c1e65526cf 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -122,9 +122,9 @@ void Route::addFileToSegment(int n, const QString &file) {
   const int pos = name.lastIndexOf("--");
   name = pos != -1 ? name.mid(pos + 2) : name;
 
-  if (name == "rlog.bz2" || name == "rlog") {
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
     segments_[n].rlog = file;
-  } else if (name == "qlog.bz2" || name == "qlog") {
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
     segments_[n].road_cam = file;
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index aaf73749d5..81e87b7dd3 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -15,6 +15,7 @@
 #include <mutex>
 #include <numeric>
 #include <utility>
+#include <zstd.h>
 
 #include "common/timing.h"
 #include "common/util.h"
@@ -300,7 +301,7 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
     if (bzerror == BZ_OK && prev_write_pos == strm.next_out) {
       // content is corrupt
       bzerror = BZ_STREAM_END;
-      rWarning("decompressBZ2 error : content is corrupt");
+      rWarning("decompressBZ2 error: content is corrupt");
       break;
     }
 
@@ -318,6 +319,40 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
+std::string decompressZST(const std::string &in, std::atomic<bool> *abort) {
+  return decompressZST((std::byte *)in.data(), in.size(), abort);
+}
+
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort) {
+  ZSTD_DCtx *dctx = ZSTD_createDCtx();
+  assert(dctx != nullptr);
+
+  // Initialize input and output buffers
+  ZSTD_inBuffer input = {in, in_size, 0};
+  std::string decompressedData;
+  const size_t bufferSize = ZSTD_DStreamOutSize();  // recommended output buffer size
+  std::string outputBuffer(bufferSize, '\0');
+
+  while (input.pos < input.size && !(abort && *abort)) {
+    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
+
+    size_t result = ZSTD_decompressStream(dctx, &output, &input);
+    if (ZSTD_isError(result)) {
+      rWarning("decompressZST error: content is corrupt");
+      break;
+    }
+
+    decompressedData.append(outputBuffer.data(), output.pos);
+  }
+
+  ZSTD_freeDCtx(dctx);
+  if (!(abort && *abort)) {
+    decompressedData.shrink_to_fit();
+    return decompressedData;
+  }
+  return {};
+}
+
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   struct timespec req, rem;
   req.tv_sec = nanoseconds / 1000000000;
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 97516e1814..c3b016c391 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -40,6 +40,8 @@ std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
 size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
 std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);

From 1f43f47b816629edb9d5739aa4e9f8b0aa4576a8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 29 Jul 2024 14:44:03 -0700
Subject: [PATCH 0289/1243] qlog: remove mag and less CAN

old-commit-hash: 43dcddc68b5ac132f3d2a1b0adeea9af60ee541e
---
 cereal/services.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/services.py b/cereal/services.py
index 7d73374df1..f7aaa377a9 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -16,13 +16,13 @@ _services: dict[str, tuple] = {
   "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
   "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25., 25),
+  "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),

From 130d0d2e3a969044632f860e57869fcc0fa2f270 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 29 Jul 2024 17:12:05 -0700
Subject: [PATCH 0290/1243] process_replay: regenerate locationd logs (#33134)

* Filter out non-relevant services in most_messages_valid check

* Set as comprehension

* Update segments

* Update ref commit

* New check for hyundai2
old-commit-hash: 6e185f4eea470fe56fc6a33de9e81779f70941ab
---
 .../test/process_replay/process_replay.py     |  4 ++
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     | 37 ++++++++++---------
 3 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index eae6abfaad..70ed745bac 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -819,11 +819,15 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool:
 
 
 def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool:
+  relevant_services = {sock for cfg in CONFIGS for sock in cfg.subs}
   msgs_counts = Counter(msg.which() for msg in msgs)
   msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid)
 
   most_valid_for_service = {}
   for msg_type in msgs_counts.keys():
+    if msg_type not in relevant_services:
+      continue
+
     valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type]
     ok = valid_share >= threshold
     if not ok:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 02e4b997aa..1349e2650f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3942de8e75caa7a99828e65c3396abd94d6b3da7
+949909bd80599698c1307b3304010456dded6a15
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 3bd58dfacb..7fbe933434 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"),
-  ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"),
-  ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"),
-  ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"),
-  ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"),
-  ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"),
-  ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"),
-  ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"),
-  ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"),
-  ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"),
-  ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"),
-  ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"),
-  ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"),
-  ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"),
-  ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"),
-  ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"),
-  ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"),
+  ("BODY", "regen34ECCE11CA1|2024-07-29--22-55-10--0"),
+  ("HYUNDAI", "regenC713CE6FA82|2024-07-29--22-56-31--0"),
+  ("HYUNDAI2", "regenD81F3A374A7|2024-07-29--22-58-45--0"),
+  ("TOYOTA", "regenE6D76723DC2|2024-07-29--23-00-08--0"),
+  ("TOYOTA2", "regen198859A572C|2024-07-29--23-01-31--0"),
+  ("TOYOTA3", "regenDF1EB621A66|2024-07-29--23-03-49--0"),
+  ("HONDA", "regen0FE7C4758B5|2024-07-29--23-05-14--0"),
+  ("HONDA2", "regen510A1F60E60|2024-07-29--23-06-39--0"),
+  ("CHRYSLER", "regenDACF082E83B|2024-07-29--23-08-01--0"),
+  ("RAM", "regen8BFB7E62F52|2024-07-29--23-10-14--0"),
+  ("SUBARU", "regen4EE2D45369E|2024-07-29--23-12-31--0"),
+  ("GM", "regenB38D92E6A4D|2024-07-29--23-13-54--0"),
+  ("GM2", "regenC5488470F1A|2024-07-29--23-16-09--0"),
+  ("NISSAN", "regenE5400EB4689|2024-07-29--23-17-30--0"),
+  ("VOLKSWAGEN", "regenD0B5635A8B9|2024-07-29--23-18-54--0"),
+  ("MAZDA", "regen57F8511F082|2024-07-29--23-21-09--0"),
+  ("FORD", "regen5708620AA2E|2024-07-29--23-23-20--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -111,7 +111,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   if not check_most_messages_valid(log_msgs):
     return f"Route did not have enough valid messages: {new_log_path}", log_msgs
 
-  if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0':
+  # skip this check if the segment is using qcom gps
+  if cfg.proc_name != 'ubloxd' or any(m.which() in cfg.pubs for m in lr):
     seen_msgs = {m.which() for m in log_msgs}
     expected_msgs = set(cfg.subs)
     if seen_msgs != expected_msgs:

From 3740693956bdec08e2f126eaf78a2d0210d66f08 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 29 Jul 2024 19:51:21 -0700
Subject: [PATCH 0291/1243] paramsd: use livePose (#33099)

* Use livePose instead  of llk

* Update process replay sockets

* Fix import

* Fix calib

* Fix field name

* Dont store device_from_calib

* Update ref commit
old-commit-hash: 84cff4fc03423acde611ba29b3b2ff9436ff2580
---
 selfdrive/locationd/helpers.py                |  8 +++++
 selfdrive/locationd/paramsd.py                | 30 ++++++++++++++-----
 .../test/process_replay/process_replay.py     |  4 +--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 4 files changed, 33 insertions(+), 11 deletions(-)

diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 8f7211aebf..af8a3d3726 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -4,6 +4,14 @@ from typing import Any
 from cereal import log
 
 
+def rotate_cov(rot_matrix, cov_in):
+  return rot_matrix @ cov_in @ rot_matrix.T
+
+
+def rotate_std(rot_matrix, std_in):
+  return np.sqrt(np.diag(rotate_cov(rot_matrix, np.diag(std_in**2))))
+
+
 class NPQueue:
   def __init__(self, maxlen: int, rowsize: int) -> None:
     self.maxlen = maxlen
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 650ee06017..1d5749cf34 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -9,8 +9,10 @@ from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
+from openpilot.selfdrive.locationd.helpers import rotate_std
 from openpilot.common.swaglog import cloudlog
 
 
@@ -38,6 +40,9 @@ class ParamsLearner:
     self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
 
     self.active = False
+    self.calibrated = False
+
+    self.calib_from_device = np.eye(3)
 
     self.speed = 0.0
     self.yaw_rate = 0.0
@@ -47,12 +52,16 @@ class ParamsLearner:
     self.roll_valid = False
 
   def handle_log(self, t, which, msg):
-    if which == 'liveLocationKalman':
-      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
-      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+    if which == 'livePose':
+      angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
+      angular_velocity_device_std = np.array([msg.angularVelocityDevice.xStd, msg.angularVelocityDevice.yStd, msg.angularVelocityDevice.zStd])
+      angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+      angular_velocity_calibrated_std = rotate_std(self.calib_from_device, angular_velocity_device_std)
+
+      self.yaw_rate, self.yaw_rate_std = angular_velocity_calibrated[2], angular_velocity_calibrated_std[2]
 
-      localizer_roll = msg.orientationNED.value[0]
-      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
+      localizer_roll = msg.orientationNED.x
+      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.xStd) else msg.orientationNED.xStd
       self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
       if self.roll_valid:
         roll = localizer_roll
@@ -64,7 +73,7 @@ class ParamsLearner:
         roll_std = np.radians(10.0)
       self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
-      yaw_rate_valid = msg.angularVelocityCalibrated.valid
+      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrated
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
 
@@ -91,6 +100,11 @@ class ParamsLearner:
         self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]]))
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
+    elif which == 'liveCalibration':
+      self.calibrated  = msg.calStatus == log.LiveCalibrationData.Status.calibrated
+      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
+      self.calib_from_device = device_from_calib.T
+
     elif which == 'carState':
       self.steering_angle = msg.steeringAngleDeg
       self.speed = msg.vEgo
@@ -123,7 +137,7 @@ def main():
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
   pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
   params_reader = Params()
   # wait for stats about the car to come in from controls
@@ -188,7 +202,7 @@ def main():
           t = sm.logMonoTime[which] * 1e-9
           learner.handle_log(t, which, sm[which])
 
-    if sm.updated['liveLocationKalman']:
+    if sm.updated['livePose']:
       x = learner.kf.x
       P = np.sqrt(learner.kf.P.diagonal())
       if not all(map(math.isfinite, x)):
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 70ed745bac..84669a8bff 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -539,11 +539,11 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="paramsd",
-    pubs=["liveLocationKalman", "carState"],
+    pubs=["livePose", "liveCalibration", "carState"],
     subs=["liveParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
+    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1349e2650f..4da168c270 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-949909bd80599698c1307b3304010456dded6a15
\ No newline at end of file
+3e8feca20cd64f6a05dcbbdc0ace04a8c12bf86d
\ No newline at end of file

From 93c6e23a427f99b8f69f1efce89b7b1431094ea9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 29 Jul 2024 20:13:43 -0700
Subject: [PATCH 0292/1243] qlog_size.py: use zstd (#33137)

qlog_size: use zstd
old-commit-hash: 11cb2d3a0b3f820bb32c3de6f7ec1d2a52687f8a
---
 selfdrive/debug/internal/qlog_size.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 7dc61ed9df..11606c7589 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
 import argparse
-import bz2
+import zstandard as zstd
 from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
 from cereal.services import SERVICE_LIST
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 
@@ -17,14 +18,14 @@ def make_pie(msgs, typ):
   for m in msgs:
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
-  total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs])))
+  total = len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs]), LOG_COMPRESSION_LEVEL))
   uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs]))
 
   length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
   # calculate compressed size by calculating diff when removed from the segment
   compressed_length_by_type = {}
   for k in tqdm(msgs_by_type.keys(), desc="Compressing"):
-    compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k])))
+    compressed_length_by_type[k] = total - len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k]), LOG_COMPRESSION_LEVEL))
 
   sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1])
 

From 7ea8d9e91d0a5909ea342d22a5953d8fab09e73c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 29 Jul 2024 20:20:31 -0700
Subject: [PATCH 0293/1243] torqued: use livePose (#33136)

* Use livePose

* Replace it in process replay

* Add liveCalibration to messages

* Update ref commit
old-commit-hash: 86d8d1d99617a0808e0a17031965a056cdc5a1b8
---
 selfdrive/locationd/torqued.py                | 19 ++++++++++++++-----
 .../test/process_replay/process_replay.py     |  4 ++--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 3 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index e0784eb8e6..edcf42ebcd 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -8,6 +8,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
@@ -77,6 +78,8 @@ class TorqueEstimator(ParameterEstimator):
       self.offline_friction = CP.lateralTuning.torque.friction
       self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
 
+    self.calib_from_device = np.eye(3)
+
     self.reset()
 
     initial_params = {
@@ -171,12 +174,18 @@ class TorqueEstimator(ParameterEstimator):
       # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
+    elif which == "liveCalibration":
+      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
+      self.calib_from_device = device_from_calib.T
 
     # calculate lateral accel from past steering torque
-    elif which == "liveLocationKalman":
+    elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
-        yaw_rate = msg.angularVelocityCalibrated.value[2]
-        roll = msg.orientationNED.value[0]
+        angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
+        angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+
+        yaw_rate = angular_velocity_calibrated[2]
+        roll = msg.orientationNED.x
         # check lat active up to now (without lag compensation)
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
                                self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
@@ -233,7 +242,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
@@ -246,7 +255,7 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
-    # 4Hz driven by liveLocationKalman
+    # 4Hz driven by livePose
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 84669a8bff..1731bf2e1e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -390,7 +390,7 @@ def calibration_rcv_callback(msg, cfg, frame):
 
 def torqued_rcv_callback(msg, cfg, frame):
   # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'liveLocationKalman'
+  return (frame - 1) == 0 or msg.which() == 'livePose'
 
 
 def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
@@ -555,7 +555,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["liveLocationKalman", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4da168c270..3af1f282fb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3e8feca20cd64f6a05dcbbdc0ace04a8c12bf86d
\ No newline at end of file
+7eb60abe8030b97f79f858315d67d080704733f7
\ No newline at end of file

From 7ce33fbe2b9d669ea0522a9c99ebcc08096f16c0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 01:46:03 -0700
Subject: [PATCH 0294/1243] process replay: use zst (#33138)

* test

* update refs to zst

* update
old-commit-hash: dfd387520e88fa68f0485b6ce8dcf5befa82bafa
---
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/regen.py          | 4 ++--
 selfdrive/test/process_replay/test_processes.py | 4 ++--
 tools/lib/logreader.py                          | 4 +++-
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3af1f282fb..a85e8919c4 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7eb60abe8030b97f79f858315d67d080704733f7
\ No newline at end of file
+6ca7313b9c1337fad1334d9e087cb4984fdce74d
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index fe33443b49..e87b8347e1 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -74,7 +74,7 @@ def setup_data_readers(
         assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
         frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
-    lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
+    lr = LogReader(f"{route}/{sidx}/r")
     frs = {}
     if needs_road_cam:
       frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
@@ -118,7 +118,7 @@ def regen_and_save(
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
   rel_log_dir = os.path.relpath(log_dir)
-  rpath = os.path.join(log_dir, "rlog.bz2")
+  rpath = os.path.join(log_dir, "rlog.zst")
 
   os.makedirs(log_dir)
   save_log(rpath, output_logs, compress=True)
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 7fbe933434..84a19aa0a9 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -198,11 +198,11 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 0f00596141..50c14ce4c3 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -30,8 +30,10 @@ RawLogIterable = Iterable[bytes]
 def save_log(dest, log_msgs, compress=True):
   dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
 
-  if compress:
+  if compress and dest.endswith(".bz2"):
     dat = bz2.compress(dat)
+  elif compress and dest.endswith(".zst"):
+    dat = zstd.compress(dat, 10)
 
   with open(dest, "wb") as f:
     f.write(dat)

From 7f53342993fa7cdf826161ce465f1d72093ec190 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Tue, 30 Jul 2024 20:34:46 +0300
Subject: [PATCH 0295/1243] fix multiprocessing issue with can_replay.py on
 macOS (#33139)

fix multiprocessing issue with can_replay.py on mac
old-commit-hash: 4e73b76a12f867dc7a831e811c33a8458e705f4c
---
 tools/replay/can_replay.py | 25 ++++++++++++-------------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 3ab33a1dfd..9b76edde10 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -80,6 +80,17 @@ def connect():
 
     time.sleep(1)
 
+def process(lr):
+  return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
+def load_route(route_or_segment_name):
+  print("Loading log...")
+  sr = LogReader(route_or_segment_name)
+  CP = sr.first("carParams")
+  print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
+  CAN_MSGS = sr.run_across_segments(24, process)
+  print("Finished loading...")
+  return CAN_MSGS
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
@@ -87,22 +98,10 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
   args = parser.parse_args()
 
-  def process(lr):
-    return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-
-  print("Loading log...")
   if args.route_or_segment_name is None:
     args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
 
-  sr = LogReader(args.route_or_segment_name)
-
-  CP = sr.first("carParams")
-
-  print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
-
-  CAN_MSGS = sr.run_across_segments(24, process)
-
-  print("Finished loading...")
+  CAN_MSGS = load_route(args.route_or_segment_name)
 
   if ENABLE_PWR:
     print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s")

From 44afd8b98de87bee14d15dbcaeacd13e4a226242 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 30 Jul 2024 13:03:34 -0700
Subject: [PATCH 0296/1243] add roadmap to readme old-commit-hash:
 0b29db5c3eed58eaaea746beb0079e3542075407

---
 README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 8ebc733e63..9772ad646f 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,9 @@
 </p>
 
 <h3>
-  <a href="https://docs.comma.ai">Read the docs</a>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
   <span> · </span>
   <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
   <span> · </span>

From 6c1d7358f0337ad193aa8dded9dd6d879e49d3a1 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 13:11:05 -0700
Subject: [PATCH 0297/1243] unpin numpy (#33132)

* unlock numpy

* remove old cache

* sheel

* lock

* remove temp

* depends

* export

* put this back

* use __version__

* move this

---------

Co-authored-by: quebec <quebec@quebec.attlocal.net>
old-commit-hash: 9536dd07c6b0f972db70b344ae2f676e031ea038
---
 SConstruct                                             | 5 +++--
 pyproject.toml                                         | 2 +-
 selfdrive/controls/lib/lateral_mpc_lib/SConscript      | 3 ++-
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 3 ++-
 site_scons/site_tools/cython.py                        | 3 +++
 uv.lock                                                | 6 +++---
 6 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index fb5c43c9ad..47f2db9661 100644
--- a/SConstruct
+++ b/SConstruct
@@ -229,7 +229,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -268,7 +268,8 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
diff --git a/pyproject.toml b/pyproject.toml
index 4c1e134431..1473cf5707 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy < 2.0.0", # control does not support numpy 2
+  "numpy",
 
   # body / webrtcd
   "aiohttp",
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 73242cb8f9..2c03da06a6 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -88,3 +88,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 592c1c2c2d..fc1e844d50 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -94,3 +94,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
index c291475533..f11db1d71b 100644
--- a/site_scons/site_tools/cython.py
+++ b/site_scons/site_tools/cython.py
@@ -2,14 +2,17 @@ import re
 import SCons
 from SCons.Action import Action
 from SCons.Scanner import Scanner
+import numpy as np
 
 pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
 pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
 cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
 
+np_version = SCons.Script.Value(np.__version__)
 
 def pyx_scan(node, env, path, arg=None):
   contents = node.get_text_contents()
+  env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version)
 
   # from <module> cimport ...
   matches = pyx_from_import_re.findall(contents)
diff --git a/uv.lock b/uv.lock
index 2913075f5b..ded3ddec7c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4977,11 +4977,11 @@ wheels = [
 
 [[distribution]]
 name = "setuptools"
-version = "71.1.0"
+version = "72.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/c0/5b8013b5a812701c72e3b1e2b378edaa6514d06bee6704a5ab0d7fa52931/setuptools-71.1.0.tar.gz", hash = "sha256:032d42ee9fb536e33087fb66cac5f840eb9391ed05637b3f2a76a7c8fb477936", size = 2422233 }
+sdist = { url = "https://files.pythonhosted.org/packages/5e/11/487b18cc768e2ae25a919f230417983c8d5afa1b6ee0abd8b6db0b89fa1d/setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec", size = 2419487 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/a0/ee460cc54e68afcf33190d198299c9579a5eafeadef0016ae8563237ccb6/setuptools-71.1.0-py3-none-any.whl", hash = "sha256:33874fdc59b3188304b2e7c80d9029097ea31627180896fb549c578ceb8a0855", size = 2341722 },
+    { url = "https://files.pythonhosted.org/packages/e1/58/e0ef3b9974a04ce9cde2a7a33881ddcb2d68450803745804545cdd8d258f/setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1", size = 2337965 },
 ]
 
 [[distribution]]

From b03f4f9b485f89fdeaa8b2ab0dfb79d9b92411bc Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 13:57:42 -0700
Subject: [PATCH 0298/1243] docs: fix README.md (#33142)

* md

* Update README.md

* rename

* exclude

* Update README.md
old-commit-hash: 086dcfe715985447fa33f120d16a496309718ba2
---
 docs/{README => README.md} | 20 ++++++++++++--------
 mkdocs.yml                 |  2 ++
 2 files changed, 14 insertions(+), 8 deletions(-)
 rename docs/{README => README.md} (59%)

diff --git a/docs/README b/docs/README.md
similarity index 59%
rename from docs/README
rename to docs/README.md
index a16c772530..08dd4fa8bc 100644
--- a/docs/README
+++ b/docs/README.md
@@ -3,18 +3,22 @@
 This is the source for [docs.comma.ai](https://docs.comma.ai).
 The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
 
-## development
-```
-# install the docs dependencies
+## Development
+NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
 pip install .[docs]
+```
 
-cd docs/
+**2. Build the new site**
+``` bash
+mkdocs build
+```
 
-# for a development server
+**3. Run the new site locally**
+``` bash
 mkdocs serve
-
-# build the site
-mkdocs build
 ```
 
 References:
diff --git a/mkdocs.yml b/mkdocs.yml
index 8778e28863..743b8fa1b7 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -2,6 +2,8 @@ site_name: openpilot docs
 repo_url: https://github.com/commaai/openpilot/
 site_url: https://docs.comma.ai
 
+exclude_docs: README.md
+
 strict: true
 docs_dir: docs
 site_dir: docs_site/

From 11d18b7acab1d6f3908036b317b09aa6aa220b1a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 14:07:47 -0700
Subject: [PATCH 0299/1243] test_onroad: lower lower log size bound
 old-commit-hash: 0fe143e4a75e7657f4d815a5616fc29f70de5ad5

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index e29e241da9..27feb344f2 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -207,7 +207,7 @@ class TestOnroad:
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.45 < sz < 0.55
+        assert 0.4 < sz < 0.55
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):

From 2cb381997ff1809bc985b273f45ee59ef81251da Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 14:27:27 -0700
Subject: [PATCH 0300/1243] cars: remove some external imports (#33133)

* ford and gm

* clean that up

* also this

* honda

* temp fix

* move into selfdrive.car

* clean up

* more
old-commit-hash: 0739d79a512965abbe22f0b15c7fddcdd71478d0
---
 .importlinter                           |  3 ---
 selfdrive/car/__init__.py               | 21 +++++++++++++++++++++
 selfdrive/car/ford/carcontroller.py     |  2 +-
 selfdrive/car/gm/interface.py           |  3 +--
 selfdrive/car/honda/carcontroller.py    |  3 +--
 selfdrive/car/interfaces.py             |  4 ++--
 selfdrive/controls/lib/drive_helpers.py | 23 +----------------------
 7 files changed, 27 insertions(+), 32 deletions(-)

diff --git a/.importlinter b/.importlinter
index 594d75ee4a..f77ea24b39 100644
--- a/.importlinter
+++ b/.importlinter
@@ -33,9 +33,6 @@ ignore_imports =
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
     openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
     openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6f3bde7f0c..b685c6a435 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -166,6 +166,27 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 7be3b2ebe9..36589f34e5 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -5,10 +5,10 @@ from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index d088050482..1d4a6066cc 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -6,11 +6,10 @@ from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
-from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66bd500485..dc42c41e63 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -3,11 +3,10 @@ from collections import namedtuple
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL, rate_limit
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9f1b650158..d37e171da7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,9 +13,9 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index bd74051374..4c111a4fd1 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -2,7 +2,7 @@ import math
 
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -141,16 +141,6 @@ class VCruiseHelper:
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
 
-def apply_center_deadzone(error, deadzone):
-  if (error > - deadzone) and (error < deadzone):
-    error = 0.
-  return error
-
-
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
@@ -161,17 +151,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
   return safe_desired_curvature
 
 
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
-    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
-  )
-  friction = float(friction_interp) if friction_compensation else 0.0
-  return friction
-
-
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):

From e37e93d57b94cee9faac99f0ca41215d096d8663 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 30 Jul 2024 14:29:48 -0700
Subject: [PATCH 0301/1243] CI: increase shm size to 2G

old-commit-hash: 76fd5b00f1f169013334e06031e6b063c16cf5a5
---
 .github/workflows/badges.yaml          | 2 +-
 .github/workflows/selfdrive_tests.yaml | 2 +-
 .github/workflows/tools_tests.yaml     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index cf8bdc7109..f8d2fc3cf1 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a178634321..bfad6e1e7d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -25,7 +25,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 9085556392..271e4bda17 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -21,7 +21,7 @@ env:
 
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 
 jobs:

From 5e0168a7f0c8b27ead4fcf1dfe9a8edb98f382c2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 15:18:26 -0700
Subject: [PATCH 0302/1243] Ford: add long controls todo

old-commit-hash: 661ef03a24171addba79b69bb14867425f5a9474
---
 selfdrive/car/ford/carcontroller.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 36589f34e5..09bba46565 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -92,6 +92,7 @@ class CarController(CarControllerBase):
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      # TODO: look into using the actuators packet to send the desired speed
       can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###

From 7b724ed2434268760100a7b3b1f4f1bb942a3b58 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 18:09:22 -0700
Subject: [PATCH 0303/1243] tester present msgs: use helper (#33147)

use helper
old-commit-hash: b6d124d268ec705585e49d4ba84a316810e3b2b8
---
 selfdrive/car/__init__.py              | 11 +++++++++++
 selfdrive/car/ecu_addrs.py             | 13 ++-----------
 selfdrive/car/honda/carcontroller.py   |  4 ++--
 selfdrive/car/hyundai/carcontroller.py |  6 +++---
 selfdrive/car/subaru/carcontroller.py  |  4 ++--
 selfdrive/car/toyota/carcontroller.py  |  4 ++--
 6 files changed, 22 insertions(+), 20 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index b685c6a435..87d43831e6 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -7,6 +7,7 @@ from dataclasses import replace
 import capnp
 
 from cereal import car
+from panda.python.uds import SERVICE_TYPE
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
@@ -191,6 +192,16 @@ def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
 
+def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+  dat.append(0x80 if suppress_response else 0x0)  # sub-function
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)
+
+
 def get_safety_config(safety_model, safety_param = None):
   ret = car.CarParams.SafetyConfig.new_message()
   ret.safetyModel = safety_model
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 0fd4bbd0be..0ff827593e 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -4,21 +4,12 @@ import time
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car import make_tester_present_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 
-def _make_tester_present_msg(addr, bus, subaddr=None):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
-  if subaddr is not None:
-    dat.insert(0, subaddr)
-
-  dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
-
-
 def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
@@ -44,7 +35,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
                   responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
   ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
-    msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
     messaging.drain_sock_raw(logcan)
     sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index dc42c41e63..84ccf29d18 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -3,7 +3,7 @@ from collections import namedtuple
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, rate_limit
+from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -164,7 +164,7 @@ class CarController(CarControllerBase):
     # tester present - w/ no response (keeps radar disabled)
     if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
       if self.frame % 10 == 0:
-        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
+        can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
 
     # Send steering command.
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3d7768a83b..75aeb0efd6 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -2,7 +2,7 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
@@ -96,11 +96,11 @@ class CarController(CarControllerBase):
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, self.CAN.ECAN
-      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
+      can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
 
       # for blinkers
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
+        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
 
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index d89ae8c639..3e1b62c974 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,6 +1,6 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
@@ -124,7 +124,7 @@ class CarController(CarControllerBase):
       if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
         # Tester present (keeps eyesight disabled)
         if self.frame % 100 == 0:
-          can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
+          can_sends.append(make_tester_present_msg(GLOBAL_ES_ADDR, CanBus.camera, suppress_response=True))
 
         # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
         if self.frame % 5 == 0:
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index f9b7a478e0..ea71dd536b 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
@@ -166,7 +166,7 @@ class CarController(CarControllerBase):
 
     # keep radar disabled
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
+      can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
 
     new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX

From 5cc7d1c36b9a39ef658e0f19d0927b7c783d7713 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 21:26:58 -0700
Subject: [PATCH 0304/1243] deprecate busTime (#33146)

* deprecate busTime

* bump

* do car can + more

* forgot some

* bump opendbc

* fix that too

* bump
old-commit-hash: 42f2601416bcb53c25e24b899131e66ee00177b8
---
 cereal/log.capnp                           | 2 +-
 opendbc                                    | 2 +-
 panda                                      | 2 +-
 selfdrive/car/__init__.py                  | 2 +-
 selfdrive/car/ford/fordcan.py              | 2 +-
 selfdrive/car/gm/gmcan.py                  | 2 +-
 selfdrive/car/hyundai/hyundaican.py        | 6 +++---
 selfdrive/car/isotp_parallel_query.py      | 8 ++++----
 selfdrive/car/nissan/nissancan.py          | 2 +-
 selfdrive/car/subaru/subarucan.py          | 2 +-
 selfdrive/car/tesla/teslacan.py            | 6 +++---
 selfdrive/car/tests/test_models.py         | 2 +-
 selfdrive/controls/tests/test_startup.py   | 4 ++--
 selfdrive/pandad/__init__.py               | 2 +-
 selfdrive/pandad/can_list_to_can_capnp.cc  | 1 -
 selfdrive/pandad/panda.cc                  | 1 -
 selfdrive/pandad/panda.h                   | 1 -
 selfdrive/pandad/pandad.cc                 | 1 -
 selfdrive/pandad/pandad_api_impl.pyx       | 6 ++----
 system/webrtc/tests/test_stream_session.py | 2 +-
 tools/cabana/streams/pandastream.cc        | 1 -
 21 files changed, 25 insertions(+), 32 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index d849f4840b..dcf9463ac8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -336,9 +336,9 @@ enum LaneChangeDirection {
 
 struct CanData {
   address @0 :UInt32;
-  busTime @1 :UInt16;
   dat     @2 :Data;
   src     @3 :UInt8;
+  busTimeDEPRECATED @1 :UInt16;
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
diff --git a/opendbc b/opendbc
index cff2af8ff8..8e9d368841 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit cff2af8ff8690466109f56be62129ebfb85cd5dc
+Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715
diff --git a/panda b/panda
index f6375848ca..8c3bb0151e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f6375848ca393a9483921665b6a2d131d7ec9b20
+Subproject commit 8c3bb0151e8907ade344ccb293d58cd543e28baa
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 87d43831e6..28ec4ad187 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -189,7 +189,7 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
 
 
 def make_can_msg(addr, dat, bus):
-  return [addr, 0, dat, bus]
+  return [addr, dat, bus]
 
 
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 2cfd61a191..46d09ec22d 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -112,7 +112,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
   }
 
   # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
+  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
   values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
 
   return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index e833e77636..a70bcccd06 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -64,7 +64,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenAlwaysOne3": 1,
   }
 
-  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
+  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
   values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
                                (((0xff - dat[2]) & 0xff) << 8) | \
                                ((0x100 - dat[3] - idx) & 0xff)
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index b4b951f89e..d2002e23e0 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -77,7 +77,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
 
-  dat = packer.make_can_msg("LKAS11", 0, values)[2]
+  dat = packer.make_can_msg("LKAS11", 0, values)[1]
 
   if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
     # CRC Checksum as seen on 2019 Hyundai Santa Fe
@@ -156,7 +156,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
     scc12_values["CF_VSM_ConfMode"] = 1
     scc12_values["AEB_Status"] = 1  # AEB disabled
 
-  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
+  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[1]
   scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
 
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
@@ -181,7 +181,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
       "FCA_DrvSetStatus": 1,
       "FCA_Status": 1,  # AEB disabled
     }
-    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[1]
     fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
     commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 447c7093c5..b5158f2126 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -27,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
@@ -36,11 +36,11 @@ class IsoTpParallelQuery:
     for packet in can_packets:
       for msg in packet.can:
         if msg.src == self.bus and msg.address in self.msg_addrs.values():
-          self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
+          self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src))
 
   def _can_tx(self, tx_addr, dat, bus):
     """Helper function to send single message"""
-    msg = [tx_addr, 0, dat, bus]
+    msg = [tx_addr, dat, bus]
     self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))
 
   def _can_rx(self, addr, sub_addr=None):
@@ -53,7 +53,7 @@ class IsoTpParallelQuery:
       # Filter based on subadress
       msgs = []
       for m in self.msg_buffer[addr]:
-        first_byte = m[2][0]
+        first_byte = m[1][0]
         if first_byte == sub_addr:
           msgs.append(m)
         else:
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index b9a1b4f843..28fb01d7e3 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -15,7 +15,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
     "LKA_ACTIVE": steer_on,
   }
 
-  dat = packer.make_can_msg("LKAS", 0, values)[2]
+  dat = packer.make_can_msg("LKAS", 0, values)[1]
 
   values["CHECKSUM"] = nissan_checksum(dat[:7])
   return packer.make_can_msg("LKAS", 0, values)
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 86d39ff885..41bd177ff2 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -279,7 +279,7 @@ def create_es_static_2(packer):
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
-  dat = packer.make_can_msg(addr, 0, values)[2]
+  dat = packer.make_can_msg(addr, 0, values)[1]
   return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256
 
 
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
index 6bb27b995f..f8cd138e77 100644
--- a/selfdrive/car/tesla/teslacan.py
+++ b/selfdrive/car/tesla/teslacan.py
@@ -25,7 +25,7 @@ class TeslaCAN:
       "DAS_steeringControlCounter": counter,
     }
 
-    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
+    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1]
     values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
 
@@ -69,7 +69,7 @@ class TeslaCAN:
       values["SpdCtrlLvr_Stat"] = 1
       values["MC_STW_ACTN_RQ"] = counter
 
-    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
+    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
     values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
     return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
 
@@ -88,7 +88,7 @@ class TeslaCAN:
     }
 
     for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
-      data = packer.make_can_msg("DAS_control", bus, values)[2]
+      data = packer.make_can_msg("DAS_control", bus, values)[1]
       values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
       messages.append(packer.make_can_msg("DAS_control", bus, values))
     return messages
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 02e99f0b82..1d05b7c731 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -297,7 +297,7 @@ class TestCarModelBase(unittest.TestCase):
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
-        for addr, _, dat, bus in sendcan:
+        for addr, dat, bus in sendcan:
           to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
           self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
 
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 14b0788a3d..51b9887c96 100644
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -90,7 +90,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
   managed_processes['card'].start()
 
   assert pm.wait_for_readers_to_update('can', 5)
-  pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+  pm.send('can', can_list_to_can_capnp([[0, b"", 0]]))
 
   assert pm.wait_for_readers_to_update('pandaStates', 5)
   msg = messaging.new_message('pandaStates', 1)
@@ -103,7 +103,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
   else:
     finger = _FINGERPRINTS[car_model][0]
 
-  msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
+  msgs = [[addr, b'\x00'*length, 0] for addr, length in finger.items()]
   for _ in range(1000):
     # card waits for pandad to echo back that it has changed the multiplexing mode
     if not params.get_bool("ObdMultiplexingChanged"):
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index 8081a62dd0..2c80cd03c4 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -6,5 +6,5 @@ def can_capnp_to_can_list(can, src_filter=None):
   ret = []
   for msg in can:
     if src_filter is None or msg.src in src_filter:
-      ret.append((msg.address, msg.busTime, msg.dat, msg.src))
+      ret.append((msg.address, msg.dat, msg.src))
   return ret
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
index 9fc2648da2..d73541c17f 100644
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ b/selfdrive/pandad/can_list_to_can_capnp.cc
@@ -10,7 +10,6 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
     auto c = canData[j];
     c.setAddress(it->address);
-    c.setBusTime(it->busTime);
     c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
     c.setSrc(it->src);
   }
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index fcb4ac67a4..ed5ee62501 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -257,7 +257,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
     }
 
     can_frame &canData = out_vec.emplace_back();
-    canData.busTime = 0;
     canData.address = header.addr;
     canData.src = header.bus + bus_offset;
     if (header.rejected) {
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 7e1e4706d6..26ad4dc32c 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -39,7 +39,6 @@ struct __attribute__((packed)) can_header {
 struct can_frame {
   long address;
   std::string dat;
-  long busTime;
   long src;
 };
 
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 095a7893b4..3fc89569c1 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -219,7 +219,6 @@ void can_recv_thread(std::vector<Panda *> pandas) {
     auto canData = evt.initCan(raw_can_data.size());
     for (uint i = 0; i<raw_can_data.size(); i++) {
       canData[i].setAddress(raw_can_data[i].address);
-      canData[i].setBusTime(raw_can_data[i].busTime);
       canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
       canData[i].setSrc(raw_can_data[i].src);
     }
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index cbac8cc5a3..dd3f3d702f 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -8,7 +8,6 @@ cdef extern from "panda.h":
   cdef struct can_frame:
     long address
     string dat
-    long busTime
     long src
 
 cdef extern from "can_list_to_can_capnp.cc":
@@ -22,9 +21,8 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     f = &(can_list.emplace_back())
     f.address = can_msg[0]
-    f.busTime = can_msg[1]
-    f.dat = can_msg[2]
-    f.src = can_msg[3]
+    f.dat = can_msg[1]
+    f.src = can_msg[2]
 
   cdef string out
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index 46d55ecd90..113fa5e7e6 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -49,7 +49,7 @@ class TestStreamSession:
   def test_incoming_proxy(self, mocker):
     tested_msgs = [
       {"type": "customReservedRawData0", "data": "test"}, # primitive
-      {"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list
+      {"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
       {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
     ]
 
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index cdf6da6d83..b2a006b22f 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -66,7 +66,6 @@ void PandaStream::streamThread() {
     auto canData = evt.initCan(raw_can_data.size());
     for (uint i = 0; i<raw_can_data.size(); i++) {
       canData[i].setAddress(raw_can_data[i].address);
-      canData[i].setBusTime(raw_can_data[i].busTime);
       canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
       canData[i].setSrc(raw_can_data[i].src);
     }

From ed5c818690c9d033c69723651965d140b3c1ebf4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 23:28:49 -0700
Subject: [PATCH 0305/1243] bump

old-commit-hash: 7824074aae74ff12bd56880a690234b582535748
---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 8e9d368841..0a095bc1a4 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715
+Subproject commit 0a095bc1a487a8df669349cc923a9b3984219765

From aa31660327eb57b478238be84383d6d464267d15 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 23:29:46 -0700
Subject: [PATCH 0306/1243] Revert "bump"

This reverts commit 80a0cc608a1572e4ae7dfb06b94f25104a9f4f2a.

old-commit-hash: 80f9278a734ad566d9484074d2f6834659ab1feb
---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 0a095bc1a4..8e9d368841 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 0a095bc1a487a8df669349cc923a9b3984219765
+Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715

From b4b3ae5da88c3e1067d6c5c96a3ae92aaf17fd73 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 Jul 2024 23:55:23 -0700
Subject: [PATCH 0307/1243] CarController: call to super's init (#33148)

* this should be common

* super!

* bump

* and frame is common

* bump
old-commit-hash: 1b6ac2d876fe3170968944722df67ee815d8cb1b
---
 selfdrive/car/body/carcontroller.py       | 2 +-
 selfdrive/car/chrysler/carcontroller.py   | 3 +--
 selfdrive/car/chrysler/radar_interface.py | 1 -
 selfdrive/car/ford/carcontroller.py       | 3 +--
 selfdrive/car/gm/carcontroller.py         | 3 +--
 selfdrive/car/honda/carcontroller.py      | 3 +--
 selfdrive/car/hyundai/carcontroller.py    | 3 +--
 selfdrive/car/interfaces.py               | 4 +++-
 selfdrive/car/mazda/carcontroller.py      | 3 +--
 selfdrive/car/nissan/carcontroller.py     | 3 +--
 selfdrive/car/subaru/carcontroller.py     | 3 +--
 selfdrive/car/tesla/carcontroller.py      | 3 +--
 selfdrive/car/tesla/radar_interface.py    | 1 -
 selfdrive/car/toyota/carcontroller.py     | 3 +--
 selfdrive/car/volkswagen/carcontroller.py | 3 +--
 15 files changed, 15 insertions(+), 26 deletions(-)

diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index c45dc7f0d2..0771d7a471 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -17,7 +17,7 @@ MAX_TURN_INTEGRATOR = 0.1  # meters
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.frame = 0
+    super().__init__(dbc_name, CP, VM)
     self.packer = CANPacker(dbc_name)
 
     # PIDs
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index c9e7e2c9ed..c0c03e0e05 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -7,9 +7,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.apply_steer_last = 0
-    self.frame = 0
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index d982958422..f1d863d1e1 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -39,7 +39,6 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.CP = CP
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 09bba46565..d090adf694 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -25,11 +25,10 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.VM = VM
     self.packer = CANPacker(dbc_name)
     self.CAN = fordcan.CanBus(CP)
-    self.frame = 0
 
     self.apply_curvature_last = 0
     self.main_on_last = False
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 013e72ad0b..cac4f13ed5 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -19,12 +19,11 @@ MIN_STEER_MSG_INTERVAL_MS = 15
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
     self.apply_brake = 0
-    self.frame = 0
     self.last_steer_frame = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 84ccf29d18..5748812648 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -105,11 +105,10 @@ def rate_limit_steer(new_steer, last_steer):
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)
-    self.frame = 0
 
     self.braking = False
     self.brake_steady = 0.
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 75aeb0efd6..84b565f0cd 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -44,12 +44,11 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
     self.angle_limit_counter = 0
-    self.frame = 0
 
     self.accel_last = 0
     self.apply_steer_last = 0
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index d37e171da7..e491de3ed6 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -344,6 +344,7 @@ class CarInterfaceBase(ABC):
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
+    self.CP = CP
     self.rcp = None
     self.pts = {}
     self.delay = 0
@@ -466,7 +467,8 @@ SendCan = tuple[int, int, bytes, int]
 
 class CarControllerBase(ABC):
   def __init__(self, dbc_name: str, CP, VM):
-    pass
+    self.CP = CP
+    self.frame = 0
 
   @abstractmethod
   def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 3d41634879..23441a3a78 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -10,11 +10,10 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
-    self.frame = 0
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index c7bd231398..473282edfc 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -10,9 +10,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.car_fingerprint = CP.carFingerprint
-    self.frame = 0
 
     self.lkas_max_torque = 0
     self.apply_angle_last = 0
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 3e1b62c974..6ce006df8b 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -13,9 +13,8 @@ MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.apply_steer_last = 0
-    self.frame = 0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index e460111e32..8ee2a2165e 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -8,8 +8,7 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
-    self.frame = 0
+    super().__init__(dbc_name, CP, VM)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index ae5077824b..1684e42e7f 100755
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.CP = CP
 
     if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       messages = [('RadarStatus', 16)]
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index ea71dd536b..f844b7dc44 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -27,9 +27,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.params = CarControllerParams(self.CP)
-    self.frame = 0
     self.last_steer = 0
     self.last_angle = 0
     self.alert_active = False
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 8e8652d3be..228900b6e9 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
@@ -21,7 +21,6 @@ class CarController(CarControllerBase):
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
-    self.frame = 0
     self.eps_timer_soft_disable_alert = False
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0

From 2f1ee6e83209d6271a6d1561e77a2ab01990a7fa Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 31 Jul 2024 15:24:46 +0800
Subject: [PATCH 0308/1243] update to new opendbc API (#32009)

* use new opendbc api

* export pandad_python

* merge master

* merge master

* bump opendbc

* bump opendbc

* improve func

* keep interface unchanged

* fix test_car_interfaces

* bump opendbc

* bump opendbc

* fix test_models

* the interface now has to convert from can capnp to list, so we should include this time

* goes from ~210 to ~240 mean ms real time

* remoe busTime

* lowercase sendcan

* consistent msgtype

* bump

* bump

* not used in lat_mpc

* space

* bump to master

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 0dddc97dca8bf4e023b29c35cb92fd3dd0a9a3a2
---
 opendbc                                       |  2 +-
 selfdrive/car/interfaces.py                   |  4 ++-
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_models.py            |  3 +-
 .../lib/longitudinal_mpc_lib/SConscript       |  4 +--
 selfdrive/controls/radard.py                  |  4 +--
 .../debug/check_can_parser_performance.py     |  6 ++--
 selfdrive/pandad/SConscript                   |  4 ++-
 selfdrive/pandad/__init__.py                  |  3 +-
 selfdrive/pandad/can_list_to_can_capnp.cc     | 35 +++++++++++++++++--
 selfdrive/pandad/pandad_api_impl.pyx          | 29 ++++++++++++++-
 .../examples/subaru_long_accel.ipynb          |  3 +-
 .../examples/subaru_steer_temp_fault.ipynb    |  3 +-
 13 files changed, 86 insertions(+), 17 deletions(-)

diff --git a/opendbc b/opendbc
index 8e9d368841..39a5345924 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715
+Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e491de3ed6..6ecf6daab3 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -18,6 +18,7 @@ from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -231,9 +232,10 @@ class CarInterfaceBase(ABC):
 
   def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
     # parse can
+    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_strings)
+        cp.update_strings(can_list)
 
     # get CarState
     ret = self._update(c)
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4ca19f019e..9e3c7d157e 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -15,6 +15,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
@@ -128,7 +129,7 @@ class TestCarInterfaces:
 
     # Test radar fault
     if not car_params.radarUnavailable and radar_interface.rcp is not None:
-      cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)]
+      cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)])
       rr = radar_interface.update(cans)
       assert rr is None or len(rr.errors) > 0
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 1d05b7c731..22a80f359a 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
@@ -237,7 +238,7 @@ class TestCarModelBase(unittest.TestCase):
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr = RI.update((msg.as_builder().to_bytes(),))
+      rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
     self.assertEqual(error_cnt, 0)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index fc1e844d50..22342c0078 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python])
+lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index c3fb60c61a..a7e3c0211d 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -10,8 +10,8 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
-
 from openpilot.common.simple_kalman import KF1D
+from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
 # Default lead acceleration decay set to 50% at 1s
@@ -307,7 +307,7 @@ def main():
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr = RI.update(can_strings)
+    rr = RI.update(can_capnp_to_list(can_strings))
     sm.update(0)
     if rr is None:
       continue
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index 604a1df124..a5155f0126 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -6,6 +6,7 @@ from tqdm import tqdm
 from cereal import car
 from openpilot.selfdrive.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
 
 N_RUNS = 10
@@ -25,12 +26,13 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
-    msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs]
+    msgs = [m.as_builder().to_bytes() for m in tm.can_msgs]
     start_t = time.process_time_ns()
     for msg in msgs:
+      can_list = can_capnp_to_list([msg])
       for cp in tm.CI.can_parsers:
         if cp is not None:
-          cp.update_strings(msg)
+          cp.update_strings(can_list)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index 63a2c1e650..dcc1f9811e 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -6,6 +6,8 @@ panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+Export('pandad_python')
+
 if GetOption('extras'):
   env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index 2c80cd03c4..b72c8ccb57 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -1,6 +1,7 @@
 # Cython, now uses scons to build
-from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
+assert can_capnp_to_list
 
 def can_capnp_to_can_list(can, src_filter=None):
   ret = []
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
index d73541c17f..ad2393b986 100644
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ b/selfdrive/pandad/can_list_to_can_capnp.cc
@@ -1,11 +1,12 @@
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/pandad/panda.h"
+#include "opendbc/can/common.h"
 
-void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
+void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
 
-  auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
+  auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
   int j = 0;
   for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
     auto c = canData[j];
@@ -18,3 +19,33 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
   capnp::writeMessage(output_stream, msg);
 }
+
+// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
+void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
+  AlignedBuffer aligned_buf;
+  can_list.reserve(strings.size());
+
+  for (const auto &str : strings) {
+    // extract the messages
+    capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
+    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
+
+    auto frames = sendcan ? event.getSendcan() : event.getCan();
+
+    // Add new CanData entry
+    CanData &can_data = can_list.emplace_back();
+    can_data.nanos = event.getLogMonoTime();
+    can_data.frames.reserve(frames.size());
+
+    // Populate CAN frames
+    for (const auto &frame : frames) {
+      CanFrame &can_frame = can_data.frames.emplace_back();
+      can_frame.src = frame.getSrc();
+      can_frame.address = frame.getAddress();
+
+      // Copy CAN data
+      auto dat = frame.getDat();
+      can_frame.dat.assign(dat.begin(), dat.end());
+    }
+  }
+}
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index dd3f3d702f..8a12e1c433 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -1,8 +1,10 @@
 # distutils: language = c++
 # cython: language_level=3
+from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
+from libc.stdint cimport uint8_t, uint32_t, uint64_t
 
 cdef extern from "panda.h":
   cdef struct can_frame:
@@ -10,8 +12,19 @@ cdef extern from "panda.h":
     string dat
     long src
 
+cdef extern from "opendbc/can/common.h":
+  cdef struct CanFrame:
+    long src
+    uint32_t address
+    vector[uint8_t] dat
+
+  cdef struct CanData:
+    uint64_t nanos
+    vector[CanFrame] frames
+
 cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid)
+  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef can_frame *f
@@ -27,3 +40,17 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef string out
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
   return out
+
+def can_capnp_to_list(strings, msgtype='can'):
+  cdef vector[CanData] data
+  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
+
+  result = []
+  cdef CanData *d
+  cdef vector[CanData].iterator it = data.begin()
+  while it != data.end():
+    d = &deref(it)
+    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
+    result.append([d.nanos, frames])
+    preinc(it)
+  return result
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index 9d18a114df..35b92702a7 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -24,6 +24,7 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import DBC\n",
+    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
@@ -50,7 +51,7 @@
     "\n",
     "  for msg in lr:\n",
     "    if msg.which() == \"can\":\n",
-    "      cp.update_strings([msg.as_builder().to_bytes()])\n",
+    "      cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
     "      es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n",
     "      es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n",
     "      es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index 3d5055cbc2..8b762fecb8 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -27,6 +27,7 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
+    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
@@ -50,7 +51,7 @@
     "  examples = []\n",
     "\n",
     "  for msg in can_msgs:\n",
-    "    cp.update_strings([msg.as_builder().to_bytes()])\n",
+    "    cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
     "    steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
     "\n",
     "  steer_warning_last = False\n",

From 2c11e7b49a6cd84318756215ce34f87f5dbd3404 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 31 Jul 2024 02:38:44 -0700
Subject: [PATCH 0309/1243] Revert "update to new opendbc API (#32009)"

This reverts commit d21755b2e216c3f547db0b55b7088357c4368801.

old-commit-hash: ac130001cc83734118524f59a83a96a2065dd56e
---
 opendbc                                       |  2 +-
 selfdrive/car/interfaces.py                   |  4 +--
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_models.py            |  3 +-
 .../lib/longitudinal_mpc_lib/SConscript       |  4 +--
 selfdrive/controls/radard.py                  |  4 +--
 .../debug/check_can_parser_performance.py     |  6 ++--
 selfdrive/pandad/SConscript                   |  4 +--
 selfdrive/pandad/__init__.py                  |  3 +-
 selfdrive/pandad/can_list_to_can_capnp.cc     | 35 ++-----------------
 selfdrive/pandad/pandad_api_impl.pyx          | 29 +--------------
 .../examples/subaru_long_accel.ipynb          |  3 +-
 .../examples/subaru_steer_temp_fault.ipynb    |  3 +-
 13 files changed, 17 insertions(+), 86 deletions(-)

diff --git a/opendbc b/opendbc
index 39a5345924..8e9d368841 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03
+Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 6ecf6daab3..e491de3ed6 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -18,7 +18,6 @@ from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -232,10 +231,9 @@ class CarInterfaceBase(ABC):
 
   def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_strings)
 
     # get CarState
     ret = self._update(c)
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 9e3c7d157e..4ca19f019e 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -15,7 +15,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
@@ -129,7 +128,7 @@ class TestCarInterfaces:
 
     # Test radar fault
     if not car_params.radarUnavailable and radar_interface.rcp is not None:
-      cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)])
+      cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)]
       rr = radar_interface.update(cans)
       assert rr is None or len(rr.errors) > 0
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 22a80f359a..1d05b7c731 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -19,7 +19,6 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.card import Car
-from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
@@ -238,7 +237,7 @@ class TestCarModelBase(unittest.TestCase):
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      rr = RI.update((msg.as_builder().to_bytes(),))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
     self.assertEqual(error_cnt, 0)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 22342c0078..fc1e844d50 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python])
+lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index a7e3c0211d..c3fb60c61a 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -10,8 +10,8 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
+
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
 # Default lead acceleration decay set to 50% at 1s
@@ -307,7 +307,7 @@ def main():
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr = RI.update(can_capnp_to_list(can_strings))
+    rr = RI.update(can_strings)
     sm.update(0)
     if rr is None:
       continue
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index a5155f0126..604a1df124 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -6,7 +6,6 @@ from tqdm import tqdm
 from cereal import car
 from openpilot.selfdrive.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
-from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
 
 N_RUNS = 10
@@ -26,13 +25,12 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
-    msgs = [m.as_builder().to_bytes() for m in tm.can_msgs]
+    msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs]
     start_t = time.process_time_ns()
     for msg in msgs:
-      can_list = can_capnp_to_list([msg])
       for cp in tm.CI.can_parsers:
         if cp is not None:
-          cp.update_strings(can_list)
+          cp.update_strings(msg)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index dcc1f9811e..63a2c1e650 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -6,8 +6,6 @@ panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
-Export('pandad_python')
-
+envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
 if GetOption('extras'):
   env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index b72c8ccb57..2c80cd03c4 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -1,7 +1,6 @@
 # Cython, now uses scons to build
-from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 assert can_list_to_can_capnp
-assert can_capnp_to_list
 
 def can_capnp_to_can_list(can, src_filter=None):
   ret = []
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
index ad2393b986..d73541c17f 100644
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ b/selfdrive/pandad/can_list_to_can_capnp.cc
@@ -1,12 +1,11 @@
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/pandad/panda.h"
-#include "opendbc/can/common.h"
 
-void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
+void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
 
-  auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
+  auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
   int j = 0;
   for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
     auto c = canData[j];
@@ -19,33 +18,3 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
   capnp::writeMessage(output_stream, msg);
 }
-
-// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
-void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
-  AlignedBuffer aligned_buf;
-  can_list.reserve(strings.size());
-
-  for (const auto &str : strings) {
-    // extract the messages
-    capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
-    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
-
-    auto frames = sendcan ? event.getSendcan() : event.getCan();
-
-    // Add new CanData entry
-    CanData &can_data = can_list.emplace_back();
-    can_data.nanos = event.getLogMonoTime();
-    can_data.frames.reserve(frames.size());
-
-    // Populate CAN frames
-    for (const auto &frame : frames) {
-      CanFrame &can_frame = can_data.frames.emplace_back();
-      can_frame.src = frame.getSrc();
-      can_frame.address = frame.getAddress();
-
-      // Copy CAN data
-      auto dat = frame.getDat();
-      can_frame.dat.assign(dat.begin(), dat.end());
-    }
-  }
-}
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index 8a12e1c433..dd3f3d702f 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -1,10 +1,8 @@
 # distutils: language = c++
 # cython: language_level=3
-from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
 
 cdef extern from "panda.h":
   cdef struct can_frame:
@@ -12,19 +10,8 @@ cdef extern from "panda.h":
     string dat
     long src
 
-cdef extern from "opendbc/can/common.h":
-  cdef struct CanFrame:
-    long src
-    uint32_t address
-    vector[uint8_t] dat
-
-  cdef struct CanData:
-    uint64_t nanos
-    vector[CanFrame] frames
-
 cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid)
-  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef can_frame *f
@@ -40,17 +27,3 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef string out
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
   return out
-
-def can_capnp_to_list(strings, msgtype='can'):
-  cdef vector[CanData] data
-  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
-
-  result = []
-  cdef CanData *d
-  cdef vector[CanData].iterator it = data.begin()
-  while it != data.end():
-    d = &deref(it)
-    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
-    result.append([d.nanos, frames])
-    preinc(it)
-  return result
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index 35b92702a7..9d18a114df 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -24,7 +24,6 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import DBC\n",
-    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
@@ -51,7 +50,7 @@
     "\n",
     "  for msg in lr:\n",
     "    if msg.which() == \"can\":\n",
-    "      cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
+    "      cp.update_strings([msg.as_builder().to_bytes()])\n",
     "      es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n",
     "      es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n",
     "      es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index 8b762fecb8..3d5055cbc2 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -27,7 +27,6 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
-    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
@@ -51,7 +50,7 @@
     "  examples = []\n",
     "\n",
     "  for msg in can_msgs:\n",
-    "    cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
+    "    cp.update_strings([msg.as_builder().to_bytes()])\n",
     "    steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
     "\n",
     "  steer_warning_last = False\n",

From 3e12f385d511ef143fe5a3461044a6e3509ea058 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 31 Jul 2024 10:42:08 -0700
Subject: [PATCH 0310/1243] setup.sh: retry + timing (#33145)

* improve

* update readme

* stdin

* better

* allow non interactive

* specify dir
old-commit-hash: bf003f297239afd75889814da0aa9d53ab0101a1
---
 README.md      |   2 +-
 tools/op.sh    |  16 +++++---
 tools/setup.sh | 102 ++++++++++++++++++++++++++++++++++++++++++++-----
 3 files changed, 104 insertions(+), 16 deletions(-)

diff --git a/README.md b/README.md
index 9772ad646f..8316e52261 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@
   <a href="https://comma.ai/shop">Try it on a comma 3X</a>
 </h3>
 
-Quick start: `curl -fsSL openpilot.comma.ai | bash`
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 
 ![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
diff --git a/tools/op.sh b/tools/op.sh
index 8533017d8e..3ebd413a79 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -181,20 +181,26 @@ function op_setup() {
   op_check_python
 
   echo "Installing dependencies..."
+  st="$(date +%s)"
   if [[ "$OSTYPE" == "linux-gnu"* ]]; then
     op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
   fi
-  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n"
+  et="$(date +%s)"
+  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds.\n"
 
   echo "Getting git submodules..."
-  op_run_command git submodule update --jobs 4 --init --recursive
-  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n"
+  st="$(date +%s)"
+  op_run_command git submodule update --filter=blob:none --jobs 4 --init --recursive
+  et="$(date +%s)"
+  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds.\n"
 
   echo "Pulling git lfs files..."
+  st="$(date +%s)"
   op_run_command git lfs pull
-  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully.\n"
+  et="$(date +%s)"
+  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n"
 
   op_check
 
@@ -360,7 +366,7 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
-    -v | --verbose ) shift 1; VERBOSE="1" ;;
+    -v | --verbose )   shift 1; VERBOSE="1" ;;
   esac
 
   # parse Commands
diff --git a/tools/setup.sh b/tools/setup.sh
index 9b1ee9c0c1..e770ba48aa 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -1,7 +1,10 @@
 #!/usr/bin/env bash
 
+set -e
+
 RED='\033[0;31m'
 GREEN='\033[0;32m'
+BOLD='\033[1m'
 NC='\033[0m'
 
 if [ -z "$OPENPILOT_ROOT" ]; then
@@ -9,11 +12,84 @@ if [ -z "$OPENPILOT_ROOT" ]; then
   OPENPILOT_ROOT="$(pwd)/openpilot"
 fi
 
+function show_motd() {
+cat << 'EOF'
+
+                      .~ssos+.
+                    +8888888888i,
+                   {888888888888o.
+                   h8888888888888k
+                   t888888888s888k
+                    `t88888d/ h88k
+                       ```    h88l
+                             ,88k`
+                            .d8h`
+                           +d8h
+                        _+d8h`
+                      ;y8h+`
+                      |-`
+
+              openpilot installer
+
+EOF
+}
+
+function check_stdin() {
+  if [ -t 0 ]; then
+    INTERACTIVE=1
+  else
+    echo "Checking for valid invocation..."
+    echo -e " ↳ [${RED}✗${NC}] stdin not found! Running in non-interactive mode."
+    echo -e "       Run ${BOLD}'bash <(curl -fsSL openpilot.comma.ai)'${NC} to run in interactive mode.\n"
+  fi
+}
+
+function ask_dir() {
+  echo -n "Enter directory in which to install openpilot (default $OPENPILOT_ROOT): "
+
+  if [[ -z $INTERACTIVE ]]; then
+    echo -e "\nBecause your are running in non-interactive mode, the installation"
+    echo -e "will default to $OPENPILOT_ROOT\n"
+    return 0
+  fi
+
+  read
+  if [[ ! -z "$REPLY" ]]; then
+    mkdir -p $REPLY
+    OPENPILOT_ROOT="$(realpath $REPLY/openpilot)"
+  fi
+}
+
 function check_dir() {
   echo "Checking for installation directory..."
   if [ -d "$OPENPILOT_ROOT" ]; then
-    echo -e " ↳ [${RED}✗${NC}] can't install openpilot in $OPENPILOT_ROOT !"
-    return 1
+    echo -e " ↳ [${RED}✗${NC}] Installation destination $OPENPILOT_ROOT already exists!"
+
+    # not a valid clone, can't continue
+    if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" && ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
+      echo -e "       $OPENPILOT_ROOT already contains files but does not seems"
+      echo -e "       to be a valid openpilot git clone. Choose another location for"
+      echo -e "       installing openpilot!\n"
+      return 1
+    fi
+
+    # by default, don't try installing in already existing directory
+    if [[ -z $INTERACTIVE ]]; then
+      return 1
+    fi
+
+    read -p "       Would you like to attempt installation anyway? [Y/n] " -n 1 -r
+    echo -e "\n"
+    if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+      return 1
+    fi
+
+    # already a "valid" openpilot clone, skip cloning again
+    if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then
+      SKIP_GIT_CLONE=1
+    fi
+
+    return 0
   fi
 
   echo -e " ↳ [${GREEN}✔${NC}] Successfully chosen $OPENPILOT_ROOT as installation directory\n"
@@ -30,10 +106,12 @@ function check_git() {
 }
 
 function git_clone() {
+  st="$(date +%s)"
   echo "Cloning openpilot..."
   if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
     if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
-      echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
+      et="$(date +%s)"
+      echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot in $((et - st)) seconds.\n"
       return 0
     fi
   fi
@@ -47,13 +125,17 @@ function install_with_op() {
   $OPENPILOT_ROOT/tools/op.sh install
   $OPENPILOT_ROOT/tools/op.sh setup
 
-  # make op usable right now
-  alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""
+  echo -e "\n----------------------------------------------------------------------"
+  echo -e "openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}"
+  echo -e "Checkout the docs at https://docs.comma.ai"
+  echo -e "Checkout how to contribute at https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"
 }
 
-check_dir && check_git && git_clone && install_with_op
+show_motd
 
-unset OPENPILOT_ROOT
-unset RED
-unset GREEN
-unset NC
+check_stdin
+ask_dir
+check_dir
+check_git
+[ -z $SKIP_GIT_CLONE ] && git_clone
+install_with_op

From 80e23d1593f6c9dc812c9ca9b778c16bbb519a91 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 31 Jul 2024 13:34:14 -0700
Subject: [PATCH 0311/1243] Remove hexdump package (#33155)

* remove hexdump

* uv lock

* cleanup
old-commit-hash: 1dd8bdc7912bef693c112816a5ac5066b036337b
---
 pyproject.toml          |    1 -
 selfdrive/debug/dump.py |   13 +-
 uv.lock                 | 1275 ++++++++++++++++++++-------------------
 3 files changed, 652 insertions(+), 637 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 1473cf5707..b486df3870 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -111,7 +111,6 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-  "hexdump",
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index 787e9bc738..78cf51e3db 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -4,7 +4,6 @@ import argparse
 import json
 import codecs
 
-from hexdump import hexdump
 from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.live_logreader import raw_live_logreader
@@ -12,6 +11,18 @@ from openpilot.tools.lib.live_logreader import raw_live_logreader
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
+def hexdump(msg):
+  m = str.upper(msg.hex())
+  m = [m[i:i+2] for i in range(0,len(m),2)]
+  m = [m[i:i+16] for i in range(0,len(m),16)]
+  for row,dump in enumerate(m):
+    addr = '%08X:' % (row*16)
+    raw = ' '.join(dump[:8]) + '  ' + ' '.join(dump[8:])
+    space = ' ' * (48 - len(raw))
+    asci = ''.join(chr(int(x,16)) if 0x20 <= int(x,16) <= 0x7E else '.' for x in dump)
+    print(f'{addr} {raw} {space} {asci}')
+
+
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
diff --git a/uv.lock b/uv.lock
index ded3ddec7c..7afdbb3c65 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,16 +1,21 @@
 version = 1
 requires-python = ">=3.11"
+environment-markers = [
+    "python_version == '3.12' and platform_machine == 'aarch64'",
+    "python_version == '3.12' and platform_machine == 'aarch64' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')",
+    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
+]
 
 [[distribution]]
 name = "aiohttp"
 version = "3.9.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "aiosignal" },
-    { name = "attrs" },
-    { name = "frozenlist" },
-    { name = "multidict" },
-    { name = "yarl" },
+    { name = "aiosignal", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "attrs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "frozenlist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "multidict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "yarl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
 wheels = [
@@ -51,8 +56,8 @@ name = "aioice"
 version = "0.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "dnspython" },
-    { name = "ifaddr" },
+    { name = "dnspython", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "ifaddr", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
 wheels = [
@@ -64,14 +69,14 @@ name = "aiortc"
 version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "aioice" },
-    { name = "av" },
-    { name = "cffi" },
-    { name = "cryptography" },
-    { name = "google-crc32c" },
-    { name = "pyee" },
-    { name = "pylibsrtp" },
-    { name = "pyopenssl" },
+    { name = "aioice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "av", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1076,28 +1081,28 @@ name = "metadrive-simulator"
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-    { name = "gymnasium" },
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-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
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-    { name = "pytest" },
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-    { name = "seaborn" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
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+    { name = "geopandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "gymnasium", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "lxml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
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+    { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "panda3d-gltf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "pandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
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+    { name = "progressbar", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "pygame", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "pygments", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "scipy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "seaborn", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "shapely", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "yapf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
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 [[distribution]]
@@ -1105,19 +1110,19 @@ name = "mkdocs"
 version = "1.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "click" },
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     { name = "colorama", marker = "platform_system == 'Windows'" },
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-    { name = "markdown" },
-    { name = "markupsafe" },
-    { name = "mergedeep" },
-    { name = "mkdocs-get-deps" },
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-    { name = "pathspec" },
-    { name = "pyyaml" },
-    { name = "pyyaml-env-tag" },
-    { name = "watchdog" },
+    { name = "ghp-import", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "jinja2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "markdown", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "markupsafe", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "mergedeep", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "mkdocs-get-deps", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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+    { name = "pyyaml-env-tag", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "watchdog", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1129,9 +1134,9 @@ name = "mkdocs-get-deps"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "mergedeep" },
-    { name = "platformdirs" },
-    { name = "pyyaml" },
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+    { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyyaml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1143,7 +1148,7 @@ name = "mouseinfo"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyperclip" },
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@@ -1163,9 +1168,10 @@ name = "msal"
 version = "1.30.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cryptography" },
+    { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyjwt", extra = ["crypto"] },
-    { name = "requests" },
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@@ -1177,8 +1183,8 @@ name = "msal-extensions"
 version = "1.2.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "msal" },
-    { name = "portalocker" },
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+    { name = "portalocker", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1229,8 +1235,8 @@ name = "mypy"
 version = "1.11.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "mypy-extensions" },
-    { name = "typing-extensions" },
+    { name = "mypy-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1303,8 +1309,8 @@ name = "onnx"
 version = "1.16.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
-    { name = "protobuf" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "protobuf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1325,12 +1331,12 @@ name = "onnxruntime"
 version = "1.18.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "coloredlogs" },
-    { name = "flatbuffers" },
-    { name = "numpy" },
-    { name = "packaging" },
-    { name = "protobuf" },
-    { name = "sympy" },
+    { name = "coloredlogs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "flatbuffers", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "packaging", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "protobuf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1350,12 +1356,12 @@ name = "onnxruntime-gpu"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "coloredlogs" },
-    { name = "flatbuffers" },
-    { name = "numpy" },
-    { name = "packaging" },
-    { name = "protobuf" },
-    { name = "sympy" },
+    { name = "coloredlogs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "flatbuffers", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "packaging", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "protobuf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
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@@ -1369,7 +1375,7 @@ name = "opencv-python-headless"
 version = "4.10.0.84"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
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 sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
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@@ -1398,8 +1404,8 @@ dependencies = [
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+    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
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@@ -1413,7 +1419,7 @@ dependencies = [
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+    { name = "spidev", marker = "platform_system == 'Linux'" },
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@@ -1422,50 +1428,49 @@ dependencies = [
 
 [distribution.optional-dependencies]
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-    { name = "azure-identity" },
-    { name = "azure-storage-blob" },
-    { name = "dictdiffer" },
-    { name = "flaky" },
-    { name = "hexdump" },
-    { name = "inputs" },
-    { name = "lru-dict" },
-    { name = "matplotlib" },
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+    { name = "azure-identity", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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-    { name = "panda3d-simplepbr" },
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@@ -1513,8 +1518,8 @@ name = "panda3d-simplepbr"
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 dependencies = [
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@@ -1643,11 +1648,11 @@ name = "pre-commit"
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-    { name = "identify" },
-    { name = "nodeenv" },
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@@ -1696,7 +1701,7 @@ name = "pyarrow"
 version = "17.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
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@@ -1733,14 +1738,14 @@ name = "pyautogui"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "mouseinfo" },
-    { name = "pygetwindow" },
-    { name = "pymsgbox" },
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     { name = "pyobjc-framework-quartz", marker = "platform_system == 'Darwin'" },
-    { name = "pyscreeze" },
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-    { name = "pytweening" },
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 version = "11.1.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "typing-extensions" },
+    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1848,7 +1853,7 @@ name = "pygetwindow"
 version = "0.0.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyrect" },
+    { name = "pyrect", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1872,7 +1877,7 @@ wheels = [
 
 [distribution.optional-dependencies]
 crypto = [
-    { name = "cryptography" },
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 ]
 
 [[distribution]]
@@ -1880,7 +1885,7 @@ name = "pylibsrtp"
 version = "0.10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cffi" },
+    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1902,7 +1907,7 @@ dependencies = [
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     { name = "python-xlib", marker = "sys_platform == 'linux'" },
     { name = "pywin32", marker = "sys_platform == 'win32'" },
-    { name = "typing-extensions" },
+    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1919,20 +1924,20 @@ name = "pyobjc"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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     { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-addressbook" },
+    { name = "pyobjc-framework-addressbook", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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     { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-applescriptkit" },
+    { name = "pyobjc-framework-applescriptkit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-applicationservices" },
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     { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automator" },
+    { name = "pyobjc-framework-automator", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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@@ -1941,40 +1946,40 @@ dependencies = [
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     { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-cfnetwork" },
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+    { name = "urllib3", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/63/70/2bf7780ad2d390a8d301ad0b550f1581eadbd9a20f896afe06353c2a2913/requests-2.32.3.tar.gz", hash = "sha256:55365417734eb18255590a9ff9eb97e9e1da868d4ccd6402399eaf68af20a760", size = 131218 }
 wheels = [
@@ -4864,11 +4869,11 @@ name = "rerun-sdk"
 version = "0.17.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "attrs" },
-    { name = "numpy" },
-    { name = "pillow" },
-    { name = "pyarrow" },
-    { name = "typing-extensions" },
+    { name = "attrs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pillow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyarrow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/30/5f/ce02381b9d7e1e14f60c421c76dce12b7d823690181784780b30266017b1/rerun_sdk-0.17.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:abd34f746eada83b8bb0bc50007183151981d7ccf18306f3d42165819a3f6fcb", size = 33166544 },
@@ -4917,7 +4922,7 @@ name = "scipy"
 version = "1.14.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4e/e5/0230da034a2e1b1feb32621d7cd57c59484091d6dccc9e6b855b0d309fc9/scipy-1.14.0.tar.gz", hash = "sha256:b5923f48cb840380f9854339176ef21763118a7300a88203ccd0bdd26e58527b", size = 58618870 }
 wheels = [
@@ -4953,9 +4958,9 @@ name = "seaborn"
 version = "0.13.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "pandas" },
+    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "pandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/86/59/a451d7420a77ab0b98f7affa3a1d78a313d2f7281a57afb1a34bae8ab412/seaborn-0.13.2.tar.gz", hash = "sha256:93e60a40988f4d65e9f4885df477e2fdaff6b73a9ded434c1ab356dd57eefff7", size = 1457696 }
 wheels = [
@@ -4967,8 +4972,8 @@ name = "sentry-sdk"
 version = "2.11.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "certifi" },
-    { name = "urllib3" },
+    { name = "certifi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "urllib3", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/6d/b3/39e4cd04b75a1ada788342d0d30a781cf65b5e43da806d5bf2bad4846ea3/sentry_sdk-2.11.0.tar.gz", hash = "sha256:4ca16e9f5c7c6bc2fb2d5c956219f4926b148e511fffdbbde711dc94f1e0468f", size = 276242 }
 wheels = [
@@ -4989,7 +4994,7 @@ name = "shapely"
 version = "2.0.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ad/99/c47247f4d688bbb5346df5ff1de5d9792b6d95cbbb2fd7b71f45901c1878/shapely-2.0.5.tar.gz", hash = "sha256:bff2366bc786bfa6cb353d6b47d0443c570c32776612e527ee47b6df63fcfe32", size = 282188 }
 wheels = [
@@ -5059,7 +5064,7 @@ name = "sounddevice"
 version = "0.4.7"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cffi" },
+    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/0d/88/5832219fa90595932d5f6d1b5125bfd8a55e95b19ad866e265c9bbb7cde4/sounddevice-0.4.7.tar.gz", hash = "sha256:69b386818d50a2d518607d4b973442e8d524760c7cd6c8b8be03d8c98fc4bce7", size = 52244 }
 wheels = [
@@ -5080,7 +5085,7 @@ name = "sympy"
 version = "1.13.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "mpmath" },
+    { name = "mpmath", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ca/99/5a5b6f19ff9f083671ddf7b9632028436167cd3d33e11015754e41b249a4/sympy-1.13.1.tar.gz", hash = "sha256:9cebf7e04ff162015ce31c9c6c9144daa34a93bd082f54fd8f12deca4f47515f", size = 7533040 }
 wheels = [
@@ -5122,7 +5127,7 @@ name = "types-requests"
 version = "2.32.0.20240712"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "urllib3" },
+    { name = "urllib3", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/5e/9e/7663eb27c33568b8fc20ccdaf2a1ce53a9530c42a7cceb9f552a6ff4a1d8/types-requests-2.32.0.20240712.tar.gz", hash = "sha256:90c079ff05e549f6bf50e02e910210b98b8ff1ebdd18e19c873cd237737c1358", size = 17896 }
 wheels = [
@@ -5170,9 +5175,9 @@ name = "virtualenv"
 version = "20.26.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "distlib" },
-    { name = "filelock" },
-    { name = "platformdirs" },
+    { name = "distlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 }
 wheels = [
@@ -5217,9 +5222,9 @@ name = "yapf"
 version = "0.40.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "importlib-metadata" },
-    { name = "platformdirs" },
-    { name = "tomli" },
+    { name = "importlib-metadata", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "tomli", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b9/14/c1f0ebd083fddd38a7c832d5ffde343150bd465689d12c549c303fbcd0f5/yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b", size = 252068 }
 wheels = [
@@ -5231,8 +5236,8 @@ name = "yarl"
 version = "1.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "idna" },
-    { name = "multidict" },
+    { name = "idna", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "multidict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/e0/ad/bedcdccbcbf91363fd425a948994f3340924145c2bc8ccb296f4a1e52c28/yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf", size = 141869 }
 wheels = [

From 0ea25665bbc21a93fa396753184dc129d6509ef0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 31 Jul 2024 14:53:13 -0700
Subject: [PATCH 0312/1243] get_fw_versions: test the full stack (#33156)

* add the test

fix

* bump

* not sure why mypy didn't catch this
old-commit-hash: ebff7cab1ab897526800e229e30b01ec4cf1114c
---
 panda                                      |  2 +-
 selfdrive/car/interfaces.py                |  6 ++----
 selfdrive/car/tests/test_fw_fingerprint.py | 20 +++++++++++++++++++-
 3 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/panda b/panda
index 8c3bb0151e..daa739efb7 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8c3bb0151e8907ade344ccb293d58cd543e28baa
+Subproject commit daa739efb76e2908bf1b2ee064be9034a8e299c3
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e491de3ed6..6c6e544f75 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -52,6 +52,7 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
+SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -109,7 +110,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -462,9 +463,6 @@ class CarStateBase(ABC):
     return None
 
 
-SendCan = tuple[int, int, bytes, int]
-
-
 class CarControllerBase(ABC):
   def __init__(self, dbc_name: str, CP, VM):
     self.CP = CP
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index f872972542..f6f6ed86d7 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -5,11 +5,13 @@ from collections import defaultdict
 from parameterized import parameterized
 
 from cereal import car
+from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                 match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -19,7 +21,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 class FakeSocket:
   def receive(self, non_blocking=False):
-    pass
+    return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
+            if random.uniform(0, 1) > 0.5 else None)
 
   def send(self, msg):
     pass
@@ -313,3 +316,18 @@ class TestFwFingerprintTiming:
         total_time = round(total_times[num_pandas], 2)
         self._assert_timing(total_time, total_ref_time[num_pandas])
         print(f'all brands, total FW query time={total_time} seconds')
+
+  def test_get_fw_versions(self, subtests, mocker):
+    # some coverage on IsoTpParallelQuery and panda UDS library
+    # TODO: replace this with full fingerprint simulation testing
+    # https://github.com/commaai/panda/pull/1329
+
+    def fake_cloudlog_exception(*args, **kwargs):
+      raise
+
+    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
+    mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception)
+    fake_socket = FakeSocket()
+    for brand in FW_QUERY_CONFIGS.keys():
+      with subtests.test(brand=brand):
+        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1)

From 799fabd707c8eabd22bb8e2c1a7d2867eea2f0d8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 31 Jul 2024 15:37:39 -0700
Subject: [PATCH 0313/1243] Reapply "update to new opendbc API (#32009)"
 (#33151)

This reverts commit f2f01e3afaeaa267af61c8d7ab918da04d3411f2.
old-commit-hash: 7c112341c358b57ee9d0209cb2b2c53383adcca9
---
 opendbc                                       |  2 +-
 selfdrive/car/interfaces.py                   |  4 ++-
 selfdrive/car/tests/test_car_interfaces.py    |  3 +-
 selfdrive/car/tests/test_models.py            |  3 +-
 .../lib/longitudinal_mpc_lib/SConscript       |  4 +--
 selfdrive/controls/radard.py                  |  4 +--
 .../debug/check_can_parser_performance.py     |  6 ++--
 selfdrive/pandad/SConscript                   |  4 ++-
 selfdrive/pandad/__init__.py                  |  3 +-
 selfdrive/pandad/can_list_to_can_capnp.cc     | 35 +++++++++++++++++--
 selfdrive/pandad/pandad_api_impl.pyx          | 29 ++++++++++++++-
 .../examples/subaru_long_accel.ipynb          |  3 +-
 .../examples/subaru_steer_temp_fault.ipynb    |  3 +-
 13 files changed, 86 insertions(+), 17 deletions(-)

diff --git a/opendbc b/opendbc
index 8e9d368841..39a5345924 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715
+Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 6c6e544f75..2121f433b7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -18,6 +18,7 @@ from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -232,9 +233,10 @@ class CarInterfaceBase(ABC):
 
   def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
     # parse can
+    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_strings)
+        cp.update_strings(can_list)
 
     # get CarState
     ret = self._update(c)
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4ca19f019e..9e3c7d157e 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -15,6 +15,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
@@ -128,7 +129,7 @@ class TestCarInterfaces:
 
     # Test radar fault
     if not car_params.radarUnavailable and radar_interface.rcp is not None:
-      cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)]
+      cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)])
       rr = radar_interface.update(cans)
       assert rr is None or len(rr.errors) > 0
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 1d05b7c731..22a80f359a 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
@@ -237,7 +238,7 @@ class TestCarModelBase(unittest.TestCase):
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr = RI.update((msg.as_builder().to_bytes(),))
+      rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
     self.assertEqual(error_cnt, 0)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index fc1e844d50..22342c0078 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python])
+lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index c3fb60c61a..a7e3c0211d 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -10,8 +10,8 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
-
 from openpilot.common.simple_kalman import KF1D
+from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
 # Default lead acceleration decay set to 50% at 1s
@@ -307,7 +307,7 @@ def main():
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr = RI.update(can_strings)
+    rr = RI.update(can_capnp_to_list(can_strings))
     sm.update(0)
     if rr is None:
       continue
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index 604a1df124..a5155f0126 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -6,6 +6,7 @@ from tqdm import tqdm
 from cereal import car
 from openpilot.selfdrive.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
+from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
 
 N_RUNS = 10
@@ -25,12 +26,13 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
-    msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs]
+    msgs = [m.as_builder().to_bytes() for m in tm.can_msgs]
     start_t = time.process_time_ns()
     for msg in msgs:
+      can_list = can_capnp_to_list([msg])
       for cp in tm.CI.can_parsers:
         if cp is not None:
-          cp.update_strings(msg)
+          cp.update_strings(can_list)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index 63a2c1e650..dcc1f9811e 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -6,6 +6,8 @@ panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+Export('pandad_python')
+
 if GetOption('extras'):
   env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index 2c80cd03c4..b72c8ccb57 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -1,6 +1,7 @@
 # Cython, now uses scons to build
-from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
+assert can_capnp_to_list
 
 def can_capnp_to_can_list(can, src_filter=None):
   ret = []
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
index d73541c17f..ad2393b986 100644
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ b/selfdrive/pandad/can_list_to_can_capnp.cc
@@ -1,11 +1,12 @@
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/pandad/panda.h"
+#include "opendbc/can/common.h"
 
-void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
+void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
 
-  auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
+  auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
   int j = 0;
   for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
     auto c = canData[j];
@@ -18,3 +19,33 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
   capnp::writeMessage(output_stream, msg);
 }
+
+// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
+void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
+  AlignedBuffer aligned_buf;
+  can_list.reserve(strings.size());
+
+  for (const auto &str : strings) {
+    // extract the messages
+    capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
+    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
+
+    auto frames = sendcan ? event.getSendcan() : event.getCan();
+
+    // Add new CanData entry
+    CanData &can_data = can_list.emplace_back();
+    can_data.nanos = event.getLogMonoTime();
+    can_data.frames.reserve(frames.size());
+
+    // Populate CAN frames
+    for (const auto &frame : frames) {
+      CanFrame &can_frame = can_data.frames.emplace_back();
+      can_frame.src = frame.getSrc();
+      can_frame.address = frame.getAddress();
+
+      // Copy CAN data
+      auto dat = frame.getDat();
+      can_frame.dat.assign(dat.begin(), dat.end());
+    }
+  }
+}
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index dd3f3d702f..8a12e1c433 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -1,8 +1,10 @@
 # distutils: language = c++
 # cython: language_level=3
+from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
+from libc.stdint cimport uint8_t, uint32_t, uint64_t
 
 cdef extern from "panda.h":
   cdef struct can_frame:
@@ -10,8 +12,19 @@ cdef extern from "panda.h":
     string dat
     long src
 
+cdef extern from "opendbc/can/common.h":
+  cdef struct CanFrame:
+    long src
+    uint32_t address
+    vector[uint8_t] dat
+
+  cdef struct CanData:
+    uint64_t nanos
+    vector[CanFrame] frames
+
 cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid)
+  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef can_frame *f
@@ -27,3 +40,17 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef string out
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
   return out
+
+def can_capnp_to_list(strings, msgtype='can'):
+  cdef vector[CanData] data
+  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
+
+  result = []
+  cdef CanData *d
+  cdef vector[CanData].iterator it = data.begin()
+  while it != data.end():
+    d = &deref(it)
+    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
+    result.append([d.nanos, frames])
+    preinc(it)
+  return result
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index 9d18a114df..35b92702a7 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -24,6 +24,7 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import DBC\n",
+    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
@@ -50,7 +51,7 @@
     "\n",
     "  for msg in lr:\n",
     "    if msg.which() == \"can\":\n",
-    "      cp.update_strings([msg.as_builder().to_bytes()])\n",
+    "      cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
     "      es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n",
     "      es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n",
     "      es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index 3d5055cbc2..8b762fecb8 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -27,6 +27,7 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
+    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
@@ -50,7 +51,7 @@
     "  examples = []\n",
     "\n",
     "  for msg in can_msgs:\n",
-    "    cp.update_strings([msg.as_builder().to_bytes()])\n",
+    "    cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
     "    steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
     "\n",
     "  steer_warning_last = False\n",

From be710ab893d09e65dd1561496b83c531df143ec7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 31 Jul 2024 16:12:37 -0700
Subject: [PATCH 0314/1243] ensure alerts_generated.h is built (#33157)

don't build alerts_generated.h in test, and ensure scons builds it more reliably + clean up support
old-commit-hash: 7de618a5cf38a759d3986d775f7d7f7a35167050
---
 selfdrive/ui/SConscript             | 2 +-
 selfdrive/ui/update_translations.py | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index c6b4860bf7..509f2aebd1 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -40,7 +40,7 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v
 translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
 lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
 
-lupdate = qt_env.Command(translation_sources, qt_src + widgets_src, "selfdrive/ui/update_translations.py")
+lupdate = qt_env.Command(translation_sources + ["translations/alerts_generated.h"], qt_src + widgets_src, "selfdrive/ui/update_translations.py")
 lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES")
 qt_env.Depends(lrelease, lupdate)
 qt_env.NoClean(translation_sources)
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 0fe0f05ac4..f13c65fdae 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -25,8 +25,6 @@ def generate_translations_include():
 
 
 def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR):
-  generate_translations_include()
-
   if translation_files is None:
     with open(LANGUAGES_FILE) as f:
       translation_files = json.load(f).values()
@@ -48,4 +46,5 @@ if __name__ == "__main__":
   parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
   args = parser.parse_args()
 
+  generate_translations_include()
   update_translations(args.vanish)

From 03fa24ee82a76805e4c0f59b6eb404c4e6cdeec4 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 31 Jul 2024 19:10:44 -0700
Subject: [PATCH 0315/1243] camerad: use os binning (#33161)

* all

* right sz

* what is this

* Revert "what is this"

This reverts commit 3ff771926f109452a055dfb61cee06b34e498164.

* ok

* big

* update intrs

* fl

* more specifuc

* fish

* revert

* revert

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 3ccc63deec85f454521d465c4e0e3438e76cb547
---
 common/transformations/camera.py           |  4 +--
 system/camerad/cameras/camera_common.cc    |  2 +-
 system/camerad/sensors/os04c10.cc          |  6 ++--
 system/camerad/sensors/os04c10_registers.h | 42 +++++++++++-----------
 4 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index dc3ca5f388..2e68b5e37c 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -47,9 +47,9 @@ class DeviceCameraConfig:
         yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 542be29d80..06ef2bd378 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -84,7 +84,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
 
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width;
 
   vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 97a317407a..e651d6ff7a 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -20,12 +20,12 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
-  pixel_size_mm = 0.002;
+  pixel_size_mm = 0.004;
   data_word = false;
 
   hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 2688;
-  frame_height = 1520 * 2 + hdr_offset;
+  frame_width = 1344;
+  frame_height = 760 * 2 + hdr_offset;
   frame_stride = (frame_width * 10 / 8); // no alignment
 
   extra_height = 0;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 91eb48b24f..d698b1311f 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -95,7 +95,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  // {0x3c8c, 0x20},
+  {0x3c8c, 0x20},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -199,7 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0xa2},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x24},
+  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -231,24 +231,24 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x04},
+  {0x37c2, 0x14},
   {0x37cd, 0x19},
-  // {0x37e0, 0x08},
-  // {0x37e6, 0x04},
+  {0x37e0, 0x08},
+  {0x37e6, 0x04},
   {0x37e5, 0x02},
-  // {0x37e1, 0x0c},
-  // {0x3737, 0x04},
+  {0x37e1, 0x0c},
+  {0x3737, 0x04},
   {0x37d8, 0x02},
-  // {0x37e2, 0x10},
+  {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x10},
-  // {0x37e4, 0x20},
-  // {0x37e3, 0x08},
-  {0x37d9, 0x08},
+  {0x3662, 0x08},
+  {0x37e4, 0x20},
+  {0x37e3, 0x08},
+  {0x37d9, 0x04},
   {0x4040, 0x00},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -269,20 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x01},
+  {0x3814, 0x03},
   {0x3815, 0x01},
-  {0x3816, 0x01},
+  {0x3816, 0x03},
   {0x3817, 0x01},
 
   {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
   {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
 
-  {0x3820, 0xb0},
-  {0x3821, 0x04},
+  {0x3820, 0xb3},
+  {0x3821, 0x05},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},

From 0d9b5627f23190a5c1d2095623fd58984b44f69b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 31 Jul 2024 19:37:06 -0700
Subject: [PATCH 0316/1243] op.sh: call directly instead of sourcing (#33160)

no source
old-commit-hash: 16ea2ff270165e027370ddff67952b46404d01fb
---
 tools/op.sh | 114 ++++------------------------------------------------
 1 file changed, 8 insertions(+), 106 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 3ebd413a79..ec4728ddf1 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -1,24 +1,22 @@
 #!/usr/bin/env bash
 
+set -e
+
 RED='\033[0;31m'
 GREEN='\033[0;32m'
 UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
+RC_FILE="${HOME}/.$(basename ${SHELL})rc"
+if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
+  RC_FILE="$HOME/.bash_profile"
+fi
 function op_install() {
-  (set -e
-
   echo "Installing op system-wide..."
-  RC_FILE="${HOME}/.$(basename ${SHELL})rc"
-  if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
-    RC_FILE="$HOME/.bash_profile"
-  fi
-  CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
+  CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
   grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
-
-  )
 }
 
 function op_run_command() {
@@ -55,8 +53,6 @@ function op_check_openpilot_dir() {
 }
 
 function op_check_git() {
-  (set -e
-
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
     echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
@@ -81,13 +77,9 @@ function op_check_git() {
     fi
   done
   echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
-
-  )
 }
 
 function op_check_os() {
-  (set -e
-
   echo "Checking for compatible os version..."
   if [[ "$OSTYPE" == "linux-gnu"* ]]; then
 
@@ -113,13 +105,9 @@ function op_check_os() {
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
   fi
-
-  )
 }
 
 function op_check_python() {
-  (set -e
-
   echo "Checking for compatible python version..."
   REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
@@ -133,8 +121,6 @@ function op_check_python() {
     echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   fi
-
-  )
 }
 
 function op_check_venv() {
@@ -171,8 +157,6 @@ function op_before_cmd() {
 }
 
 function op_setup() {
-  (set -e
-
   op_get_openpilot_dir
   cd $OPENPILOT_ROOT
 
@@ -203,8 +187,6 @@ function op_setup() {
   echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n"
 
   op_check
-
-  )
 }
 
 function op_activate_venv() {
@@ -212,99 +194,52 @@ function op_activate_venv() {
 }
 
 function op_venv() {
-  ( set -e
-
   op_before_cmd
-
-  )
-
-  if [[ "$?" -eq 0 ]]; then
-
-    if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then
-      echo "Run 'op venv' or 'source op.sh venv' to activate your venv!"
-      return 1
-    fi
-
-    # this must be run in the same shell as the user calling "op"
-    op_get_openpilot_dir
-    op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
-  fi
+  bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate")
 }
 
 function op_check() {
-  (set -e
-
   VERBOSE=1
   op_before_cmd
   unset VERBOSE
-
-  )
 }
 
 function op_build() {
-  (set -e
-
   CDIR=$(pwd)
   op_before_cmd
   cd "$CDIR"
   op_run_command scons $@
-
-  )
 }
 
 function op_juggle() {
-  (set -e
-
   op_before_cmd
   op_run_command tools/plotjuggler/juggle.py $@
-
-  )
 }
 
 function op_lint() {
-  (set -e
-
   op_before_cmd
   op_run_command pre-commit run --all $@
-
-  )
 }
 
 function op_test() {
-  (set -e
-
   op_before_cmd
   op_run_command pytest $@
-
-  )
 }
 
 function op_replay() {
-  (set -e
-
   op_before_cmd
   op_run_command tools/replay/replay $@
-
-  )
 }
 
 function op_cabana() {
-  (set -e
-
   op_before_cmd
   op_run_command tools/cabana/cabana $@
-
-  )
 }
 
 function op_sim() {
-  (set -e
-
   op_before_cmd
   op_run_command exec tools/sim/run_bridge.py &
   op_run_command exec tools/sim/launch_openpilot.sh
-
-  )
 }
 
 function op_default() {
@@ -387,36 +322,3 @@ function _op() {
 }
 
 _op $@
-
-# remove from env
-unset -f _op
-unset -f op_check
-unset -f op_setup
-unset -f op_build
-unset -f op_juggle
-unset -f op_venv
-unset -f op_check_openpilot_dir
-unset -f op_check_git
-unset -f op_check_python
-unset -f op_check_os
-unset -f op_install
-unset -f op_default
-unset -f op_run_command
-unset -f op_lint
-unset -f op_replay
-unset -f op_cabana
-unset -f op_check_venv
-unset -f op_before_cmd
-unset -f op_sim
-unset -f op_activate_venv
-unset -f op_get_openpilot_dir
-unset -f op_test
-unset DRY
-unset NC
-unset RED
-unset GREEN
-unset UNDERLINE
-unset BOLD
-unset OPENPILOT_ROOT
-unset NO_VERIFY
-unset VERBOSE

From ea71f07ea7df116f28ff6df39e9192eb596da814 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 31 Jul 2024 20:32:41 -0700
Subject: [PATCH 0317/1243] setup.sh: work in non interactive mode (#33162)

* work without terminal

* failure message

* no if
old-commit-hash: 3e66827a8501c792fde66f16c65e5297ab51fa2d
---
 tools/install_ubuntu_dependencies.sh |  7 ++++++-
 tools/setup.sh                       | 16 ++++++++--------
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 67b28fa280..a7cf0e75c3 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -12,6 +12,11 @@ if [[ ! $(id -u) -eq 0 ]]; then
   SUDO="sudo"
 fi
 
+# Check if stdin is open
+if [ -t 0 ]; then
+  INTERACTIVE=1
+fi
+
 # Install common packages
 function install_ubuntu_common_requirements() {
   $SUDO apt-get update
@@ -133,7 +138,7 @@ if [ -f "/etc/os-release" ]; then
   esac
 
   # Install extra packages
-  if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then
+  if [[ -z "$INSTALL_EXTRA_PACKAGES" && -n "$INTERACTIVE" ]]; then
     read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r
     echo ""
     if [[ $REPLY =~ ^[Yy]$ ]]; then
diff --git a/tools/setup.sh b/tools/setup.sh
index e770ba48aa..b2b9563d30 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -73,9 +73,14 @@ function check_dir() {
       return 1
     fi
 
+    # already a "valid" openpilot clone, skip cloning again
+    if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then
+      SKIP_GIT_CLONE=1
+    fi
+
     # by default, don't try installing in already existing directory
     if [[ -z $INTERACTIVE ]]; then
-      return 1
+      return 0
     fi
 
     read -p "       Would you like to attempt installation anyway? [Y/n] " -n 1 -r
@@ -84,11 +89,6 @@ function check_dir() {
       return 1
     fi
 
-    # already a "valid" openpilot clone, skip cloning again
-    if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then
-      SKIP_GIT_CLONE=1
-    fi
-
     return 0
   fi
 
@@ -123,10 +123,10 @@ function git_clone() {
 function install_with_op() {
   cd $OPENPILOT_ROOT
   $OPENPILOT_ROOT/tools/op.sh install
-  $OPENPILOT_ROOT/tools/op.sh setup
+  $OPENPILOT_ROOT/tools/op.sh setup || (echo -e "\n[${RED}✗${NC}] failed to install openpilot!" && return 1)
 
   echo -e "\n----------------------------------------------------------------------"
-  echo -e "openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}"
+  echo -e "[${GREEN}✔${NC}] openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}"
   echo -e "Checkout the docs at https://docs.comma.ai"
   echo -e "Checkout how to contribute at https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"
 }

From 319c2dc3e1ffda466cd050f36b80b6899d64c84f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 31 Jul 2024 21:40:48 -0700
Subject: [PATCH 0318/1243] op.sh: fix python version check (#33163)

fix check
old-commit-hash: 7bf912f40740b4cca62ddc65bd82700615636550
---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index ec4728ddf1..1715aaab63 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -115,7 +115,7 @@ function op_check_python() {
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
     echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
-  elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
+  elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
     echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"

From 54f912a1d56da6c882b4b79ebdf89771945be301 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 31 Jul 2024 23:17:40 -0700
Subject: [PATCH 0319/1243] opendbc is a package (#33159)

* bump

* rename to opendbc_repo

add symlink

* bump

* fix cabana

fix cabana

* bump

* fix whitelist paths

bump

* bump to master

* remove trailing slash
old-commit-hash: 7ee9d2d1b93abb3ccba53f9552b716d3a11c2b6d
---
 .gitmodules              |   2 +-
 opendbc                  |   2 +-
 opendbc_repo             |   1 +
 release/release_files.py | 102 +++++++++++++++++++--------------------
 tools/cabana/SConscript  |   2 +-
 5 files changed, 55 insertions(+), 54 deletions(-)
 mode change 160000 => 120000 opendbc
 create mode 160000 opendbc_repo

diff --git a/.gitmodules b/.gitmodules
index 1d5d04577e..ad6530de9a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,7 +2,7 @@
   path = panda
   url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc
+  path = opendbc_repo
   url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
diff --git a/opendbc b/opendbc
deleted file mode 160000
index 39a5345924..0000000000
--- a/opendbc
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03
diff --git a/opendbc b/opendbc
new file mode 120000
index 0000000000..7cd9a5bd1e
--- /dev/null
+++ b/opendbc
@@ -0,0 +1 @@
+opendbc_repo/opendbc
\ No newline at end of file
diff --git a/opendbc_repo b/opendbc_repo
new file mode 160000
index 0000000000..a40652d341
--- /dev/null
+++ b/opendbc_repo
@@ -0,0 +1 @@
+Subproject commit a40652d341ea3161a6a10001fa74284d9d650f8c
diff --git a/release/release_files.py b/release/release_files.py
index 1590807435..be9ad75ed5 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -14,8 +14,8 @@ blacklist = [
   "panda/examples/",
   "panda/tests/safety/",
 
-  "opendbc/.*.dbc$",
-  "opendbc/generator/",
+  "opendbc_repo/dbc/.*.dbc$",
+  "opendbc_repo/dbc/generator/",
 
   "cereal/.*test.*",
   "^common/tests/",
@@ -74,55 +74,55 @@ whitelist = [
   "tinygrad_repo/tinygrad/.*.py",
 
   # TODO: do this automatically
-  "opendbc/comma_body.dbc",
-  "opendbc/chrysler_ram_hd_generated.dbc",
-  "opendbc/chrysler_ram_dt_generated.dbc",
-  "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc",
-  "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
-  "opendbc/gm_global_a_powertrain_generated.dbc",
-  "opendbc/gm_global_a_object.dbc",
-  "opendbc/gm_global_a_chassis.dbc",
-  "opendbc/FORD_CADS.dbc",
-  "opendbc/ford_fusion_2018_adas.dbc",
-  "opendbc/ford_lincoln_base_pt.dbc",
-  "opendbc/honda_accord_2018_can_generated.dbc",
-  "opendbc/acura_ilx_2016_can_generated.dbc",
-  "opendbc/acura_rdx_2018_can_generated.dbc",
-  "opendbc/acura_rdx_2020_can_generated.dbc",
-  "opendbc/honda_civic_touring_2016_can_generated.dbc",
-  "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
-  "opendbc/honda_crv_touring_2016_can_generated.dbc",
-  "opendbc/honda_crv_ex_2017_can_generated.dbc",
-  "opendbc/honda_crv_ex_2017_body_generated.dbc",
-  "opendbc/honda_crv_executive_2016_can_generated.dbc",
-  "opendbc/honda_fit_ex_2018_can_generated.dbc",
-  "opendbc/honda_odyssey_exl_2018_generated.dbc",
-  "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
-  "opendbc/honda_insight_ex_2019_can_generated.dbc",
-  "opendbc/acura_ilx_2016_nidec.dbc",
-  "opendbc/honda_civic_ex_2022_can_generated.dbc",
-  "opendbc/hyundai_canfd.dbc",
-  "opendbc/hyundai_kia_generic.dbc",
-  "opendbc/hyundai_kia_mando_front_radar_generated.dbc",
-  "opendbc/mazda_2017.dbc",
-  "opendbc/nissan_x_trail_2017_generated.dbc",
-  "opendbc/nissan_leaf_2018_generated.dbc",
-  "opendbc/subaru_global_2017_generated.dbc",
-  "opendbc/subaru_global_2020_hybrid_generated.dbc",
-  "opendbc/subaru_outback_2015_generated.dbc",
-  "opendbc/subaru_outback_2019_generated.dbc",
-  "opendbc/subaru_forester_2017_generated.dbc",
-  "opendbc/toyota_tnga_k_pt_generated.dbc",
-  "opendbc/toyota_new_mc_pt_generated.dbc",
-  "opendbc/toyota_nodsu_pt_generated.dbc",
-  "opendbc/toyota_adas.dbc",
-  "opendbc/toyota_tss2_adas.dbc",
-  "opendbc/vw_golf_mk4.dbc",
-  "opendbc/vw_mqb_2010.dbc",
-  "opendbc/tesla_can.dbc",
-  "opendbc/tesla_radar_bosch_generated.dbc",
-  "opendbc/tesla_radar_continental_generated.dbc",
-  "opendbc/tesla_powertrain.dbc",
+  "opendbc_repo/dbc/comma_body.dbc",
+  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
+  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
+  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
+  "opendbc_repo/dbc/gm_global_a_object.dbc",
+  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
+  "opendbc_repo/dbc/FORD_CADS.dbc",
+  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
+  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
+  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
+  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
+  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
+  "opendbc_repo/dbc/hyundai_canfd.dbc",
+  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
+  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
+  "opendbc_repo/dbc/mazda_2017.dbc",
+  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
+  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
+  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
+  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_adas.dbc",
+  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
+  "opendbc_repo/dbc/vw_golf_mk4.dbc",
+  "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
 
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 04b768dc69..911ac9324c 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -16,7 +16,7 @@ qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
 cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 # build assets

From 619c6ce4c25731b5d27bfda4dfb506587a31d4e9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 1 Aug 2024 13:44:57 -0700
Subject: [PATCH 0320/1243] op.sh: check for valid invocation (#33166)

no source
old-commit-hash: d0671bda6d2042bd2a4cebf0304cfeffcc90df2a
---
 tools/op.sh | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/tools/op.sh b/tools/op.sh
index 1715aaab63..a7ce7ef28b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -1,5 +1,11 @@
 #!/usr/bin/env bash
 
+if [[ ! "${BASH_SOURCE[0]}" = "${0}" ]]; then
+  echo "Invalid invocation! This script must not be sourced."
+  echo "Run 'op.sh' directly or check your .bashrc for a valid alias"
+  return 0
+fi
+
 set -e
 
 RED='\033[0;31m'

From d59f9262c8b71b1fa657e2d213625bb051594361 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 1 Aug 2024 15:36:44 -0700
Subject: [PATCH 0321/1243] disable test_rotation until it's fixed

old-commit-hash: bfa8e0b2ec20727db070945e99549828c1f4bc0e
---
 system/loggerd/tests/test_loggerd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 6a24540acf..74fc42f5e2 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -136,7 +136,7 @@ class TestLoggerd:
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @flaky(max_runs=3)
+  @pytest.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")

From cb306fd7a82ce7ce1bf0fc39b358d5ca267dc54e Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Thu, 1 Aug 2024 19:28:26 -0400
Subject: [PATCH 0322/1243] CI: fix recent test_rotation skip (#33167)

old-commit-hash: 5b4b7a08fcabdc22bb52c2abeeda87772d7990d7
---
 system/loggerd/tests/test_loggerd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 74fc42f5e2..cfd1247702 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -7,7 +7,7 @@ import subprocess
 import time
 from collections import defaultdict
 from pathlib import Path
-from flaky import flaky
+import pytest
 
 import cereal.messaging as messaging
 from cereal import log
@@ -136,7 +136,7 @@ class TestLoggerd:
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @pytest.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
+  @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")

From 41e549f8c8d2a5500c924ff9c03d91c05d18f1e0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 1 Aug 2024 16:44:10 -0700
Subject: [PATCH 0323/1243] ci: create ui report only on PR (#33168)

only on pr
old-commit-hash: 4b11c9e914707df9def598616995be2a5d355a6a
---
 .github/workflows/selfdrive_tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index bfad6e1e7d..80be72f26a 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -340,6 +340,7 @@ jobs:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
+    if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
         with:

From 1feb6d671a925d6ff7d70723bf53302d4a51b855 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 1 Aug 2024 22:16:13 -0700
Subject: [PATCH 0324/1243] remove pre-commit (explorations) (#33172)

* remove pre-commit (explorations)

* lint.sh

* remove rest

* add to release files

* no source

* 1min is all you need
old-commit-hash: 13511e383c1679d17843e8cbf1bcb0a926f74c35
---
 .github/workflows/repo-maintenance.yaml       |   8 +-
 .github/workflows/selfdrive_tests.yaml        |  17 +-
 .../workflows/setup-pre-commit/action.yaml    |  12 -
 .pre-commit-config.yaml                       | 105 ---------
 docs/WORKFLOW.md                              |   2 +-
 pyproject.toml                                |  11 +-
 release/release_files.py                      |   1 -
 scripts/lint.sh                               |  10 +
 scripts/pyupgrade.sh                          |   7 -
 tools/install_python_dependencies.sh          |   6 -
 tools/op.sh                                   |   4 +-
 uv.lock                                       | 209 ++++++------------
 12 files changed, 101 insertions(+), 291 deletions(-)
 delete mode 100644 .github/workflows/setup-pre-commit/action.yaml
 delete mode 100644 .pre-commit-config.yaml
 create mode 100755 scripts/lint.sh
 delete mode 100755 scripts/pyupgrade.sh

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index cf35804492..3893c7fa5e 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -46,17 +46,13 @@ jobs:
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
         author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
-        title: '[bot] Update Python packages and pre-commit hooks'
+        commit-message: Update Python packages
+        title: '[bot] Update Python packages'
         branch: auto-package-updates
         base: master
         delete-branch: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 80be72f26a..8c46e15c2f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -25,7 +25,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -45,7 +45,6 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -62,14 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: pre-commit
-      timeout-minutes: 3
+    - name: static analysis
+      timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
-        cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+        ${{ env.RUN }} "scripts/lint.sh"
 
   build:
     strategy:
@@ -146,13 +144,12 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: pre-commit
-      timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+    - name: static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint.sh"
 
   unit_tests:
     name: unit tests
diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml
deleted file mode 100644
index f07a106861..0000000000
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: 'set up pre-commit environment'
-
-runs:
-  using: "composite"
-  steps:
-    - uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/pre-commit
-        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
-        restore-keys: |
-          pre-commit-
-        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
deleted file mode 100644
index a7a5379088..0000000000
--- a/.pre-commit-config.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-exclude: '^(tinygrad_repo)'
-repos:
--   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
-        args:
-        - --maxkb=120
-        - --enforce-all
--   repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.5
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args:
-        - --local-partial-types
-        - --explicit-package-bases
-        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
-        - --library=qt
-        - --include=third_party/kaitai/kaitaistream.h
--   repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-    -   id: cpplint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --quiet
-        - --counting=total
-        - --linelength=240
-        # https://google.github.io/styleguide/cppguide.html
-        # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
--   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.2
-    hooks:
-    -   id: cython-lint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --max-line-length=240
-        - --ignore=E111, E302, E305
--   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: system
-        pass_filenames: false
-        files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
-    hooks:
-    -   id: check-github-workflows
--   repo: local
-    hooks:
-    -   id: import-linter
-        name: import linter
-        entry: lint-imports
-        language: system
-        pass_filenames: false
diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 10cf244fd6..477c7511ca 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -29,7 +29,7 @@ pytest
 cd system/loggerd && pytest .
 
 # run the linter
-pre-commit run --all
+op lint
 ```
 
 ## Testing
diff --git a/pyproject.toml b/pyproject.toml
index b486df3870..90b6ecf983 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -76,7 +76,6 @@ testing = [
   "hypothesis ==6.47.*",
   "import-linter",
   "mypy",
-  "pre-commit",
   "pytest",
   "pytest-cov",
   "pytest-cpp",
@@ -87,7 +86,8 @@ testing = [
   "pytest-asyncio",
   "pytest-mock",
   "pytest-repeat",
-  "ruff"
+  "ruff",
+  "codespell",
 ]
 
 dev = [
@@ -164,6 +164,13 @@ testpaths = [
   "cereal/messaging/tests",
 ]
 
+[tool.codespell]
+count = true
+quiet-level = 3
+# if you've got a short variable name that's getting flagged, add it here
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
+builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+
 [tool.mypy]
 python_version = "3.11"
 plugins = [
diff --git a/release/release_files.py b/release/release_files.py
index be9ad75ed5..29d565a952 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -26,7 +26,6 @@ blacklist = [
   "selfdrive/car/tests/test_models.*",
 
   "^tools/",
-  "^scripts/",
   "^tinygrad_repo/",
 
   "matlab.*.md",
diff --git a/scripts/lint.sh b/scripts/lint.sh
new file mode 100755
index 0000000000..3cf548f2bb
--- /dev/null
+++ b/scripts/lint.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../
+
+# TODO: bring back rest of pre-commit checks:
+# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+
+ruff check .
diff --git a/scripts/pyupgrade.sh b/scripts/pyupgrade.sh
deleted file mode 100755
index 19aac4b5e2..0000000000
--- a/scripts/pyupgrade.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-pip install --upgrade pyupgrade
-
-git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index a90462888f..8d118525a5 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -43,9 +43,3 @@ if [[ "$(uname)" == 'Darwin' ]]; then
   echo "export ZMQ=1" >> $ROOT/.env
   echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
-
-if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
-  echo "pre-commit hooks install..."
-  pre-commit install
-  git submodule foreach pre-commit install
-fi
diff --git a/tools/op.sh b/tools/op.sh
index a7ce7ef28b..e578459ae0 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -224,7 +224,7 @@ function op_juggle() {
 
 function op_lint() {
   op_before_cmd
-  op_run_command pre-commit run --all $@
+  op_run_command scripts/lint.sh $@
 }
 
 function op_test() {
@@ -272,7 +272,7 @@ function op_default() {
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
-  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"
   echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
diff --git a/uv.lock b/uv.lock
index 7afdbb3c65..6876de533c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,10 +1,5 @@
 version = 1
 requires-python = ">=3.11"
-environment-markers = [
-    "python_version == '3.12' and platform_machine == 'aarch64'",
-    "python_version == '3.12' and platform_machine == 'aarch64' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')",
-    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
-]
 
 [[distribution]]
 name = "aiohttp"
@@ -179,9 +174,6 @@ wheels = [
 name = "casadi"
 version = "3.6.5"
 source = { registry = "https://pypi.org/simple" }
-environment-markers = [
-    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
-]
 dependencies = [
     { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
@@ -208,11 +200,8 @@ wheels = [
 name = "casadi"
 version = "3.6.6"
 source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }
-environment-markers = [
-    "python_version == '3.12' and platform_machine == 'aarch64'",
-]
 dependencies = [
-    { name = "numpy", marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
+    { name = "numpy" },
 ]
 wheels = [
     { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" },
@@ -259,15 +248,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/e9/63/e285470a4880a4f36edabe4810057bd4b562c6ddcc165eacf9c3c7210b40/cffi-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:68678abf380b42ce21a5f2abde8efee05c114c2fdb2e9eef2efdb0257fba1235", size = 181956 },
 ]
 
-[[distribution]]
-name = "cfgv"
-version = "3.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/11/74/539e56497d9bd1d484fd863dd69cbbfa653cd2aa27abfe35653494d85e94/cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560", size = 7114 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c5/55/51844dd50c4fc7a33b653bfaba4c2456f06955289ca770a5dbd5fd267374/cfgv-3.4.0-py2.py3-none-any.whl", hash = "sha256:b7265b1f29fd3316bfcd2b330d63d024f2bfd8bcb8b0272f8e19a504856c48f9", size = 7249 },
-]
-
 [[distribution]]
 name = "charset-normalizer"
 version = "3.3.2"
@@ -328,6 +308,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/96/43/dae06432d0c4b1dc9e9149ad37b4ca8384cf6eb7700cd9215b177b914f0a/cloudpickle-3.0.0-py3-none-any.whl", hash = "sha256:246ee7d0c295602a036e86369c77fecda4ab17b506496730f2f576d9016fd9c7", size = 20088 },
 ]
 
+[[distribution]]
+name = "codespell"
+version = "2.3.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/a0/a9/98353dfc7afcdf18cffd2dd3e959a25eaaf2728cf450caa59af89648a8e4/codespell-2.3.0.tar.gz", hash = "sha256:360c7d10f75e65f67bad720af7007e1060a5d395670ec11a7ed1fed9dd17471f", size = 329791 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/0e/20/b6019add11e84f821184234cea0ad91442373489ef7ccfa3d73a71b908fa/codespell-2.3.0-py3-none-any.whl", hash = "sha256:a9c7cef2501c9cfede2110fd6d4e5e62296920efe9abfb84648df866e47f58d1", size = 329167 },
+]
+
 [[distribution]]
 name = "colorama"
 version = "0.4.6"
@@ -486,15 +475,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/47/ef/4cb333825d10317a36a1154341ba37e6e9c087bac99c1990ef07ffdb376f/dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595", size = 16754 },
 ]
 
-[[distribution]]
-name = "distlib"
-version = "0.3.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c4/91/e2df406fb4efacdf46871c25cde65d3c6ee5e173b7e5a4547a47bae91920/distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64", size = 609931 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8e/41/9307e4f5f9976bc8b7fea0b66367734e8faf3ec84bc0d412d8cfabbb66cd/distlib-0.3.8-py2.py3-none-any.whl", hash = "sha256:034db59a0b96f8ca18035f36290806a9a6e6bd9d1ff91e45a7f172eb17e51784", size = 468850 },
-]
-
 [[distribution]]
 name = "dnspython"
 version = "2.6.1"
@@ -762,15 +742,6 @@ wheels = [
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-[[distribution]]
-name = "identify"
-version = "2.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/f4/8e8f7db397a7ce20fbdeac5f25adaf567fc362472432938d25556008e03a/identify-2.6.0.tar.gz", hash = "sha256:cb171c685bdc31bcc4c1734698736a7d5b6c8bf2e0c15117f4d469c8640ae5cf", size = 99116 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/24/6c/a4f39abe7f19600b74528d0c717b52fff0b300bb0161081510d39c53cb00/identify-2.6.0-py2.py3-none-any.whl", hash = "sha256:e79ae4406387a9d300332b5fd366d8994f1525e8414984e1a59e058b2eda2dd0", size = 98962 },
-]
-
 [[distribution]]
 name = "idna"
 version = "3.7"
@@ -1081,28 +1052,28 @@ name = "metadrive-simulator"
 version = "0.4.2.3"
 source = { git = "https://github.com/commaai/metadrive?rev=opencv_headless#9b6ddb791919249effa0573883076681514787e4" }
 dependencies = [
-    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "geopandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "gymnasium", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "lxml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "opencv-python-headless", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "panda3d-gltf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pillow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "progressbar", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pygame", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pygments", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "scipy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "seaborn", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "shapely", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "yapf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "filelock" },
+    { name = "geopandas" },
+    { name = "gymnasium" },
+    { name = "lxml" },
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "opencv-python-headless" },
+    { name = "panda3d" },
+    { name = "panda3d-gltf" },
+    { name = "pandas" },
+    { name = "pillow" },
+    { name = "progressbar" },
+    { name = "psutil" },
+    { name = "pygame" },
+    { name = "pygments" },
+    { name = "pytest" },
+    { name = "requests" },
+    { name = "scipy" },
+    { name = "seaborn" },
+    { name = "shapely" },
+    { name = "tqdm" },
+    { name = "yapf" },
 ]
 
 [[distribution]]
@@ -1169,7 +1140,6 @@ version = "1.30.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyjwt", extra = ["crypto"] },
     { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
@@ -1271,15 +1241,6 @@ wheels = [
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-[[distribution]]
-name = "nodeenv"
-version = "1.9.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/43/16/fc88b08840de0e0a72a2f9d8c6bae36be573e475a6326ae854bcc549fc45/nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f", size = 47437 }
-wheels = [
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-]
-
 [[distribution]]
 name = "numpy"
 version = "1.26.4"
@@ -1404,8 +1365,8 @@ dependencies = [
     { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
+    { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" },
     { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
@@ -1419,7 +1380,7 @@ dependencies = [
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     { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "spidev", marker = "platform_system == 'Linux'" },
+    { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
     { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
@@ -1428,49 +1389,49 @@ dependencies = [
 
 [distribution.optional-dependencies]
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-    { name = "azure-storage-blob", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "dictdiffer", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "flaky", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "inputs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "lru-dict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "av" },
+    { name = "azure-identity" },
+    { name = "azure-storage-blob" },
+    { name = "dictdiffer" },
+    { name = "flaky" },
+    { name = "inputs" },
+    { name = "lru-dict" },
+    { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "parameterized", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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+    { name = "parameterized" },
+    { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
-    { name = "pyprof2calltree", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyprof2calltree" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
-    { name = "pywinctl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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+    { name = "pywinctl" },
+    { name = "rerun-sdk" },
+    { name = "tabulate" },
+    { name = "types-requests" },
+    { name = "types-tabulate" },
 ]
 docs = [
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+    { name = "jinja2" },
+    { name = "mkdocs" },
+    { name = "natsort" },
 ]
 testing = [
-    { name = "coverage", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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-    { name = "import-linter", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "mypy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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-    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-asyncio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-cov", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-cpp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-mock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-randomly", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-repeat", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-subtests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-timeout", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-xdist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "ruff", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "codespell" },
+    { name = "coverage" },
+    { name = "hypothesis" },
+    { name = "import-linter" },
+    { name = "mypy" },
+    { name = "pytest" },
+    { name = "pytest-asyncio" },
+    { name = "pytest-cov" },
+    { name = "pytest-cpp" },
+    { name = "pytest-mock" },
+    { name = "pytest-randomly" },
+    { name = "pytest-repeat" },
+    { name = "pytest-subtests" },
+    { name = "pytest-timeout" },
+    { name = "pytest-xdist" },
+    { name = "ruff" },
 ]
 
 [[distribution]]
@@ -1643,22 +1604,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
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-version = "3.8.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
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-    { name = "pyyaml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "virtualenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/64/10/97ee2fa54dff1e9da9badbc5e35d0bbaef0776271ea5907eccf64140f72f/pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af", size = 177815 }
-wheels = [
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-]
-
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -5170,20 +5115,6 @@ wheels = [
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-[[distribution]]
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-version = "20.26.3"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
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-    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/4d/410156100224c5e2f0011d435e477b57aed9576fc7fe137abcf14ec16e11/virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589", size = 5684792 },
-]
-
 [[distribution]]
 name = "watchdog"
 version = "4.0.1"

From d802a423a63fea5d665dcbaa74cb490d4acc3518 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 03:01:56 +0800
Subject: [PATCH 0325/1243] loggerd: Initialize atomic variables to zero
 (#33130)

Initialize atomic variables in LoggerdState to zero
old-commit-hash: 8f3fc699d4e06811fd29fbf64fe89032cce563b9
---
 system/loggerd/loggerd.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index a324479fb5..c9632c0dd6 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -15,8 +15,8 @@ ExitHandler do_exit;
 
 struct LoggerdState {
   LoggerState logger;
-  std::atomic<double> last_camera_seen_tms;
-  std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
+  std::atomic<double> last_camera_seen_tms{0.0};
+  std::atomic<int> ready_to_rotate{0};  // count of encoders ready to rotate
   int max_waiting = 0;
   double last_rotate_tms = 0.;      // last rotate time in ms
 };

From b12b30c3286ecfb08b23e24025e970e95d789d23 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 03:16:04 +0800
Subject: [PATCH 0326/1243] camerad: encapsulating event management within the
 ImgProc Class (#33119)

Encapsulating Event Management Within the ImgProc Class
old-commit-hash: 2189164d455aba0c72192881bef43a1cee8f3d3b
---
 system/camerad/cameras/camera_common.cc | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 06ef2bd378..4032dad252 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -37,7 +37,7 @@ public:
 
   }
 
-  void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *imgproc_event, int expo_time) {
+  void runKernel(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
@@ -45,7 +45,11 @@ public:
     const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
     const int imgproc_local_worksize = 16;
     const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
-    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, imgproc_event));
+
+    cl_event event;
+    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
+    clWaitForEvents(1, &event);
+    CL_CHECK(clReleaseEvent(event));
   }
 
   ~ImgProc() {
@@ -116,10 +120,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  cl_event event;
-  imgproc->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event, cur_frame_data.integ_lines);
-  clWaitForEvents(1, &event);
-  CL_CHECK(clReleaseEvent(event));
+  imgproc->runKernel(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {

From c92010d0ac4e5ec0cbc32f081008e0e2f90919da Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 03:16:24 +0800
Subject: [PATCH 0327/1243] params: wrap fsync and close in HANDLE_EINTR for
 robustness (#33154)

Wrap fsync and close in HANDLE_EINTR for Robustness
old-commit-hash: ea5ee29ebddf0a17bd884f23de6b6a5a288ebd10
---
 common/params.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 03a3cc31f1..615dd55abd 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
   int result = -1;
   int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
   if (fd >= 0) {
-    result = fsync(fd);
-    close(fd);
+    result = HANDLE_EINTR(fsync(fd));
+    HANDLE_EINTR(close(fd));
   }
   return result;
 }

From 2a16a305b3d06f9431aef172b3710994754fe843 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 03:18:10 +0800
Subject: [PATCH 0328/1243] camerad: move `do_exit` to camera_qcom2.cc (#33086)

move do_exit to camera_qcom2.cc
old-commit-hash: 8ab587d30b461cf52844a351b912e3560b9dcbcd
---
 system/camerad/cameras/camera_common.cc | 2 --
 system/camerad/cameras/camera_qcom2.cc  | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 4032dad252..6aec03eae1 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -15,8 +15,6 @@
 #include "CL/cl_ext_qcom.h"
 #endif
 
-ExitHandler do_exit;
-
 class ImgProc {
 public:
   ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 2729aa264c..6aebc88718 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -24,7 +24,7 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
 
-extern ExitHandler do_exit;
+ExitHandler do_exit;
 
 CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
   : multi_cam_state(multi_camera_state),

From e2e271950f111a018feca1f68f02d10fbe305e9e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 2 Aug 2024 12:55:04 -0700
Subject: [PATCH 0329/1243] Update stale.yaml old-commit-hash:
 19dec54f65459b619f9a726c7ca6ecb96f6067ea

---
 .github/workflows/stale.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index a26691ea45..f7f92a0387 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 3
-  DAYS_BEFORE_PR_STALE: 14
+  DAYS_BEFORE_PR_CLOSE: 2
+  DAYS_BEFORE_PR_STALE: 9
 
 jobs:
   stale:

From 7adc4219f05327962558dffae6f02acbaf006b17 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 03:57:29 +0800
Subject: [PATCH 0330/1243] camerad: update frame msg related variable types to
 uint64_t for consistency (#33113)

Update frame_msg related variable types to uint64_t for  type safety
old-commit-hash: c40d129f70338674302116cfdde129ba6511a920
---
 system/camerad/cameras/camera_qcom2.cc | 14 +++++++-------
 system/camerad/cameras/camera_qcom2.h  | 10 +++++-----
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 6aebc88718..0648ddf4de 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -345,7 +345,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
 
 void CameraState::enqueue_buffer(int i, bool dp) {
   int ret;
-  int request_id = request_ids[i];
+  uint64_t request_id = request_ids[i];
 
   if (buf_handle[i] && sync_objs[i]) {
     // wait
@@ -386,7 +386,7 @@ void CameraState::enqueue_buffer(int i, bool dp) {
   req_mgr_sched_request.req_id = request_id;
   ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
   if (ret != 0) {
-    LOGE("failed to schedule cam mgr request: %d %d", ret, request_id);
+    LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id);
   }
 
   // poke sensor, must happen after schedule
@@ -396,8 +396,8 @@ void CameraState::enqueue_buffer(int i, bool dp) {
   config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
 }
 
-void CameraState::enqueue_req_multi(int start, int n, bool dp) {
-  for (int i=start; i<start+n; ++i) {
+void CameraState::enqueue_req_multi(uint64_t start, int n, bool dp) {
+  for (uint64_t i = start; i < start + n; ++i) {
     request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
     enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
   }
@@ -780,8 +780,8 @@ void CameraState::handle_camera_event(void *evdat) {
   assert(event_data->u.frame_msg.link_hdl == link_handle);
 
   uint64_t timestamp = event_data->u.frame_msg.timestamp;
-  int main_id = event_data->u.frame_msg.frame_id;
-  int real_id = event_data->u.frame_msg.request_id;
+  uint64_t main_id = event_data->u.frame_msg.frame_id;
+  uint64_t real_id = event_data->u.frame_msg.request_id;
 
   if (real_id != 0) { // next ready
     if (real_id == 1) {idx_offset = main_id;}
@@ -799,7 +799,7 @@ void CameraState::handle_camera_event(void *evdat) {
 
     // check for dropped requests
     if (real_id > request_id_last + 1) {
-      LOGE("camera %d dropped requests %d %d", camera_num, real_id, request_id_last);
+      LOGE("camera %d dropped requests %ld %ld", camera_num, real_id, request_id_last);
       enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
     }
 
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 1b27fb18b8..02ebeb71f3 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -105,17 +105,17 @@ public:
   int buf0_handle = 0;
   int buf_handle[FRAME_BUF_COUNT] = {};
   int sync_objs[FRAME_BUF_COUNT] = {};
-  int request_ids[FRAME_BUF_COUNT] = {};
-  int request_id_last = 0;
-  int frame_id_last = 0;
-  int idx_offset = 0;
+  uint64_t request_ids[FRAME_BUF_COUNT] = {};
+  uint64_t request_id_last = 0;
+  uint64_t frame_id_last = 0;
+  uint64_t idx_offset = 0;
   bool skipped = true;
 
   CameraBuf buf;
   MemoryManager mm;
 
   void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
-  void enqueue_req_multi(int start, int n, bool dp);
+  void enqueue_req_multi(uint64_t start, int n, bool dp);
   void enqueue_buffer(int i, bool dp);
   int clear_req_queue();
 

From 74a9e64c2cd29debedd4e4f1674f2e48a70fc9e9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 04:40:33 +0800
Subject: [PATCH 0331/1243] modeld: remove redundant pred_mu assignment
 (#33152)

remove redundant pred_mu assignment
old-commit-hash: 2cd9975e4fe31bf89cdbf41d3d5db02f519a2718
---
 selfdrive/modeld/parse_model_outputs.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index af57e11d03..03d03c5e1c 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -42,7 +42,6 @@ class Parser:
     raw = outs[name]
     raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
 
-    pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2]
     n_values = (raw.shape[2] - out_N)//2
     pred_mu = raw[:,:,:n_values]
     pred_std = np.exp(raw[:,:,n_values: 2*n_values])

From 7fcba7172538a107c30a7d49b3ffceb02c4e924b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 3 Aug 2024 04:40:57 +0800
Subject: [PATCH 0332/1243] uploader.py: simplify clear_locks by using rglob
 (#32974)

simplify clear_locks
old-commit-hash: cafca4f89176855585835ff7c67dea5a9b08ca23
---
 system/loggerd/uploader.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 965d74bef8..4a95997e60 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -19,6 +19,7 @@ from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
+from pathlib import Path
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
@@ -61,12 +62,9 @@ def listdir_by_creation(d: str) -> list[str]:
     return []
 
 def clear_locks(root: str) -> None:
-  for logdir in os.listdir(root):
-    path = os.path.join(root, logdir)
+  for lock_file in Path(root).rglob('*.lock'):
     try:
-      for fname in os.listdir(path):
-        if fname.endswith(".lock"):
-          os.unlink(os.path.join(path, fname))
+      lock_file.unlink()
     except OSError:
       cloudlog.exception("clear_locks failed")
 

From 139f4034a8f6f3c96c9b13511af35648e411d684 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 3 Aug 2024 12:12:42 -0700
Subject: [PATCH 0333/1243] Revert "uploader.py: simplify clear_locks by using
 rglob (#32974)"

This reverts commit 870f5cbeb39fa63829e6f3a64fa8df57e82d52c3.

old-commit-hash: 9474523addb78d3b16a72949c6d85c4059fffa92
---
 system/loggerd/uploader.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 4a95997e60..965d74bef8 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -19,7 +19,6 @@ from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from pathlib import Path
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
@@ -62,9 +61,12 @@ def listdir_by_creation(d: str) -> list[str]:
     return []
 
 def clear_locks(root: str) -> None:
-  for lock_file in Path(root).rglob('*.lock'):
+  for logdir in os.listdir(root):
+    path = os.path.join(root, logdir)
     try:
-      lock_file.unlink()
+      for fname in os.listdir(path):
+        if fname.endswith(".lock"):
+          os.unlink(os.path.join(path, fname))
     except OSError:
       cloudlog.exception("clear_locks failed")
 

From ad42551437b06bd3bc9cd9a8c66514a47bcd1c95 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 4 Aug 2024 05:57:26 +0800
Subject: [PATCH 0334/1243] camerad: encapsulate cl_command_queue in ImgProc
 (#33178)

move cl queue to imgproc
old-commit-hash: 8f9b165de8be31b8c68dfa31e7f6a036107aa2e4
---
 system/camerad/cameras/camera_common.cc | 14 +++++++-------
 system/camerad/cameras/camera_common.h  |  1 -
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 6aec03eae1..6c745e1cde 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -33,9 +33,11 @@ public:
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
     CL_CHECK(clReleaseProgram(prg_imgproc));
 
+    const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
+    queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
   }
 
-  void runKernel(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
+  void runKernel(cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
@@ -45,17 +47,19 @@ public:
     const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
 
     cl_event event;
-    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
+    CL_CHECK(clEnqueueNDRangeKernel(queue, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
     clWaitForEvents(1, &event);
     CL_CHECK(clReleaseEvent(event));
   }
 
   ~ImgProc() {
     CL_CHECK(clReleaseKernel(krnl_));
+    CL_CHECK(clReleaseCommandQueue(queue));
   }
 
 private:
   cl_kernel krnl_;
+  cl_command_queue queue;
 };
 
 void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
@@ -92,9 +96,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
-
-  const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
 }
 
 CameraBuf::~CameraBuf() {
@@ -102,7 +103,6 @@ CameraBuf::~CameraBuf() {
     camera_bufs[i].free();
   }
   if (imgproc) delete imgproc;
-  if (q) CL_CHECK(clReleaseCommandQueue(q));
 }
 
 bool CameraBuf::acquire() {
@@ -118,7 +118,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index d58f4d3195..7c2fbaeec8 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -53,7 +53,6 @@ private:
   int frame_buf_count;
 
 public:
-  cl_command_queue q;
   FrameMetadata cur_frame_data;
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;

From ca0cc203d44565ac70bfb032c21789aae5d2c3e0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 3 Aug 2024 21:14:48 -0700
Subject: [PATCH 0335/1243] rerun: misc fixups

old-commit-hash: 54cd2a6ed2a07d6bb1065180a93ebc8bf2726a8e
---
 tools/rerun/run.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 6d9554038c..955aa2707f 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -15,7 +15,7 @@ from openpilot.tools.lib.route import Route, SegmentRange
 NUM_CPUS = multiprocessing.cpu_count()
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 RR_TIMELINE_NAME = "Timeline"
-RR_WIN = "rerun_test"
+RR_WIN = "openpilot logs"
 
 
 """
@@ -144,10 +144,10 @@ if __name__ == '__main__':
   parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--qcam", action="store_true", help="Log decimated driving camera")
-  parser.add_argument("--fcam", action="store_true", help="Log driving camera")
-  parser.add_argument("--ecam", action="store_true", help="Log wide camera")
-  parser.add_argument("--dcam", action="store_true", help="Log driver monitoring camera")
+  parser.add_argument("--qcam", action="store_true", help="Show low-res road camera")
+  parser.add_argument("--fcam", action="store_true", help="Show driving camera")
+  parser.add_argument("--ecam", action="store_true", help="Show wide camera")
+  parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
   parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
   parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
                                                                 No service will be logged if not specified.\
@@ -173,7 +173,7 @@ if __name__ == '__main__':
     print("You're requesting more than 10 segments of the route, " + \
           "please be aware that might take a lot of memory")
     response = input("Do you wish to continue? (Y/n): ")
-    if response.strip() != "Y":
+    if response.strip().lower() != "y":
       sys.exit()
 
   rerunner = Rerunner(r, sr, camera_config, args.services)

From b6ddc8d6cc603cce56b8e9fafdf847db3c01aedd Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Sun, 4 Aug 2024 06:57:42 -0700
Subject: [PATCH 0336/1243] Docs: curl command updated (#33180)

old-commit-hash: e1a493e13b389315b442ce8455f6212164103222
---
 docs/how-to/turn-the-speed-blue.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index 643023fdf4..e8b55ef81b 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -9,7 +9,7 @@ And if you have a comma 3/3X, we'll deploy the change to your device for testing
 
 Run this to clone openpilot and install all the dependencies:
 ```bash
-curl -fsSL openpilot.comma.ai | bash
+bash <(curl -fsSL openpilot.comma.ai)
 ```
 
 Navigate to openpilot folder & activate a Python virtual environment

From f46fc7d7e4594f1a3652d11fdde31c18eb17879b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 4 Aug 2024 11:07:08 -0700
Subject: [PATCH 0337/1243] op: simpler examples

old-commit-hash: 3fd4b2f67666ced6e2fab4843e438135558de942
---
 tools/op.sh | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index e578459ae0..6ed97954a5 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -288,16 +288,15 @@ function op_default() {
   echo "          Show the result of all checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op --dir /tmp/openpilot check"
-  echo "          Run the check command on openpilot located in /tmp/openpilot"
+  echo "  op setup"
+  echo "          Run the setup script to install"
+  echo "          openpilot's dependencies."
   echo ""
-  echo "  op juggle --install"
-  echo "          Install plotjuggler in the openpilot located in your current"
-  echo "          working directory"
+  echo "  op build -j4"
+  echo "          Compile openpilot using 4 cores"
   echo ""
-  echo "  op --dir /tmp/openpilot build -j4"
-  echo "          Run the build command on openpilot located in /tmp/openpilot"
-  echo "          on 4 cores"
+  echo "  op juggle --demo"
+  echo "          Run PlotJuggler on the demo route"
 }
 
 

From fe4ab0a22d3db3219518550ea9043a54081853cf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 4 Aug 2024 15:51:01 -0700
Subject: [PATCH 0338/1243] bounties.md moved to the project README

old-commit-hash: c8d8db5947375483ec60a773daff234a9777e4e8
---
 README.md        |  2 +-
 docs/BOUNTIES.md | 62 ------------------------------------------------
 2 files changed, 1 insertion(+), 63 deletions(-)
 delete mode 100644 docs/BOUNTIES.md

diff --git a/README.md b/README.md
index 8316e52261..38d32ec3b6 100644
--- a/README.md
+++ b/README.md
@@ -61,7 +61,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
 
 Safety and Testing
 ----
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
deleted file mode 100644
index 31e19e1206..0000000000
--- a/docs/BOUNTIES.md
+++ /dev/null
@@ -1,62 +0,0 @@
-# [Bounties](https://github.com/orgs/commaai/projects/26/views/1)
-
-Get paid to improve openpilot!
-
-## Rules
-
-* code must be merged into openpilot master
-* bounty eligibility is solely at our discretion
-* once you open a PR, the bounty is locked to you until you stop working on it
-* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
-* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
-* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
-
-We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
-This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
-
-## Issue bounties
-
-We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
-* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot
-* **$300** - a day of work for an experienced openpilot developer
-* **$500** - a few days of work for an experienced openpilot developer
-* **$1k+** - a week or two of work (could be less for the right person)
-
-New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
-
-## Car bounties
-
-The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
-
-#### Brand or platform port - $2000
-Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331)
-
-This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform).
-
-#### Model port - $250
-Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245)
-
-This is for porting a new car model that runs on a platform openpilot already supports.
-In the average case, this is a few hours of work for an experienced software developer.
-
-This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC.
-
-#### Reverse Engineering a new Actuation Message - $300
-
-This is for cars that are already supported, and it has three components:
-* reverse a new steering, adaptive cruise, or AEB message
-* merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc)
-* merge the openpilot code to use it and post a demo route
-
-The control doesn't have to be perfect, but it should generally do what it's supposed to do.
-
-### Specific Cars
-
-#### Rivian R1T or R1S - $3000
-
-Get a Rivian driving with openpilot.
-Requires a merged port with lateral control and at least a POC of longitudinal control.
-
-#### Chevy Bolt with SuperCruise - $2500
-
-The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.

From f2299dfcb2a66c92371ee2d7805fcd6bdc3cc167 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 4 Aug 2024 16:13:18 -0700
Subject: [PATCH 0339/1243] back to pypi casadi (#33182)

old-commit-hash: 8e0a4f2faf9db787affe2bcd053d81119018cd73
---
 pyproject.toml |    3 +-
 uv.lock        | 1227 ++++++++++++++++++++++++------------------------
 2 files changed, 608 insertions(+), 622 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 90b6ecf983..c53d277f11 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -52,8 +52,7 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
-  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
+  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
   "future-fstrings",
 
   # these should be removed
diff --git a/uv.lock b/uv.lock
index 6876de533c..99147d8cbf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -6,11 +6,11 @@ name = "aiohttp"
 version = "3.9.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "aiosignal", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "attrs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "frozenlist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "multidict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "yarl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "aiosignal" },
+    { name = "attrs" },
+    { name = "frozenlist" },
+    { name = "multidict" },
+    { name = "yarl" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 }
 wheels = [
@@ -51,8 +51,8 @@ name = "aioice"
 version = "0.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "dnspython", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "ifaddr", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "dnspython" },
+    { name = "ifaddr" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
 wheels = [
@@ -64,14 +64,14 @@ name = "aiortc"
 version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "aioice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "av", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "google-crc32c", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyee", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pylibsrtp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyopenssl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "aioice" },
+    { name = "av" },
+    { name = "cffi" },
+    { name = "cryptography" },
+    { name = "google-crc32c" },
+    { name = "pyee" },
+    { name = "pylibsrtp" },
+    { name = "pyopenssl" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 wheels = [
@@ -89,7 +89,7 @@ name = "aiosignal"
 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "frozenlist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "frozenlist" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
 wheels = [
@@ -130,9 +130,9 @@ name = "azure-core"
 version = "1.30.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "six", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "requests" },
+    { name = "six" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 }
 wheels = [
@@ -144,11 +144,11 @@ name = "azure-identity"
 version = "1.17.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "azure-core", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "msal", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "msal-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "azure-core" },
+    { name = "cryptography" },
+    { name = "msal" },
+    { name = "msal-extensions" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/51/c9/f7e3926686a89670ce641b360bd2da9a2d7a12b3e532403462d99f81e9d5/azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea", size = 246652 }
 wheels = [
@@ -160,51 +160,41 @@ name = "azure-storage-blob"
 version = "12.21.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "azure-core", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "isodate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "azure-core" },
+    { name = "cryptography" },
+    { name = "isodate" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/97/c9/0e1e864eef8071102de2d6b11dfcf8d35410735145b2fbc2e0a5f58d1490/azure-storage-blob-12.21.0.tar.gz", hash = "sha256:b9722725072f5b7373c0f4dd6d78fbae2bb37bffc5c3e01731ab8c750ee8dd7e", size = 557430 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/f4/da/4033cee3855395e84ff73da4b50d3528f9338205299cde89676639387fcc/azure_storage_blob-12.21.0-py3-none-any.whl", hash = "sha256:f9ede187dd5a0ef296b583a7c1861c6938ddd6708d6e70f4203a163c2ab42d43", size = 396449 },
 ]
 
-[[distribution]]
-name = "casadi"
-version = "3.6.5"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/5a/97/ca40c4d7d36162ddfd0bb96a89206469a95b925faf67046ba6e4b5b78283/casadi-3.6.5.tar.gz", hash = "sha256:409a5f6725eadea40fddfb8ba2321139b5252edac8bc115a72f68e648631d56a", size = 5070590 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e5/80/0ba51b24b9db588f02256be00c2a99c6340e703ccfc3cfcb2818c4aea59c/casadi-3.6.5-cp27-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:6039081fdd1daf4ef7fa2b52814a954d75bfc03eb0dc62414e02af5d25746e8f", size = 42870004 },
-    { url = "https://files.pythonhosted.org/packages/9f/a6/edb201c436c820779b1f4e2bf5a74b6fd5e4d7d7b703336e5c0518e1b08f/casadi-3.6.5-cp27-none-manylinux1_i686.whl", hash = "sha256:b5192dfabf6f5266b168b984d124dd3086c1c5a408c0743ff3a82290a8ccf3b5", size = 47956673 },
-    { url = "https://files.pythonhosted.org/packages/f7/4d/6c8f37e08a3a91a69be8fffa67ce4a27823d3d4ca2099312f938690938f9/casadi-3.6.5-cp27-none-manylinux2010_x86_64.whl", hash = "sha256:35b2ff6098e386a4d5e8bc681744e52bcd2f2f15cfa44c09814a8979b51a6794", size = 53936205 },
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+    { name = "aiohttp" },
+    { name = "aiortc" },
+    { name = "casadi" },
+    { name = "cffi" },
+    { name = "crcmod" },
+    { name = "cython" },
+    { name = "future-fstrings" },
+    { name = "json-rpc" },
+    { name = "libusb1" },
+    { name = "numpy" },
+    { name = "onnx" },
+    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
+    { name = "psutil" },
+    { name = "pyaudio" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "pyjwt" },
+    { name = "pyserial" },
+    { name = "pyzmq" },
+    { name = "requests" },
+    { name = "scons" },
+    { name = "sentry-sdk" },
+    { name = "setuptools" },
+    { name = "smbus2" },
+    { name = "sounddevice" },
+    { name = "spidev", marker = "platform_system == 'Linux'" },
+    { name = "sympy" },
+    { name = "tqdm" },
+    { name = "websocket-client" },
+    { name = "zstandard" },
 ]
 
 [distribution.optional-dependencies]
@@ -1466,8 +1453,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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-    { name = "panda3d-simplepbr", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "panda3d" },
+    { name = "panda3d-simplepbr" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 }
 wheels = [
@@ -1479,8 +1466,8 @@ name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "panda3d" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 }
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@@ -1646,7 +1633,7 @@ name = "pyarrow"
 version = "17.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "numpy" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/27/4e/ea6d43f324169f8aec0e57569443a38bab4b398d09769ca64f7b4d467de3/pyarrow-17.0.0.tar.gz", hash = "sha256:4beca9521ed2c0921c1023e68d097d0299b62c362639ea315572a58f3f50fd28", size = 1112479 }
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@@ -1683,14 +1670,14 @@ name = "pyautogui"
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 source = { registry = "https://pypi.org/simple" }
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+    { name = "mouseinfo" },
+    { name = "pygetwindow" },
+    { name = "pymsgbox" },
     { name = "pyobjc-core", marker = "platform_system == 'Darwin'" },
     { name = "pyobjc-framework-quartz", marker = "platform_system == 'Darwin'" },
-    { name = "pyscreeze", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyscreeze" },
     { name = "python3-xlib", marker = "platform_system == 'Linux'" },
-    { name = "pytweening", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pytweening" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/65/ff/cdae0a8c2118a0de74b6cf4cbcdcaf8fd25857e6c3f205ce4b1794b27814/PyAutoGUI-0.9.54.tar.gz", hash = "sha256:dd1d29e8fd118941cb193f74df57e5c6ff8e9253b99c7b04f39cfc69f3ae04b2", size = 61236 }
 
@@ -1764,7 +1751,7 @@ name = "pyee"
 version = "11.1.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/f7/22/b4c7f3d9579204a014c4eda0e019e6bfe56af52a96cacc82004b60eec079/pyee-11.1.0.tar.gz", hash = "sha256:b53af98f6990c810edd9b56b87791021a8f54fd13db4edd1142438d44ba2263f", size = 29806 }
 wheels = [
@@ -1798,7 +1785,7 @@ name = "pygetwindow"
 version = "0.0.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyrect", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyrect" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/e1/70/c7a4f46dbf06048c6d57d9489b8e0f9c4c3d36b7479f03c5ca97eaa2541d/PyGetWindow-0.0.9.tar.gz", hash = "sha256:17894355e7d2b305cd832d717708384017c1698a90ce24f6f7fbf0242dd0a688", size = 9699 }
 
@@ -1822,7 +1809,7 @@ wheels = [
 
 [distribution.optional-dependencies]
 crypto = [
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+    { name = "cryptography" },
 ]
 
 [[distribution]]
@@ -1830,7 +1817,7 @@ name = "pylibsrtp"
 version = "0.10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "cffi" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/6b/ae/c95199144eed954976223bdce3f94564eb6c43567111aff8048a26a429bd/pylibsrtp-0.10.0.tar.gz", hash = "sha256:d8001912d7f51bd05b4ea3551747930631777fd37892cf3bfe0e541a742e699f", size = 10557 }
 wheels = [
@@ -1852,7 +1839,7 @@ dependencies = [
     { name = "pyobjc", marker = "sys_platform == 'darwin'" },
     { name = "python-xlib", marker = "sys_platform == 'linux'" },
     { name = "pywin32", marker = "sys_platform == 'win32'" },
-    { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "typing-extensions" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/2d/13/076a20da28b82be281f7e43e16d9da0f545090f5d14b2125699232b9feba/PyMonCtl-0.92-py3-none-any.whl", hash = "sha256:2495d8dab78f9a7dbce37e74543e60b8bd404a35c3108935697dda7768611b5a", size = 45945 },
@@ -1869,20 +1856,20 @@ name = "pyobjc"
 version = "10.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-core" },
     { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" },
     { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-addressbook", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-addressbook" },
     { name = "pyobjc-framework-adservices", marker = "platform_release >= '20.0'" },
     { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-applescriptkit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-applescriptkit" },
     { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-applicationservices", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-applicationservices" },
     { name = "pyobjc-framework-apptrackingtransparency", marker = "platform_release >= '20.0'" },
     { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0'" },
     { name = "pyobjc-framework-authenticationservices", marker = "platform_release >= '19.0'" },
     { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automator", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-automator" },
     { name = "pyobjc-framework-avfoundation", marker = "platform_release >= '11.0'" },
     { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0'" },
     { name = "pyobjc-framework-avrouting", marker = "platform_release >= '22.0'" },
@@ -1891,40 +1878,40 @@ dependencies = [
     { name = "pyobjc-framework-businesschat", marker = "platform_release >= '18.0'" },
     { name = "pyobjc-framework-calendarstore", marker = "platform_release >= '9.0'" },
     { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-cfnetwork", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-cfnetwork" },
     { name = "pyobjc-framework-cinematic", marker = "platform_release >= '23.0'" },
     { name = "pyobjc-framework-classkit", marker = "platform_release >= '20.0'" },
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+    { name = "pyobjc-framework-cocoa" },
     { name = "pyobjc-framework-collaboration", marker = "platform_release >= '9.0'" },
     { name = "pyobjc-framework-colorsync", marker = "platform_release >= '17.0'" },
     { name = "pyobjc-framework-contacts", marker = "platform_release >= '15.0'" },
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+    { name = "pyobjc-framework-coreaudio" },
+    { name = "pyobjc-framework-coreaudiokit" },
     { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-coredata", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-coredata" },
     { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0'" },
     { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0'" },
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+    { name = "pyobjc-framework-coremidi" },
     { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0'" },
     { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0'" },
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+    { name = "pyobjc-framework-coreservices" },
     { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-coretext", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-coretext" },
     { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0'" },
     { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0'" },
     { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0'" },
     { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0'" },
     { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0'" },
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-    { name = "pyobjc-framework-discrecordingui", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyobjc-framework-diskarbitration", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyobjc-framework-dvdplayback", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-discrecording" },
+    { name = "pyobjc-framework-discrecordingui" },
+    { name = "pyobjc-framework-diskarbitration" },
+    { name = "pyobjc-framework-dvdplayback" },
     { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-exceptionhandling", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyobjc-framework-exceptionhandling" },
     { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0'" },
     { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0'" },
     { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0'" },
@@ -1939,17 +1926,17 @@ dependencies = [
     { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0'" },
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@@ -4917,8 +4904,8 @@ name = "sentry-sdk"
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+    { name = "certifi" },
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 dependencies = [
-    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
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From 0907814b1b8f2516d55d125e556f6c8af4f80ee6 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 5 Aug 2024 10:35:58 -0700
Subject: [PATCH 0340/1243] [bot] Update Python packages (#33185)

pin numpy :(

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
old-commit-hash: 3b3ffb7b2b783dcdc23bcbae20b155378a96417a
---
 pyproject.toml |    2 +-
 uv.lock        | 1724 +++++++++++++++++++++++++-----------------------
 2 files changed, 897 insertions(+), 829 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index c53d277f11..9f5156cd40 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy",
+  "numpy < 2.0.0",
 
   # body / webrtcd
   "aiohttp",
diff --git a/uv.lock b/uv.lock
index 99147d8cbf..8e8ee8418d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,49 +1,64 @@
 version = 1
 requires-python = ">=3.11"
+environment-markers = [
+    "python_version == '3.11'",
+    "python_version >= '3.12'",
+    "python_version < '3.12' and (python_version < '3.11' or python_version > '3.11')",
+]
+
+[[distribution]]
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+version = "2.3.4"
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+    { name = "pyaudio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pycapnp", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pycryptodome", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyjwt", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyserial", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyzmq", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "scons", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "sentry-sdk", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "setuptools", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "sympy" },
-    { name = "tqdm" },
-    { name = "websocket-client" },
-    { name = "zstandard" },
+    { name = "sympy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "tqdm", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "websocket-client", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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 [distribution.optional-dependencies]
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-    { name = "azure-identity" },
-    { name = "azure-storage-blob" },
-    { name = "dictdiffer" },
-    { name = "flaky" },
-    { name = "inputs" },
-    { name = "lru-dict" },
-    { name = "matplotlib" },
+    { name = "av", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "azure-identity", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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+    { name = "matplotlib", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "parameterized" },
-    { name = "pyautogui" },
+    { name = "parameterized", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
-    { name = "pyprof2calltree" },
+    { name = "pyprof2calltree", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
-    { name = "pywinctl" },
-    { name = "rerun-sdk" },
-    { name = "tabulate" },
-    { name = "types-requests" },
-    { name = "types-tabulate" },
+    { name = "pywinctl", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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+    { name = "tabulate", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "types-requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "types-tabulate", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 docs = [
-    { name = "jinja2" },
-    { name = "mkdocs" },
-    { name = "natsort" },
+    { name = "jinja2", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "coverage" },
-    { name = "hypothesis" },
-    { name = "import-linter" },
-    { name = "mypy" },
-    { name = "pytest" },
-    { name = "pytest-asyncio" },
-    { name = "pytest-cov" },
-    { name = "pytest-cpp" },
-    { name = "pytest-mock" },
-    { name = "pytest-randomly" },
-    { name = "pytest-repeat" },
-    { name = "pytest-subtests" },
-    { name = "pytest-timeout" },
-    { name = "pytest-xdist" },
-    { name = "ruff" },
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+    { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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+    { name = "pytest-cpp", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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 ]
 
 [[distribution]]
@@ -1453,8 +1499,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
+    { name = "panda3d", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "panda3d-simplepbr", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1466,8 +1512,8 @@ name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
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 [[distribution]]
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 version = "17.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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-    { name = "pygetwindow" },
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     { name = "pyobjc-framework-quartz", marker = "platform_system == 'Darwin'" },
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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@@ -1785,7 +1831,7 @@ name = "pygetwindow"
 version = "0.0.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyrect" },
+    { name = "pyrect", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1800,16 +1846,16 @@ wheels = [
 
 [[distribution]]
 name = "pyjwt"
-version = "2.8.0"
+version = "2.9.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/30/72/8259b2bccfe4673330cea843ab23f86858a419d8f1493f66d413a76c7e3b/PyJWT-2.8.0.tar.gz", hash = "sha256:57e28d156e3d5c10088e0c68abb90bfac3df82b40a71bd0daa20c65ccd5c23de", size = 78313 }
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+    { url = "https://files.pythonhosted.org/packages/79/84/0fdf9b18ba31d69877bd39c9cd6052b47f3761e9910c15de788e519f079f/PyJWT-2.9.0-py3-none-any.whl", hash = "sha256:3b02fb0f44517787776cf48f2ae25d8e14f300e6d7545a4315cee571a415e850", size = 22344 },
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 [distribution.optional-dependencies]
 crypto = [
-    { name = "cryptography" },
+    { name = "cryptography", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1817,7 +1863,7 @@ name = "pylibsrtp"
 version = "0.10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cffi" },
+    { name = "cffi", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1839,7 +1885,7 @@ dependencies = [
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     { name = "python-xlib", marker = "sys_platform == 'linux'" },
     { name = "pywin32", marker = "sys_platform == 'win32'" },
-    { name = "typing-extensions" },
+    { name = "typing-extensions", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1856,20 +1902,20 @@ name = "pyobjc"
 version = "10.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
+    { name = "pyobjc-core", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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     { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-addressbook" },
+    { name = "pyobjc-framework-addressbook", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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     { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-applescriptkit" },
+    { name = "pyobjc-framework-applescriptkit", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-applicationservices" },
+    { name = "pyobjc-framework-applicationservices", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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     { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automator" },
+    { name = "pyobjc-framework-automator", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1878,40 +1924,40 @@ dependencies = [
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     { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-cfnetwork" },
+    { name = "pyobjc-framework-cfnetwork", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-cocoa" },
+    { name = "pyobjc-framework-cocoa", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-coreaudio" },
-    { name = "pyobjc-framework-coreaudiokit" },
+    { name = "pyobjc-framework-coreaudio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyobjc-framework-coreaudiokit", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-coredata" },
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     { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-coremidi" },
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-    { name = "pyobjc-framework-coreservices" },
+    { name = "pyobjc-framework-coreservices", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-coretext" },
+    { name = "pyobjc-framework-coretext", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-discrecording" },
-    { name = "pyobjc-framework-discrecordingui" },
-    { name = "pyobjc-framework-diskarbitration" },
-    { name = "pyobjc-framework-dvdplayback" },
+    { name = "pyobjc-framework-discrecording", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyobjc-framework-discrecordingui", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyobjc-framework-diskarbitration", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyobjc-framework-dvdplayback", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-exceptionhandling" },
+    { name = "pyobjc-framework-exceptionhandling", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1926,17 +1972,17 @@ dependencies = [
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     { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0'" },
     { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-installerplugins" },
+    { name = "pyobjc-framework-installerplugins", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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     { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-iobluetooth" },
-    { name = "pyobjc-framework-iobluetoothui" },
+    { name = "pyobjc-framework-iobluetooth", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyobjc-framework-iobluetoothui", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-latentsemanticmapping" },
-    { name = "pyobjc-framework-launchservices" },
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+    { name = "pyobjc-framework-launchservices", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1963,30 +2009,30 @@ dependencies = [
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     { name = "pyobjc-framework-opendirectory", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-osakit" },
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     { name = "pyobjc-framework-photosui", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-preferencepanes" },
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     { name = "pyobjc-framework-pushkit", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-quartz" },
+    { name = "pyobjc-framework-quartz", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "pyobjc-framework-screensaver" },
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-    { name = "pyobjc-framework-security" },
-    { name = "pyobjc-framework-securityfoundation" },
-    { name = "pyobjc-framework-securityinterface" },
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+    { name = "pyobjc-framework-securityfoundation", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -1998,8 +2044,8 @@ dependencies = [
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-    { name = "pyobjc-framework-syncservices" },
-    { name = "pyobjc-framework-systemconfiguration" },
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+    { name = "pyobjc-framework-systemconfiguration", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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     { name = "pyobjc-framework-uniformtypeidentifiers", marker = "platform_release >= '20.0'" },
@@ -2009,7 +2055,7 @@ dependencies = [
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     { name = "pyobjc-framework-vision", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-webkit" },
+    { name = "pyobjc-framework-webkit", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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@@ -2032,9 +2078,9 @@ name = "pyobjc-framework-accessibility"
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 dependencies = [
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-    { name = "pyobjc-framework-cocoa" },
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@@ -2049,8 +2095,8 @@ name = "pyobjc-framework-accounts"
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@@ -5140,9 +5208,9 @@ name = "yapf"
 version = "0.40.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "importlib-metadata" },
-    { name = "platformdirs" },
-    { name = "tomli" },
+    { name = "importlib-metadata", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "platformdirs", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "tomli", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b9/14/c1f0ebd083fddd38a7c832d5ffde343150bd465689d12c549c303fbcd0f5/yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b", size = 252068 }
 wheels = [
@@ -5154,8 +5222,8 @@ name = "yarl"
 version = "1.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "idna" },
-    { name = "multidict" },
+    { name = "idna", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "multidict", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/e0/ad/bedcdccbcbf91363fd425a948994f3340924145c2bc8ccb296f4a1e52c28/yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf", size = 141869 }
 wheels = [

From 8bf177ece019f92b5236037b16d178ccec90cb24 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 5 Aug 2024 12:18:28 -0700
Subject: [PATCH 0341/1243] [bot] Bump submodules (#33184)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 4706d9e2d1fbd458b88aa0103bbd8dc4a4e31125
---
 msgq_repo    | 2 +-
 opendbc_repo | 2 +-
 panda        | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index d7b99c4296..23cb05a80d 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit d7b99c4296f7a5c098e756bad73af8ef38370261
+Subproject commit 23cb05a80dec50a52f2e0fa7f7870ae920b3f2e8
diff --git a/opendbc_repo b/opendbc_repo
index a40652d341..1e9f853615 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a40652d341ea3161a6a10001fa74284d9d650f8c
+Subproject commit 1e9f8536151818f08af2ddd478f577f8461af31d
diff --git a/panda b/panda
index daa739efb7..3c1def1cc5 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit daa739efb76e2908bf1b2ee064be9034a8e299c3
+Subproject commit 3c1def1cc57f3fb37399a25d0e8088c70985c5ec

From cfc2cda37ca3b9ec23c1766f4e5b8a4c758f6776 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 12:31:31 -0700
Subject: [PATCH 0342/1243] separate car logger forwarded to cloudlog (#33170)

* car logger

* try this

* fix double printing!

* clean up

* need to import where we actually use it (card won't be in submodule)

* NullHandler does not forward everything properly, need propagate=False to stop root logger from printing

* card is staying

* set up

* forward
old-commit-hash: 12a7b7f7fb1d3a275314b0232795942a7ff3b955
---
 .importlinter                              | 10 ++++------
 common/swaglog.py                          |  9 +++++++++
 selfdrive/car/__init__.py                  |  6 ++++++
 selfdrive/car/car_helpers.py               | 18 +++++++++---------
 selfdrive/car/card.py                      |  6 +++++-
 selfdrive/car/disable_ecu.py               | 14 +++++++-------
 selfdrive/car/ecu_addrs.py                 |  7 +++----
 selfdrive/car/fw_versions.py               | 10 +++++-----
 selfdrive/car/isotp_parallel_query.py      | 20 ++++++++++----------
 selfdrive/car/tests/test_fw_fingerprint.py |  4 ++--
 selfdrive/car/vin.py                       |  8 ++++----
 11 files changed, 64 insertions(+), 48 deletions(-)

diff --git a/.importlinter b/.importlinter
index f77ea24b39..c979095b7f 100644
--- a/.importlinter
+++ b/.importlinter
@@ -18,6 +18,7 @@ forbidden_modules =
     openpilot.teleoprtc
     openpilot.tinygrad
 ignore_imports =
+    # remove these
     openpilot.selfdrive.car.card -> openpilot.common.realtime
     openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
@@ -26,16 +27,13 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
     openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
     openpilot.selfdrive.car.car_helpers -> openpilot.system.version
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+
+    # these are okay
+    openpilot.selfdrive.car.card -> openpilot.common.swaglog
 unmatched_ignore_imports_alerting = warn
diff --git a/common/swaglog.py b/common/swaglog.py
index ba81318234..d009f00e76 100644
--- a/common/swaglog.py
+++ b/common/swaglog.py
@@ -104,6 +104,15 @@ class UnixDomainSocketHandler(logging.Handler):
       pass
 
 
+class ForwardingHandler(logging.Handler):
+  def __init__(self, target_logger):
+    super().__init__()
+    self.target_logger = target_logger
+
+  def emit(self, record):
+    self.target_logger.handle(record)
+
+
 def add_file_handler(log):
   """
   Function to add the file log handler to swaglog.
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 28ec4ad187..0cdc6e9d8d 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,4 +1,5 @@
 # functions common among cars
+import logging
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
@@ -12,6 +13,11 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+# set up logging
+carlog = logging.getLogger('carlog')
+carlog.setLevel(logging.INFO)
+carlog.propagate = False
+
 DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 66097339b1..4fdcc1f90c 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -4,12 +4,12 @@ from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
+from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.system.version import get_build_metadata
@@ -127,12 +127,12 @@ def fingerprint(logcan, sendcan, num_pandas):
 
     if cached_params is not None and len(cached_params.carFw) > 0 and \
        cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
-      cloudlog.warning("Using cached CarParams")
+      carlog.warning("Using cached CarParams")
       vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
       car_fw = list(cached_params.carFw)
       cached = True
     else:
-      cloudlog.warning("Getting VIN & FW versions")
+      carlog.warning("Getting VIN & FW versions")
       # enable OBD multiplexing for VIN query
       # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
       set_obd_multiplexing(params, True)
@@ -149,9 +149,9 @@ def fingerprint(logcan, sendcan, num_pandas):
     cached = False
 
   if not is_valid_vin(vin):
-    cloudlog.event("Malformed VIN", vin=vin, error=True)
+    carlog.error({"event": "Malformed VIN", "vin": vin})
     vin = VIN_UNKNOWN
-  cloudlog.warning("VIN %s", vin)
+  carlog.warning("VIN %s", vin)
   params.put("CarVin", vin)
 
   # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
@@ -178,9 +178,9 @@ def fingerprint(logcan, sendcan, num_pandas):
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
-  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
-                 fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
+  carlog.error({"event": "fingerprinted", "car_fingerprint": car_fingerprint, "source": source, "fuzzy": not exact_match,
+                 "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
+                 "vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
 
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
@@ -194,7 +194,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
-    cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
+    carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
     candidate = "MOCK"
 
   CarInterface, _, _ = interfaces[candidate]
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 37f51b9aba..929d98fd9e 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -10,9 +10,10 @@ from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
@@ -21,6 +22,9 @@ REPLAY = "REPLAY" in os.environ
 
 EventName = car.CarEvent.EventName
 
+# forward
+carlog.addHandler(ForwardingHandler(cloudlog))
+
 
 class Car:
   CI: CarInterfaceBase
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 1f731f0344..5229b519a8 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
+from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.common.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
@@ -14,26 +14,26 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=
 
   This is used to disable the radar in some cars. Openpilot will emulate the radar.
   WARNING: THIS DISABLES AEB!"""
-  cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
+  carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
 
   for i in range(retry):
     try:
       query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
 
       for _, _ in query.get_data(timeout).items():
-        cloudlog.warning("communication control disable tx/rx ...")
+        carlog.warning("communication control disable tx/rx ...")
 
         query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
         query.get_data(0)
 
-        cloudlog.warning("ecu disabled")
+        carlog.warning("ecu disabled")
         return True
 
     except Exception:
-      cloudlog.exception("ecu disable exception")
+      carlog.exception("ecu disable exception")
 
-    cloudlog.error(f"ecu disable retry ({i + 1}) ...")
-  cloudlog.error("ecu disable failed")
+    carlog.error(f"ecu disable retry ({i + 1}) ...")
+  carlog.error("ecu disable failed")
   return False
 
 
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 0ff827593e..2c79a4f633 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -4,10 +4,9 @@ import time
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_tester_present_msg
+from openpilot.selfdrive.car import make_tester_present_msg, carlog
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.common.swaglog import cloudlog
 
 
 def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
@@ -45,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
       for packet in can_packets:
         for msg in packet.can:
           if not len(msg.dat):
-            cloudlog.warning("ECU addr scan: skipping empty remote frame")
+            carlog.warning("ECU addr scan: skipping empty remote frame")
             continue
 
           subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
@@ -56,7 +55,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
                 print(f"Duplicate ECU address: {hex(msg.address)}")
             ecu_responses.add((msg.address, subaddr, msg.src))
   except Exception:
-    cloudlog.exception("ECU addr scan exception")
+    carlog.exception("ECU addr scan exception")
   return ecu_responses
 
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 4bb6413d01..317c5ca1f9 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -9,7 +9,7 @@ import capnp
 import panda.python.uds as uds
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
@@ -97,7 +97,7 @@ def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = N
   # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
   if match and len(matched_ecus) >= 2:
     if log:
-      cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
+      carlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
     return {match}
   else:
     return set()
@@ -230,11 +230,11 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
 
 def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
   if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
-    cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
+    carlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
     params.remove("ObdMultiplexingChanged")
     params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
     params.get_bool("ObdMultiplexingChanged", block=True)
-    cloudlog.warning("OBD multiplexing set successfully")
+    carlog.warning("OBD multiplexing set successfully")
 
 
 def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
@@ -331,7 +331,7 @@ def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVe
 
               car_fw.append(f)
         except Exception:
-          cloudlog.exception("FW query exception")
+          carlog.exception("FW query exception")
 
   return car_fw
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index b5158f2126..c5f74a8156 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -3,9 +3,9 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
@@ -109,7 +109,7 @@ class IsoTpParallelQuery:
         try:
           dat, rx_in_progress = msg.recv()
         except Exception:
-          cloudlog.exception(f"Error processing UDS response: {tx_addr}")
+          carlog.exception(f"Error processing UDS response: {tx_addr}")
           request_done[tx_addr] = True
           continue
 
@@ -123,7 +123,7 @@ class IsoTpParallelQuery:
 
         # Log unexpected empty responses
         if len(dat) == 0:
-          cloudlog.error(f"iso-tp query empty response: {tx_addr}")
+          carlog.error(f"iso-tp query empty response: {tx_addr}")
           request_done[tx_addr] = True
           continue
 
@@ -143,10 +143,10 @@ class IsoTpParallelQuery:
           error_code = dat[2] if len(dat) > 2 else -1
           if error_code == 0x78:
             response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
-            cloudlog.error(f"iso-tp query response pending: {tx_addr}")
+            carlog.error(f"iso-tp query response pending: {tx_addr}")
           else:
             request_done[tx_addr] = True
-            cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
+            carlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
       # Mark request done if address timed out
       cur_time = time.monotonic()
@@ -154,12 +154,12 @@ class IsoTpParallelQuery:
         if cur_time - response_timeouts[tx_addr] > 0:
           if not request_done[tx_addr]:
             if request_counter[tx_addr] > 0:
-              cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
+              carlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
             elif tx_addr in addrs_responded:
-              cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
+              carlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
             # TODO: handle functional addresses
             # else:
-            #   cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
+            #   carlog.error(f"iso-tp query timeout with no response: {tx_addr}")
           request_done[tx_addr] = True
 
       # Break if all requests are done (finished or timed out)
@@ -167,7 +167,7 @@ class IsoTpParallelQuery:
         break
 
       if cur_time - start_time > total_timeout:
-        cloudlog.error("iso-tp query timeout while receiving data")
+        carlog.error("iso-tp query timeout while receiving data")
         break
 
     return results
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index f6f6ed86d7..02e13d3ab9 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -322,11 +322,11 @@ class TestFwFingerprintTiming:
     # TODO: replace this with full fingerprint simulation testing
     # https://github.com/commaai/panda/pull/1329
 
-    def fake_cloudlog_exception(*args, **kwargs):
+    def fake_carlog_exception(*args, **kwargs):
       raise
 
     mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
-    mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception)
+    mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
     fake_socket = FakeSocket()
     for brand in FW_QUERY_CONFIGS.keys():
       with subtests.test(brand=brand):
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index e8c9c58042..d662f9a7de 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -3,9 +3,9 @@ import re
 
 import cereal.messaging as messaging
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
+from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
-from openpilot.common.swaglog import cloudlog
 
 VIN_UNKNOWN = "0" * 17
 VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
@@ -50,12 +50,12 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
               if vin.startswith(b'\x11'):
                 vin = vin[1:18]
 
-              cloudlog.error(f"got vin with {request=}")
+              carlog.error(f"got vin with {request=}")
               return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
         except Exception:
-          cloudlog.exception("VIN query exception")
+          carlog.exception("VIN query exception")
 
-    cloudlog.error(f"vin query retry ({i+1}) ...")
+    carlog.error(f"vin query retry ({i+1}) ...")
 
   return -1, -1, VIN_UNKNOWN
 

From 550178261a5e902a29d7053e456c3486be5d73e2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 13:29:14 -0700
Subject: [PATCH 0343/1243] [bot] Fingerprints: add missing FW versions from
 new users (#33191)

Export fingerprints
old-commit-hash: 7a7200cbdadba2c33d9c561a90259e7f458bfc1b
---
 selfdrive/car/chrysler/fingerprints.py | 5 +++++
 selfdrive/car/toyota/fingerprints.py   | 2 ++
 2 files changed, 7 insertions(+)

diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5198c661d7..1f453d8f50 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -491,6 +491,7 @@ FW_VERSIONS = {
       b'68273275AG',
       b'68273275AH',
       b'68312176AE',
+      b'68312176AF',
       b'68312176AG',
       b'68440789AC',
       b'68466110AA',
@@ -521,6 +522,7 @@ FW_VERSIONS = {
       b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
+      b'05036067AE ',
       b'05036193AA ',
       b'05149368AA ',
       b'05149374AA ',
@@ -529,6 +531,7 @@ FW_VERSIONS = {
       b'05149592AE ',
       b'05149599AE ',
       b'05149600AD ',
+      b'05149600AE ',
       b'05149605AE ',
       b'05149846AA ',
       b'05149848AA ',
@@ -542,6 +545,7 @@ FW_VERSIONS = {
       b'68378710AL ',
       b'68378742AI ',
       b'68378742AK ',
+      b'68378743AM ',
       b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
@@ -596,6 +600,7 @@ FW_VERSIONS = {
       b'68360085AL',
       b'68360086AH',
       b'68360086AK',
+      b'68360086AN',
       b'68384328AD',
       b'68384332AD',
       b'68445531AC',
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index a7ea14f203..292be96fc8 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -89,6 +89,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
@@ -1494,6 +1495,7 @@ FW_VERSIONS = {
       b'\x01896630EA3300\x00\x00\x00\x00',
       b'\x01896630EA3400\x00\x00\x00\x00',
       b'\x01896630EA4100\x00\x00\x00\x00',
+      b'\x01896630EA4200\x00\x00\x00\x00',
       b'\x01896630EA4300\x00\x00\x00\x00',
       b'\x01896630EA4400\x00\x00\x00\x00',
       b'\x01896630EA6300\x00\x00\x00\x00',

From 10af4af68fc2f15a4e3f0fffa8aef1b719da6f57 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 5 Aug 2024 14:07:57 -0700
Subject: [PATCH 0344/1243] setup.sh: metrics (#33175)

* save

* add sentry

* clean

* real sentry

* default

* true

* remote this
old-commit-hash: c7cf6f6568b3cf163fc0ffa9b1e01a5aaf87a913
---
 tools/op.sh    | 36 ++++++++++++++++++++++++++++++++----
 tools/setup.sh | 50 ++++++++++++++++++++++++++++++++++++++++++++++++--
 2 files changed, 80 insertions(+), 6 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 6ed97954a5..7dc2ac1377 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -25,6 +25,15 @@ function op_install() {
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
 }
 
+function loge() {
+  if [[ -f "$LOG_FILE" ]]; then
+    # error type
+    echo "$1" >> $LOG_FILE
+    # error log
+    echo "$2" >> $LOG_FILE
+  fi
+}
+
 function op_run_command() {
   CMD="$@"
   echo -e "${BOLD}Running:${NC} $CMD"
@@ -97,11 +106,13 @@ function op_check_os() {
           ;;
         * )
           echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
+          loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
           return 1
           ;;
       esac
     else
       echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
+      loge "ERROR_UNKNOWN_UBUNTU"
       return 1
     fi
 
@@ -109,6 +120,7 @@ function op_check_os() {
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
+    loge "ERROR_UNKNOWN_OS" "$OSTYPE"
     return 1
   fi
 }
@@ -120,11 +132,13 @@ function op_check_python() {
 
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
     echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
+    loge "ERROR_PYTHON_NOT_FOUND"
     return 1
   elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
     echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
+    loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
     return 1
   fi
 }
@@ -173,22 +187,35 @@ function op_setup() {
   echo "Installing dependencies..."
   st="$(date +%s)"
   if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+    SETUP_SCRIPT="tools/ubuntu_setup.sh"
   elif [[ "$OSTYPE" == "darwin"* ]]; then
-    op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
+    SETUP_SCRIPT="tools/mac_setup.sh"
+  fi
+  if ! op_run_command "$OPENPILOT_ROOT/$SETUP_SCRIPT"; then
+    echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
+    loge "ERROR_DEPENDENCIES_INSTALLATION"
+    return 1
   fi
   et="$(date +%s)"
   echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds.\n"
 
   echo "Getting git submodules..."
   st="$(date +%s)"
-  op_run_command git submodule update --filter=blob:none --jobs 4 --init --recursive
+  if ! op_run_command git submodule update --filter=blob:none --jobs 4 --init --recursive; then
+    echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
+    loge "ERROR_GIT_SUBMODULES"
+    return 1
+  fi
   et="$(date +%s)"
   echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds.\n"
 
   echo "Pulling git lfs files..."
   st="$(date +%s)"
-  op_run_command git lfs pull
+  if ! op_run_command git lfs pull; then
+    echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
+    loge "ERROR_GIT_LFS"
+    return 1
+  fi
   et="$(date +%s)"
   echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n"
 
@@ -307,6 +334,7 @@ function _op() {
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
     -v | --verbose )   shift 1; VERBOSE="1" ;;
+    -l | --log )       shift 1; LOG_FILE="$1" ; shift 1 ;;
   esac
 
   # parse Commands
diff --git a/tools/setup.sh b/tools/setup.sh
index b2b9563d30..24b5b2707f 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -34,6 +34,38 @@ cat << 'EOF'
 EOF
 }
 
+function sentry_send_event() {
+  SENTRY_KEY=dd0cba62ba0ac07ff9f388f8f1e6a7f4
+  SENTRY_URL=https://sentry.io/api/4507726145781760/store/
+
+  EVENT=$1
+  EVENT_TYPE=${2:-$EVENT}
+  EVENT_LOG=${3:-"NA"}
+
+  PLATFORM=$(uname -s)
+  ARCH=$(uname -m)
+  if [[ $PLATFORM == "Darwin" ]]; then
+    OS="macos"
+  elif [[ $PLATFORM == "Linux" ]]; then
+    OS="linux"
+  fi
+
+  if [[ $ARCH == armv8* ]] || [[ $ARCH == arm64* ]] || [[ $ARCH == aarch64* ]]; then
+    ARCH="aarch64"
+  elif [[ $ARCH == "x86_64" ]] || [[ $ARCH == i686* ]]; then
+    ARCH="x86"
+  fi
+
+  PYTHON_VERSION=$(echo $(python3 --version 2> /dev/null || echo "NA"))
+  BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
+  COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
+
+  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\" }  }" \
+    -H 'Content-Type: application/json' \
+    -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
+    $SENTRY_URL 2> /dev/null
+}
+
 function check_stdin() {
   if [ -t 0 ]; then
     INTERACTIVE=1
@@ -99,6 +131,7 @@ function check_git() {
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
     echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
+    sentry_send_event "SETUP_FAILURE" "ERROR_GIT_NOT_FOUND"
     return 1
   else
     echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
@@ -117,13 +150,27 @@ function git_clone() {
   fi
 
   echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
+  sentry_send_event "SETUP_FAILURE" "ERROR_GIT_CLONE"
   return 1
 }
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
   $OPENPILOT_ROOT/tools/op.sh install
-  $OPENPILOT_ROOT/tools/op.sh setup || (echo -e "\n[${RED}✗${NC}] failed to install openpilot!" && return 1)
+
+  LOG_FILE=$(mktemp)
+
+  if ! $OPENPILOT_ROOT/tools/op.sh --log $LOG_FILE setup; then
+    echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
+
+    ERROR_TYPE="$(cat "$LOG_FILE" | sed '1p;d')"
+    ERROR_LOG="$(cat "$LOG_FILE" | sed '2p;d')"
+    sentry_send_event "SETUP_FAILURE" "$ERROR_TYPE" "$ERROR_LOG" || true
+
+    return 1
+  else
+    sentry_send_event "SETUP_SUCCESS" || true
+  fi
 
   echo -e "\n----------------------------------------------------------------------"
   echo -e "[${GREEN}✔${NC}] openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}"
@@ -132,7 +179,6 @@ function install_with_op() {
 }
 
 show_motd
-
 check_stdin
 ask_dir
 check_dir

From df13b3663833af3c61bbb8818fbf9c652de56a66 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 5 Aug 2024 15:25:02 -0700
Subject: [PATCH 0345/1243] fix all codespell issues (#33194)

* bring back

* remove 2020 dictionary
old-commit-hash: 44c7144e1c5f5aa66596c8d240b64827148b960d
---
 pyproject.toml                           | 6 +++---
 selfdrive/car/ford/fordcan.py            | 4 ++--
 system/athena/tests/test_athenad.py      | 2 +-
 system/athena/tests/test_athenad_ping.py | 2 +-
 system/qcomgpsd/structs.py               | 4 ++--
 system/ubloxd/ublox_msg.cc               | 4 ++--
 tools/cabana/binaryview.cc               | 2 +-
 tools/replay/can_replay.py               | 6 +++---
 tools/replay/tests/test_replay.cc        | 2 +-
 9 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 9f5156cd40..18038a9bb3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -164,11 +164,11 @@ testpaths = [
 ]
 
 [tool.codespell]
-count = true
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
-builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable"
+builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 
 [tool.mypy]
 python_version = "3.11"
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 46d09ec22d..5bb3d0570f 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -38,7 +38,7 @@ def create_lka_msg(packer, CAN: CanBus):
   """
   Creates an empty CAN message for the Ford LKA Command.
 
-  This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
+  This command can apply "Lane Keeping Aid" maneuvers, which are subject to the PSCM lockout.
 
   Frequency is 33Hz.
   """
@@ -51,7 +51,7 @@ def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float
   """
   Creates a CAN message for the Ford TJA/LCA Command.
 
-  This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway
+  This command can apply "Lane Centering" maneuvers: continuous lane centering for traffic jam assist and highway
   driving. It is not subject to the PSCM lockout.
 
   Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 413255b587..a4dcbef67a 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -342,7 +342,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item1)
     athenad.upload_queue.put_nowait(item2)
 
-    # Ensure cancelled items are not persisted
+    # Ensure canceled items are not persisted
     athenad.cancelled_uploads.add(item2.id)
 
     # serialize item
diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py
index 73fe7783af..025df7d614 100644
--- a/system/athena/tests/test_athenad_ping.py
+++ b/system/athena/tests/test_athenad_ping.py
@@ -65,7 +65,7 @@ class TestAthenadPing:
     mock_create_connection.assert_called_once()
     mock_create_connection.reset_mock()
 
-    # check normal behaviour, server pings on connection
+    # check normal behavior, server pings on connection
     with subtests.test("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
       while not self._received_ping():
         time.sleep(0.1)
diff --git a/system/qcomgpsd/structs.py b/system/qcomgpsd/structs.py
index bde4e0049c..f97704bbee 100644
--- a/system/qcomgpsd/structs.py
+++ b/system/qcomgpsd/structs.py
@@ -192,8 +192,8 @@ gps_measurement_report_sv = """
   int16_t latency;                            // Age of the measurement in msecs (+ve meas Meas precedes ref time)
   uint8_t predetect_interval;                 // Pre-Detection (Coherent) Interval (msecs)
   uint16_t postdetections;                    // Num Post-Detections (uints of PreInts
-  uint32_t unfiltered_measurement_integral;   // Range of 0 thru (WEEK_MSECS-1) [msecs]
-  float unfiltered_measurement_fraction;      // Range of 0 thru 0.99999 [msecs]
+  uint32_t unfiltered_measurement_integral;   // Range of 0 through (WEEK_MSECS-1) [msecs]
+  float unfiltered_measurement_fraction;      // Range of 0 through 0.99999 [msecs]
   float unfiltered_time_uncertainty;          // Time uncertainty (msec)
   float unfiltered_speed;                     // Speed estimate (meters/sec)
   float unfiltered_speed_uncertainty;         // Speed uncertainty estimate (meters/sec)
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index 26b33a1e32..16b8766cf0 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -174,7 +174,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
 
     int subframe_id = subframe.how()->subframe_id();
     if (subframe_id > 3 || subframe_id < 1) {
-      // dont parse almanac subframes
+      // don't parse almanac subframes
       return kj::Array<capnp::word>();
     }
     gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
@@ -286,7 +286,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
     glonass_t gl_string(&stream);
     int string_number = gl_string.string_number();
     if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) {
-      // dont parse non immediate data, idle_chip == 0
+      // don't parse non immediate data, idle_chip == 0
       return kj::Array<capnp::word>();
     }
 
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index c72ebf9d35..2950a67ff2 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -436,7 +436,7 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
   auto item = (const BinaryViewModel::Item *)index.internalPointer();
   QColor color = sig->color;
   color.setAlpha(item->bg_color.alpha());
-  // Mixing the signal colour with the Base background color to fade it
+  // Mixing the signal color with the Base background color to fade it
   painter->fillRect(rc, option.palette.color(QPalette::Base));
   painter->fillRect(rc, color);
 
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 9b76edde10..ff27b50067 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -44,10 +44,10 @@ def send_thread(j: PandaJungle, flock):
       i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
       j.set_ignition(i)
 
-    snd = CAN_MSGS[rk.frame % len(CAN_MSGS)]
-    snd = list(filter(lambda x: x[-1] <= 2, snd))
+    send = CAN_MSGS[rk.frame % len(CAN_MSGS)]
+    send = list(filter(lambda x: x[-1] <= 2, send))
     try:
-      j.can_send_many(snd)
+      j.can_send_many(send)
     except usb1.USBErrorTimeout:
       # timeout is fine, just means the CAN TX buffer is full
       pass
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 6c005f1bd4..3e5bfdf984 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -163,7 +163,7 @@ TEST_CASE("seek_to") {
   Replay replay(DEMO_ROUTE, {}, {}, nullptr, REPLAY_FLAG_NO_VIPC);
 
   QObject::connect(&replay, &Replay::seekedTo, [&](double sec) {
-    INFO("seek to " << seek_to << "s seeked to" << sec);
+    INFO("seek to " << seek_to << "s sought to" << sec);
     REQUIRE(sec >= seek_to);
     loop.quit();
   });

From fc469e5f80dcfdc06758adc12ed68ecb45f4ce5f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 5 Aug 2024 16:42:22 -0700
Subject: [PATCH 0346/1243] Revert "Remove `setproctitle` (#32716)" (#33195)

* Revert "Remove `setproctitle` (#32716)"

This reverts commit 9020d1931f4cd72f8162e4402278bdf76e3746f2.

* uv lock

* old name
old-commit-hash: 29b58d4f2fcc982d5c06ed8391e368b1b293a96c
---
 common/realtime.py              |  6 ++---
 common/tests/test_threadname.py |  8 -------
 common/threadname.py            | 19 ----------------
 pyproject.toml                  |  1 +
 scripts/waste.py                |  4 ++--
 selfdrive/modeld/modeld.py      | 12 +++++-----
 selfdrive/test/test_onroad.py   | 31 +++++++++++++-------------
 system/manager/process.py       |  4 ++--
 uv.lock                         | 39 +++++++++++++++++++++++++++++----
 9 files changed, 65 insertions(+), 59 deletions(-)
 delete mode 100644 common/tests/test_threadname.py
 delete mode 100644 common/threadname.py

diff --git a/common/realtime.py b/common/realtime.py
index e7265406ac..dd97ea3d78 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -4,7 +4,7 @@ import os
 import time
 from collections import deque
 
-from openpilot.common.threadname import getthreadname
+from setproctitle import getproctitle
 
 from openpilot.system.hardware import PC
 
@@ -52,7 +52,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._thread_name = getthreadname()
+    self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -87,7 +87,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining
diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py
deleted file mode 100644
index 38e5e1d498..0000000000
--- a/common/tests/test_threadname.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from openpilot.common.threadname import setthreadname, getthreadname, LINUX
-
-class TestThreadName:
-  def test_set_get_threadname(self):
-    if LINUX:
-      name = 'TESTING'
-      setthreadname(name)
-      assert name == getthreadname()
diff --git a/common/threadname.py b/common/threadname.py
deleted file mode 100644
index 7c415721f4..0000000000
--- a/common/threadname.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import ctypes
-import os
-
-LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
-
-if LINUX:
-  libc = ctypes.CDLL('libc.so.6')
-
-def setthreadname(name: str) -> None:
-  if LINUX:
-    name = name[-15:] + '\0'
-    libc.prctl(15, str.encode(name), 0, 0, 0)
-
-def getthreadname() -> str:
-  if LINUX:
-    name = ctypes.create_string_buffer(16)
-    libc.prctl(16, name)
-    return name.value.decode('utf-8')
-  return ""
diff --git a/pyproject.toml b/pyproject.toml
index 18038a9bb3..24ec80e787 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -58,6 +58,7 @@ dependencies = [
   # these should be removed
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
+  "setproctitle",
 
   # logreader
   "zstandard",
diff --git a/scripts/waste.py b/scripts/waste.py
index bf92710fee..0764ff77c3 100755
--- a/scripts/waste.py
+++ b/scripts/waste.py
@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 
 def waste(core):
   os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setthreadname("%3d: %8d" % (core, i))
+      setproctitle("%3d: %8d" % (core, i))
       lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index d2cc9d8fd7..f439578afd 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -6,7 +6,7 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
-THREAD_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 MODEL_PATHS = {
@@ -114,9 +114,9 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  sentry.set_tag("daemon", THREAD_NAME)
-  cloudlog.bind(daemon=THREAD_NAME)
-  setthreadname("modeld")
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
   cloudlog.warning("setting up CL context")
@@ -290,7 +290,7 @@ if __name__ == "__main__":
     args = parser.parse_args()
     main(demo=args.demo)
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
     raise
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 27feb344f2..5f9e725852 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -37,26 +37,26 @@ PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
   "selfdrive.car.card": 22.0,
-  "loggerd": 14.0,
-  "encoderd": 17.0,
-  "camerad": 14.5,
-  "locationd": 11.0,
+  "./loggerd": 14.0,
+  "./encoderd": 17.0,
+  "./camerad": 14.5,
+  "./locationd": 11.0,
   "selfdrive.controls.plannerd": 11.0,
-  "ui": 18.0,
+  "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
-  "sensord": 7.0,
+  "./sensord": 7.0,
   "selfdrive.controls.radard": 7.0,
-  "modeld": 13.0,
+  "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "proclogd": 1.54,
+  "./proclogd": 1.54,
   "system.logmessaged": 0.2,
   "system.tombstoned": 0,
-  "logcatd": 0,
+  "./logcatd": 0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
@@ -67,12 +67,12 @@ PROCS = {
 
 PROCS.update({
   "tici": {
-    "pandad": 4.0,
-    "ubloxd": 0.02,
+    "./pandad": 4.0,
+    "./ubloxd": 0.02,
     "system.ubloxd.pigeond": 6.0,
   },
   "tizi": {
-     "pandad": 19.0,
+     "./pandad": 19.0,
     "system.qcomgpsd.qcomgpsd": 1.0,
   }
 }.get(HARDWARE.get_device_type(), {}))
@@ -247,7 +247,8 @@ class TestOnroad:
     for pl in self.service_msgs['procLog']:
       for x in pl.procLog.procs:
         if len(x.cmdline) > 0:
-          plogs_by_proc[x.name].append(x)
+          n = list(x.cmdline)[0]
+          plogs_by_proc[n].append(x)
     print(plogs_by_proc.keys())
 
     cpu_ok = True
@@ -257,7 +258,7 @@ class TestOnroad:
       err = ""
       exp = "???"
       cpu_usage = 0.
-      x = plogs_by_proc[proc_name[-15:]]
+      x = plogs_by_proc[proc_name]
       if len(x) > 2:
         cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
         cpu_usage = cpu_time / dt * 100.
@@ -309,7 +310,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
 
   def test_camera_processing_time(self):
     result = "\n"
diff --git a/system/manager/process.py b/system/manager/process.py
index c78d263dcc..10c8f74f9d 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 
 from cereal import car, log
 import cereal.messaging as messaging
@@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
     mod = importlib.import_module(proc)
 
     # rename the process
-    setthreadname(proc)
+    setproctitle(proc)
 
     # create new context since we forked
     messaging.reset_context()
diff --git a/uv.lock b/uv.lock
index 8e8ee8418d..bca0895ebf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1173,8 +1173,7 @@ version = "1.30.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cryptography", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyjwt", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyjwt", extra = ["crypto"] },
+    { name = "pyjwt", extra = ["crypto"], marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/03/ce/45b9af8f43fbbf34d15162e1e39ce34b675c234c56638277cc05562b6dbf/msal-1.30.0.tar.gz", hash = "sha256:b4bf00850092e465157d814efa24a18f788284c9a479491024d62903085ea2fb", size = 142510 }
@@ -1370,7 +1369,7 @@ name = "opencv-python-headless"
 version = "4.10.0.84"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
 wheels = [
@@ -1410,6 +1409,7 @@ dependencies = [
     { name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "scons", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "sentry-sdk", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "setproctitle", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "setuptools", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "smbus2", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "sounddevice", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -4559,7 +4559,6 @@ version = "5.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "coverage", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "coverage" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/74/67/00efc8d11b630c56f15f4ad9c7f9223f1e5ec275aaae3fa9118c6a223ad2/pytest-cov-5.0.0.tar.gz", hash = "sha256:5837b58e9f6ebd335b0f8060eecce69b662415b16dc503883a02f45dfeb14857", size = 63042 }
@@ -4980,6 +4979,38 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/71/29/744921222eb1bfef7a7e16e71fc122f518b315fc57624828b90028dfa02e/sentry_sdk-2.12.0-py2.py3-none-any.whl", hash = "sha256:7a8d5163d2ba5c5f4464628c6b68f85e86972f7c636acc78aed45c61b98b7a5e", size = 301807 },
 ]
 
+[[distribution]]
+name = "setproctitle"
+version = "1.3.3"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ff/e1/b16b16a1aa12174349d15b73fd4b87e641a8ae3fb1163e80938dbbf6ae98/setproctitle-1.3.3.tar.gz", hash = "sha256:c913e151e7ea01567837ff037a23ca8740192880198b7fbb90b16d181607caae", size = 27253 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/c9/17/7f9d5ddf4cfc4386e74565ccf63b8381396336e4629bb165b52b803ceddb/setproctitle-1.3.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:334f7ed39895d692f753a443102dd5fed180c571eb6a48b2a5b7f5b3564908c8", size = 16948 },
+    { url = "https://files.pythonhosted.org/packages/ff/5d/77edf4c29c8d6728b49d3f0abb22159bb9c0c4ddebd721c09486b34985c8/setproctitle-1.3.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:950f6476d56ff7817a8fed4ab207727fc5260af83481b2a4b125f32844df513a", size = 11305 },
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+    { url = "https://files.pythonhosted.org/packages/db/31/4f0faad7ef641be4e8dfcbc40829775f2d6a4ca1ff435a4074047fa3dad1/setproctitle-1.3.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:287490eb90e7a0ddd22e74c89a92cc922389daa95babc833c08cf80c84c4df0a", size = 39384 },
+    { url = "https://files.pythonhosted.org/packages/22/17/8763dc4f9ddf36af5f043ceec213b0f9f45f09fd2d5061a89c699aabe8b0/setproctitle-1.3.3-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:4fe1c49486109f72d502f8be569972e27f385fe632bd8895f4730df3c87d5ac8", size = 42350 },
+    { url = "https://files.pythonhosted.org/packages/7b/b2/2403cecf2e5c5b4da22f7d9df4b2149bf92d03a3422185e682e81055549c/setproctitle-1.3.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4a6ba2494a6449b1f477bd3e67935c2b7b0274f2f6dcd0f7c6aceae10c6c6ba3", size = 40704 },
+    { url = "https://files.pythonhosted.org/packages/5e/c1/11e80061ac06aece2a0ffcaf018cdc088aebb2fc586f68201755518532ad/setproctitle-1.3.3-cp312-cp312-win32.whl", hash = "sha256:2df2b67e4b1d7498632e18c56722851ba4db5d6a0c91aaf0fd395111e51cdcf4", size = 11057 },
+    { url = "https://files.pythonhosted.org/packages/90/e8/ece468e93e99d3b2826e9649f6d03e80f071d451e20c742f201f77d1bea1/setproctitle-1.3.3-cp312-cp312-win_amd64.whl", hash = "sha256:f38d48abc121263f3b62943f84cbaede05749047e428409c2c199664feb6abc7", size = 11809 },
+]
+
 [[distribution]]
 name = "setuptools"
 version = "72.1.0"

From c45e72dd2f37e02f3ff1fe6117f3fd510640b431 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 17:27:28 -0700
Subject: [PATCH 0347/1243] remove more car import exceptions (#33193)

* remove another exception (remove mention of events from car stack)

* guess this should've been here all along

* reorganize exceptions

* fix
old-commit-hash: 06216d43bbd0926cfd89c91c43cfc0cf9247c324
---
 .importlinter                           | 10 ++++------
 selfdrive/car/car_helpers.py            | 20 --------------------
 selfdrive/car/ford/carcontroller.py     |  3 +--
 selfdrive/car/interfaces.py             |  2 +-
 selfdrive/controls/controlsd.py         |  4 ++--
 selfdrive/controls/lib/drive_helpers.py | 20 ++++++++++++++++++++
 6 files changed, 28 insertions(+), 31 deletions(-)

diff --git a/.importlinter b/.importlinter
index c979095b7f..e884230a76 100644
--- a/.importlinter
+++ b/.importlinter
@@ -19,21 +19,19 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+
+    # these are okay
+    openpilot.selfdrive.car.card -> openpilot.common.swaglog
     openpilot.selfdrive.car.card -> openpilot.common.realtime
     openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
     openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
-
-    # these are okay
-    openpilot.selfdrive.car.card -> openpilot.common.swaglog
 unmatched_ignore_imports_alerting = warn
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 4fdcc1f90c..38f994ecb7 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -12,29 +12,9 @@ from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_pre
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
-EventName = car.CarEvent.EventName
-
-
-def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
-
-  if not car_recognized:
-    if fw_seen:
-      event = EventName.startupNoCar
-    else:
-      event = EventName.startupNoFw
-  elif car_recognized and not controller_available:
-    event = EventName.startupNoControl
-  return event
-
 
 def get_one_can(logcan):
   while True:
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index d090adf694..b63b741ee7 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -4,11 +4,10 @@ from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.car.interfaces import CarControllerBase
+from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 2121f433b7..f8d71ad341 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -15,7 +15,6 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -24,6 +23,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
 
+V_CRUISE_MAX = 145
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 583cbaea1f..4dd60faa06 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -18,9 +18,9 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
+from openpilot.selfdrive.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_startup_event
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 4c111a4fd1..51758f8607 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -4,6 +4,9 @@ from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
+from openpilot.system.version import get_build_metadata
+
+EventName = car.CarEvent.EventName
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -157,3 +160,20 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
+
+
+def get_startup_event(car_recognized, controller_available, fw_seen):
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
+    event = EventName.startup
+  else:
+    event = EventName.startupMaster
+
+  if not car_recognized:
+    if fw_seen:
+      event = EventName.startupNoCar
+    else:
+      event = EventName.startupNoFw
+  elif car_recognized and not controller_available:
+    event = EventName.startupNoControl
+  return event

From 9e4a7484befc5b024c4be4a619ce2465e2ff0b8c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 21:27:43 -0700
Subject: [PATCH 0348/1243] remove unnecessary debugging function from
 car_helpers.py (#33199)

* format

* better better

* huh
old-commit-hash: 5c1e111d8a8476a2bddaeee29fcaca1c2c38f609
---
 selfdrive/car/car_helpers.py                  | 9 ++-------
 selfdrive/modeld/tests/test_modeld.py         | 5 +++--
 system/hardware/tici/tests/test_power_draw.py | 5 +++--
 3 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 38f994ecb7..832967b39f 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -159,8 +159,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   carlog.error({"event": "fingerprinted", "car_fingerprint": car_fingerprint, "source": source, "fuzzy": not exact_match,
-                 "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
-                 "vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
+                "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
+                "vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
 
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
@@ -186,11 +186,6 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
 
   return get_car_interface(CP), CP
 
-def write_car_param(platform=MOCK.MOCK):
-  params = Params()
-  CarInterface, _, _ = interfaces[platform]
-  CP = CarInterface.get_non_essential_params(platform)
-  params.put("CarParams", CP.to_bytes())
 
 def get_demo_car_params():
   platform = MOCK.MOCK
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 1e19a591bf..03c08fd034 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -3,9 +3,10 @@ import random
 
 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.car.car_helpers import write_car_param
+from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
@@ -22,7 +23,7 @@ class TestModeld:
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
-    write_car_param()
+    Params().put("CarParams", get_demo_car_params().to_bytes())
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 866f7d1188..aa297269d1 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -8,7 +8,8 @@ from tabulate import tabulate
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.mock import mock_messages
-from openpilot.selfdrive.car.car_helpers import write_car_param
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
@@ -41,7 +42,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    write_car_param()
+    Params().put("CarParams", get_demo_car_params().to_bytes())
 
     # wait a bit for power save to disable
     time.sleep(5)

From 3df0a1ebbf42336c1526806556c23783d7aef18b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 22:31:04 -0700
Subject: [PATCH 0349/1243] remove CarVin parameter

old-commit-hash: 87c6afccf71788ba58685f43d967290816d4dfbf
---
 common/params.cc             | 1 -
 selfdrive/car/car_helpers.py | 1 -
 2 files changed, 2 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 615dd55abd..9e30802820 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -104,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
     {"CarParamsPrevRoute", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 832967b39f..999bf2b5e5 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -132,7 +132,6 @@ def fingerprint(logcan, sendcan, num_pandas):
     carlog.error({"event": "Malformed VIN", "vin": vin})
     vin = VIN_UNKNOWN
   carlog.warning("VIN %s", vin)
-  params.put("CarVin", vin)
 
   # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
   set_obd_multiplexing(params, False)

From 6fc4328de4ed7d23b6cb176c4d475de6d792a2f9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 23:08:41 -0700
Subject: [PATCH 0350/1243] fix build

old-commit-hash: 04b636e3f224b9572eca1fcc0fe080c4545c74ab
---
 tools/cabana/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 911ac9324c..74dc4d9f50 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -39,4 +39,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")])
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc', "#cereal", "#msgq_repo", Glob("#opendbc/*.dbc")])

From a1c2971f135550884826350b15bf1779db99f830 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 5 Aug 2024 23:30:52 -0700
Subject: [PATCH 0351/1243] selfdrive/car: OBD callback (#33200)

* finish

* pass empty cb

* last fix!

* i keep messing this up

* even more coverage!

* not needed
old-commit-hash: 86aeb123bcdac9544db046a2db7e2974b5a687e1
---
 selfdrive/car/car_helpers.py                  | 16 ++++----
 selfdrive/car/card.py                         | 15 +++++++-
 selfdrive/car/ecu_addrs.py                    |  4 +-
 selfdrive/car/fw_versions.py                  | 37 ++++++++-----------
 selfdrive/car/tests/test_fw_fingerprint.py    | 14 +++----
 .../test/process_replay/process_replay.py     |  2 +-
 6 files changed, 45 insertions(+), 43 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 999bf2b5e5..9e2e44de62 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -8,7 +8,7 @@ from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
+from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
@@ -90,7 +90,7 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan, num_pandas):
+def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@@ -115,11 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas):
       carlog.warning("Getting VIN & FW versions")
       # enable OBD multiplexing for VIN query
       # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
-      set_obd_multiplexing(params, True)
+      set_obd_multiplexing(True)
       # VIN query only reliably works through OBDII
       vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan, set_obd_multiplexing, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
@@ -134,7 +134,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   carlog.warning("VIN %s", vin)
 
   # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
-  set_obd_multiplexing(params, False)
+  set_obd_multiplexing(False)
   params.put_bool("FirmwareQueryDone", True)
 
   fw_query_time = time.monotonic() - start_time
@@ -169,8 +169,8 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
+def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas)
 
   if candidate is None:
     carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 929d98fd9e..2aa5012dc2 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -26,6 +26,17 @@ EventName = car.CarEvent.EventName
 carlog.addHandler(ForwardingHandler(cloudlog))
 
 
+def obd_callback(params: Params):
+  def set_obd_multiplexing(obd_multiplexing: bool):
+    if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
+      cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
+      params.remove("ObdMultiplexingChanged")
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+      params.get_bool("ObdMultiplexingChanged", block=True)
+      cloudlog.warning("OBD multiplexing set successfully")
+  return set_obd_multiplexing
+
+
 class Car:
   CI: CarInterfaceBase
 
@@ -49,9 +60,9 @@ class Car:
       print("Waiting for CAN messages...")
       get_one_can(self.can_sock)
 
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 2c79a4f633..e36c1dc981 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -62,7 +62,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 if __name__ == "__main__":
   import argparse
   from openpilot.common.params import Params
-  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
+  from openpilot.selfdrive.car.card import obd_callback
 
   parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
   parser.add_argument('--debug', action='store_true')
@@ -81,7 +81,7 @@ if __name__ == "__main__":
   time.sleep(0.2)  # thread is 10 Hz
   params.put_bool("IsOnroad", True)
 
-  set_obd_multiplexing(params, not args.no_obd)
+  obd_callback(params)(not args.no_obd)
 
   print("Getting ECU addresses ...")
   ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 317c5ca1f9..ef9a1e24d4 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from collections.abc import Iterator
+from collections.abc import Callable, Iterator
 from typing import Any, Protocol, TypeVar
 
 from tqdm import tqdm
@@ -27,6 +27,7 @@ MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
 REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
 
 T = TypeVar('T')
+ObdCallback = Callable[[bool], None]
 
 
 def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
@@ -171,8 +172,7 @@ def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vi
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]:
-  params = Params()
+def get_present_ecus(logcan, sendcan, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
   # queries are split by OBD multiplexing mode
   queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
   parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
@@ -204,7 +204,7 @@ def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType
 
   ecu_responses = set()
   for obd_multiplexing in queries:
-    set_obd_multiplexing(params, obd_multiplexing)
+    set_obd_multiplexing(obd_multiplexing)
     for query in queries[obd_multiplexing]:
       ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
@@ -228,17 +228,8 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
   return brand_matches
 
 
-def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
-  if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
-    carlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
-    params.remove("ObdMultiplexingChanged")
-    params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
-    params.get_bool("ObdMultiplexingChanged", block=True)
-    carlog.warning("OBD multiplexing set successfully")
-
-
-def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
-                            debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1,
+                            num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -249,7 +240,7 @@ def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddr
     if not len(brand_matches[brand]):
       continue
 
-    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
+    car_fw = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
 
     # If there is a match using this brand's FW alone, finish querying early
@@ -260,10 +251,9 @@ def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddr
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1,
-                    debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions(logcan, sendcan, set_obd_multiplexing: ObdCallback, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1,
+                    num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
-  params = Params()
 
   if query_brand is not None:
     versions = {query_brand: versions[query_brand]}
@@ -305,7 +295,7 @@ def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVe
 
         # Toggle OBD multiplexing for each request
         if r.bus % 4 == 1:
-          set_obd_multiplexing(params, r.obd_multiplexing)
+          set_obd_multiplexing(r.obd_multiplexing)
 
         try:
           query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@@ -340,7 +330,9 @@ if __name__ == "__main__":
   import time
   import argparse
   import cereal.messaging as messaging
+  from openpilot.common.params import Params
   from openpilot.selfdrive.car.vin import get_vin
+  from openpilot.selfdrive.car.card import obd_callback
 
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
@@ -358,6 +350,7 @@ if __name__ == "__main__":
   params.put_bool("IsOnroad", False)
   time.sleep(0.2)  # thread is 10 Hz
   params.put_bool("IsOnroad", True)
+  set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None
   if args.scan:
@@ -373,14 +366,14 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  set_obd_multiplexing(params, True)
+  set_obd_multiplexing(True)
   vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 02e13d3ab9..f5283acb1f 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -9,7 +9,7 @@ from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
-                                                match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
+                                                match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_fw_versions_ordered, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
@@ -214,7 +214,7 @@ class TestFwFingerprintTiming:
   current_obd_multiplexing: bool
   total_time: float
 
-  def fake_set_obd_multiplexing(self, _, obd_multiplexing):
+  def fake_set_obd_multiplexing(self, obd_multiplexing):
     """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
     if obd_multiplexing != self.current_obd_multiplexing:
       self.current_obd_multiplexing = obd_multiplexing
@@ -227,14 +227,13 @@ class TestFwFingerprintTiming:
   def _benchmark_brand(self, brand, num_pandas, mocker):
     fake_socket = FakeSocket()
     self.total_time = 0
-    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
     mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
     for _ in range(self.N):
       # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
       self.current_obd_multiplexing = True
 
       t = time.perf_counter()
-      get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas)
+      get_fw_versions(fake_socket, fake_socket, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
       self.total_time += time.perf_counter() - t
 
     return self.total_time / self.N
@@ -254,11 +253,10 @@ class TestFwFingerprintTiming:
 
     fake_socket = FakeSocket()
     self.total_time = 0.0
-    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
     mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
     for _ in range(self.N):
       self.current_obd_multiplexing = True
-      get_present_ecus(fake_socket, fake_socket, num_pandas=2)
+      get_present_ecus(fake_socket, fake_socket, self.fake_set_obd_multiplexing, num_pandas=2)
     self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
     print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
 
@@ -325,9 +323,9 @@ class TestFwFingerprintTiming:
     def fake_carlog_exception(*args, **kwargs):
       raise
 
-    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
     mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
     fake_socket = FakeSocket()
+    get_fw_versions_ordered(fake_socket, fake_socket, lambda obd: None, '0' * 17, set())
     for brand in FW_QUERY_CONFIGS.keys():
       with subtests.test(brand=brand):
-        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1)
+        get_fw_versions(fake_socket, fake_socket, lambda obd: None, brand)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 1731bf2e1e..0c9f98e647 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -355,7 +355,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
+    _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"))
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

From 59b2f1f5113a0be5ec768a681467aa2f55adc6a1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 00:08:39 -0700
Subject: [PATCH 0352/1243] fingerprinted: log platform string

This does get safely converted to a string in the logs, but in the console it's the repr
old-commit-hash: d1140cc6440c9dba795743dd0f0b82915879fbb7
---
 selfdrive/car/car_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 9e2e44de62..4392a6853a 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -157,7 +157,7 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
-  carlog.error({"event": "fingerprinted", "car_fingerprint": car_fingerprint, "source": source, "fuzzy": not exact_match,
+  carlog.error({"event": "fingerprinted", "car_fingerprint": str(car_fingerprint), "source": source, "fuzzy": not exact_match,
                 "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
                 "vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
 

From 1a74993ee2365040529fc96b835c35a886b0757e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 00:10:53 -0700
Subject: [PATCH 0353/1243] selfdrive/car: ban params (#33198)

* ban params too with a callback

* all sorts of messed up

* use cloudlog

* consistent order

* order

* better type hint

* format

* this is a bit nicer

* hmm

* fix PLR1704

* no carvin

* fix process replay
old-commit-hash: 5a1596a32299d6f78d89c89469ab6893b8d5e083
---
 .importlinter                                   |  6 ++++++
 selfdrive/car/car_helpers.py                    | 15 ++++++---------
 selfdrive/car/card.py                           |  6 +++++-
 selfdrive/car/fw_versions.py                    |  1 -
 selfdrive/test/process_replay/process_replay.py |  5 +++--
 5 files changed, 20 insertions(+), 13 deletions(-)

diff --git a/.importlinter b/.importlinter
index e884230a76..3cd74f2b9b 100644
--- a/.importlinter
+++ b/.importlinter
@@ -8,6 +8,7 @@ type = forbidden
 source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
+    openpilot.common.params
     openpilot.system
     openpilot.body
     openpilot.docs
@@ -34,4 +35,9 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+    openpilot.selfdrive.car.card -> openpilot.common.params
+    openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
+    # these two will still live in openpilot, but require some modification
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
 unmatched_ignore_imports_alerting = warn
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 4392a6853a..72c2930f32 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -3,7 +3,6 @@ import time
 from collections.abc import Callable
 
 from cereal import car
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
@@ -90,18 +89,17 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
+def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params_raw):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
   ecu_rx_addrs = set()
-  params = Params()
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    cached_params = params.get("CarParamsCache")
-    if cached_params is not None:
-      with car.CarParams.from_bytes(cached_params) as cached_params:
+    cached_params = None
+    if cached_params_raw is not None:
+      with car.CarParams.from_bytes(cached_params_raw) as cached_params:
         if cached_params.carName == "mock":
           cached_params = None
 
@@ -135,7 +133,6 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
 
   # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
   set_obd_multiplexing(False)
-  params.put_bool("FirmwareQueryDone", True)
 
   fw_query_time = time.monotonic() - start_time
 
@@ -169,8 +166,8 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas)
+def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1, cached_params=None):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
     carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 2aa5012dc2..74801ccbeb 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -62,7 +62,11 @@ class Car:
 
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas)
+      cached_params = self.params.get("CarParamsCache")
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+
+      # continue onto next fingerprinting step in pandad
+      self.params.put_bool("FirmwareQueryDone", True)
     else:
       self.CI, self.CP = CI, CI.CP
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index ef9a1e24d4..87f5f3defd 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -8,7 +8,6 @@ import capnp
 
 import panda.python.uds as uds
 from cereal import car
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 0c9f98e647..4eef771155 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -348,14 +348,15 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     sendcan = DummySocket()
 
     canmsgs = [msg for msg in msgs if msg.which() == "can"]
-    has_cached_cp = params.get("CarParamsCache") is not None
+    cached_params = params.get("CarParamsCache")
+    has_cached_cp = cached_params is not None
     assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
     assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
             "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"))
+    _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

From c0f721180f96f527cc99a13cb85deba25480ec52 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 00:30:25 -0700
Subject: [PATCH 0354/1243] get_car: returns just CI (#33204)

just return CI
old-commit-hash: d00a53983089be6bed0e037474abfea823f2fc3e
---
 selfdrive/car/car_helpers.py                    | 2 +-
 selfdrive/car/card.py                           | 3 ++-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 72c2930f32..03351fdb98 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -180,7 +180,7 @@ def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, nu
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
 
-  return get_car_interface(CP), CP
+  return get_car_interface(CP)
 
 
 def get_demo_car_params():
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 74801ccbeb..e878a14c31 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -63,7 +63,8 @@ class Car:
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       cached_params = self.params.get("CarParamsCache")
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 4eef771155..609da3967a 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -356,7 +356,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
+    CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

From 41c9dd38eb6db41aa3572ce384817fdcf6807d32 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 6 Aug 2024 11:51:17 -0700
Subject: [PATCH 0355/1243] tici: update spinner and text

old-commit-hash: 33bf4bbb13ee7fbaebe8a4efe500b75ebdcf86f7
---
 selfdrive/ui/qt/spinner_larch64 | 4 ++--
 selfdrive/ui/qt/text_larch64    | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64
index 3d3011ed7f..74081a6925 100755
--- a/selfdrive/ui/qt/spinner_larch64
+++ b/selfdrive/ui/qt/spinner_larch64
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d00e4d5c404368a41500e910a95cceedd4d17e93565f9220075ed384c83d32af
-size 2807984
+oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4
+size 3821728
diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64
index b032104cb8..7d74f4d31c 100755
--- a/selfdrive/ui/qt/text_larch64
+++ b/selfdrive/ui/qt/text_larch64
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b112ca5c127163fa056bfa5d572700c31fcbe71bfd7ff0c89a62386a4aaa15cf
-size 2847888
+oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552
+size 3787480

From e9fdb9490d596d662f3b045ad6479c7bb2696f9c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 6 Aug 2024 12:58:17 -0700
Subject: [PATCH 0356/1243] macOS: remove devcontainer recommendation
 old-commit-hash: e9e2e97831e4281c34189574525aa99720936446

---
 tools/mac_setup.sh | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 3465747a50..062de6aabf 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -1,14 +1,6 @@
 #!/usr/bin/env bash
-
 set -e
 
-echo "---------------   macOS support   ---------------"
-echo "Running openpilot natively on macOS is still a work-in-progress."
-echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
-echo
-echo "Check out devcontainers for a seamless experience (see tools/README.md)."
-echo "-------------------------------------------------"
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)

From ce7c2488b5064d64248199e58995468e2d7671e5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 15:43:04 -0500
Subject: [PATCH 0357/1243] add back lint-imports (#33202)

add back
old-commit-hash: 3d02c0300145c956b7bde31af7eb5ef6654fff8c
---
 scripts/lint.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/scripts/lint.sh b/scripts/lint.sh
index 3cf548f2bb..3da79f62f4 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -8,3 +8,4 @@ cd $DIR/../
 # https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
 
 ruff check .
+lint-imports

From 83cbd93d3bbe7f8123972706fc93ed1894be510f Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Tue, 6 Aug 2024 17:22:25 -0400
Subject: [PATCH 0358/1243] tools/rerun: new image API for rerun 0.18 (#33186)

* change api for video

* install prerelease 0.18
old-commit-hash: 5909bcde62d0a007669098ad9f650cf67c09f174
---
 tools/install_python_dependencies.sh | 3 +++
 tools/rerun/run.py                   | 3 +--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 8d118525a5..2783f7282a 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -37,6 +37,9 @@ echo "installing python packages..."
 uv --no-cache sync --frozen --all-extras
 source .venv/bin/activate
 
+# TODO: remove this. Workaround till get a new release. PEP508 doesn't seem to have find-links option
+uv pip install --pre -f https://build.rerun.io/commit/a93faab/wheels --upgrade rerun-sdk
+
 echo "PYTHONPATH=${PWD}" > $ROOT/.env
 if [[ "$(uname)" == 'Darwin' ]]; then
   echo "# msgq doesn't work on mac" >> $ROOT/.env
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 955aa2707f..79055b6b7d 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -127,10 +127,9 @@ class Rerunner:
     rr.init(RR_WIN)
     rr.connect(default_blueprint=blueprint)
 
-    size_hint = (h, w)
     for ts, frame in fr:
       rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
-      rr.log(cam_type, rr.ImageEncoded(contents=frame,format=rr.ImageFormat.NV12(size_hint)))
+      rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
 
   def load_data(self):
     self._start_rerun()

From 2c49f6b20d10136a1bd4f610f859f27b9924dbff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 18:36:38 -0500
Subject: [PATCH 0359/1243] selfdrive/car: ban selfdrive/controls (#33211)

ban controls (VM isn't used anymore)
old-commit-hash: 6c837332ea9ae854caf4f7747d3ef84101cd93c6
---
 .importlinter                             | 1 +
 selfdrive/car/body/carcontroller.py       | 4 ++--
 selfdrive/car/chrysler/carcontroller.py   | 4 ++--
 selfdrive/car/ford/carcontroller.py       | 5 ++---
 selfdrive/car/gm/carcontroller.py         | 4 ++--
 selfdrive/car/honda/carcontroller.py      | 4 ++--
 selfdrive/car/hyundai/carcontroller.py    | 4 ++--
 selfdrive/car/interfaces.py               | 6 ++----
 selfdrive/car/mazda/carcontroller.py      | 4 ++--
 selfdrive/car/nissan/carcontroller.py     | 4 ++--
 selfdrive/car/subaru/carcontroller.py     | 4 ++--
 selfdrive/car/tesla/carcontroller.py      | 4 ++--
 selfdrive/car/toyota/carcontroller.py     | 4 ++--
 selfdrive/car/volkswagen/carcontroller.py | 4 ++--
 14 files changed, 27 insertions(+), 29 deletions(-)

diff --git a/.importlinter b/.importlinter
index 3cd74f2b9b..ef40c074f1 100644
--- a/.importlinter
+++ b/.importlinter
@@ -9,6 +9,7 @@ source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
     openpilot.common.params
+    openpilot.selfdrive.controls
     openpilot.system
     openpilot.body
     openpilot.docs
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0771d7a471..eebf6798a2 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -16,8 +16,8 @@ MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
 
     # PIDs
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index c0c03e0e05..c194488de9 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -6,8 +6,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
 
     self.hud_count = 0
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index b63b741ee7..9628dc651d 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -23,9 +23,8 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
-    self.VM = VM
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
     self.CAN = fordcan.CanBus(CP)
 
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index cac4f13ed5..cffaf4791d 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -18,8 +18,8 @@ MIN_STEER_MSG_INTERVAL_MS = 15
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 5748812648..86815ae9f5 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -104,8 +104,8 @@ def rate_limit_steer(new_steer, last_steer):
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 84b565f0cd..e6bc83283e 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -43,8 +43,8 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index f8d71ad341..fcdc3d77fe 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -16,7 +16,6 @@ from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -91,7 +90,6 @@ def get_torque_params():
 class CarInterfaceBase(ABC):
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
-    self.VM = VehicleModel(CP)
 
     self.frame = 0
     self.steering_unpressed = 0
@@ -109,7 +107,7 @@ class CarInterfaceBase(ABC):
     self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
 
     dbc_name = "" if self.cp is None else self.cp.dbc_name
-    self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
+    self.CC: CarControllerBase = CarController(dbc_name, CP)
 
   def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     return self.CC.update(c, self.CS, now_nanos)
@@ -466,7 +464,7 @@ class CarStateBase(ABC):
 
 
 class CarControllerBase(ABC):
-  def __init__(self, dbc_name: str, CP, VM):
+  def __init__(self, dbc_name: str, CP):
     self.CP = CP
     self.frame = 0
 
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 23441a3a78..910e2303d8 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 473282edfc..35a70ff106 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.car_fingerprint = CP.carFingerprint
 
     self.lkas_max_torque = 0
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 6ce006df8b..acabc2ca5a 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -12,8 +12,8 @@ MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
 
     self.cruise_button_prev = 0
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index 8ee2a2165e..32d83dfb68 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -7,8 +7,8 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index f844b7dc44..f33f8673ea 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -26,8 +26,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.params = CarControllerParams(self.CP)
     self.last_steer = 0
     self.last_angle = 0
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 228900b6e9..dda8de6cab 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -12,8 +12,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)

From 6376e4d6a6b7e03753889ee81801c924a7720953 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 16:37:44 -0700
Subject: [PATCH 0360/1243] add exception for body

old-commit-hash: 1c770c4ed7c9d752aadb032a25b150f104b0b404
---
 .importlinter | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.importlinter b/.importlinter
index ef40c074f1..2d82ad7f1a 100644
--- a/.importlinter
+++ b/.importlinter
@@ -22,6 +22,7 @@ forbidden_modules =
 ignore_imports =
     # remove these
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
 
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog

From caaddfa7b2d5a4fb8107b94524321596b68ef67f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 6 Aug 2024 16:43:57 -0700
Subject: [PATCH 0361/1243] docs: add #current-projects link old-commit-hash:
 ec9149c20e98adac0312331d7c71b9f091a370a1

---
 docs/contributing/roadmap.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 22622a7a96..ce50ad5577 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -5,6 +5,7 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
 * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
 * [Bounties](https://comma.ai/bounties) for paid individual issues
+* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
 ## openpilot 0.10
 

From 7b5d3dbbca6104e4d8b66e97d754e633167614e6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 6 Aug 2024 17:25:03 -0700
Subject: [PATCH 0362/1243] sensord: error -> warning for expected failures

old-commit-hash: 16c36b0d8b26d5589ac2378fabf8620a58fa4f9c
---
 system/sensord/sensors/bmx055_magn.cc | 2 +-
 system/sensord/sensors/i2c_sensor.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
index 3d0d3d2fc6..223f0337e8 100644
--- a/system/sensord/sensors/bmx055_magn.cc
+++ b/system/sensord/sensors/bmx055_magn.cc
@@ -78,7 +78,7 @@ int BMX055_Magn::init() {
   // suspend -> sleep
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
   if (ret < 0) {
-    LOGE("Enabling power failed: %d", ret);
+    LOGW("Enabling power failed: %d", ret);
     goto fail;
   }
   util::sleep_for(5); // wait until the chip is powered on
diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h
index ba100c3b01..6082510083 100644
--- a/system/sensord/sensors/i2c_sensor.h
+++ b/system/sensord/sensors/i2c_sensor.h
@@ -39,7 +39,7 @@ public:
     uint8_t chip_id = 0;
     int ret = read_register(address, &chip_id, 1);
     if (ret < 0) {
-      LOGE("Reading chip ID failed: %d", ret);
+      LOGW("Reading chip ID failed: %d", ret);
       return -1;
     }
     for (int i = 0; i < expected_ids.size(); ++i) {

From 7003776265d96e8735af6e9963c02f2cf2ed5725 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 7 Aug 2024 08:27:02 +0800
Subject: [PATCH 0363/1243] pandad: assemble capnp message using separate
 functions (#33189)

Assemble capnp message using separate functions
old-commit-hash: fb560e81ef8c0de16234f96831164d8b987eaf18
---
 selfdrive/pandad/pandad.cc | 112 +++++++++++++++++++------------------
 1 file changed, 59 insertions(+), 53 deletions(-)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3fc89569c1..d627d8e24e 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -228,6 +228,62 @@ void can_recv_thread(std::vector<Panda *> pandas) {
   }
 }
 
+void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
+  ps.setVoltage(health.voltage_pkt);
+  ps.setCurrent(health.current_pkt);
+  ps.setUptime(health.uptime_pkt);
+  ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
+  ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
+  ps.setIgnitionLine(health.ignition_line_pkt);
+  ps.setIgnitionCan(health.ignition_can_pkt);
+  ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
+  ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
+  ps.setPandaType(hw_type);
+  ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
+  ps.setSafetyParam(health.safety_param_pkt);
+  ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
+  ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
+  ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
+  ps.setAlternativeExperience(health.alternative_experience_pkt);
+  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
+  ps.setInterruptLoad(health.interrupt_load_pkt);
+  ps.setFanPower(health.fan_power);
+  ps.setFanStallCount(health.fan_stall_count);
+  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
+  ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
+  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+  ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
+}
+
+void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
+  cs.setBusOff((bool)can_health.bus_off);
+  cs.setBusOffCnt(can_health.bus_off_cnt);
+  cs.setErrorWarning((bool)can_health.error_warning);
+  cs.setErrorPassive((bool)can_health.error_passive);
+  cs.setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error));
+  cs.setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error));
+  cs.setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error));
+  cs.setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error));
+  cs.setReceiveErrorCnt(can_health.receive_error_cnt);
+  cs.setTransmitErrorCnt(can_health.transmit_error_cnt);
+  cs.setTotalErrorCnt(can_health.total_error_cnt);
+  cs.setTotalTxLostCnt(can_health.total_tx_lost_cnt);
+  cs.setTotalRxLostCnt(can_health.total_rx_lost_cnt);
+  cs.setTotalTxCnt(can_health.total_tx_cnt);
+  cs.setTotalRxCnt(can_health.total_rx_cnt);
+  cs.setTotalFwdCnt(can_health.total_fwd_cnt);
+  cs.setCanSpeed(can_health.can_speed);
+  cs.setCanDataSpeed(can_health.can_data_speed);
+  cs.setCanfdEnabled(can_health.canfd_enabled);
+  cs.setBrsEnabled(can_health.brs_enabled);
+  cs.setCanfdNonIso(can_health.canfd_non_iso);
+  cs.setIrq0CallRate(can_health.irq0_call_rate);
+  cs.setIrq1CallRate(can_health.irq1_call_rate);
+  cs.setIrq2CallRate(can_health.irq2_call_rate);
+  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
+}
+
 std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
@@ -305,61 +361,11 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     }
 
     auto ps = pss[i];
-    ps.setVoltage(health.voltage_pkt);
-    ps.setCurrent(health.current_pkt);
-    ps.setUptime(health.uptime_pkt);
-    ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
-    ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
-    ps.setIgnitionLine(health.ignition_line_pkt);
-    ps.setIgnitionCan(health.ignition_can_pkt);
-    ps.setControlsAllowed(health.controls_allowed_pkt);
-    ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
-    ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-    ps.setPandaType(panda->hw_type);
-    ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
-    ps.setSafetyParam(health.safety_param_pkt);
-    ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
-    ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
-    ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
-    ps.setAlternativeExperience(health.alternative_experience_pkt);
-    ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-    ps.setInterruptLoad(health.interrupt_load_pkt);
-    ps.setFanPower(health.fan_power);
-    ps.setFanStallCount(health.fan_stall_count);
-    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
-    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
-    ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
-    ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
-
-    std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
+    fill_panda_state(ps, panda->hw_type, health);
 
+    auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
     for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
-      const auto &can_health = pandaCanStates[i][j];
-      cs[j].setBusOff((bool)can_health.bus_off);
-      cs[j].setBusOffCnt(can_health.bus_off_cnt);
-      cs[j].setErrorWarning((bool)can_health.error_warning);
-      cs[j].setErrorPassive((bool)can_health.error_passive);
-      cs[j].setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error));
-      cs[j].setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error));
-      cs[j].setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error));
-      cs[j].setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error));
-      cs[j].setReceiveErrorCnt(can_health.receive_error_cnt);
-      cs[j].setTransmitErrorCnt(can_health.transmit_error_cnt);
-      cs[j].setTotalErrorCnt(can_health.total_error_cnt);
-      cs[j].setTotalTxLostCnt(can_health.total_tx_lost_cnt);
-      cs[j].setTotalRxLostCnt(can_health.total_rx_lost_cnt);
-      cs[j].setTotalTxCnt(can_health.total_tx_cnt);
-      cs[j].setTotalRxCnt(can_health.total_rx_cnt);
-      cs[j].setTotalFwdCnt(can_health.total_fwd_cnt);
-      cs[j].setCanSpeed(can_health.can_speed);
-      cs[j].setCanDataSpeed(can_health.can_data_speed);
-      cs[j].setCanfdEnabled(can_health.canfd_enabled);
-      cs[j].setBrsEnabled(can_health.brs_enabled);
-      cs[j].setCanfdNonIso(can_health.canfd_non_iso);
-      cs[j].setIrq0CallRate(can_health.irq0_call_rate);
-      cs[j].setIrq1CallRate(can_health.irq1_call_rate);
-      cs[j].setIrq2CallRate(can_health.irq2_call_rate);
-      cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
+      fill_panda_can_state(cs[j], pandaCanStates[i][j]);
     }
 
     // Convert faults bitset to capnp list

From 04b0871c45fe3010b6cee6472db1ca765115ed4a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 7 Aug 2024 11:04:17 +0800
Subject: [PATCH 0364/1243] pandad: refactor to consolidate threads, keep only
 one can_send thread (#32680)

* single thread

improve comment

* Keep can_send() running in a separate thread

* send send_peripheral_state in pandad_run

* new PandaSafety class
old-commit-hash: a4de8739e97b4d5d4b1f2fe2f6739ed90338dead
---
 selfdrive/pandad/SConscript      |   2 +-
 selfdrive/pandad/panda_safety.cc |  79 ++++++++++
 selfdrive/pandad/pandad.cc       | 240 ++++++++-----------------------
 selfdrive/pandad/pandad.h        |  19 ++-
 4 files changed, 160 insertions(+), 180 deletions(-)
 create mode 100644 selfdrive/pandad/panda_safety.cc

diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index dcc1f9811e..58777cafe9 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'envCython', 'common', 'messaging')
 libs = ['usb-1.0', common, messaging, 'pthread']
 panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
-env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
+env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
new file mode 100644
index 0000000000..1d0f72f223
--- /dev/null
+++ b/selfdrive/pandad/panda_safety.cc
@@ -0,0 +1,79 @@
+#include "selfdrive/pandad/pandad.h"
+#include "cereal/messaging/messaging.h"
+#include "common/swaglog.h"
+
+void PandaSafety::configureSafetyMode() {
+  bool is_onroad = params_.getBool("IsOnroad");
+
+  if (is_onroad && !safety_configured_) {
+    updateMultiplexingMode();
+
+    auto car_params = fetchCarParams();
+    if (!car_params.empty()) {
+      LOGW("got %lu bytes CarParams", car_params.size());
+      setSafetyMode(car_params);
+      safety_configured_ = true;
+    }
+  } else if (!is_onroad) {
+    initialized_ = false;
+    safety_configured_ = false;
+  }
+}
+
+void PandaSafety::updateMultiplexingMode() {
+  // Initialize to ELM327 without OBD multiplexing for initial fingerprinting
+  if (!initialized_) {
+    prev_obd_multiplexing_ = false;
+    for (int i = 0; i < pandas_.size(); ++i) {
+      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
+    }
+    initialized_ = true;
+  }
+
+  // Switch between multiplexing modes based on the OBD multiplexing request
+  bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
+  if (obd_multiplexing_requested != prev_obd_multiplexing_) {
+    for (int i = 0; i < pandas_.size(); ++i) {
+      const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
+      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+    }
+    prev_obd_multiplexing_ = obd_multiplexing_requested;
+    params_.putBool("ObdMultiplexingChanged", true);
+  }
+}
+
+std::string PandaSafety::fetchCarParams() {
+  if (!params_.getBool("FirmwareQueryDone")) {
+    return {};
+  }
+  LOGW("Finished FW query");
+
+  LOGW("Waiting for params to set safety model");
+  if (!params_.getBool("ControlsReady")) {
+    return {};
+  }
+  return params_.get("CarParams");
+}
+
+void PandaSafety::setSafetyMode(const std::string &params_string) {
+  AlignedBuffer aligned_buf;
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size()));
+  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
+
+  auto safety_configs = car_params.getSafetyConfigs();
+  uint16_t alternative_experience = car_params.getAlternativeExperience();
+
+  for (int i = 0; i < pandas_.size(); ++i) {
+    // Default to SILENT safety model if not specified
+    cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
+    uint16_t safety_param = 0U;
+    if (i < safety_configs.size()) {
+      safety_model = safety_configs[i].getSafetyModel();
+      safety_param = safety_configs[i].getSafetyParam();
+    }
+
+    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
+    pandas_[i]->set_alternative_experience(alternative_experience);
+    pandas_[i]->set_safety_model(safety_model, safety_param);
+  }
+}
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index d627d8e24e..71bbd20dad 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -2,18 +2,15 @@
 
 #include <algorithm>
 #include <array>
-#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
-#include <chrono>
-#include <future>
 #include <memory>
 #include <thread>
+#include <utility>
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
-#include "common/params.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
@@ -43,9 +40,6 @@
 #define MIN_IR_POWER 0.0f
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
-using namespace std::chrono_literals;
-
-std::atomic<bool> ignition(false);
 
 ExitHandler do_exit;
 
@@ -59,88 +53,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
-bool safety_setter_thread(std::vector<Panda *> pandas) {
-  LOGD("Starting safety setter thread");
-
-  Params p;
-
-  // there should be at least one panda connected
-  if (pandas.size() == 0) {
-    return false;
-  }
-
-  // initialize to ELM327 without OBD multiplexing for fingerprinting
-  bool obd_multiplexing_enabled = false;
-  for (int i = 0; i < pandas.size(); i++) {
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-  }
-
-  // openpilot can switch between multiplexing modes for different FW queries
-  while (true) {
-    if (do_exit || !check_all_connected(pandas) || !ignition) {
-      return false;
-    }
-
-    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
-    if (obd_multiplexing_requested != obd_multiplexing_enabled) {
-      for (int i = 0; i < pandas.size(); i++) {
-        const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
-        pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
-      }
-      obd_multiplexing_enabled = obd_multiplexing_requested;
-      p.putBool("ObdMultiplexingChanged", true);
-    }
-
-    if (p.getBool("FirmwareQueryDone")) {
-      LOGW("finished FW query");
-      break;
-    }
-    util::sleep_for(20);
-  }
-
-  std::string params;
-  LOGW("waiting for params to set safety model");
-  while (true) {
-    if (do_exit || !check_all_connected(pandas) || !ignition) {
-      return false;
-    }
-
-    if (p.getBool("ControlsReady")) {
-      params = p.get("CarParams");
-      if (params.size() > 0) break;
-    }
-    util::sleep_for(100);
-  }
-  LOGW("got %lu bytes CarParams", params.size());
-
-  AlignedBuffer aligned_buf;
-  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
-  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
-  cereal::CarParams::SafetyModel safety_model;
-  uint16_t safety_param;
-
-  auto safety_configs = car_params.getSafetyConfigs();
-  uint16_t alternative_experience = car_params.getAlternativeExperience();
-  for (uint32_t i = 0; i < pandas.size(); i++) {
-    auto panda = pandas[i];
-
-    if (safety_configs.size() > i) {
-      safety_model = safety_configs[i].getSafetyModel();
-      safety_param = safety_configs[i].getSafetyParam();
-    } else {
-      // If no safety mode is specified, default to silent
-      safety_model = cereal::CarParams::SafetyModel::SILENT;
-      safety_param = 0U;
-    }
-
-    LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
-    panda->set_alternative_experience(alternative_experience);
-    panda->set_safety_model(safety_model, safety_param);
-  }
-
-  return true;
-}
-
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
@@ -197,16 +109,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
   }
 }
 
-void can_recv_thread(std::vector<Panda *> pandas) {
-  util::set_thread_name("pandad_can_recv");
-
-  PubMaster pm({"can"});
-
-  // run at 100Hz
-  RateKeeper rk("pandad_can_recv", 100);
-  std::vector<can_frame> raw_can_data;
-
-  while (!do_exit && check_all_connected(pandas)) {
+void can_recv(std::vector<Panda *> &pandas, PubMaster *pm) {
+  static std::vector<can_frame> raw_can_data;
+  {
     bool comms_healthy = true;
     raw_can_data.clear();
     for (const auto& panda : pandas) {
@@ -217,14 +122,12 @@ void can_recv_thread(std::vector<Panda *> pandas) {
     auto evt = msg.initEvent();
     evt.setValid(comms_healthy);
     auto canData = evt.initCan(raw_can_data.size());
-    for (uint i = 0; i<raw_can_data.size(); i++) {
+    for (size_t i = 0; i < raw_can_data.size(); ++i) {
       canData[i].setAddress(raw_can_data[i].address);
       canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
       canData[i].setSrc(raw_can_data[i].src);
     }
-    pm.send("can", msg);
-
-    rk.keepTime();
+    pm->send("can", msg);
   }
 }
 
@@ -386,7 +289,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   return ignition_local;
 }
 
-void send_peripheral_state(PubMaster *pm, Panda *panda) {
+void send_peripheral_state(Panda *panda, PubMaster *pm) {
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
@@ -409,46 +312,23 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   pm->send("peripheralState", msg);
 }
 
-void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
-  util::set_thread_name("pandad_panda_state");
-
-  Params params;
-  SubMaster sm({"controlsState"});
-  PubMaster pm({"pandaStates", "peripheralState"});
-
-  Panda *peripheral_panda = pandas[0];
-  bool is_onroad = false;
-  bool is_onroad_last = false;
-  std::future<bool> safety_future;
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
+  static SubMaster sm({"controlsState"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
     connected_serials.push_back(p->hw_serial());
   }
 
-  LOGD("start panda state thread");
-
-  // run at 10hz
-  RateKeeper rk("panda_state_thread", 10);
-
-  while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState at 2Hz
-    if (sm.frame % 5 == 0) {
-      send_peripheral_state(&pm, peripheral_panda);
-    }
-
-    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
-
+  {
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
-      rk.keepTime();
-      continue;
+      return;
     }
 
-    ignition = *ignition_opt;
-
     // check if we should have pandad reconnect
-    if (!ignition) {
+    if (!ignition_opt.value()) {
       bool comms_healthy = true;
       for (const auto &panda : pandas) {
         comms_healthy &= panda->comms_healthy();
@@ -468,52 +348,28 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
           }
         }
       }
-
-      if (do_exit) {
-        break;
-      }
-    }
-
-    is_onroad = params.getBool("IsOnroad");
-
-    // set new safety on onroad transition, after params are cleared
-    if (is_onroad && !is_onroad_last) {
-      if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
-        safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
-      } else {
-        LOGW("Safety setter thread already running");
-      }
     }
 
-    is_onroad_last = is_onroad;
-
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
-
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged);
     }
-
-    rk.keepTime();
   }
 }
 
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+  static SubMaster sm({"deviceState", "driverCameraState"});
 
-void peripheral_control_thread(Panda *panda, bool no_fan_control) {
-  util::set_thread_name("pandad_peripheral_control");
-
-  SubMaster sm({"deviceState", "driverCameraState"});
-
-  uint64_t last_driver_camera_t = 0;
-  uint16_t prev_fan_speed = 999;
-  uint16_t ir_pwr = 0;
-  uint16_t prev_ir_pwr = 999;
+  static uint64_t last_driver_camera_t = 0;
+  static uint16_t prev_fan_speed = 999;
+  static uint16_t ir_pwr = 0;
+  static uint16_t prev_ir_pwr = 999;
 
-  FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
-
-  while (!do_exit && panda->connected()) {
-    sm.update(1000);
+  static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
+  {
+    sm.update(0);
     if (sm.updated("deviceState") && !no_fan_control) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
@@ -551,9 +407,46 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
   }
 }
 
-void pandad_main_thread(std::vector<std::string> serials) {
-  LOGW("launching pandad");
+void pandad_run(std::vector<Panda *> &pandas) {
+  const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr;
+  const bool spoofing_started = getenv("STARTED") != nullptr;
+  const bool fake_send = getenv("FAKESEND") != nullptr;
+
+  // Start the CAN send thread
+  std::thread send_thread(can_send_thread, pandas, fake_send);
+
+  RateKeeper rk("pandad", 100);
+  PubMaster pm({"can", "pandaStates", "peripheralState"});
+  PandaSafety panda_safety(pandas);
+  Panda *peripheral_panda = pandas[0];
+
+  // Main loop: receive CAN data and process states
+  while (!do_exit && check_all_connected(pandas)) {
+    can_recv(pandas, &pm);
+
+    // Process peripheral state at 20 Hz
+    if (rk.frame() % 5 == 0) {
+      process_peripheral_state(peripheral_panda, &pm, no_fan_control);
+    }
+
+    // Process panda state at 10 Hz
+    if (rk.frame() % 10 == 0) {
+      process_panda_state(pandas, &pm, spoofing_started);
+      panda_safety.configureSafetyMode();
+    }
+
+    // Send out peripheralState at 2Hz
+    if (rk.frame() % 50 == 0) {
+      send_peripheral_state(peripheral_panda, &pm);
+    }
+
+    rk.keepTime();
+  }
+
+  send_thread.join();
+}
 
+void pandad_main_thread(std::vector<std::string> serials) {
   if (serials.size() == 0) {
     serials = Panda::list();
 
@@ -585,16 +478,7 @@ void pandad_main_thread(std::vector<std::string> serials) {
 
   if (!do_exit) {
     LOGW("connected to all pandas");
-
-    std::vector<std::thread> threads;
-
-    threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
-    threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr);
-
-    threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
-    threads.emplace_back(can_recv_thread, pandas);
-
-    for (auto &t : threads) t.join();
+    pandad_run(pandas);
   }
 
   for (Panda *panda : pandas) {
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index 9d35949a8f..14d97551f4 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -3,7 +3,24 @@
 #include <string>
 #include <vector>
 
+#include "common/params.h"
 #include "selfdrive/pandad/panda.h"
 
-bool safety_setter_thread(std::vector<Panda *> pandas);
 void pandad_main_thread(std::vector<std::string> serials);
+
+class PandaSafety {
+public:
+  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
+  void configureSafetyMode();
+
+private:
+  void updateMultiplexingMode();
+  std::string fetchCarParams();
+  void setSafetyMode(const std::string &params_string);
+
+  bool initialized_ = false;
+  bool safety_configured_ = false;
+  bool prev_obd_multiplexing_ = false;
+  std::vector<Panda *> pandas_;
+  Params params_;
+};

From d8f56b30b51445ad3d78d8f3c383cf5a4607db6c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 22:45:11 -0500
Subject: [PATCH 0365/1243] selfdrive/car: ban common (#33210)

* ban all of common & copy numpy_fast

* add numpy_fast

* these are okay

* and ban controls

* better name

* Conversions

* do utils, kalman

* clean up

* sorting

* don't forget
old-commit-hash: 8d961a12e5b033855f2abf5d8bd9c51374f74c6e
---
 .importlinter                             | 15 +++++++++++----
 common/utils.py                           | 11 -----------
 selfdrive/car/__init__.py                 | 16 ++++++++++++++--
 selfdrive/car/chrysler/carstate.py        |  4 ++--
 selfdrive/car/conversions.py              | 19 +++++++++++++++++++
 selfdrive/car/docs_definitions.py         |  2 +-
 selfdrive/car/filter_simple.py            | 18 ++++++++++++++++++
 selfdrive/car/ford/carcontroller.py       |  2 +-
 selfdrive/car/ford/carstate.py            |  2 +-
 selfdrive/car/ford/interface.py           |  2 +-
 selfdrive/car/ford/radar_interface.py     |  2 +-
 selfdrive/car/gm/carcontroller.py         |  4 ++--
 selfdrive/car/gm/carstate.py              |  4 ++--
 selfdrive/car/gm/interface.py             |  2 +-
 selfdrive/car/gm/radar_interface.py       |  2 +-
 selfdrive/car/helpers.py                  | 22 ++++++++++++++++++++++
 selfdrive/car/honda/carcontroller.py      |  2 +-
 selfdrive/car/honda/carstate.py           |  4 ++--
 selfdrive/car/honda/hondacan.py           |  2 +-
 selfdrive/car/honda/interface.py          |  4 ++--
 selfdrive/car/honda/values.py             |  2 +-
 selfdrive/car/hyundai/carcontroller.py    |  4 ++--
 selfdrive/car/hyundai/carstate.py         |  2 +-
 selfdrive/car/hyundai/hyundaicanfd.py     |  2 +-
 selfdrive/car/hyundai/values.py           |  2 +-
 selfdrive/car/interfaces.py               |  4 ++--
 selfdrive/car/mazda/carstate.py           |  2 +-
 selfdrive/car/mazda/interface.py          |  4 ++--
 selfdrive/car/mazda/values.py             |  2 +-
 selfdrive/car/nissan/carstate.py          |  4 ++--
 selfdrive/car/subaru/carcontroller.py     |  2 +-
 selfdrive/car/subaru/carstate.py          |  4 ++--
 selfdrive/car/tesla/carcontroller.py      |  2 +-
 selfdrive/car/tesla/carstate.py           |  6 +++---
 selfdrive/car/tesla/teslacan.py           |  2 +-
 selfdrive/car/toyota/carcontroller.py     |  2 +-
 selfdrive/car/toyota/carstate.py          |  6 +++---
 selfdrive/car/toyota/values.py            |  5 ++---
 selfdrive/car/volkswagen/carcontroller.py |  4 ++--
 selfdrive/car/volkswagen/carstate.py      |  4 ++--
 selfdrive/car/volkswagen/values.py        |  2 +-
 41 files changed, 136 insertions(+), 70 deletions(-)
 delete mode 100644 common/utils.py
 create mode 100644 selfdrive/car/conversions.py
 create mode 100644 selfdrive/car/filter_simple.py
 create mode 100644 selfdrive/car/helpers.py

diff --git a/.importlinter b/.importlinter
index 2d82ad7f1a..1f31cb4d3c 100644
--- a/.importlinter
+++ b/.importlinter
@@ -8,7 +8,7 @@ type = forbidden
 source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
-    openpilot.common.params
+    openpilot.common
     openpilot.selfdrive.controls
     openpilot.system
     openpilot.body
@@ -23,6 +23,15 @@ ignore_imports =
     # remove these
     openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
+    openpilot.selfdrive.car.docs -> openpilot.common.basedir
+    # car interface will not filter the speed
+    openpilot.selfdrive.car.interfaces -> openpilot.common.simple_kalman
+    openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
+    openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
+    # these two will still live in openpilot, but require some modification
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
 
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog
@@ -39,7 +48,5 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
     openpilot.selfdrive.car.card -> openpilot.common.params
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
-    # these two will still live in openpilot, but require some modification
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
+    openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
 unmatched_ignore_imports_alerting = warn
diff --git a/common/utils.py b/common/utils.py
deleted file mode 100644
index b9de020ee6..0000000000
--- a/common/utils.py
+++ /dev/null
@@ -1,11 +0,0 @@
-class Freezable:
-  _frozen: bool = False
-
-  def freeze(self):
-    if not self._frozen:
-      self._frozen = True
-
-  def __setattr__(self, *args, **kwargs):
-    if self._frozen:
-      raise Exception("cannot modify frozen object")
-    super().__setattr__(*args, **kwargs)
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 0cdc6e9d8d..1da53d4cfa 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -9,9 +9,8 @@ import capnp
 
 from cereal import car
 from panda.python.uds import SERVICE_TYPE
-from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
+from openpilot.selfdrive.car.helpers import clip, interp
 
 # set up logging
 carlog = logging.getLogger('carlog')
@@ -263,6 +262,19 @@ class CarSpecs:
     return replace(self, **kwargs)
 
 
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)
+
+
 @dataclass(order=True)
 class PlatformConfig(Freezable):
   car_docs: list[CarDocs]
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 91b922c596..c8b084aa62 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,9 +1,9 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 
 class CarState(CarStateBase):
diff --git a/selfdrive/car/conversions.py b/selfdrive/car/conversions.py
new file mode 100644
index 0000000000..b02b33c625
--- /dev/null
+++ b/selfdrive/car/conversions.py
@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index a04653c140..f039fea9ac 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -5,7 +5,7 @@ from dataclasses import dataclass, field
 from enum import Enum
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
diff --git a/selfdrive/car/filter_simple.py b/selfdrive/car/filter_simple.py
new file mode 100644
index 0000000000..0ec7a51562
--- /dev/null
+++ b/selfdrive/car/filter_simple.py
@@ -0,0 +1,18 @@
+class FirstOrderFilter:
+  # first order filter
+  def __init__(self, x0, rc, dt, initialized=True):
+    self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
+
+  def update(self, x):
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 9628dc651d..961d7086c4 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,9 +1,9 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index d7130681d4..ed707a5f78 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 54cf865109..b872be212b 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,7 +1,7 @@
 from cereal import car
 from panda import Panda
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 209bbebae3..f405373661 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -1,7 +1,7 @@
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, RADAR
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index cffaf4791d..dff280ed9a 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,10 +1,10 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
+from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index a1129c59c8..97dbd389f4 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,9 +1,9 @@
 import copy
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 1d4a6066cc..31b874502b 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -5,8 +5,8 @@ from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index b893babd31..b305d418b8 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
new file mode 100644
index 0000000000..81f6d6a6bc
--- /dev/null
+++ b/selfdrive/car/helpers.py
@@ -0,0 +1,22 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+
+def interp(x, xp, fp):
+  N = len(xp)
+
+  def get_interp(xv):
+    hi = 0
+    while hi < N and xv > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and xv > xp[low] else (
+      fp[0] if hi == 0 else
+      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+
+
+def mean(x):
+  return sum(x) / len(x)
+
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 86815ae9f5..0f08ee21a8 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -1,9 +1,9 @@
 from collections import namedtuple
 
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
+from openpilot.selfdrive.car.helpers import clip, interp
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index c98d1a72d3..956e6a3bd3 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,10 +1,10 @@
 from collections import defaultdict
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1be496d951..b350455014 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index fdcba8bb81..4c9f9674d3 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 5a78995c0a..53e5435f29 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -2,9 +2,9 @@ from dataclasses import dataclass
 from enum import Enum, IntFlag
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index e6bc83283e..0e3a3f0afd 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 41cb9ee457..1b56b3304e 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -3,9 +3,9 @@ import copy
 import math
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 54804f94fd..bd46f18612 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,5 +1,5 @@
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 8ed0edd319..0db82a7577 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -4,8 +4,8 @@ from enum import Enum, IntFlag
 
 from cereal import car
 from panda.python import uds
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index fcdc3d77fe..90d50f0903 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -10,10 +10,10 @@ from functools import cache
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.pandad import can_capnp_to_list
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 83b238fb68..83aa09b66b 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 6992d49ffe..fcec6b18b0 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index a8c808d582..cfd7067db6 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -2,8 +2,8 @@ from dataclasses import dataclass, field
 from enum import IntFlag
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 57146b49c4..c38173c3e3 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -2,9 +2,9 @@ import copy
 from collections import deque
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
 TORQUE_SAMPLES = 12
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index acabc2ca5a..c8c2e7417b 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,6 +1,6 @@
-from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car.helpers import clip, interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 821ff2c151..0501494fdd 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -1,9 +1,9 @@
 import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
 
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index 32d83dfb68..ed81fd0c50 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -1,6 +1,6 @@
-from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
 from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 645ea46014..5aa21cbc7c 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -1,11 +1,11 @@
 import copy
 from collections import deque
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 class CarState(CarStateBase):
   def __init__(self, CP):
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
index f8cd138e77..22e0ac6c4e 100644
--- a/selfdrive/car/tesla/teslacan.py
+++ b/selfdrive/car/tesla/teslacan.py
@@ -1,6 +1,6 @@
 import crcmod
 
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
 
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index f33f8673ea..ea49a49026 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,6 +1,6 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e02293da4e..6037585c90 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,12 +1,12 @@
 import copy
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import mean
-from openpilot.common.filter_simple import FirstOrderFilter
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8022e8b3ab..ca422c73ef 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -4,9 +4,8 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
-from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index dda8de6cab..4f8552b16a 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.common.numpy_fast import clip
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index ec6403496f..c53639a7dd 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -1,8 +1,8 @@
 import numpy as np
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
                                             CarControllerParams, VolkswagenFlags
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 69dd63fefd..27816712f6 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -5,8 +5,8 @@ from enum import Enum, IntFlag, StrEnum
 from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16

From 3a3e57bc947884f8ba2cafbdd99a355a7c8cfb91 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 6 Aug 2024 22:59:59 -0500
Subject: [PATCH 0366/1243] selfdrive/car: ban the rest of the external imports
 (#33214)

more bans
old-commit-hash: 10f27a6a1b70f9012fbf71b92e47ae06801afc98
---
 .importlinter | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/.importlinter b/.importlinter
index 1f31cb4d3c..f2d1d4f2b0 100644
--- a/.importlinter
+++ b/.importlinter
@@ -10,8 +10,12 @@ source_modules =
 forbidden_modules =
     openpilot.common
     openpilot.selfdrive.controls
+    openpilot.selfdrive.debug
+    openpilot.selfdrive.pandad
+    openpilot.selfdrive.test
     openpilot.system
     openpilot.body
+    openpilot.tools
     openpilot.docs
     openpilot.msgq
     openpilot.panda
@@ -32,6 +36,11 @@ ignore_imports =
     # these two will still live in openpilot, but require some modification
     openpilot.selfdrive.car.fw_versions -> openpilot.common.params
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
+    # requires generic CAN send/receive functions
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
 
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog
@@ -49,4 +58,10 @@ ignore_imports =
     openpilot.selfdrive.car.card -> openpilot.common.params
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.dump_car_docs
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.print_docs_diff
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
 unmatched_ignore_imports_alerting = warn

From 5baf136b11c3e2c996ab7b5802b3355d68bf65cd Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 6 Aug 2024 21:39:18 -0700
Subject: [PATCH 0367/1243] pre-commit: bring back some checks (#33196)

* add this

* add this

* nice ...

* 120

* remove

* no remote

* 0

* this

* no submodules

* like this

* try this

* validate

* like this

* split

* pass files

* no par

* check exist

* no build

* fix

* 24.04

* default

* test failure

* continue

* actually fail

* clean

* import

* fix

* line

* mypy

* clean

* simpler

* final

* better

* final clean

* not true
old-commit-hash: 30467b44cd82973576c8073136dede6aa2fa60f0
---
 .github/workflows/selfdrive_tests.yaml | 26 +++++++----
 pyproject.toml                         |  8 +++-
 scripts/lint.sh                        | 64 ++++++++++++++++++++++++--
 uv.lock                                | 49 ++++++++++++++++++++
 4 files changed, 133 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8c46e15c2f..b0dbfbebee 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,13 +61,20 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
+    - name: Getting modified files
+      timeout-minutes: 1
+      run: |
+        cd $GITHUB_WORKSPACE
+        git fetch --unshallow --recurse-submodules=no origin master:master
+        ALL_FILES=$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))
+        echo FILES=$(echo $ALL_FILES) >> $GITHUB_ENV
+    - name: Static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "scripts/lint.sh $FILES"
 
   build:
     strategy:
@@ -140,16 +147,17 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    env:
+      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
+    - name: Setup
+      run: tools/op.sh setup
+    - name: Get ancestor commit
+      run: git fetch --unshallow --recurse-submodules=no origin master:master
+    - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
diff --git a/pyproject.toml b/pyproject.toml
index 24ec80e787..56eafc954b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,6 +88,7 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
+  "pre-commit-hooks",
 ]
 
 dev = [
@@ -177,9 +178,11 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
-  "body/",
   "cereal/",
+  "msgq/",
+  "msgq_repo/",
   "opendbc/",
+  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -204,6 +207,9 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+local_partial_types=true
+explicit_package_bases=true
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index 3da79f62f4..d766961cd1 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,11 +1,67 @@
 #!/bin/bash
 set -e
 
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+
+function run() {
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$(echo "$@" | sed -E "s/$IGNORED_FILES//g")
+  PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
+
+  if [[ -n "$PYTHON_FILES" ]]; then
+    run "ruff" ruff check $PYTHON_FILES --quiet
+    run "mypy" mypy $PYTHON_FILES
+    run "Import check" lint-imports
+  fi
+
+  if [[ -n "$ALL_FILES" ]]; then
+    run "Codespell" codespell $ALL_FILES
+    run "Large files check" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+    run "Shebang check" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  fi
+
+  return $FAILED
+}
 
-ruff check .
-lint-imports
+if [[ -n $@ ]]; then
+  VALID_FILES=""
+  for f in $@; do
+    if [[ -f "$f" ]]; then
+      VALID_FILES+="$f"$'\n'
+    fi
+  done
+  run_tests "$VALID_FILES"
+else
+  run_tests "$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))"
+fi
diff --git a/uv.lock b/uv.lock
index bca0895ebf..b5a734f300 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,6 +1454,7 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1637,6 +1638,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
+[[distribution]]
+name = "pre-commit-hooks"
+version = "4.6.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/d8/d09b270248bc2441f966dd094a3de8ae813112d2687036f621202bdef80b/pre_commit_hooks-4.6.0-py2.py3-none-any.whl", hash = "sha256:a69199e6a2d45ec59c1020a81ca1549abddc2afb798276d9a0d951752d6abbfe", size = 41193 },
+]
+
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -4882,6 +4895,42 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
+[[distribution]]
+name = "ruamel-yaml"
+version = "0.18.6"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/73/67/8ece580cc363331d9a53055130f86b096bf16e38156e33b1d3014fffda6b/ruamel.yaml-0.18.6-py3-none-any.whl", hash = "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636", size = 117761 },
+]
+
+[[distribution]]
+name = "ruamel-yaml-clib"
+version = "0.2.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/46/ab/bab9eb1566cd16f060b54055dd39cf6a34bfa0240c53a7218c43e974295b/ruamel.yaml.clib-0.2.8.tar.gz", hash = "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512", size = 213824 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b1/15/971b385c098e8d0d170893f5ba558452bb7b776a0c90658b8f4dd0e3382b/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069", size = 148870 },
+    { url = "https://files.pythonhosted.org/packages/01/b0/4ddef56e9f703d7909febc3a421d709a3482cda25826816ec595b73e3847/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248", size = 134475 },
+    { url = "https://files.pythonhosted.org/packages/a4/f7/22d6b620ed895a05d40802d8281eff924dc6190f682d933d4efff60db3b5/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:25c515e350e5b739842fc3228d662413ef28f295791af5e5110b543cf0b57d9b", size = 544020 },
+    { url = "https://files.pythonhosted.org/packages/7c/e4/0d19d65e340f93df1c47f323d95fa4b256bb28320290f5fddef90837853a/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_24_aarch64.whl", hash = "sha256:1707814f0d9791df063f8c19bb51b0d1278b8e9a2353abbb676c2f685dee6afe", size = 642643 },
+    { url = "https://files.pythonhosted.org/packages/c9/ff/f781eb5e2ae011e586d5426e2086a011cf1e0f59704a6cad1387975c5a62/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:46d378daaac94f454b3a0e3d8d78cafd78a026b1d71443f4966c696b48a6d899", size = 695832 },
+    { url = "https://files.pythonhosted.org/packages/e3/41/f62e67ac651358b8f0d60cfb12ab2daf99b1b69eeaa188d0cec809d943a6/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:09b055c05697b38ecacb7ac50bdab2240bfca1a0c4872b0fd309bb07dc9aa3a9", size = 730923 },
+    { url = "https://files.pythonhosted.org/packages/9f/f0/19ab8acbf983cd1b37f47d27ceb8b10a738d60d36316a54bad57e0d73fbb/ruamel.yaml.clib-0.2.8-cp311-cp311-win32.whl", hash = "sha256:53a300ed9cea38cf5a2a9b069058137c2ca1ce658a874b79baceb8f892f915a7", size = 99999 },
+    { url = "https://files.pythonhosted.org/packages/ec/54/d8a795997921d87224c65d44499ca595a833093fb215b133f920c1062956/ruamel.yaml.clib-0.2.8-cp311-cp311-win_amd64.whl", hash = "sha256:c2a72e9109ea74e511e29032f3b670835f8a59bbdc9ce692c5b4ed91ccf1eedb", size = 118008 },
+    { url = "https://files.pythonhosted.org/packages/7a/a2/eb5e9d088cb9d15c24d956944c09dca0a89108ad6e2e913c099ef36e3f0d/ruamel.yaml.clib-0.2.8-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:ebc06178e8821efc9692ea7544aa5644217358490145629914d8020042c24aa1", size = 144636 },
+    { url = "https://files.pythonhosted.org/packages/66/98/8de4f22bbfd9135deb3422e96d450c4bc0a57d38c25976119307d2efe0aa/ruamel.yaml.clib-0.2.8-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:edaef1c1200c4b4cb914583150dcaa3bc30e592e907c01117c08b13a07255ec2", size = 135684 },
+    { url = "https://files.pythonhosted.org/packages/30/d3/5fe978cd01a61c12efd24d65fa68c6f28f28c8073a06cf11db3a854390ca/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d176b57452ab5b7028ac47e7b3cf644bcfdc8cacfecf7e71759f7f51a59e5c92", size = 734571 },
+    { url = "https://files.pythonhosted.org/packages/55/b3/e2531a050758b717c969cbf76c103b75d8a01e11af931b94ba656117fbe9/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_24_aarch64.whl", hash = "sha256:1dc67314e7e1086c9fdf2680b7b6c2be1c0d8e3a8279f2e993ca2a7545fecf62", size = 643946 },
+    { url = "https://files.pythonhosted.org/packages/0d/aa/06db7ca0995b513538402e11280282c615b5ae5f09eb820460d35fb69715/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:3213ece08ea033eb159ac52ae052a4899b56ecc124bb80020d9bbceeb50258e9", size = 692169 },
+    { url = "https://files.pythonhosted.org/packages/27/38/4cf4d482b84ecdf51efae6635cc5483a83cf5ca9d9c13e205a750e251696/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:aab7fd643f71d7946f2ee58cc88c9b7bfc97debd71dcc93e03e2d174628e7e2d", size = 740325 },
+    { url = "https://files.pythonhosted.org/packages/6f/67/c62c6eea53a4feb042727a3d6c18f50dc99683c2b199c06bd2a9e3db8e22/ruamel.yaml.clib-0.2.8-cp312-cp312-win32.whl", hash = "sha256:5c365d91c88390c8d0a8545df0b5857172824b1c604e867161e6b3d59a827eaa", size = 98639 },
+    { url = "https://files.pythonhosted.org/packages/10/d2/52a3d810d0b5b3720725c0504a27b3fced7b6f310fe928f7019d79387bc1/ruamel.yaml.clib-0.2.8-cp312-cp312-win_amd64.whl", hash = "sha256:1758ce7d8e1a29d23de54a16ae867abd370f01b5a69e1a3ba75223eaa3ca1a1b", size = 115305 },
+]
+
 [[distribution]]
 name = "rubicon-objc"
 version = "0.4.9"

From dbccf5c92238c57606d47b4adc1bd97eac059d90 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 6 Aug 2024 21:48:56 -0700
Subject: [PATCH 0368/1243] Revert "pre-commit: bring back some checks
 (#33196)" (#33216)

This reverts commit 4b356147185aa1d772947e4ec7b54a3e6e523f9d.
old-commit-hash: 3af774725f568ab2289fed92b820e89929950136
---
 .github/workflows/selfdrive_tests.yaml | 26 ++++-------
 pyproject.toml                         |  8 +---
 scripts/lint.sh                        | 64 ++------------------------
 uv.lock                                | 49 --------------------
 4 files changed, 14 insertions(+), 133 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b0dbfbebee..8c46e15c2f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,20 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: Getting modified files
-      timeout-minutes: 1
-      run: |
-        cd $GITHUB_WORKSPACE
-        git fetch --unshallow --recurse-submodules=no origin master:master
-        ALL_FILES=$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))
-        echo FILES=$(echo $ALL_FILES) >> $GITHUB_ENV
-    - name: Static analysis
+    - name: static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh $FILES"
+        ${{ env.RUN }} "scripts/lint.sh"
 
   build:
     strategy:
@@ -147,17 +140,16 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    env:
-      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-    - name: Setup
-      run: tools/op.sh setup
-    - name: Get ancestor commit
-      run: git fetch --unshallow --recurse-submodules=no origin master:master
-    - name: Static analysis
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: static analysis
       timeout-minutes: 1
-      run: tools/op.sh lint
+      run: ${{ env.RUN }} "scripts/lint.sh"
 
   unit_tests:
     name: unit tests
diff --git a/pyproject.toml b/pyproject.toml
index 56eafc954b..24ec80e787 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,7 +88,6 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
-  "pre-commit-hooks",
 ]
 
 dev = [
@@ -178,11 +177,9 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
+  "body/",
   "cereal/",
-  "msgq/",
-  "msgq_repo/",
   "opendbc/",
-  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -207,9 +204,6 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
-local_partial_types=true
-explicit_package_bases=true
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index d766961cd1..3da79f62f4 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,67 +1,11 @@
 #!/bin/bash
 set -e
 
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-NC='\033[0m'
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-FAILED=0
-
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
-
-function run() {
-  echo -en "$1"
-
-  for ((i=0; i<$((50 - ${#1})); i++)); do
-    echo -n "."
-  done
-
-  shift 1;
-  CMD="$@"
-
-  set +e
-  log="$((eval "$CMD" ) 2>&1)"
-
-  if [[ $? -eq 0 ]]; then
-    echo -e "[${GREEN}✔${NC}]"
-  else
-    echo -e "[${RED}✗${NC}]"
-    echo "$log"
-    FAILED=1
-  fi
-  set -e
-}
-
-function run_tests() {
-  ALL_FILES=$(echo "$@" | sed -E "s/$IGNORED_FILES//g")
-  PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
-
-  if [[ -n "$PYTHON_FILES" ]]; then
-    run "ruff" ruff check $PYTHON_FILES --quiet
-    run "mypy" mypy $PYTHON_FILES
-    run "Import check" lint-imports
-  fi
-
-  if [[ -n "$ALL_FILES" ]]; then
-    run "Codespell" codespell $ALL_FILES
-    run "Large files check" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
-    run "Shebang check" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
-  fi
-
-  return $FAILED
-}
+# TODO: bring back rest of pre-commit checks:
+# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
 
-if [[ -n $@ ]]; then
-  VALID_FILES=""
-  for f in $@; do
-    if [[ -f "$f" ]]; then
-      VALID_FILES+="$f"$'\n'
-    fi
-  done
-  run_tests "$VALID_FILES"
-else
-  run_tests "$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))"
-fi
+ruff check .
+lint-imports
diff --git a/uv.lock b/uv.lock
index b5a734f300..bca0895ebf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,7 +1454,6 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1638,18 +1637,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
-[[distribution]]
-name = "pre-commit-hooks"
-version = "4.6.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
-wheels = [
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@@ -4895,42 +4882,6 @@ wheels = [
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From 54d10c2aa389025055f5a76d55b01afe6f0b2cbf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 7 Aug 2024 02:05:32 -0500
Subject: [PATCH 0369/1243] remove CAN capnp conversion from car interfaces
 (#33218)

remove pandad from interfaces
old-commit-hash: ba7a60c5a20c5f252bc89ba3e2559edf5ab65c59
---
 .importlinter                      | 1 -
 selfdrive/car/card.py              | 4 ++--
 selfdrive/car/interfaces.py        | 6 ++----
 selfdrive/car/tests/test_models.py | 8 ++++----
 4 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/.importlinter b/.importlinter
index f2d1d4f2b0..e510ee91fb 100644
--- a/.importlinter
+++ b/.importlinter
@@ -38,7 +38,6 @@ ignore_imports =
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
     # requires generic CAN send/receive functions
     openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index e878a14c31..a8afa0dec9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -12,7 +12,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -108,7 +108,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 90d50f0903..68f7f1ec24 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -16,7 +16,6 @@ from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -229,12 +228,11 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_packets)
 
     # get CarState
     ret = self._update(c)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 22a80f359a..f57def0362 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -217,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((msg.as_builder().to_bytes(),)))
       self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
@@ -358,7 +358,7 @@ class TestCarModelBase(unittest.TestCase):
       can = messaging.new_message('can', 1)
       can.can = [log.CanData(address=address, dat=dat, src=bus)]
 
-      CS = self.CI.update(CC, (can.to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -397,7 +397,7 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
@@ -407,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      CS = self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)

From b63698c376546461826c6b8ef2bea03a4902decd Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 7 Aug 2024 16:02:09 -0700
Subject: [PATCH 0370/1243] more codespell errors (#33223)

more spell
old-commit-hash: 184519834c99291ddbaa0f92842bda3ab89d797d
---
 .github/workflows/ci_weekly_report.yaml | 6 +++---
 pyproject.toml                          | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index 22b8745872..9821283cb5 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -58,14 +58,14 @@ jobs:
               const jobName = job.name.split(" / ")[2];
               const runRegex = /\((.*?)\)/;
               const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
               switch (job.conclusion) {
                 case "success":
                   report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
                   report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "cancelled":
-                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+                case "canceled":
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
             return JSON.stringify({"jobs": report});
diff --git a/pyproject.toml b/pyproject.toml
index 24ec80e787..b311a854dc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -167,7 +167,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 

From 7f4f1d4c5fb0dc5e688fc6d9ef45eccdd4e3e679 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 7 Aug 2024 18:12:00 -0500
Subject: [PATCH 0371/1243] make_can_msg: returns tuple (#33222)

* bump

* make_man_msg returns tuple

* fix CI.update typing

* bump

* better name

* Revert "better name"

This reverts commit 4deb38d4ed99e43721960f69da1dd46a1069eb42.

* common
old-commit-hash: 51bd3682148ce7a00ac76281d76c278716a1c24a
---
 opendbc_repo                          |  2 +-
 selfdrive/car/__init__.py             |  6 ++++--
 selfdrive/car/interfaces.py           | 10 +++++-----
 selfdrive/car/isotp_parallel_query.py |  4 ++--
 selfdrive/pandad/pandad_api_impl.pyx  |  4 ++--
 5 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 1e9f853615..f4d077b832 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1e9f8536151818f08af2ddd478f577f8461af31d
+Subproject commit f4d077b832d46ac149c2b07dc37d777dc21237ea
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 1da53d4cfa..fa69b75e9f 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -12,6 +12,8 @@ from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.helpers import clip, interp
 
+CanMsgType = tuple[int, bytes, int]
+
 # set up logging
 carlog = logging.getLogger('carlog')
 carlog.setLevel(logging.INFO)
@@ -193,8 +195,8 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   return friction
 
 
-def make_can_msg(addr, dat, bus):
-  return [addr, dat, bus]
+def make_can_msg(addr: int, dat: bytes, bus: int) -> CanMsgType:
+  return addr, dat, bus
 
 
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 68f7f1ec24..f02990f6b5 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -11,7 +11,8 @@ from functools import cache
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car import CanMsgType, DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, \
+                                    STD_CARGO_KG
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -51,7 +52,6 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -108,7 +108,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -228,7 +228,7 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanMsgType]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -467,7 +467,7 @@ class CarControllerBase(ABC):
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     pass
 
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index c5f74a8156..cb7a1da7fa 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -3,7 +3,7 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car import carlog, CanMsgType
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
@@ -27,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[CanMsgType]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index 8a12e1c433..787968f53e 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -50,7 +50,7 @@ def can_capnp_to_list(strings, msgtype='can'):
   cdef vector[CanData].iterator it = data.begin()
   while it != data.end():
     d = &deref(it)
-    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
-    result.append([d.nanos, frames])
+    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
+    result.append((d.nanos, frames))
     preinc(it)
   return result

From 5b82b7c65ed5ea855badd78d3b5a103ac2ceb484 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 7 Aug 2024 17:23:33 -0700
Subject: [PATCH 0372/1243] op.sh: lint (#33217)

* redo

* better

* fix this

* clean everything

* all files

* test

* debug

* get info

* revert

* only good files

* allow skip

* also this

* help section
old-commit-hash: f8f6c399158651f72fa78b0a2dc518f5bd5fbc23
---
 .github/workflows/selfdrive_tests.yaml | 17 +++--
 pyproject.toml                         | 11 ++-
 scripts/lint.sh                        | 96 ++++++++++++++++++++++++--
 uv.lock                                | 49 +++++++++++++
 4 files changed, 158 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8c46e15c2f..15b358eb10 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,13 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
+    - name: Static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "scripts/lint.sh --skip check_added_large_files"
 
   build:
     strategy:
@@ -140,16 +140,15 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    env:
+      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
+    - name: Setup
+      run: tools/op.sh setup
+    - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
diff --git a/pyproject.toml b/pyproject.toml
index b311a854dc..a0131773e8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,6 +88,7 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
+  "pre-commit-hooks",
 ]
 
 dev = [
@@ -169,7 +170,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -177,9 +178,11 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
-  "body/",
   "cereal/",
+  "msgq/",
+  "msgq_repo/",
   "opendbc/",
+  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -204,6 +207,10 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+local_partial_types=true
+explicit_package_bases=true
+disable_error_code = "annotation-unchecked"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index 3da79f62f4..38dabfbf31 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,11 +1,99 @@
 #!/bin/bash
 set -e
 
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+
+function run() {
+  shopt -s extglob
+  case $1 in
+    $SKIP ) return 0 ;;
+  esac
+
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$1
+  PYTHON_FILES=$2
+
+  run "ruff" ruff check $PYTHON_FILES --quiet
+  run "lint-imports" lint-imports
+  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+
+  if [[ -z "$FAST" ]]; then
+    run "mypy" mypy $PYTHON_FILES
+    run "codespell" codespell $ALL_FILES
+  fi
+
+  return $FAILED
+}
+
+function help() {
+  echo "A fast linter"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-f, --fast${NC}"
+  echo "          Skip slow tests"
+  echo -e "  ${BOLD}-s, --skip${NC}"
+  echo "          Specify a test to skip"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op lint --skip mypy --skip ruff"
+  echo "          Skip the ruff and mypy check"
+}
+
+while true; do
+  case $1 in
+    -f | --fast ) shift 1; FAST="1" ;;
+    -s | --skip ) shift 1; SKIP+="$1|"; shift 1 ;;
+    -h | --help | -help | --h ) help; exit 0 ;;
+    * )           break ;;
+  esac
+done
+
+SKIP="@($(echo $SKIP | sed 's/|$//'))"
+
+GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+ALL_FILES=""
+for f in $GIT_FILES; do
+  if [[ -f $f ]]; then
+    ALL_FILES+="$f"$'\n'
+  fi
+done
+PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
 
-ruff check .
-lint-imports
+run_tests "$ALL_FILES" "$PYTHON_FILES"
diff --git a/uv.lock b/uv.lock
index bca0895ebf..b5a734f300 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,6 +1454,7 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1637,6 +1638,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
+[[distribution]]
+name = "pre-commit-hooks"
+version = "4.6.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/d8/d09b270248bc2441f966dd094a3de8ae813112d2687036f621202bdef80b/pre_commit_hooks-4.6.0-py2.py3-none-any.whl", hash = "sha256:a69199e6a2d45ec59c1020a81ca1549abddc2afb798276d9a0d951752d6abbfe", size = 41193 },
+]
+
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -4882,6 +4895,42 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
+[[distribution]]
+name = "ruamel-yaml"
+version = "0.18.6"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/73/67/8ece580cc363331d9a53055130f86b096bf16e38156e33b1d3014fffda6b/ruamel.yaml-0.18.6-py3-none-any.whl", hash = "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636", size = 117761 },
+]
+
+[[distribution]]
+name = "ruamel-yaml-clib"
+version = "0.2.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/46/ab/bab9eb1566cd16f060b54055dd39cf6a34bfa0240c53a7218c43e974295b/ruamel.yaml.clib-0.2.8.tar.gz", hash = "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512", size = 213824 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b1/15/971b385c098e8d0d170893f5ba558452bb7b776a0c90658b8f4dd0e3382b/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069", size = 148870 },
+    { url = "https://files.pythonhosted.org/packages/01/b0/4ddef56e9f703d7909febc3a421d709a3482cda25826816ec595b73e3847/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248", size = 134475 },
+    { url = "https://files.pythonhosted.org/packages/a4/f7/22d6b620ed895a05d40802d8281eff924dc6190f682d933d4efff60db3b5/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:25c515e350e5b739842fc3228d662413ef28f295791af5e5110b543cf0b57d9b", size = 544020 },
+    { url = "https://files.pythonhosted.org/packages/7c/e4/0d19d65e340f93df1c47f323d95fa4b256bb28320290f5fddef90837853a/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_24_aarch64.whl", hash = "sha256:1707814f0d9791df063f8c19bb51b0d1278b8e9a2353abbb676c2f685dee6afe", size = 642643 },
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+    { url = "https://files.pythonhosted.org/packages/30/d3/5fe978cd01a61c12efd24d65fa68c6f28f28c8073a06cf11db3a854390ca/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d176b57452ab5b7028ac47e7b3cf644bcfdc8cacfecf7e71759f7f51a59e5c92", size = 734571 },
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+    { url = "https://files.pythonhosted.org/packages/27/38/4cf4d482b84ecdf51efae6635cc5483a83cf5ca9d9c13e205a750e251696/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:aab7fd643f71d7946f2ee58cc88c9b7bfc97debd71dcc93e03e2d174628e7e2d", size = 740325 },
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+    { url = "https://files.pythonhosted.org/packages/10/d2/52a3d810d0b5b3720725c0504a27b3fced7b6f310fe928f7019d79387bc1/ruamel.yaml.clib-0.2.8-cp312-cp312-win_amd64.whl", hash = "sha256:1758ce7d8e1a29d23de54a16ae867abd370f01b5a69e1a3ba75223eaa3ca1a1b", size = 115305 },
+]
+
 [[distribution]]
 name = "rubicon-objc"
 version = "0.4.9"

From 49ab9876fa8a3b5c0ae095fdf4d2916da9083028 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 7 Aug 2024 20:22:22 -0700
Subject: [PATCH 0373/1243] static_analysis: use 24.04 for everyone (#33227)

* noble

* test it

* Revert "test it"

This reverts commit 393868bf5fd14a0afaa6d2b05f632c76f9b52213.
old-commit-hash: eb50f5cae82f9501bb15cfcc1ccb81656de20991
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 15b358eb10..9d1a546c5f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -139,7 +139,7 @@ jobs:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
     env:
       PYTHONWARNINGS: default
     steps:

From 90451d86f75d4d811d38068bd05f176fd59828ab Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 7 Aug 2024 20:58:59 -0700
Subject: [PATCH 0374/1243] op lint: specify tests to run (#33229)

args
old-commit-hash: 40e54a3b4fbafd5cd2028dc131cc4417f9fae28f
---
 scripts/lint.sh | 35 ++++++++++++++++++++++++++---------
 1 file changed, 26 insertions(+), 9 deletions(-)

diff --git a/scripts/lint.sh b/scripts/lint.sh
index 38dabfbf31..2b6fd07185 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -18,7 +18,7 @@ IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^ce
 function run() {
   shopt -s extglob
   case $1 in
-    $SKIP ) return 0 ;;
+    $SKIP | $RUN ) return 0 ;;
   esac
 
   echo -en "$1"
@@ -63,29 +63,46 @@ function run_tests() {
 function help() {
   echo "A fast linter"
   echo ""
-  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [OPTIONS]"
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [TESTS] [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
+  echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}lint-imports${NC}"
+  echo -e "  ${BOLD}codespell${NC}"
+  echo -e "  ${BOLD}check_added_large_files${NC}"
+  echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-f, --fast${NC}"
   echo "          Skip slow tests"
   echo -e "  ${BOLD}-s, --skip${NC}"
-  echo "          Specify a test to skip"
+  echo "          Specify tests to skip separated by spaces"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op lint --skip mypy --skip ruff"
-  echo "          Skip the ruff and mypy check"
+  echo "  op lint mypy ruff"
+  echo "          Only run the mypy and ruff tests"
+  echo ""
+  echo "  op lint --skip mypy ruff"
+  echo "          Skip the mypy and ruff tests"
+  echo ""
+  echo "  op lint"
+  echo "          Run all the tests"
 }
 
-while true; do
+SKIP=""
+RUN=""
+while [[ $# -gt 0 ]]; do
   case $1 in
     -f | --fast ) shift 1; FAST="1" ;;
-    -s | --skip ) shift 1; SKIP+="$1|"; shift 1 ;;
+    -s | --skip ) shift 1; SKIP=" " ;;
     -h | --help | -help | --h ) help; exit 0 ;;
-    * )           break ;;
+    * ) if [[ -n $SKIP ]]; then SKIP+="$1 "; else RUN+="$1 "; fi; shift 1 ;;
   esac
 done
 
-SKIP="@($(echo $SKIP | sed 's/|$//'))"
+RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
+SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
 
 GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
 ALL_FILES=""

From c1084b3df3385d2db8956707820e7f487da18990 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 7 Aug 2024 23:58:16 -0500
Subject: [PATCH 0375/1243] selfdrive/car: rm make_can_msg (#33231)

* rm make_can_msg

* fix
old-commit-hash: bd4f0cec18d7f22f16d906de5c3b0f97ae1450ae
---
 selfdrive/car/__init__.py                      |  9 ++-------
 selfdrive/car/can_definitions.py               |  7 +++++++
 selfdrive/car/gm/gmcan.py                      | 12 ++++++------
 selfdrive/car/interfaces.py                    | 10 +++++-----
 selfdrive/car/isotp_parallel_query.py          |  9 +++++----
 selfdrive/car/tests/test_fw_fingerprint.py     |  4 ++--
 selfdrive/car/toyota/carcontroller.py          |  5 +++--
 selfdrive/pandad/tests/test_pandad_loopback.py |  4 ++--
 8 files changed, 32 insertions(+), 28 deletions(-)
 create mode 100644 selfdrive/car/can_definitions.py

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index fa69b75e9f..2c6a45d557 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -9,11 +9,10 @@ import capnp
 
 from cereal import car
 from panda.python.uds import SERVICE_TYPE
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.helpers import clip, interp
 
-CanMsgType = tuple[int, bytes, int]
-
 # set up logging
 carlog = logging.getLogger('carlog')
 carlog.setLevel(logging.INFO)
@@ -195,10 +194,6 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   return friction
 
 
-def make_can_msg(addr: int, dat: bytes, bus: int) -> CanMsgType:
-  return addr, dat, bus
-
-
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
   if subaddr is not None:
@@ -206,7 +201,7 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   dat.append(0x80 if suppress_response else 0x0)  # sub-function
 
   dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
+  return CanData(addr, bytes(dat), bus)
 
 
 def get_safety_config(safety_model, safety_param = None):
diff --git a/selfdrive/car/can_definitions.py b/selfdrive/car/can_definitions.py
new file mode 100644
index 0000000000..aef9aa0c1e
--- /dev/null
+++ b/selfdrive/car/can_definitions.py
@@ -0,0 +1,7 @@
+from typing import NamedTuple
+
+
+class CanData(NamedTuple):
+  address: int
+  dat: bytes
+  src: int
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index a70bcccd06..0b7ada3151 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,4 +1,4 @@
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.gm.values import CAR
 
 
@@ -49,7 +49,7 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
 def create_adas_keepalive(bus):
   dat = b"\x00\x00\x00\x00\x00\x00\x00"
-  return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
+  return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
 
 
 def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
@@ -125,14 +125,14 @@ def create_adas_time_status(bus, tt, idx):
   chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
   chksum = chksum & 0xfff
   dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
-  return make_can_msg(0xa1, bytes(dat), bus)
+  return CanData(0xa1, bytes(dat), bus)
 
 
 def create_adas_steering_status(bus, idx):
   dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
   chksum = 0x60 + sum(dat)
   dat += [chksum >> 8, chksum & 0xff]
-  return make_can_msg(0x306, bytes(dat), bus)
+  return CanData(0x306, bytes(dat), bus)
 
 
 def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
@@ -146,7 +146,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
   chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
   dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
-  return make_can_msg(0x308, bytes(dat), bus)
+  return CanData(0x308, bytes(dat), bus)
 
 
 def create_adas_headlights_status(packer, bus):
@@ -170,4 +170,4 @@ def create_lka_icon_command(bus, active, critical, steer):
       dat = b"\x40\x40\x18"
   else:
     dat = b"\x00\x00\x00"
-  return make_can_msg(0x104c006c, dat, bus)
+  return CanData(0x104c006c, dat, bus)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index f02990f6b5..029aade638 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -11,8 +11,8 @@ from functools import cache
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.selfdrive.car import CanMsgType, DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, \
-                                    STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -108,7 +108,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -228,7 +228,7 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanMsgType]]]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -467,7 +467,7 @@ class CarControllerBase(ABC):
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
     pass
 
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index cb7a1da7fa..c6bf73f7b3 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -3,7 +3,8 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import carlog, CanMsgType
+from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
@@ -27,16 +28,16 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[CanMsgType]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[CanData]] = defaultdict(list)
 
-  def rx(self):
+  def rx(self) -> None:
     """Drain can socket and sort messages into buffers based on address"""
     can_packets = messaging.drain_sock(self.logcan, wait_for_one=True)
 
     for packet in can_packets:
       for msg in packet.can:
         if msg.src == self.bus and msg.address in self.msg_addrs.values():
-          self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src))
+          self.msg_buffer[msg.address].append(CanData(msg.address, msg.dat, msg.src))
 
   def _can_tx(self, tx_addr, dat, bus):
     """Helper function to send single message"""
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index f5283acb1f..9a252c743e 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -5,7 +5,7 @@ from collections import defaultdict
 from parameterized import parameterized
 
 from cereal import car
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
@@ -21,7 +21,7 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 class FakeSocket:
   def receive(self, non_blocking=False):
-    return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
+    return (can_list_to_can_capnp([CanData(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
             if random.uniform(0, 1) > 0.5 else None)
 
   def send(self, msg):
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index ea49a49026..8f7a7ed9dd 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,5 +1,6 @@
 from cereal import car
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
@@ -161,7 +162,7 @@ class CarController(CarControllerBase):
     # *** static msgs ***
     for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
       if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
-        can_sends.append(make_can_msg(addr, vl, bus))
+        can_sends.append(CanData(addr, vl, bus))
 
     # keep radar disabled
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index d2b6d047d5..3f0926662c 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -12,7 +12,7 @@ from openpilot.common.retry import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
@@ -60,7 +60,7 @@ def send_random_can_messages(sendcan, count, num_pandas=1):
       if (addr, dat) in sent_msgs[bus]:
         continue
       sent_msgs[bus].add((addr, dat))
-      to_send.append(make_can_msg(addr, dat, bus))
+      to_send.append(CanData(addr, dat, bus))
     sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
   return sent_msgs
 

From 8131716c9ed322ca5dac172506467b6d9d7cdcfa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 8 Aug 2024 01:12:47 -0500
Subject: [PATCH 0376/1243] CAN fingerprinting: count empty CAN packets as
 frames (#33232)

* content of can packet won't affect can fingerprint time

* remove get_one_can

* fix comment

* actually we still want to be able to send empty can (xx fingerprint func does this if it runs out of msgs)

* fix process replay
old-commit-hash: 87f183f43cccdb07f6fb9d0947f4ada2d806e294
---
 selfdrive/car/car_helpers.py                  | 62 +++++++++----------
 selfdrive/car/card.py                         |  7 ++-
 selfdrive/car/tests/test_can_fingerprint.py   |  6 +-
 .../test/process_replay/process_replay.py     |  2 +-
 4 files changed, 37 insertions(+), 40 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 03351fdb98..2604753eb4 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -15,13 +15,6 @@ from openpilot.selfdrive.car import gen_empty_fingerprint
 FRAME_FINGERPRINT = 100  # 1s
 
 
-def get_one_can(logcan):
-  while True:
-    can = messaging.recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can
-
-
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
@@ -48,7 +41,7 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(can_recv: Callable) -> tuple[str | None, dict[int, dict]]:
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
@@ -56,34 +49,35 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
   done = False
 
   while not done:
-    a = next_can()
-
-    for can in a.can:
-      # The fingerprint dict is generated for all buses, this way the car interface
-      # can use it to detect a (valid) multipanda setup and initialize accordingly
-      if can.src < 128:
-        if can.src not in finger:
-          finger[can.src] = {}
-        finger[can.src][can.address] = len(can.dat)
-
+    # can_recv() may return zero or multiple packets, so we increment frame for each one we receive
+    can_packets = can_recv()
+    for can_packet in can_packets:
+      for can in can_packet.can:
+        # The fingerprint dict is generated for all buses, this way the car interface
+        # can use it to detect a (valid) multipanda setup and initialize accordingly
+        if can.src < 128:
+          if can.src not in finger:
+            finger[can.src] = {}
+          finger[can.src][can.address] = len(can.dat)
+
+        for b in candidate_cars:
+          # Ignore extended messages and VIN query response.
+          if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
+            candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+
+      # if we only have one car choice and the time since we got our first
+      # message has elapsed, exit
       for b in candidate_cars:
-        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
-        # fingerprint done
-        car_fingerprint = candidate_cars[b][0]
+        if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
+          # fingerprint done
+          car_fingerprint = candidate_cars[b][0]
 
-    # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
+      # bail if no cars left or we've been waiting for more than 2s
+      failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
+      succeeded = car_fingerprint is not None
+      done = failed or succeeded
 
-    frame += 1
+      frame += 1
 
   return car_fingerprint, finger
 
@@ -139,7 +133,7 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
   messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
+  car_fingerprint, finger = can_fingerprint(lambda: messaging.drain_sock(logcan, wait_for_one=True))
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index a8afa0dec9..d00998acb8 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -14,7 +14,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
-from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
+from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
@@ -58,7 +58,10 @@ class Car:
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
-      get_one_can(self.can_sock)
+      while True:
+        can = messaging.recv_one_retry(self.can_sock)
+        if len(can.can) > 0:
+          break
 
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
index f236986d8e..01033f7b37 100644
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -17,7 +17,7 @@ class TestCanFingerprint:
 
       fingerprint_iter = iter([can])
       empty_can = messaging.new_message('can', 0)
-      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
+      car_fingerprint, finger = can_fingerprint(lambda: [next(fingerprint_iter, empty_can)])  # noqa: B023
 
       assert car_fingerprint == car_model
       assert finger[0] == fingerprint
@@ -54,8 +54,8 @@ class TestCanFingerprint:
         def test():
           nonlocal frames
           frames += 1
-          return can  # noqa: B023
+          return [can]  # noqa: B023
 
         car_fingerprint, _ = can_fingerprint(test)
         assert car_fingerprint == car_model
-        assert frames == expected_frames + 2# TODO: fix extra frames
+        assert frames == expected_frames + 2  # TODO: fix extra frames
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 609da3967a..b25f318b45 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -335,7 +335,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint):
 
     m = canmsgs.pop(0)
     rc.send_sync(pm, "can", m.as_builder().to_bytes())
-    rc.wait_for_next_recv(False)
+    rc.wait_for_next_recv(True)
 
 
 def get_car_params_callback(rc, pm, msgs, fingerprint):

From a7db075f0853060c2db27691b3105ca7e7a1bab1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 8 Aug 2024 01:49:25 -0500
Subject: [PATCH 0377/1243] selfdrive/car: generic CAN send/receive callbacks
 (#33215)

* start

* hmm API doesn't seem great

* better

* rm line

* sendcan -> can_send callable for best static type coverage, list -> tuple msg

TODO: logcan

* more sendcan -> can_send references

* remove pandad's capnp from selfdrive/car

* fix and remove cereal from test_can_fingerprint

* test_fw_fingerprint: remove pandad, less cereal

* comment done too

* better comment

* fix test_models test

* niceeee it works

* move to can_definitions

* can't come up with a better name :(

* I think we can remove SimpleNamespace soon

* fix test_can_fingerprint.py

* maintain previous behavior

* Revert "maintain previous behavior"

This reverts commit f848fd32132391692c6191a305bb38f74091ec91.

* can test comment

* no need for get_one_can now!

* big clean up: no SimpleNamespace

* now self explanatory!

* not needed

* use empty can again since this is now real

* cmt
old-commit-hash: 9880b1393c7bfc2b71aec01b6b91caffb72f9cc0
---
 .importlinter                                 |  9 +++---
 selfdrive/car/can_definitions.py              | 10 +++++-
 selfdrive/car/car_helpers.py                  | 30 ++++++++---------
 selfdrive/car/card.py                         | 30 ++++++++++++++---
 selfdrive/car/disable_ecu.py                  |  6 ++--
 selfdrive/car/ecu_addrs.py                    | 18 +++++------
 selfdrive/car/fw_versions.py                  | 20 +++++++-----
 selfdrive/car/honda/interface.py              |  4 +--
 selfdrive/car/hyundai/interface.py            |  6 ++--
 selfdrive/car/interfaces.py                   |  4 +--
 selfdrive/car/isotp_parallel_query.py         | 24 +++++++-------
 selfdrive/car/subaru/interface.py             |  4 +--
 selfdrive/car/tests/test_can_fingerprint.py   | 25 ++++++---------
 selfdrive/car/tests/test_fw_fingerprint.py    | 32 ++++++++-----------
 selfdrive/car/toyota/interface.py             |  4 +--
 selfdrive/car/vin.py                          |  6 ++--
 .../test/process_replay/process_replay.py     |  4 ++-
 17 files changed, 130 insertions(+), 106 deletions(-)

diff --git a/.importlinter b/.importlinter
index e510ee91fb..087035ca9e 100644
--- a/.importlinter
+++ b/.importlinter
@@ -29,17 +29,16 @@ ignore_imports =
     openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
     openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
     openpilot.selfdrive.car.docs -> openpilot.common.basedir
+
     # car interface will not filter the speed
     openpilot.selfdrive.car.interfaces -> openpilot.common.simple_kalman
+
     openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
     openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
-    # these two will still live in openpilot, but require some modification
+
+    # params will need to move to new openpilot files that just call car files
     openpilot.selfdrive.car.fw_versions -> openpilot.common.params
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
-    # requires generic CAN send/receive functions
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
 
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog
diff --git a/selfdrive/car/can_definitions.py b/selfdrive/car/can_definitions.py
index aef9aa0c1e..2dba7f26a8 100644
--- a/selfdrive/car/can_definitions.py
+++ b/selfdrive/car/can_definitions.py
@@ -1,7 +1,15 @@
-from typing import NamedTuple
+from collections.abc import Callable
+from typing import NamedTuple, Protocol
 
 
 class CanData(NamedTuple):
   address: int
   dat: bytes
   src: int
+
+
+CanSendCallable = Callable[[list[CanData]], None]
+
+
+class CanRecvCallable(Protocol):
+  def __call__(self, wait_for_one: bool = False) -> list[list[CanData]]: ...
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 2604753eb4..d2345f1a05 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,15 +1,14 @@
 import os
 import time
-from collections.abc import Callable
 
 from cereal import car
 from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car
+from openpilot.selfdrive.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
-import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 
 FRAME_FINGERPRINT = 100  # 1s
@@ -41,7 +40,7 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(can_recv: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, dict]]:
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
@@ -49,10 +48,10 @@ def can_fingerprint(can_recv: Callable) -> tuple[str | None, dict[int, dict]]:
   done = False
 
   while not done:
-    # can_recv() may return zero or multiple packets, so we increment frame for each one we receive
-    can_packets = can_recv()
+    # can_recv(wait_for_one=True) may return zero or multiple packets, so we increment frame for each one we receive
+    can_packets = can_recv(wait_for_one=True)
     for can_packet in can_packets:
-      for can in can_packet.can:
+      for can in can_packet:
         # The fingerprint dict is generated for all buses, this way the car interface
         # can use it to detect a (valid) multipanda setup and initialize accordingly
         if can.src < 128:
@@ -83,7 +82,7 @@ def can_fingerprint(can_recv: Callable) -> tuple[str | None, dict[int, dict]]:
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params_raw):
+def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int, cached_params_raw: bytes | None):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@@ -109,9 +108,9 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params
       # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
       set_obd_multiplexing(True)
       # VIN query only reliably works through OBDII
-      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan, set_obd_multiplexing, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
+      vin_rx_addr, vin_rx_bus, vin = get_vin(can_recv, can_send, (0, 1))
+      ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
@@ -132,8 +131,8 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params
 
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
-  messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: messaging.drain_sock(logcan, wait_for_one=True))
+  can_recv()
+  car_fingerprint, finger = can_fingerprint(can_recv)
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
@@ -160,8 +159,9 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1, cached_params=None):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params)
+def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool,
+            num_pandas: int = 1, cached_params: bytes | None = None):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
     carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d00998acb8..4919be30c9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -14,6 +14,8 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
@@ -26,7 +28,7 @@ EventName = car.CarEvent.EventName
 carlog.addHandler(ForwardingHandler(cloudlog))
 
 
-def obd_callback(params: Params):
+def obd_callback(params: Params) -> ObdCallback:
   def set_obd_multiplexing(obd_multiplexing: bool):
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
       cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
@@ -37,10 +39,28 @@ def obd_callback(params: Params):
   return set_obd_multiplexing
 
 
+def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket) -> tuple[CanRecvCallable, CanSendCallable]:
+  def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    """
+    wait_for_one: wait the normal logcan socket timeout for a CAN packet, may return empty list if nothing comes
+
+    Returns: CAN packets comprised of CanData objects for easy access
+    """
+    ret = []
+    for can in messaging.drain_sock(logcan, wait_for_one=wait_for_one):
+      ret.append([CanData(msg.address, msg.dat, msg.src) for msg in can.can])
+    return ret
+
+  def can_send(msgs: list[CanData]) -> None:
+    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+
+  return can_recv, can_send
+
+
 class Car:
   CI: CarInterfaceBase
 
-  def __init__(self, CI=None):
+  def __init__(self, CI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
@@ -55,6 +75,8 @@ class Car:
 
     self.params = Params()
 
+    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
@@ -66,7 +88,7 @@ class Car:
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       cached_params = self.params.get("CarParamsCache")
-      self.CI = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
@@ -169,7 +191,7 @@ class Car:
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 5229b519a8..bbf5b4c9ff 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -8,7 +8,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_RESPONSE = b''
 
 
-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
 
@@ -18,12 +18,12 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=
 
   for i in range(retry):
     try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
 
       for _, _ in query.get_data(timeout).items():
         carlog.warning("communication control disable tx/rx ...")
 
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
         query.get_data(0)
 
         carlog.warning("ecu disabled")
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index e36c1dc981..336d0d5542 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -2,11 +2,10 @@
 import capnp
 import time
 
-import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import make_tester_present_msg, carlog
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 
 def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
@@ -23,26 +22,26 @@ def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subad
   return False
 
 
-def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def _get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
   queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
-  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
+  return get_ecu_addrs(can_recv, can_send, queries, responses, timeout=timeout, debug=debug)
 
 
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
+def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries: set[EcuAddrBusType],
                   responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
   ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
     msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
-    messaging.drain_sock_raw(logcan)
-    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+    can_recv()
+    can_send(msgs)
     start_time = time.monotonic()
     while time.monotonic() - start_time < timeout:
-      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
+      can_packets = can_recv(wait_for_one=True)
       for packet in can_packets:
-        for msg in packet.can:
+        for msg in packet:
           if not len(msg.dat):
             carlog.warning("ECU addr scan: skipping empty remote frame")
             continue
@@ -61,6 +60,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 
 if __name__ == "__main__":
   import argparse
+  import cereal.messaging as messaging
   from openpilot.common.params import Params
   from openpilot.selfdrive.car.card import obd_callback
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 87f5f3defd..7cee14bfbd 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -11,6 +11,7 @@ from cereal import car
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -171,7 +172,7 @@ def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vi
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
+def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
   # queries are split by OBD multiplexing mode
   queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
   parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
@@ -205,7 +206,7 @@ def get_present_ecus(logcan, sendcan, set_obd_multiplexing: ObdCallback, num_pan
   for obd_multiplexing in queries:
     set_obd_multiplexing(obd_multiplexing)
     for query in queries[obd_multiplexing]:
-      ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+      ecu_responses.update(get_ecu_addrs(can_recv, can_send, set(query), responses, timeout=0.1))
   return ecu_responses
 
 
@@ -227,8 +228,9 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
   return brand_matches
 
 
-def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1,
-                            num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
+                            ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
+                            progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -239,7 +241,8 @@ def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback,
     if not len(brand_matches[brand]):
       continue
 
-    car_fw = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
+    car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug,
+                             progress=progress)
     all_car_fw.extend(car_fw)
 
     # If there is a match using this brand's FW alone, finish querying early
@@ -250,8 +253,9 @@ def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback,
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, set_obd_multiplexing: ObdCallback, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1,
-                    num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
+                    extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
+                    progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
 
   if query_brand is not None:
@@ -301,7 +305,7 @@ def get_fw_versions(logcan, sendcan, set_obd_multiplexing: ObdCallback, query_br
                          (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if query_addrs:
-            query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
+            query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 4c9f9674d3..3eefd8f862 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -217,9 +217,9 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
+      disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
   def _update(self, c):
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ecedf3fd7c..9bb8e7ecf5 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -139,16 +139,16 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
-      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 029aade638..4e434ec386 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -12,7 +12,7 @@ from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
-from openpilot.selfdrive.car.can_definitions import CanData
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -155,7 +155,7 @@ class CarInterfaceBase(ABC):
     raise NotImplementedError
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP: car.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
     pass
 
   @staticmethod
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index c6bf73f7b3..8ec0a340e3 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -2,20 +2,18 @@ import time
 from collections import defaultdict
 from functools import partial
 
-import cereal.messaging as messaging
 from openpilot.selfdrive.car import carlog
-from openpilot.selfdrive.car.can_definitions import CanData
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
 class IsoTpParallelQuery:
-  def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
+  def __init__(self, can_send: CanSendCallable, can_recv: CanRecvCallable, bus: int, addrs: list[int] | list[AddrType],
                request: list[bytes], response: list[bytes], response_offset: int = 0x8,
                functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
-    self.sendcan = sendcan
-    self.logcan = logcan
+    self.can_send = can_send
+    self.can_recv = can_recv
     self.bus = bus
     self.request = request
     self.response = response
@@ -32,17 +30,17 @@ class IsoTpParallelQuery:
 
   def rx(self) -> None:
     """Drain can socket and sort messages into buffers based on address"""
-    can_packets = messaging.drain_sock(self.logcan, wait_for_one=True)
+    can_packets = self.can_recv(wait_for_one=True)
 
     for packet in can_packets:
-      for msg in packet.can:
+      for msg in packet:
         if msg.src == self.bus and msg.address in self.msg_addrs.values():
           self.msg_buffer[msg.address].append(CanData(msg.address, msg.dat, msg.src))
 
-  def _can_tx(self, tx_addr, dat, bus):
+  def _can_tx(self, tx_addr: int, dat: bytes, bus: int):
     """Helper function to send single message"""
-    msg = [tx_addr, dat, bus]
-    self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))
+    msg = CanData(tx_addr, dat, bus)
+    self.can_send([msg])
 
   def _can_rx(self, addr, sub_addr=None):
     """Helper function to retrieve message with specified address and subadress from buffer"""
@@ -63,8 +61,8 @@ class IsoTpParallelQuery:
     self.msg_buffer[addr] = keep_msgs
     return msgs
 
-  def _drain_rx(self):
-    messaging.drain_sock_raw(self.logcan)
+  def _drain_rx(self) -> None:
+    self.can_recv()
     self.msg_buffer = defaultdict(list)
 
   def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index cb00934376..0ea71e812f 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -106,6 +106,6 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
-      disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
+      disable_ecu(can_recv, can_send, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
index 01033f7b37..e28b2fe3b4 100644
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -1,6 +1,6 @@
 from parameterized import parameterized
 
-from cereal import log, messaging
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
 from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
@@ -11,13 +11,11 @@ class TestCanFingerprint:
     """Tests online fingerprinting function on offline fingerprints"""
 
     for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
-      can = messaging.new_message('can', 1)
-      can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
-                 for address, length in fingerprint.items() for src in (0, 1)]
+      can = [CanData(address=address, dat=b'\x00' * length, src=src)
+             for address, length in fingerprint.items() for src in (0, 1)]
 
       fingerprint_iter = iter([can])
-      empty_can = messaging.new_message('can', 0)
-      car_fingerprint, finger = can_fingerprint(lambda: [next(fingerprint_iter, empty_can)])  # noqa: B023
+      car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])])  # noqa: B023
 
       assert car_fingerprint == car_model
       assert finger[0] == fingerprint
@@ -32,30 +30,27 @@ class TestCanFingerprint:
     cases = []
 
     # case 1 - one match, make sure we keep going for 100 frames
-    can = messaging.new_message('can', 1)
-    can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
-               for address, length in fingerprint.items() for src in (0, 1)]
+    can = [CanData(address=address, dat=b'\x00' * length, src=src)
+           for address, length in fingerprint.items() for src in (0, 1)]
     cases.append((FRAME_FINGERPRINT, car_model, can))
 
     # case 2 - no matches, make sure we keep going for 100 frames
-    can = messaging.new_message('can', 1)
-    can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
+    can = [CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
     cases.append((FRAME_FINGERPRINT, None, can))
 
     # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
-    can = messaging.new_message('can', 1)
-    can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
+    can = [CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
     cases.append((FRAME_FINGERPRINT * 2, None, can))
 
     for expected_frames, car_model, can in cases:
       with subtests.test(expected_frames=expected_frames, car_model=car_model):
         frames = 0
 
-        def test():
+        def can_recv(**kwargs):
           nonlocal frames
           frames += 1
           return [can]  # noqa: B023
 
-        car_fingerprint, _ = can_fingerprint(test)
+        car_fingerprint, _ = can_fingerprint(can_recv)
         assert car_fingerprint == car_model
         assert frames == expected_frames + 2  # TODO: fix extra frames
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 9a252c743e..46a432f8a2 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -11,7 +11,6 @@ from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                 match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_fw_versions_ordered, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -19,15 +18,6 @@ Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
-class FakeSocket:
-  def receive(self, non_blocking=False):
-    return (can_list_to_can_capnp([CanData(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
-            if random.uniform(0, 1) > 0.5 else None)
-
-  def send(self, msg):
-    pass
-
-
 class TestFwFingerprint:
   def assertFingerprints(self, candidates, expected):
     candidates = list(candidates)
@@ -214,6 +204,15 @@ class TestFwFingerprintTiming:
   current_obd_multiplexing: bool
   total_time: float
 
+  @staticmethod
+  def fake_can_send(msgs):
+    pass
+
+  @staticmethod
+  def fake_can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    return ([[CanData(random.randint(0x600, 0x800), b'\x00' * 8, 0)]]
+            if random.uniform(0, 1) > 0.5 else [])
+
   def fake_set_obd_multiplexing(self, obd_multiplexing):
     """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
     if obd_multiplexing != self.current_obd_multiplexing:
@@ -225,7 +224,6 @@ class TestFwFingerprintTiming:
     return {}
 
   def _benchmark_brand(self, brand, num_pandas, mocker):
-    fake_socket = FakeSocket()
     self.total_time = 0
     mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
     for _ in range(self.N):
@@ -233,7 +231,7 @@ class TestFwFingerprintTiming:
       self.current_obd_multiplexing = True
 
       t = time.perf_counter()
-      get_fw_versions(fake_socket, fake_socket, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
+      get_fw_versions(self.fake_can_recv, self.fake_can_send, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
       self.total_time += time.perf_counter() - t
 
     return self.total_time / self.N
@@ -251,12 +249,11 @@ class TestFwFingerprintTiming:
       self.total_time += timeout
       return set()
 
-    fake_socket = FakeSocket()
     self.total_time = 0.0
     mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
     for _ in range(self.N):
       self.current_obd_multiplexing = True
-      get_present_ecus(fake_socket, fake_socket, self.fake_set_obd_multiplexing, num_pandas=2)
+      get_present_ecus(self.fake_can_recv, self.fake_can_send, self.fake_set_obd_multiplexing, num_pandas=2)
     self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
     print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
 
@@ -265,7 +262,7 @@ class TestFwFingerprintTiming:
         self.total_time = 0.0
         mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
         for _ in range(self.N):
-          get_vin(fake_socket, fake_socket, (0, 1), **args)
+          get_vin(self.fake_can_recv, self.fake_can_send, (0, 1), **args)
         self._assert_timing(self.total_time / self.N, vin_ref_times[name])
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
@@ -324,8 +321,7 @@ class TestFwFingerprintTiming:
       raise
 
     mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
-    fake_socket = FakeSocket()
-    get_fw_versions_ordered(fake_socket, fake_socket, lambda obd: None, '0' * 17, set())
+    get_fw_versions_ordered(self.fake_can_recv, self.fake_can_send, lambda obd: None, '0' * 17, set())
     for brand in FW_QUERY_CONFIGS.keys():
       with subtests.test(brand=brand):
-        get_fw_versions(fake_socket, fake_socket, lambda obd: None, brand)
+        get_fw_versions(self.fake_can_recv, self.fake_can_send, lambda obd: None, brand)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6487257bbc..5b2a075ce8 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -138,11 +138,11 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, can_recv, can_send):
     # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
+      disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
 
   # returns a car.CarState
   def _update(self, c):
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index d662f9a7de..9a667f3ced 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import re
 
-import cereal.messaging as messaging
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -15,7 +14,7 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
+def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
   for i in range(retry):
     for bus in buses:
       for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
@@ -35,7 +34,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
           tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100))
 
         try:
-          query = IsoTpParallelQuery(sendcan, logcan, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
+          query = IsoTpParallelQuery(can_send, can_recv, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
                                      functional_addrs=functional_addrs, debug=debug)
           results = query.get_data(timeout)
 
@@ -63,6 +62,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
 if __name__ == "__main__":
   import argparse
   import time
+  import cereal.messaging as messaging
 
   parser = argparse.ArgumentParser(description='Get VIN of the car')
   parser.add_argument('--debug', action='store_true')
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index b25f318b45..055293f16f 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -22,6 +22,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
+from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
@@ -356,7 +357,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    can_callbacks = can_comm_callbacks(can, sendcan)
+    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

From 6a2b4dedfc20d2ca667b9ee83133570ac4e565bf Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Thu, 8 Aug 2024 10:51:14 -0400
Subject: [PATCH 0378/1243] tools/logreader: add desc arg to
 run_across_segments() (#33226)

old-commit-hash: 9e648e428da38eeb4b096e291129841bdb7d40e8
---
 tools/lib/logreader.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 50c14ce4c3..2487cb2825 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -293,11 +293,11 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout
   def _run_on_segment(self, func, i):
     return func(self._get_lr(i))
 
-  def run_across_segments(self, num_processes, func):
+  def run_across_segments(self, num_processes, func, desc=None):
     with multiprocessing.Pool(num_processes) as pool:
       ret = []
       num_segs = len(self.logreader_identifiers)
-      for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs):
+      for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs, desc=desc):
         ret.extend(p)
       return ret
 

From fcba77b59e5cd58a9fef3db4df651196fe7b9bef Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 8 Aug 2024 23:45:03 +0800
Subject: [PATCH 0379/1243] pandad: move getenv check to global scope (#33235)

move getenv check to global
old-commit-hash: ad33cae40e03a99c4029f567dc3b67baef340450
---
 selfdrive/pandad/panda.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index ed5ee62501..bc81d7de91 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -10,6 +10,8 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 
+const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
+
 Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   // try USB first, then SPI
   try {
@@ -219,7 +221,7 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
     return false;
   }
 
-  if (getenv("PANDAD_MAXOUT") != NULL) {
+  if (PANDAD_MAXOUT) {
     static uint8_t junk[RECV_SIZE];
     handle->bulk_read(0xab, junk, RECV_SIZE - recv);
   }

From 93e980b9259cc6544ad48c707386fec09eee9133 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Thu, 8 Aug 2024 17:30:14 -0400
Subject: [PATCH 0380/1243] tools/rerun: Rerun 0.18 (#33188)

old-commit-hash: a604dcc524116047bce4fab9ea688030aa9f40cb
---
 tools/rerun/README.md        | 50 ++++++-------------
 tools/rerun/camera_reader.py |  5 +-
 tools/rerun/run.py           | 96 ++++++++++++++++++------------------
 tools/rerun/run.sh           |  9 ++++
 4 files changed, 75 insertions(+), 85 deletions(-)
 create mode 100755 tools/rerun/run.sh

diff --git a/tools/rerun/README.md b/tools/rerun/README.md
index 0fd50e1562..dc0a901e60 100644
--- a/tools/rerun/README.md
+++ b/tools/rerun/README.md
@@ -5,53 +5,33 @@ Rerun is a tool to quickly visualize time series data. It supports all openpilot
 
 ## Usage
 ```
-usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
+usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name]
 
 A helper to run rerun on openpilot routes
 
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to plot (default: None)
+
 options:
-  -h, --help                  show this help message and exit
-  --demo                      Use the demo route instead of providing one (default: False)
-  --qcam                      Log decimated driving camera (default: False)
-  --fcam                      Log driving camera (default: False)
-  --ecam                      Log wide camera (default: False)
-  --dcam                      Log driver monitoring camera (default: False)
-  --print_services            List out openpilot services (default: False)
-  --services [SERVICES ...]   Specify openpilot services that will be logged. No service will be logged if not specified.
-                              To log all services include 'all' as one of your services (default: [])
-  --route [ROUTE]             The route or segment name to plot (default: None)
+  -h, --help            show this help message and exit
+  --demo                Use the demo route instead of providing one (default: False)
+  --qcam                Show low-res road camera (default: False)
+  --fcam                Show driving camera (default: False)
+  --ecam                Show wide camera (default: False)
+  --dcam                Show driver monitoring camera (default: False)
 ```
 
 Examples using route name to observe accelerometer and qcamera:
 
-`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
 
 Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
 
-`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
 
 ## Cautions:
-- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
-
-- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
-
-This example draws 13GB of memory:
-
-`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
-
-
-## Openpilot services
-To list all openpilot services:
-
-`./run.py --print_services`
-
-Examples including openpilot services:
-
-`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
-
-Examples including all services:
-
-`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
 
 ## Demo
-`./run.py --services accelerometer carcontrol caroutput --qcam --demo`
+`./run.sh --qcam --demo`
diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py
index 325fad18b8..8366a3c1cf 100644
--- a/tools/rerun/camera_reader.py
+++ b/tools/rerun/camera_reader.py
@@ -37,6 +37,7 @@ class _FrameReader:
     frame_sz = self.w * self.h * 3 // 2
     proc = subprocess.Popen(
              ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+             stdin=subprocess.PIPE,
              stdout=subprocess.PIPE,
              stderr=subprocess.DEVNULL
            )
@@ -84,9 +85,9 @@ class CameraReader:
   def _run_on_segment(self, func, i):
     return func(self._get_fr(i))
 
-  def run_across_segments(self, num_processes, func):
+  def run_across_segments(self, num_processes, func, desc=None):
     with multiprocessing.Pool(num_processes) as pool:
       num_segs = len(self.seg_idxs)
-      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs):
+      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
         continue
 
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 79055b6b7d..ffbee0a9a5 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
+
 import sys
 import argparse
 import multiprocessing
 import rerun as rr
 import rerun.blueprint as rrb
 from functools import partial
+from collections import defaultdict
 
 from cereal.services import SERVICE_LIST
 from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
@@ -20,19 +22,16 @@ RR_WIN = "openpilot logs"
 
 """
 Relevant upstream Rerun issues:
-- large time series: https://github.com/rerun-io/rerun/issues/5967
 - loading videos directly: https://github.com/rerun-io/rerun/issues/6532
 """
 
 class Rerunner:
-  def __init__(self, route, segment_range, camera_config, enabled_services):
-    self.enabled_services = [s.lower() for s in enabled_services]
-    self.log_all = "all" in self.enabled_services
+  def __init__(self, route, segment_range, camera_config):
     self.lr = LogReader(route_or_segment_name)
 
     # hevc files don't have start_time. We get it from qcamera.ts
     start_time = 0
-    dat = probe_packet_info(r.qcamera_paths()[0])
+    dat = probe_packet_info(route.qcamera_paths()[0])
     for d in dat:
       if d.startswith("pts_time="):
         start_time = float(d.split('=')[1])
@@ -49,34 +48,30 @@ class Rerunner:
     if dcam:
       self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
 
-  def _start_rerun(self):
-    self.blueprint = self._create_blueprint()
-    rr.init(RR_WIN, spawn=True)
-
   def _create_blueprint(self):
     blueprint = None
     service_views = []
 
-    log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
     for topic in sorted(SERVICE_LIST.keys()):
-      if not self.log_all and topic.lower() not in self.enabled_services:
-        continue
       View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
-      service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=False))
       rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
 
+    center_view = [rrb.Vertical(*service_views, name="streams")]
+    if len(self.camera_readers):
+      center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras"))
+
     blueprint = rrb.Blueprint(
       rrb.Horizontal(
-        rrb.Vertical(*service_views),
-        rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
+        *center_view
       ),
       rrb.SelectionPanel(expanded=False),
-      rrb.TimePanel(expanded=False)
+      rrb.TimePanel(expanded=False),
     )
     return blueprint
 
   @staticmethod
-  def _log_msg(msg, parent_key=''):
+  def _parse_msg(msg, parent_key=''):
     stack = [(msg, parent_key)]
     while stack:
       current_msg, current_parent_key = stack.pop()
@@ -84,40 +79,47 @@ class Rerunner:
         for index, item in enumerate(current_msg):
           new_key = f"{current_parent_key}/{index}"
           if isinstance(item, (int, float)):
-            rr.log(new_key, rr.Scalar(item))
+            yield new_key, item
           elif isinstance(item, dict):
             stack.append((item, new_key))
       elif isinstance(current_msg, dict):
         for key, value in current_msg.items():
           new_key = f"{current_parent_key}/{key}"
           if isinstance(value, (int, float)):
-            rr.log(new_key, rr.Scalar(value))
+            yield new_key, value
           elif isinstance(value, dict):
             stack.append((value, new_key))
           elif isinstance(value, list):
             for index, item in enumerate(value):
               if isinstance(item, (int, float)):
-                rr.log(f"{new_key}/{index}", rr.Scalar(item))
+                yield f"{new_key}/{index}", item
       else:
         pass  # Not a plottable value
 
   @staticmethod
   @rr.shutdown_at_exit
-  def _process_log_msgs(blueprint, enabled_services, log_all, lr):
+  def _process_log_msgs(blueprint, lr):
     rr.init(RR_WIN)
-    rr.connect(default_blueprint=blueprint)
+    rr.connect()
+    rr.send_blueprint(blueprint)
 
+    log_msgs = defaultdict(lambda: defaultdict(list))
     for msg in lr:
-      rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
       msg_type = msg.which()
 
-      if not log_all and msg_type.lower() not in enabled_services:
+      if msg_type == "thumbnail":
         continue
 
-      if msg_type != "thumbnail":
-        Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
-      else:
-        rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
+      for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
+        log_msgs[entity_path]["times"].append(msg.logMonoTime / 1e9)
+        log_msgs[entity_path]["data"].append(dat)
+
+    for entity_path, log_msg in log_msgs.items():
+      rr.log_temporal_batch(
+        entity_path,
+        times=[rr.TimeSecondsBatch(RR_TIMELINE_NAME, log_msg["times"])],
+        components=[rr.components.ScalarBatch(log_msg["data"])]
+      )
 
     return []
 
@@ -125,18 +127,22 @@ class Rerunner:
   @rr.shutdown_at_exit
   def _process_cam_readers(blueprint, cam_type, h, w, fr):
     rr.init(RR_WIN)
-    rr.connect(default_blueprint=blueprint)
+    rr.connect()
+    rr.send_blueprint(blueprint)
 
     for ts, frame in fr:
       rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
       rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
 
   def load_data(self):
-    self._start_rerun()
-    if len(self.enabled_services) > 0:
-      self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
+    rr.init(RR_WIN, spawn=True)
+
+    startup_blueprint = self._create_blueprint()
+    self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages")
     for cam_type, cr in self.camera_readers.items():
-      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type)
+
+    rr.send_blueprint(self._create_blueprint())
 
 
 if __name__ == '__main__':
@@ -147,34 +153,28 @@ if __name__ == '__main__':
   parser.add_argument("--fcam", action="store_true", help="Show driving camera")
   parser.add_argument("--ecam", action="store_true", help="Show wide camera")
   parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
-  parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
-  parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
-                                                                No service will be logged if not specified.\
-                                                                To log all services include 'all' as one of your services")
-  parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
   args = parser.parse_args()
 
-  if not args.demo and not args.route:
+  if not args.demo and not args.route_or_segment_name:
     parser.print_help()
     sys.exit()
 
-  if args.print_services:
-    print("\n".join(SERVICE_LIST.keys()))
-    sys.exit()
-
   camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
 
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip()
   sr = SegmentRange(route_or_segment_name)
   r = Route(sr.route_name)
 
-  if len(sr.seg_idxs) > 10:
-    print("You're requesting more than 10 segments of the route, " + \
-          "please be aware that might take a lot of memory")
+  hevc_requested = any(camera_config[1:])
+  if len(sr.seg_idxs) > 1 and hevc_requested:
+    print("You're requesting more than 1 segment with hevc videos, " + \
+          "please be aware that might take a lot of memory " + \
+          "since rerun isn't yet well supported for high resolution video logging")
     response = input("Do you wish to continue? (Y/n): ")
     if response.strip().lower() != "y":
       sys.exit()
 
-  rerunner = Rerunner(r, sr, camera_config, args.services)
+  rerunner = Rerunner(r, sr, camera_config)
   rerunner.load_data()
 
diff --git a/tools/rerun/run.sh b/tools/rerun/run.sh
new file mode 100755
index 0000000000..25190411d1
--- /dev/null
+++ b/tools/rerun/run.sh
@@ -0,0 +1,9 @@
+#! /bin/bash
+
+# TODO: remove this file once Rerun has interface to set log message level
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+RUST_LOG=warn $DIR/run.py $@
+

From b5a58ca7157b6fea10bd9fcfa9b919fb7ef8c15d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 8 Aug 2024 16:32:02 -0700
Subject: [PATCH 0381/1243] op.sh: fix venv on zsh + bash 3.2 (#33238)

* i love zsh

* check
old-commit-hash: 80653bfb591a3897f4bb3e59ed82e046812751cf
---
 tools/op.sh | 21 +++++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 7dc2ac1377..7d972b0c86 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -14,6 +14,7 @@ UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
+SHELL_NAME="$(basename ${SHELL})"
 RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
@@ -145,7 +146,7 @@ function op_check_python() {
 
 function op_check_venv() {
   echo "Checking for venv..."
-  if source $OPENPILOT_ROOT/.venv/bin/activate; then
+  if [[ -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] venv detected."
   else
     echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
@@ -223,12 +224,28 @@ function op_setup() {
 }
 
 function op_activate_venv() {
+  # bash 3.2 can't handle this without the 'set +e'
+  set +e
   source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+  set -e
 }
 
 function op_venv() {
   op_before_cmd
-  bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate")
+
+  if [[ ! -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
+    echo -e "No venv found in $OPENPILOT_ROOT"
+    return 1
+  fi
+
+  case $SHELL_NAME in
+    "zsh")
+      ZSHRC_DIR=$(mktemp -d 2>/dev/null || mktemp -d -t 'tmp_zsh')
+      echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate" >> $ZSHRC_DIR/.zshrc
+      ZDOTDIR=$ZSHRC_DIR zsh ;;
+    *)
+      bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") ;;
+  esac
 }
 
 function op_check() {

From 0cade540158f1dadfb045f9fb40b06b7c48c545d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 8 Aug 2024 16:35:30 -0700
Subject: [PATCH 0382/1243] webcam: remove other cv2 usage (#33236)

av
old-commit-hash: a8c0c158adcc6c08dd83cbb1b8499ed468d3184f
---
 tools/webcam/camera.py  |  1 +
 tools/webcam/camerad.py | 10 ++++------
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index 10900b60ff..8358846f3a 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -11,6 +11,7 @@ class Camera:
     self.cur_frame_id = 0
 
     self.container = av.open(camera_id)
+    assert self.container.streams.video, f"Can't open video stream for camera {camera_id}"
     self.video_stream = self.container.streams.video[0]
     self.W = self.video_stream.codec_context.width
     self.H = self.video_stream.codec_context.height
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index d0b879a086..47dddfce98 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -26,7 +26,6 @@ class Camerad:
     self.cameras = []
     for c in CAMERAS:
       cam = Camera(c.msg_name, c.stream_type, c.cam_id)
-      assert cam.cap.isOpened(), f"Can't find camera {c}"
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
 
@@ -47,11 +46,10 @@ class Camerad:
 
   def camera_runner(self, cam):
     rk = Ratekeeper(20, None)
-    while cam.cap.isOpened():
-      for yuv in cam.read_frames():
-        self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
-        cam.cur_frame_id += 1
-        rk.keep_time()
+    for yuv in cam.read_frames():
+      self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
+      cam.cur_frame_id += 1
+      rk.keep_time()
 
   def run(self):
     threads = []

From 5e990d41866f8a281ce0daaee6ab44fb11481adf Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 8 Aug 2024 20:23:51 -0700
Subject: [PATCH 0383/1243] linux: setup panda + jungle udev rules (#33241)

* add rules

* allow failure on docker
old-commit-hash: 2ff051ba5321ba75096ef21be93c807679ab703f
---
 tools/install_ubuntu_dependencies.sh | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index a7cf0e75c3..e768fb8d2c 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -148,6 +148,23 @@ if [ -f "/etc/os-release" ]; then
   if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then
     install_extra_packages
   fi
+
+  if [[ -d "/etc/udev/rules.d/" ]]; then
+    # Setup panda udev rules
+    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+EOF
+
+    # Setup jungle udev rules
+    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+EOF
+
+  $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
+  fi
+
 else
   echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
   exit 1

From ee777a7e75ada595a53e4eb4a69cf62fa8a78f67 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 9 Aug 2024 11:02:18 -0700
Subject: [PATCH 0384/1243] Update CONTRIBUTING.md old-commit-hash:
 4d0b54e80be187e6fdae7272cd2724d7fdbc99eb

---
 docs/CONTRIBUTING.md | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 755ca82220..c66b20c88e 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -1,6 +1,8 @@
 # How to contribute
 
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
+
+Development is coordinated through [Discord](https://discord.comma.ai) and GitHub.
 
 ### Getting Started
 
@@ -11,7 +13,8 @@ Our software is open source so you can solve your own problems without needing h
 
 ## What contributions are we looking for?
 
-**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. 
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
 
 ### What gets merged?
 
@@ -27,24 +30,21 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful 
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
-* **UI design changes**: we do not have a good review process for this yet
+* **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
+* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
-Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
-
-### What do I need to contribute?
-
-A lot of openpilot work requires only a PC, and some requires a comma device.
-Most car-related contributions require access to that car, plus a comma device installed in the car.
+[Bounties](https://comma.ai/bounties) are the best place to get started.
+There's lot of bounties that don't require a comma 3/3X or a car.
 
 ## Pull Requests
 
-Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+Pull requests should be against the master branch.
 
 A good pull request has all of the following:
 * a clearly stated purpose

From ac6956a651c4b8913b4f722fde507a877be688d0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 9 Aug 2024 14:30:28 -0700
Subject: [PATCH 0385/1243] tici: new updater build (#33246)

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 1b554b488e2c66e7d9ddafa54681742cbe3f803e
---
 system/hardware/tici/updater | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 7eb407988e..11ce7809d0 100755
--- a/system/hardware/tici/updater
+++ b/system/hardware/tici/updater
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f74ea28934c6b9477a98dc6a38e6bfcd53e94e6af31dba5b6d11bc5310f7d995
-size 8135168
+oid sha256:8db3f973663e59921fcc9e5d5600a346c1e229a2e8481a874ef996d97303dc4e
+size 16631712

From 025395ca431dc3c861da3e71394056b7f2d9c013 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Sat, 10 Aug 2024 02:12:40 -0400
Subject: [PATCH 0386/1243] tools/sim: resolve import error on MacOS running
 Metadrive (#33244)

fix dynamic lib linking on mac
old-commit-hash: c06d975ec4fbb8912cb5b78c5158738ea57cb271
---
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 22342c0078..2a155717c0 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -73,6 +73,8 @@ lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
 if arch != "Darwin":
   lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+else:
+  lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])

From b53338bfd7a4338f97f481b98fc4804e90100cc2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 9 Aug 2024 23:21:45 -0700
Subject: [PATCH 0387/1243] setup.sh: get full uname (#33248)

log
old-commit-hash: b9fe84f84d65c72c71a2223d4d3f07902187d95d
---
 tools/setup.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/setup.sh b/tools/setup.sh
index 24b5b2707f..2dc1144900 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -44,6 +44,7 @@ function sentry_send_event() {
 
   PLATFORM=$(uname -s)
   ARCH=$(uname -m)
+  SYSTEM=$(uname -a)
   if [[ $PLATFORM == "Darwin" ]]; then
     OS="macos"
   elif [[ $PLATFORM == "Linux" ]]; then
@@ -60,7 +61,7 @@ function sentry_send_event() {
   BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
   COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
 
-  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\" }  }" \
+  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" }  }" \
     -H 'Content-Type: application/json' \
     -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
     $SENTRY_URL 2> /dev/null

From 7dd22b95676107e0e3810d640110564013c4ea68 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 10 Aug 2024 01:42:40 -0500
Subject: [PATCH 0388/1243] Honda: round minEnableSpeed correctly (#33250)

round to even
old-commit-hash: 4300f37cc4b6bd405391815afc5c6b2c740e7e43
---
 docs/CARS.md                     | 20 ++++++++++----------
 selfdrive/car/honda/interface.py |  2 +-
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 8fafc483f2..e4813eb1d9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -8,8 +8,8 @@ A supported vehicle is one that just works when you install a comma device. All
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
@@ -64,20 +64,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
 |Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 3eefd8f862..ae19f6940f 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -209,7 +209,7 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
     ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
-    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
+    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8

From 17dfc2b45b99dc84cc2d5d40d495d8af0e91150e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 10 Aug 2024 00:05:35 -0700
Subject: [PATCH 0389/1243] op.sh: consistent naming (#33249)

name
old-commit-hash: ea05474df25b91fb2568c83ee18ea27d67327edd
---
 tools/op.sh | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 7d972b0c86..a133cc4348 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -118,7 +118,7 @@ function op_check_os() {
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] macOS detected.\n"
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     loge "ERROR_UNKNOWN_OS" "$OSTYPE"
@@ -308,14 +308,14 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
   echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
   echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
-  echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
-  echo -e "  ${BOLD}replay${NC}   Run replay"
-  echo -e "  ${BOLD}cabana${NC}   Run cabana"
+  echo -e "  ${BOLD}juggle${NC}   Run PlotJuggler"
+  echo -e "  ${BOLD}replay${NC}   Run Replay"
+  echo -e "  ${BOLD}cabana${NC}   Run Cabana"
   echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"

From 162436088f301c643ecd9bbe62937ad2873153a5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 10 Aug 2024 02:06:56 -0500
Subject: [PATCH 0390/1243] move capnp CarParams decoding out of car_helpers
 (#33251)

* move capnp byte decoding out of car_helpers

* always wanted to type this

* and process replay

* this does nothing

* might as well
old-commit-hash: ee62b9c88baf4a53f6db88381da2b8052c3fab17
---
 selfdrive/car/car_helpers.py                  | 20 +++++++------------
 selfdrive/car/card.py                         |  8 +++++++-
 .../test/process_replay/process_replay.py     | 11 +++++++---
 3 files changed, 22 insertions(+), 17 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index d2345f1a05..823f038a9c 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -2,14 +2,13 @@ import os
 import time
 
 from cereal import car
-from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car import carlog, gen_empty_fingerprint
 from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -82,7 +81,8 @@ def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, di
 
 
 # **** for use live only ****
-def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int, cached_params_raw: bytes | None):
+def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
+                cached_params: type[car.CarParams] | None) -> tuple[str | None, dict, str, list, int, bool]:
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@@ -90,13 +90,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    cached_params = None
-    if cached_params_raw is not None:
-      with car.CarParams.from_bytes(cached_params_raw) as cached_params:
-        if cached_params.carName == "mock":
-          cached_params = None
-
-    if cached_params is not None and len(cached_params.carFw) > 0 and \
+    if cached_params is not None and cached_params.carName != "mock" and len(cached_params.carFw) > 0 and \
        cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       carlog.warning("Using cached CarParams")
       vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
@@ -160,7 +154,7 @@ def get_car_interface(CP):
 
 
 def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool,
-            num_pandas: int = 1, cached_params: bytes | None = None):
+            num_pandas: int = 1, cached_params: type[car.CarParams] | None = None):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 4919be30c9..d091f31042 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -87,7 +87,13 @@ class Car:
 
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      cached_params = self.params.get("CarParamsCache")
+
+      cached_params = None
+      cached_params_raw = self.params.get("CarParamsCache")
+      if cached_params_raw is not None:
+        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
+          cached_params = _cached_params
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.CP = self.CI.CP
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 055293f16f..8cf7d4138a 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -349,8 +349,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     sendcan = DummySocket()
 
     canmsgs = [msg for msg in msgs if msg.which() == "can"]
-    cached_params = params.get("CarParamsCache")
-    has_cached_cp = cached_params is not None
+    cached_params_raw = params.get("CarParamsCache")
+    has_cached_cp = cached_params_raw is not None
     assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
     assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
             "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
@@ -358,13 +358,18 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     can_callbacks = can_comm_callbacks(can, sendcan)
+
+    cached_params = None
+    if has_cached_cp:
+      with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
+        cached_params = _cached_params
+
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
   params.put("CarParams", CP.to_bytes())
-  return CP
 
 
 def controlsd_rcv_callback(msg, cfg, frame):

From 056426a674a4bb1deb562d973421bb0928b63218 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 12 Aug 2024 01:22:52 +0800
Subject: [PATCH 0391/1243] spinner: fix missing colon in QProgressBar border
 style (#33258)

fix border style
old-commit-hash: 85d8d0eddd91baabb6bbef59a9d1f8463b70dc90
---
 selfdrive/ui/qt/spinner.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index 2404efa668..4bb697d9e8 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -83,7 +83,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
     QProgressBar {
       background-color: #373737;
       width: 1000px;
-      border solid white;
+      border: 1px solid white;
       border-radius: 10px;
     }
     QProgressBar::chunk {

From 937ed5f7000fc0612b2060d60b2415f1113adf87 Mon Sep 17 00:00:00 2001
From: Jimmy <9859727+Quantizr@users.noreply.github.com>
Date: Sun, 11 Aug 2024 15:10:14 -0700
Subject: [PATCH 0392/1243] Add testing closet to LogReader source (#33242)

* add testing closet to logreader source

* check source availability

* use internal_source_available
old-commit-hash: 118932acd3ba74cabcfeebd7993f94e5dcbbcda5
---
 tools/lib/filereader.py | 6 +++---
 tools/lib/logreader.py  | 8 +++++++-
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 3bfdc75feb..963d7a8cdb 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -7,10 +7,10 @@ from openpilot.tools.lib.url_file import URLFile
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
 
-def internal_source_available():
+def internal_source_available(url=DATA_ENDPOINT):
   try:
-    hostname = urlparse(DATA_ENDPOINT).hostname
-    port = urlparse(DATA_ENDPOINT).port or 80
+    hostname = urlparse(url).hostname
+    port = urlparse(url).port or 80
     with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
       s.connect((hostname, port))
     return True
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 2487cb2825..815bd4b796 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -174,6 +174,12 @@ def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   return [get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]
 
 
+def testing_closet_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
+  if not internal_source_available('http://testing.comma.life'):
+    raise InternalUnavailableException
+  return [f"http://testing.comma.life/download/{sr.route_name.replace('|', '/')}/{seg}/rlog" for seg in sr.seg_idxs]
+
+
 def direct_source(file_or_url: str) -> LogPaths:
   return [file_or_url]
 
@@ -195,7 +201,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,]
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source, testing_closet_source,]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source

From ac9370addcbe1b9b9a3116e75e65ff3a40f9e69b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 11 Aug 2024 15:47:27 -0700
Subject: [PATCH 0393/1243] no more gh discussions

old-commit-hash: 82c2ec7208af2083c2a9f91eef3edf7682bc06e0
---
 .github/ISSUE_TEMPLATE/config.yml | 13 +++++--------
 tools/cabana/README.md            |  2 --
 2 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
index 45a8af0aaf..9e9f6af61d 100644
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,14 +1,11 @@
 blank_issues_enabled: false
 contact_links:
+  - name: Join the Discord
+    url: https://discord.comma.ai
+    about: The community Discord is for both openpilot development and experience discussion
   - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
-    about: Provide feedback for the driving or driver monitoring models
-  - name: Discussions
-    url: https://github.com/commaai/openpilot/discussions
-    about: For questions and general discussion about openpilot
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
   - name: Community Wiki
     url: https://github.com/commaai/openpilot/wiki
     about: Check out our community wiki
-  - name: Community Discord
-    url: https://discord.comma.ai
-    about: Check out our community discord
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index dbbdd8020c..27829979c0 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -96,5 +96,3 @@ cabana
 ## Additional Information
 
 For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
-
-If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091)
\ No newline at end of file

From b014b1cc90d63285d37165447edf7080ae56f53a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 11 Aug 2024 21:12:46 -0500
Subject: [PATCH 0394/1243] Fix some car typing (#33256)

* ??

* fix these

* more typing and some fixes

* fix

* rm this for now

* fix
old-commit-hash: 2dab8b31f20503b2eaf0d11302da31759d9867e2
---
 selfdrive/car/hyundai/carcontroller.py    |  3 ++-
 selfdrive/car/interfaces.py               | 24 +++++++++++++----------
 selfdrive/car/mock/carstate.py            |  5 ++++-
 selfdrive/car/subaru/tests/test_subaru.py |  6 ------
 4 files changed, 20 insertions(+), 18 deletions(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 0e3a3f0afd..e121faa790 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -4,6 +4,7 @@ from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, c
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from openpilot.selfdrive.car.hyundai.carstate import CarState
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -169,7 +170,7 @@ class CarController(CarControllerBase):
     self.frame += 1
     return new_actuators, can_sends
 
-  def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
+  def create_button_messages(self, CC: car.CarControl, CS: CarState, use_clu11: bool):
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 4e434ec386..4707ade718 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -87,7 +87,7 @@ def get_torque_params():
 # generic car and radar interfaces
 
 class CarInterfaceBase(ABC):
-  def __init__(self, CP, CarController, CarState):
+  def __init__(self, CP: car.CarParams, CarController, CarState):
     self.CP = CP
 
     self.frame = 0
@@ -97,7 +97,7 @@ class CarInterfaceBase(ABC):
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
-    self.CS = CarState(CP)
+    self.CS: CarStateBase = CarState(CP)
     self.cp = self.CS.get_can_parser(CP)
     self.cp_cam = self.CS.get_cam_can_parser(CP)
     self.cp_adas = self.CS.get_adas_can_parser(CP)
@@ -116,7 +116,7 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_non_essential_params(cls, candidate: str):
+  def get_non_essential_params(cls, candidate: str) -> car.CarParams:
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
@@ -151,7 +151,7 @@ class CarInterfaceBase(ABC):
   @staticmethod
   @abstractmethod
   def _get_params(ret: car.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+                  car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool) -> car.CarParams:
     raise NotImplementedError
 
   @staticmethod
@@ -211,7 +211,7 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
+  def configure_torque_tune(candidate: str, tune: car.CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
     params = get_torque_params()[candidate]
 
     tune.init('torque')
@@ -342,10 +342,10 @@ class CarInterfaceBase(ABC):
 
 
 class RadarInterfaceBase(ABC):
-  def __init__(self, CP):
+  def __init__(self, CP: car.CarParams):
     self.CP = CP
     self.rcp = None
-    self.pts = {}
+    self.pts: dict[int, car.RadarData.RadarPoint] = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
@@ -358,7 +358,7 @@ class RadarInterfaceBase(ABC):
 
 
 class CarStateBase(ABC):
-  def __init__(self, CP):
+  def __init__(self, CP: car.CarParams):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
     self.out = car.CarState.new_message()
@@ -380,6 +380,10 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+  @abstractmethod
+  def update(self, *args) -> car.CarState:
+    pass
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])
@@ -462,12 +466,12 @@ class CarStateBase(ABC):
 
 
 class CarControllerBase(ABC):
-  def __init__(self, dbc_name: str, CP):
+  def __init__(self, dbc_name: str, CP: car.CarParams):
     self.CP = CP
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
+  def update(self, CC: car.CarControl, CS: CarStateBase, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
     pass
 
 
diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py
index ece908b51c..41a298e24e 100644
--- a/selfdrive/car/mock/carstate.py
+++ b/selfdrive/car/mock/carstate.py
@@ -1,4 +1,7 @@
+from cereal import car
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+
 class CarState(CarStateBase):
-  pass
+  def update(self, *args) -> car.CarState:
+    pass
diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py
index 33040442b6..f81c392679 100644
--- a/selfdrive/car/subaru/tests/test_subaru.py
+++ b/selfdrive/car/subaru/tests/test_subaru.py
@@ -1,10 +1,5 @@
-from cereal import car
 from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
 
 class TestSubaruFingerprint:
   def test_fw_version_format(self):
@@ -13,4 +8,3 @@ class TestSubaruFingerprint:
         fw_size = len(fws[0])
         for fw in fws:
           assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}"
-

From e4cdccb7fd3c344a51be8300083a591c06ae0515 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 11 Aug 2024 22:24:43 -0500
Subject: [PATCH 0395/1243] Revert "spinner: fix missing colon in QProgressBar
 border style" (#33263)

Revert "spinner: fix missing colon in QProgressBar border style (#33258)"

This reverts commit 3ba8a152cc8326306640c7acf307ceb385f7a4e8.
old-commit-hash: d33035872894ec06d0ededafd512132928edf207
---
 selfdrive/ui/qt/spinner.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index 4bb697d9e8..2404efa668 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -83,7 +83,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
     QProgressBar {
       background-color: #373737;
       width: 1000px;
-      border: 1px solid white;
+      border solid white;
       border-radius: 10px;
     }
     QProgressBar::chunk {

From d18a0868c667ba17d838b22eefcfa77cef5e869f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 11 Aug 2024 22:25:08 -0500
Subject: [PATCH 0396/1243] move the body events to card (#33262)

* move the body events to card

* rm import
old-commit-hash: 093c09a7373868a77d8f9e56f7f26304601855dc
---
 selfdrive/car/body/interface.py | 10 +---------
 selfdrive/car/card.py           |  6 ++++++
 2 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 50564d3ed8..29d55c934b 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,6 +1,6 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
@@ -27,12 +27,4 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp)
 
-    # wait for everything to init first
-    if self.frame > int(5. / DT_CTRL):
-      # body always wants to enable
-      ret.init('events', 1)
-      ret.events[0].name = car.CarEvent.EventName.pcmEnable
-      ret.events[0].enable = True
-    self.frame += 1
-
     return ret
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d091f31042..0f26681a05 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -159,6 +159,12 @@ class Car:
 
     self.events.add_from_msg(CS.events)
 
+    if self.CP.notCar:
+      # wait for everything to init first
+      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
+        # body always wants to enable
+        self.events.add(EventName.pcmEnable)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \

From ff1bb1a92690a83a702464c4c3bcbb4f206e9a7e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 11 Aug 2024 21:01:13 -0700
Subject: [PATCH 0397/1243] Update ui_preview.yaml old-commit-hash:
 96a4877e9f731441c253ab35f880b0c84dff22dd

---
 .github/workflows/ui_preview.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index bc19e23778..ebfee0de95 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -6,6 +6,7 @@ on:
       - 'master'
     paths:
       - 'selfdrive/ui/**'
+  workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"

From 988d16a4c8b12c9dcde245929a3c2dc5344370cd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 11 Aug 2024 23:54:40 -0500
Subject: [PATCH 0398/1243] remove map from ui preview (#33265)

* rm map from ui preview

* fix
old-commit-hash: 4e122ed2d11785010377e023c979b258e622acb1
---
 .github/workflows/ui_preview.yaml |  3 +--
 selfdrive/ui/tests/test_ui/run.py | 12 +-----------
 2 files changed, 2 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index ebfee0de95..c678abb276 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -79,11 +79,10 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
               </tr>
             </table>
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0b1d842499..15b97511bc 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -13,7 +13,6 @@ from cereal import messaging, car, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 
 from cereal.messaging import SubMaster, PubMaster
-from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
@@ -92,16 +91,8 @@ def setup_onroad(click, pm: PubMaster):
     pm.send(msg.which(), msg)
     server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof)
 
-@mock_messages(['liveLocationKalman'])
-def setup_onroad_map(click, pm: PubMaster):
-  setup_onroad(click, pm)
-
-  click(500, 500)
-
-  time.sleep(UI_DELAY) # give time for the map to render
-
 def setup_onroad_sidebar(click, pm: PubMaster):
-  setup_onroad_map(click, pm)
+  setup_onroad(click, pm)
   click(500, 500)
 
 CASES = {
@@ -109,7 +100,6 @@ CASES = {
   "settings_device": setup_settings_device,
   "settings_network": setup_settings_network,
   "onroad": setup_onroad,
-  "onroad_map": setup_onroad_map,
   "onroad_sidebar": setup_onroad_sidebar
 }
 

From 11c9105a60ca7ce24016195d48c05ef8e535c813 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 12 Aug 2024 01:12:42 -0500
Subject: [PATCH 0399/1243] carState: add invalid sensors field (#33266)

* add to CS

* add vehicleSensorsInvalid to CarState

* fix ord

* clean up
old-commit-hash: 7ec998634097f062afe8fb584e34e4c8a1d9fb54
---
 cereal/car.capnp                  | 1 +
 selfdrive/car/ford/carstate.py    | 4 +---
 selfdrive/car/ford/interface.py   | 2 --
 selfdrive/car/interfaces.py       | 2 ++
 selfdrive/car/toyota/carstate.py  | 4 ++++
 selfdrive/car/toyota/interface.py | 5 -----
 6 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 3df23d9921..cbfb330c22 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -196,6 +196,7 @@ struct CarState {
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index ed707a5f78..5fe105482e 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -17,8 +17,6 @@ class CarState(CarStateBase):
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
-    self.vehicle_sensors_valid = False
-
     self.prev_distance_button = 0
     self.distance_button = 0
 
@@ -27,7 +25,7 @@ class CarState(CarStateBase):
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
-    self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
+    ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
 
     # car speed
     ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index b872be212b..5768d73e4b 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -73,8 +73,6 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
-    if not self.CS.vehicle_sensors_valid:
-      events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 4707ade718..3d4bf543e0 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -300,6 +300,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.preEnableStandstill)
     if cs_out.gasPressed:
       events.add(EventName.gasPressedOverride)
+    if cs_out.vehicleSensorsInvalid:
+      events.add(EventName.vehicleSensorsInvalid)
 
     # Handle button presses
     for b in cs_out.buttonEvents:
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 6037585c90..7c2d0e6ce6 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -112,6 +112,10 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
       ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
 
+      # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
+      # the more accurate angle sensor signal is initialized
+      ret.vehicleSensorsInvalid = not self.accurate_steer_angle_seen
+
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 5b2a075ce8..5e356bfd49 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -154,11 +154,6 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
-    # the more accurate angle sensor signal is initialized
-    if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
-      events.add(EventName.vehicleSensorsInvalid)
-
     if self.CP.openpilotLongitudinalControl:
       if ret.cruiseState.standstill and not ret.brakePressed:
         events.add(EventName.resumeRequired)

From 31c739389a6cb07eb4dd737ee2a47cb629893a3a Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 12 Aug 2024 10:19:30 -0700
Subject: [PATCH 0400/1243] [bot] Update Python packages (#33272)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 308000dd8200aca90369f3593c4ca52b6d275899
---
 uv.lock | 2474 ++++++++++++++++++++++++++++---------------------------
 1 file changed, 1252 insertions(+), 1222 deletions(-)

diff --git a/uv.lock b/uv.lock
index b5a734f300..e46d966ffe 100644
--- a/uv.lock
+++ b/uv.lock
@@ -3,90 +3,90 @@ requires-python = ">=3.11"
 environment-markers = [
     "python_version == '3.11'",
     "python_version >= '3.12'",
-    "python_version < '3.12' and (python_version < '3.11' or python_version > '3.11')",
+    "python_version < '3.11' or (python_version > '3.11' and python_version < '3.12')",
 ]
 
-[[distribution]]
+[[package]]
 name = "aiohappyeyeballs"
-version = "2.3.4"
+version = "2.3.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/3c/c1/52b8ecc87576f8b06fd5132e3ab8550209c958fb450e6d185b15835da82c/aiohappyeyeballs-2.3.4.tar.gz", hash = "sha256:7e1ae8399c320a8adec76f6c919ed5ceae6edd4c3672f4d9eae2b27e37c80ff6", size = 16278 }
+sdist = { url = "https://files.pythonhosted.org/packages/b7/c3/112f2f992aeb321de483754c1c5acab08c8ac3388c9c7e6f3e4f45ec1c42/aiohappyeyeballs-2.3.5.tar.gz", hash = "sha256:6fa48b9f1317254f122a07a131a86b71ca6946ca989ce6326fff54a99a920105", size = 16791 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/93/fd/a19345071360a94345ebecaa268d6c6f56900687d91ef775fe2496a76100/aiohappyeyeballs-2.3.4-py3-none-any.whl", hash = "sha256:40a16ceffcf1fc9e142fd488123b2e218abc4188cf12ac20c67200e1579baa42", size = 12001 },
+    { url = "https://files.pythonhosted.org/packages/8b/b4/0983e94060405eb51f23be493e3f5c28003f7ebc5efcd0803c1cb23ea407/aiohappyeyeballs-2.3.5-py3-none-any.whl", hash = "sha256:4d6dea59215537dbc746e93e779caea8178c866856a721c9c660d7a5a7b8be03", size = 12139 },
 ]
 
-[[distribution]]
+[[package]]
 name = "aiohttp"
-version = "3.10.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "aiohappyeyeballs", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "aiosignal", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "attrs", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "frozenlist", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "multidict", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "yarl", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f7/e1/bfcafd54dee859b2e6e690c5f8a8a30343d590a8822bb0669afba4c2c9e6/aiohttp-3.10.1.tar.gz", hash = "sha256:8b0d058e4e425d3b45e8ec70d49b402f4d6b21041e674798b1f91ba027c73f28", size = 7517572 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/1f/b4/682aefe768cf7799aa38841724d446d532c687afad96fec379f1f2651146/aiohttp-3.10.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f6979b4f20d3e557a867da9d9227de4c156fcdcb348a5848e3e6190fd7feb972", size = 582530 },
-    { url = "https://files.pythonhosted.org/packages/cc/dd/11045c0b347e5acd796648adbf02fb1f7d83d07ec5437bb288d3b349e846/aiohttp-3.10.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:03c0c380c83f8a8d4416224aafb88d378376d6f4cadebb56b060688251055cd4", size = 394293 },
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+    { name = "numpy" },
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-    { name = "json-rpc", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "libusb1", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "onnx", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "aiohttp" },
+    { name = "aiortc" },
+    { name = "casadi" },
+    { name = "cffi" },
+    { name = "crcmod" },
+    { name = "cython" },
+    { name = "future-fstrings" },
+    { name = "json-rpc" },
+    { name = "libusb1" },
+    { name = "numpy" },
+    { name = "onnx" },
     { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
     { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
-    { name = "psutil", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyaudio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pycapnp", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pycryptodome", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyjwt", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyserial", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyzmq", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "scons", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "sentry-sdk", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "setproctitle", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "setuptools", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "smbus2", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "sounddevice", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "psutil" },
+    { name = "pyaudio" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "pyjwt" },
+    { name = "pyserial" },
+    { name = "pyzmq" },
+    { name = "requests" },
+    { name = "scons" },
+    { name = "sentry-sdk" },
+    { name = "setproctitle" },
+    { name = "setuptools" },
+    { name = "smbus2" },
+    { name = "sounddevice" },
     { name = "spidev", marker = "platform_system == 'Linux'" },
-    { name = "sympy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "tqdm", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "websocket-client", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "zstandard", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "sympy" },
+    { name = "tqdm" },
+    { name = "websocket-client" },
+    { name = "zstandard" },
 ]
 
-[distribution.optional-dependencies]
+[package.optional-dependencies]
 dev = [
-    { name = "av", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "azure-identity", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "azure-storage-blob", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "dictdiffer", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "flaky", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
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-    { name = "lru-dict", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "matplotlib", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "av" },
+    { name = "azure-identity" },
+    { name = "azure-storage-blob" },
+    { name = "dictdiffer" },
+    { name = "flaky" },
+    { name = "inputs" },
+    { name = "lru-dict" },
+    { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "parameterized", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pyautogui", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "parameterized" },
+    { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
-    { name = "pyprof2calltree", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyprof2calltree" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
-    { name = "pywinctl", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "rerun-sdk", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "tabulate", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "types-requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "types-tabulate", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pywinctl" },
+    { name = "rerun-sdk" },
+    { name = "tabulate" },
+    { name = "types-requests" },
+    { name = "types-tabulate" },
 ]
 docs = [
-    { name = "jinja2", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "mkdocs", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "natsort", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "jinja2" },
+    { name = "mkdocs" },
+    { name = "natsort" },
 ]
 testing = [
-    { name = "codespell", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "coverage", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-cpp", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-mock", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-randomly", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-repeat", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-subtests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-timeout", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytest-xdist", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "ruff", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-]
-
-[[distribution]]
+    { name = "codespell" },
+    { name = "coverage" },
+    { name = "hypothesis" },
+    { name = "import-linter" },
+    { name = "mypy" },
+    { name = "pre-commit-hooks" },
+    { name = "pytest" },
+    { name = "pytest-asyncio" },
+    { name = "pytest-cov" },
+    { name = "pytest-cpp" },
+    { name = "pytest-mock" },
+    { name = "pytest-randomly" },
+    { name = "pytest-repeat" },
+    { name = "pytest-subtests" },
+    { name = "pytest-timeout" },
+    { name = "pytest-xdist" },
+    { name = "ruff" },
+]
+
+[[package]]
 name = "packaging"
 version = "24.1"
 source = { registry = "https://pypi.org/simple" }
@@ -1477,7 +1505,7 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/08/aa/cc0199a5f0ad350994d660967a8efb233fe0416e4639146c089643407ce6/packaging-24.1-py3-none-any.whl", hash = "sha256:5b8f2217dbdbd2f7f384c41c628544e6d52f2d0f53c6d0c3ea61aa5d1d7ff124", size = 53985 },
 ]
 
-[[distribution]]
+[[package]]
 name = "panda3d"
 version = "1.10.14"
 source = { registry = "https://pypi.org/simple" }
@@ -1495,41 +1523,41 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/74/bb/cb57563855da994614a33f57bd5691fbcd69f12e5ccddd30d387d0be287f/panda3d-1.10.14-cp312-cp312-win_amd64.whl", hash = "sha256:a5f2defd822d38848f8ae1956115adcb6cc7f464f03a67e73681cc72df125ef4", size = 64893222 },
 ]
 
-[[distribution]]
+[[package]]
 name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "panda3d-simplepbr", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "panda3d" },
+    { name = "panda3d-simplepbr" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/70/94/98ed1f81ca0f5daf6de80533805cc1e98ac162abe4e3e1d382caa7ba5c3c/panda3d_gltf-0.13-py3-none-any.whl", hash = "sha256:02d1a980f447bb1895ff4b48c667f289ba78f07a28ef308d8839b665a621efe2", size = 25568 },
 ]
 
-[[distribution]]
+[[package]]
 name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "typing-extensions", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "panda3d" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/46/4c/926e1cf17abfb1d91e12bf38e653cacf10e30c5030e37f9078f0f41aaf40/panda3d_simplepbr-0.12.0-py3-none-any.whl", hash = "sha256:6c43d1990ff07840cf1c557561d6122fd1250d8e76aacf227b61c3789149bcf9", size = 2458121 },
 ]
 
-[[distribution]]
+[[package]]
 name = "pandas"
 version = "2.2.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12'" },
-    { name = "python-dateutil", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pytz", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "tzdata", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "python-dateutil" },
+    { name = "pytz" },
+    { name = "tzdata" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/88/d9/ecf715f34c73ccb1d8ceb82fc01cd1028a65a5f6dbc57bfa6ea155119058/pandas-2.2.2.tar.gz", hash = "sha256:9e79019aba43cb4fda9e4d983f8e88ca0373adbb697ae9c6c43093218de28b54", size = 4398391 }
 wheels = [
@@ -1549,7 +1577,7 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/22/a5/a0b255295406ed54269814bc93723cfd1a0da63fb9aaf99e1364f07923e5/pandas-2.2.2-cp312-cp312-win_amd64.whl", hash = "sha256:d187d355ecec3629624fccb01d104da7d7f391db0311145817525281e2804d23", size = 11498828 },
 ]
 
-[[distribution]]
+[[package]]
 name = "parameterized"
 version = "0.8.1"
 source = { registry = "https://pypi.org/simple" }
@@ -1558,7 +1586,7 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/31/13/fe468c8c7400a8eca204e6e160a29bf7dcd45a76e20f1c030f3eaa690d93/parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9", size = 26354 },
 ]
 
-[[distribution]]
+[[package]]
 name = "pathspec"
 version = "0.12.1"
 source = { registry = "https://pypi.org/simple" }
@@ -1567,7 +1595,7 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/cc/20/ff623b09d963f88bfde16306a54e12ee5ea43e9b597108672ff3a408aad6/pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08", size = 31191 },
 ]
 
-[[distribution]]
+[[package]]
 name = "pillow"
 version = "10.4.0"
 source = { registry = "https://pypi.org/simple" }
@@ -1608,7 +1636,7 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/48/2c/2e0a52890f269435eee38b21c8218e102c621fe8d8df8b9dd06fabf879ba/pillow-10.4.0-cp313-cp313-win_arm64.whl", hash = "sha256:5b001114dd152cfd6b23befeb28d7aee43553e2402c9f159807bf55f33af8a8d", size = 2243375 },
 ]
 
-[[distribution]]
+[[package]]
 name = "platformdirs"
 version = "4.2.2"
 source = { registry = "https://pypi.org/simple" }
@@ -1617,7 +1645,7 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/68/13/2aa1f0e1364feb2c9ef45302f387ac0bd81484e9c9a4c5688a322fbdfd08/platformdirs-4.2.2-py3-none-any.whl", hash = "sha256:2d7a1657e36a80ea911db832a8a6ece5ee53d8de21edd5cc5879af6530b1bfee", size = 18146 },
 ]
 
-[[distribution]]
+[[package]]
 name = "pluggy"
 version = "1.5.0"
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@@ -1626,7 +1654,7 @@ wheels = [
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-[[distribution]]
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+    { name = "mouseinfo" },
+    { name = "pygetwindow" },
+    { name = "pymsgbox" },
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     { name = "pyobjc-framework-quartz", marker = "platform_system == 'Darwin'" },
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+    { name = "pyscreeze" },
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+    { name = "pytweening" },
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-[[distribution]]
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-[[distribution]]
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-[distribution.optional-dependencies]
+[package.optional-dependencies]
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+    { name = "cryptography" },
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-[[distribution]]
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-[[distribution]]
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@@ -1898,37 +1926,37 @@ dependencies = [
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-[[distribution]]
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     { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" },
     { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
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     { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
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+    { name = "pyobjc-framework-applescriptkit" },
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+    { name = "pyobjc-framework-applicationservices" },
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     { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0'" },
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     { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0'" },
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@@ -1937,40 +1965,40 @@ dependencies = [
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+    { name = "pyobjc-framework-discrecording" },
+    { name = "pyobjc-framework-discrecordingui" },
+    { name = "pyobjc-framework-diskarbitration" },
+    { name = "pyobjc-framework-dvdplayback" },
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-    { name = "pyobjc-framework-exceptionhandling", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pyobjc-framework-exceptionhandling" },
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     { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0'" },
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@@ -1985,17 +2013,17 @@ dependencies = [
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     { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0'" },
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+    { name = "pyobjc-framework-iobluetooth" },
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+    { name = "pyobjc-framework-latentsemanticmapping" },
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@@ -2022,30 +2050,29 @@ dependencies = [
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-    { name = "pyobjc-framework-pubsub", marker = "platform_release >= '9.0' and platform_release < '18.0'" },
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+    { name = "pyobjc-framework-searchkit" },
+    { name = "pyobjc-framework-security" },
+    { name = "pyobjc-framework-securityfoundation" },
+    { name = "pyobjc-framework-securityinterface" },
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@@ -2057,8 +2084,8 @@ dependencies = [
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+    { name = "pyobjc-framework-syncservices" },
+    { name = "pyobjc-framework-systemconfiguration" },
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     { name = "pyobjc-framework-threadnetwork", marker = "platform_release >= '22.0'" },
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@@ -2068,14 +2095,14 @@ dependencies = [
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+    { name = "pyobjc-framework-webkit" },
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "idna", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "multidict", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "idna" },
+    { name = "multidict" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/e0/ad/bedcdccbcbf91363fd425a948994f3340924145c2bc8ccb296f4a1e52c28/yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf", size = 141869 }
 wheels = [
@@ -5340,16 +5370,16 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4d/05/4d79198ae568a92159de0f89e710a8d19e3fa267b719a236582eee921f4a/yarl-1.9.4-py3-none-any.whl", hash = "sha256:928cecb0ef9d5a7946eb6ff58417ad2fe9375762382f1bf5c55e61645f2c43ad", size = 31638 },
 ]
 
-[[distribution]]
+[[package]]
 name = "zipp"
-version = "3.19.2"
+version = "3.20.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d3/20/b48f58857d98dcb78f9e30ed2cfe533025e2e9827bbd36ea0a64cc00cbc1/zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19", size = 22922 }
+sdist = { url = "https://files.pythonhosted.org/packages/0e/af/9f2de5bd32549a1b705af7a7c054af3878816a1267cb389c03cc4f342a51/zipp-3.20.0.tar.gz", hash = "sha256:0145e43d89664cfe1a2e533adc75adafed82fe2da404b4bbb6b026c0157bdb31", size = 23244 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/20/38/f5c473fe9b90c8debdd29ea68d5add0289f1936d6f923b6b9cc0b931194c/zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c", size = 9039 },
+    { url = "https://files.pythonhosted.org/packages/da/cc/b9958af9f9c86b51f846d8487440af495ecf19b16e426fce1ed0b0796175/zipp-3.20.0-py3-none-any.whl", hash = "sha256:58da6168be89f0be59beb194da1250516fdaa062ccebd30127ac65d30045e10d", size = 9432 },
 ]
 
-[[distribution]]
+[[package]]
 name = "zstandard"
 version = "0.23.0"
 source = { registry = "https://pypi.org/simple" }

From 81a2849d56e7806e38561b334537eda660513bdd Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 12 Aug 2024 11:40:50 -0700
Subject: [PATCH 0401/1243] [bot] Bump submodules (#33271)

bump submodules

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 5bc5b213a0281c83e954ab8193351d692b639aa4
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 3c1def1cc5..1cbcc13c35 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3c1def1cc57f3fb37399a25d0e8088c70985c5ec
+Subproject commit 1cbcc13c35429b06e9d36c55b9ab46df73a8b51a

From 7d0f683b1c69b1482fc5f2085dd037b8174919b8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 12 Aug 2024 11:49:21 -0700
Subject: [PATCH 0402/1243] ci: merge python packages and python submodules
 bump (#33274)

merge packages and python submodules
old-commit-hash: 8515ac17647db10b31ff1ef85026345933a54cc6
---
 .github/workflows/repo-maintenance.yaml | 34 +++++--------------------
 1 file changed, 7 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 3893c7fa5e..78f64c03b1 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -6,33 +6,6 @@ on:
   workflow_dispatch:
 
 jobs:
-  bump_submodules:
-    name: bump_submodules
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
-        git add .
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: bump submodules
-        title: '[bot] Bump submodules'
-        branch: auto-bump-submodules
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> bump_submodules'
-        labels: bot
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
@@ -41,11 +14,18 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: uv lock
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:

From 7a4b2b5c447c9bd547f9e7b0fea9a5ce76e92757 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 12 Aug 2024 14:41:14 -0500
Subject: [PATCH 0403/1243] [bot] Fingerprints: add missing FW versions from
 new users (#33276)

Export fingerprints
old-commit-hash: 4618e8c12403bd1d716cf6ac224f5a0dc4960722
---
 selfdrive/car/hyundai/fingerprints.py    | 1 +
 selfdrive/car/volkswagen/fingerprints.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 6c7480a15d..a109d3a0b2 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -944,6 +944,7 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
       b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.00 99210-CV100 220630',
       b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
       b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.05 99210-CV000 211027',
       b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index 71bdb2cfd4..f78fbb6591 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -883,6 +883,7 @@ FW_VERSIONS = {
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
       b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
+      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002VG60A2VOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',

From 7b4a538eaad533a5000c109496cf266147e89de6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 12 Aug 2024 17:41:08 -0500
Subject: [PATCH 0404/1243] fix fingerprint debug scripts (#33277)

* fix fp debugging

* fix these
old-commit-hash: 90ce7781f4caf0d0469d8897259612e4117e3a48
---
 selfdrive/car/disable_ecu.py | 4 +++-
 selfdrive/car/ecu_addrs.py   | 5 +++--
 selfdrive/car/fw_versions.py | 7 ++++---
 selfdrive/car/vin.py         | 4 +++-
 4 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index bbf5b4c9ff..e38a215684 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -40,10 +40,12 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
 if __name__ == "__main__":
   import time
   import cereal.messaging as messaging
+  from openpilot.selfdrive.car.card import can_comm_callbacks
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
   time.sleep(1)
 
   # honda bosch radar disable
-  disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
   print(f"disabled: {disabled}")
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 336d0d5542..1e7905dac6 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   import argparse
   import cereal.messaging as messaging
   from openpilot.common.params import Params
-  from openpilot.selfdrive.car.card import obd_callback
+  from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
 
   parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
   parser.add_argument('--debug', action='store_true')
@@ -73,6 +73,7 @@ if __name__ == "__main__":
 
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
 
   # Set up params for pandad
   params = Params()
@@ -84,7 +85,7 @@ if __name__ == "__main__":
   obd_callback(params)(not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = _get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
 
   print()
   print("Found ECUs on rx addresses:")
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 7cee14bfbd..0fef6456db 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -335,7 +335,7 @@ if __name__ == "__main__":
   import cereal.messaging as messaging
   from openpilot.common.params import Params
   from openpilot.selfdrive.car.vin import get_vin
-  from openpilot.selfdrive.car.card import obd_callback
+  from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
 
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
@@ -346,6 +346,7 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock('can')
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
 
   # Set up params for pandad
   params = Params()
@@ -370,13 +371,13 @@ if __name__ == "__main__":
   t = time.time()
   print("Getting vin...")
   set_obd_multiplexing(True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 9a667f3ced..c42f984dc1 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -63,6 +63,7 @@ if __name__ == "__main__":
   import argparse
   import time
   import cereal.messaging as messaging
+  from openpilot.selfdrive.car.card import can_comm_callbacks
 
   parser = argparse.ArgumentParser(description='Get VIN of the car')
   parser.add_argument('--debug', action='store_true')
@@ -73,7 +74,8 @@ if __name__ == "__main__":
 
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
   time.sleep(1)
 
-  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

From 74d5352cb4d5466fafdb9fe215cd4e87b52f989b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 12 Aug 2024 16:58:11 -0700
Subject: [PATCH 0405/1243] metadrive: use main branch (#33278)

use main branch
old-commit-hash: 4cb1c665e0d6590e80309ab2d4f3856ce274511b
---
 pyproject.toml | 2 +-
 uv.lock        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index a0131773e8..0606317089 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -100,7 +100,7 @@ dev = [
   "inputs",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
+  "metadrive-simulator@git+https://github.com/commaai/metadrive@main ; platform_machine != 'aarch64'",
   "parameterized >=0.8, <0.9",
   #"pprofile",
   "pyautogui",
diff --git a/uv.lock b/uv.lock
index e46d966ffe..4160842939 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1110,7 +1110,7 @@ wheels = [
 [[package]]
 name = "metadrive-simulator"
 version = "0.4.2.3"
-source = { git = "https://github.com/commaai/metadrive?rev=opencv_headless#9b6ddb791919249effa0573883076681514787e4" }
+source = { git = "https://github.com/commaai/metadrive?rev=main#0dd67b8a924d65c5c263c63863c3e766850e0b66" }
 dependencies = [
     { name = "filelock" },
     { name = "geopandas" },

From 1c2b83065015670127551d5ba950f7031c5a46e3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 13 Aug 2024 15:15:19 -0700
Subject: [PATCH 0406/1243] op.sh: separate op.sh output from the real command 
 (#33282)

border
old-commit-hash: 37e4a324541406bc6e006b8f3dc0eac2b05690c0
---
 tools/op.sh | 31 +++++++++++++++++--------------
 1 file changed, 17 insertions(+), 14 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index a133cc4348..e6d7ab8634 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -23,7 +23,7 @@ function op_install() {
   echo "Installing op system-wide..."
   CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
   grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
-  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
 }
 
 function loge() {
@@ -37,7 +37,13 @@ function loge() {
 
 function op_run_command() {
   CMD="$@"
-  echo -e "${BOLD}Running:${NC} $CMD"
+
+  echo -e "${BOLD}Running command →${NC} $CMD │"
+  for ((i=0; i<$((19 + ${#CMD})); i++)); do
+    echo -n "─"
+  done
+  echo -e "┘\n"
+
   if [[ -z "$DRY" ]]; then
     eval "$CMD"
   fi
@@ -58,7 +64,7 @@ function op_get_openpilot_dir() {
 function op_check_openpilot_dir() {
   echo "Checking for openpilot directory..."
   if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] openpilot found."
     return 0
   fi
 
@@ -118,7 +124,7 @@ function op_check_os() {
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] macOS detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     loge "ERROR_UNKNOWN_OS" "$OSTYPE"
@@ -171,7 +177,7 @@ function op_before_cmd() {
   result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
 
   if [[ -z $VERBOSE ]]; then
-    echo -e "Checking system → [${GREEN}✔${NC}] system is good."
+    echo -e "${BOLD}Checking system →${NC} [${GREEN}✔${NC}]"
   else
     echo -e "$result"
   fi
@@ -192,33 +198,33 @@ function op_setup() {
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     SETUP_SCRIPT="tools/mac_setup.sh"
   fi
-  if ! op_run_command "$OPENPILOT_ROOT/$SETUP_SCRIPT"; then
+  if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
     echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
     loge "ERROR_DEPENDENCIES_INSTALLATION"
     return 1
   fi
   et="$(date +%s)"
-  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
 
   echo "Getting git submodules..."
   st="$(date +%s)"
-  if ! op_run_command git submodule update --filter=blob:none --jobs 4 --init --recursive; then
+  if ! git submodule update --filter=blob:none --jobs 4 --init --recursive; then
     echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
     loge "ERROR_GIT_SUBMODULES"
     return 1
   fi
   et="$(date +%s)"
-  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds."
 
   echo "Pulling git lfs files..."
   st="$(date +%s)"
-  if ! op_run_command git lfs pull; then
+  if ! git lfs pull; then
     echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
     loge "ERROR_GIT_LFS"
     return 1
   fi
   et="$(date +%s)"
-  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds."
 
   op_check
 }
@@ -328,8 +334,6 @@ function op_default() {
   echo "          Don't actually run anything, just print what would be run"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
   echo "          Skip environment check before running commands"
-  echo -e "  ${BOLD}-v, --verbose${NC}"
-  echo "          Show the result of all checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op setup"
@@ -350,7 +354,6 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
-    -v | --verbose )   shift 1; VERBOSE="1" ;;
     -l | --log )       shift 1; LOG_FILE="$1" ; shift 1 ;;
   esac
 

From 6a15aa3f8c58e40e5e47c7ce4c906f5368ec243a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 19:36:21 -0700
Subject: [PATCH 0407/1243] interfaces: assume CarState is instantiated
 (#33284)

test to make sure mock doesn't crash!
old-commit-hash: 3d2fbe9aa3403e635d476fba9c8232b741e54cce
---
 selfdrive/car/interfaces.py                | 12 +++++-------
 selfdrive/car/tests/test_car_interfaces.py | 10 ++++++----
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 3d4bf543e0..ecb059b728 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -103,7 +103,7 @@ class CarInterfaceBase(ABC):
     self.cp_adas = self.CS.get_adas_can_parser(CP)
     self.cp_body = self.CS.get_body_can_parser(CP)
     self.cp_loopback = self.CS.get_loopback_can_parser(CP)
-    self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
+    self.can_parsers = (self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback)
 
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
@@ -246,17 +246,15 @@ class CarInterfaceBase(ABC):
       self.v_ego_cluster_seen = True
 
     # Many cars apply hysteresis to the ego dash speed
-    if self.CS is not None:
-      ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
-      if abs(ret.vEgo) < self.CS.cluster_min_speed:
-        ret.vEgoCluster = 0.0
+    ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
+    if abs(ret.vEgo) < self.CS.cluster_min_speed:
+      ret.vEgoCluster = 0.0
 
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
     # copy back for next iteration
-    if self.CS is not None:
-      self.CS.out = ret.as_reader()
+    self.CS.out = ret.as_reader()
 
     return ret
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 9e3c7d157e..107c13a14b 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -11,6 +11,7 @@ from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -51,7 +52,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
 class TestCarInterfaces:
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
-  @parameterized.expand([(car,) for car in sorted(all_known_cars())])
+  @parameterized.expand([(car,) for car in sorted(all_known_cars())] + [MOCK.MOCK])
   @settings(max_examples=MAX_EXAMPLES, deadline=None,
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
@@ -81,9 +82,10 @@ class TestCarInterfaces:
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning
       if tune.which() == 'pid':
-        assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
-        assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
-        assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
+        if car_name != MOCK.MOCK:
+          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
+          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
+          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
 
       elif tune.which() == 'torque':
         assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0

From e46d96bb11bfb401355c18fcd0889b245581eed4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 20:40:36 -0700
Subject: [PATCH 0408/1243] Move events out of car interfaces (#33280)

* chrysler down

* honda and ford

* we can pass the class for this

* do the rest

* clean that up

* remove EventName

* fix CI

* move smallest bodies to top

* rm todo

* eps_timer_soft_disable_alert is too ingrained in carcontroller

* re-did everything w/ no diff (except just passing cereal instead of class)
old-commit-hash: cf39cc823ad5aea33af6d51214ffb14bc51ec6c4
---
 .importlinter                         |   2 +-
 selfdrive/car/__init__.py             |   1 -
 selfdrive/car/car_specific.py         | 238 ++++++++++++++++++++++++++
 selfdrive/car/card.py                 |   5 +
 selfdrive/car/chrysler/interface.py   |  13 --
 selfdrive/car/ford/interface.py       |   4 -
 selfdrive/car/gm/interface.py         |  22 ---
 selfdrive/car/honda/interface.py      |  23 ---
 selfdrive/car/hyundai/interface.py    |  17 --
 selfdrive/car/interfaces.py           |  89 ----------
 selfdrive/car/mazda/interface.py      |  11 --
 selfdrive/car/nissan/interface.py     |   7 -
 selfdrive/car/subaru/interface.py     |   2 -
 selfdrive/car/tesla/interface.py      |   2 -
 selfdrive/car/toyota/interface.py     |  20 ---
 selfdrive/car/volkswagen/interface.py |  26 +--
 16 files changed, 245 insertions(+), 237 deletions(-)
 create mode 100644 selfdrive/car/car_specific.py

diff --git a/.importlinter b/.importlinter
index 087035ca9e..46f70f91f6 100644
--- a/.importlinter
+++ b/.importlinter
@@ -25,7 +25,6 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
     openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
     openpilot.selfdrive.car.docs -> openpilot.common.basedir
@@ -62,4 +61,5 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
+    openpilot.selfdrive.car.car_specific -> openpilot.selfdrive.controls.lib.events
 unmatched_ignore_imports_alerting = warn
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 2c6a45d557..52fbf0512a 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -24,7 +24,6 @@ DT_CTRL = 0.01  # car state and control loop timestep (s)
 STD_CARGO_KG = 136.
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
 
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
new file mode 100644
index 0000000000..a4500b6f13
--- /dev/null
+++ b/selfdrive/car/car_specific.py
@@ -0,0 +1,238 @@
+from cereal import car
+from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED
+from openpilot.selfdrive.car.volkswagen.values import CarControllerParams as VWCarControllerParams
+from openpilot.selfdrive.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+
+from openpilot.selfdrive.controls.lib.events import Events
+
+ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
+EventName = car.CarEvent.EventName
+NetworkLocation = car.CarParams.NetworkLocation
+
+
+class CarSpecificEvents:
+  def __init__(self, CP: car.CarParams):
+    self.CP = CP
+
+    self.steering_unpressed = 0
+    self.low_speed_alert = False
+    self.no_steer_warning = False
+    self.silent_steer_warning = True
+
+  def update(self, CS, CS_prev, CC, CC_prev):
+    if self.CP.carName in ('body', 'mock'):
+      events = Events()
+
+    elif self.CP.carName in ('tesla', 'subaru'):
+      events = self.create_common_events(CS.out, CS_prev)
+
+    elif self.CP.carName == 'ford':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
+
+    elif self.CP.carName == 'nissan':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
+
+      if CS.lkas_enabled:
+        events.add(EventName.invalidLkasSetting)
+
+    elif self.CP.carName == 'mazda':
+      events = self.create_common_events(CS.out, CS_prev)
+
+      if CS.lkas_disabled:
+        events.add(EventName.lkasDisabled)
+      elif CS.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'chrysler':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
+
+      # Low speed steer alert hysteresis logic
+      if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
+        self.low_speed_alert = True
+      elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'honda':
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
+
+      if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.belowEngageSpeed)
+
+      if self.CP.pcmCruise:
+        # we engage when pcm is active (rising edge)
+        if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
+          events.add(EventName.pcmEnable)
+        elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+          # it can happen that car cruise disables while comma system is enabled: need to
+          # keep braking if needed or if the speed is very low
+          if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
+            # non loud alert if cruise disables below 25mph as expected (+ a little margin)
+            events.add(EventName.speedTooLow)
+          else:
+            events.add(EventName.cruiseDisabled)
+      if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
+        events.add(EventName.manualRestart)
+
+    elif self.CP.carName == 'toyota':
+      events = self.create_common_events(CS.out, CS_prev)
+
+      if self.CP.openpilotLongitudinalControl:
+        if CS.out.cruiseState.standstill and not CS.out.brakePressed:
+          events.add(EventName.resumeRequired)
+        if CS.low_speed_lockout:
+          events.add(EventName.lowSpeedLockout)
+        if CS.out.vEgo < self.CP.minEnableSpeed:
+          events.add(EventName.belowEngageSpeed)
+          if CC_prev.actuators.accel > 0.3:
+            # some margin on the actuator to not false trigger cancellation while stopping
+            events.add(EventName.speedTooLow)
+          if CS.out.vEgo < 0.001:
+            # while in standstill, send a user alert
+            events.add(EventName.manualRestart)
+
+    elif self.CP.carName == 'gm':
+      # The ECM allows enabling on falling edge of set, but only rising edge of resume
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                       GearShifter.eco, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+      if not self.CP.pcmCruise:
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
+          events.add(EventName.buttonEnable)
+
+      # Enabling at a standstill with brake is allowed
+      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
+      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward
+      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
+                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+        events.add(EventName.belowEngageSpeed)
+      if CS.out.cruiseState.standstill:
+        events.add(EventName.resumeRequired)
+      if CS.out.vEgo < self.CP.minSteerSpeed:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'volkswagen':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
+
+      # Low speed steer alert hysteresis logic
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = True
+      elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+      if self.CP.openpilotLongitudinalControl:
+        if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
+          events.add(EventName.belowEngageSpeed)
+        if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
+          events.add(EventName.speedTooLow)
+
+      if CC.eps_timer_soft_disable_alert:
+        events.add(EventName.steerTimeLimit)
+
+    elif self.CP.carName == 'hyundai':
+      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
+      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
+      # Main button also can trigger an engagement on these cars
+      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
+
+      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
+      if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+        self.low_speed_alert = True
+      if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    else:
+      raise ValueError(f"Unsupported car: {self.CP.carName}")
+
+    return events
+
+  def create_common_events(self, CS, CS_prev, extra_gears=None, pcm_enable=True, allow_enable=True,
+                           enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+    events = Events()
+
+    if CS.doorOpen:
+      events.add(EventName.doorOpen)
+    if CS.seatbeltUnlatched:
+      events.add(EventName.seatbeltNotLatched)
+    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
+       CS.gearShifter not in extra_gears):
+      events.add(EventName.wrongGear)
+    if CS.gearShifter == GearShifter.reverse:
+      events.add(EventName.reverseGear)
+    if not CS.cruiseState.available:
+      events.add(EventName.wrongCarMode)
+    if CS.espDisabled:
+      events.add(EventName.espDisabled)
+    if CS.espActive:
+      events.add(EventName.espActive)
+    if CS.stockFcw:
+      events.add(EventName.stockFcw)
+    if CS.stockAeb:
+      events.add(EventName.stockAeb)
+    if CS.vEgo > MAX_CTRL_SPEED:
+      events.add(EventName.speedTooHigh)
+    if CS.cruiseState.nonAdaptive:
+      events.add(EventName.wrongCruiseMode)
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+      events.add(EventName.brakeHold)
+    if CS.parkingBrake:
+      events.add(EventName.parkBrake)
+    if CS.accFaulted:
+      events.add(EventName.accFaulted)
+    if CS.steeringPressed:
+      events.add(EventName.steerOverride)
+    if CS.brakePressed and CS.standstill:
+      events.add(EventName.preEnableStandstill)
+    if CS.gasPressed:
+      events.add(EventName.gasPressedOverride)
+    if CS.vehicleSensorsInvalid:
+      events.add(EventName.vehicleSensorsInvalid)
+
+    # Handle button presses
+    for b in CS.buttonEvents:
+      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
+      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
+        events.add(EventName.buttonEnable)
+      # Disable on rising and falling edge of cancel for both stock and OP long
+      if b.type == ButtonType.cancel:
+        events.add(EventName.buttonCancel)
+
+    # Handle permanent and temporary steering faults
+    self.steering_unpressed = 0 if CS.steeringPressed else self.steering_unpressed + 1
+    if CS.steerFaultTemporary:
+      if CS.steeringPressed and (not CS_prev.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
+      else:
+        self.no_steer_warning = False
+
+        # if the user overrode recently, show a less harsh alert
+        if self.silent_steer_warning or CS.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+          self.silent_steer_warning = True
+          events.add(EventName.steerTempUnavailableSilent)
+        else:
+          events.add(EventName.steerTempUnavailable)
+    else:
+      self.no_steer_warning = False
+      self.silent_steer_warning = False
+    if CS.steerFaultPermanent:
+      events.add(EventName.steerUnavailable)
+
+    # we engage when pcm is active (rising edge)
+    # enabling can optionally be blocked by the car interface
+    if pcm_enable:
+      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
+        events.add(EventName.pcmEnable)
+      elif not CS.cruiseState.enabled:
+        events.add(EventName.pcmDisable)
+
+    return events
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 0f26681a05..0cd5591e96 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -15,6 +15,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -131,6 +132,8 @@ class Car:
 
     self.events = Events()
 
+    self.car_events = CarSpecificEvents(self.CP)
+
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -157,6 +160,8 @@ class Car:
   def update_events(self, CS: car.CarState) -> car.CarState:
     self.events.clear()
 
+    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
+
     self.events.add_from_msg(CS.events)
 
     if self.CP.notCar:
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index eb1f6703cd..803fc02a6d 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -81,17 +81,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
-
-    # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 5768d73e4b..1d0233f771 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -72,8 +72,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 31b874502b..8dd3426d38 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -213,25 +212,4 @@ class CarInterface(CarInterfaceBase):
                               {1: ButtonType.gapAdjustCruise})
       ]
 
-    # The ECM allows enabling on falling edge of set, but only rising edge of resume
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                         GearShifter.eco, GearShifter.manumatic],
-                                       pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
-    if not self.CP.pcmCruise:
-      if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
-        events.add(EventName.buttonEnable)
-
-    # Enabling at a standstill with brake is allowed
-    # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-    below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
-    if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
-      events.add(EventName.belowEngageSpeed)
-    if ret.cruiseState.standstill:
-      events.add(EventName.resumeRequired)
-    if ret.vEgo < self.CP.minSteerSpeed:
-      events.add(EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ae19f6940f..f02cc07ef0 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -230,26 +229,4 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
-    # events
-    events = self.create_common_events(ret, pcm_enable=False)
-    if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
-      events.add(EventName.belowEngageSpeed)
-
-    if self.CP.pcmCruise:
-      # we engage when pcm is active (rising edge)
-      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
-        events.add(EventName.pcmEnable)
-      elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
-        # it can happen that car cruise disables while comma system is enabled: need to
-        # keep braking if needed or if the speed is very low
-        if ret.vEgo < self.CP.minEnableSpeed + 2.:
-          # non loud alert if cruise disables below 25mph as expected (+ a little margin)
-          events.add(EventName.speedTooLow)
-        else:
-          events.add(EventName.cruiseDisabled)
-    if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
-      events.add(EventName.manualRestart)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 9bb8e7ecf5..365b8dac6d 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -11,7 +11,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
@@ -156,20 +155,4 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.openpilotLongitudinalControl:
       ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
 
-    # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
-    # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
-    # Main button also can trigger an engagement on these cars
-    allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
-
-    # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-    if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
-      self.low_speed_alert = True
-    if ret.vEgo > (self.CP.minSteerSpeed + 4.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index ecb059b728..fca988f553 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -16,11 +16,8 @@ from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, Ca
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.events import Events
 
-ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
-EventName = car.CarEvent.EventName
 
 V_CRUISE_MAX = 145
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
@@ -91,10 +88,6 @@ class CarInterfaceBase(ABC):
     self.CP = CP
 
     self.frame = 0
-    self.steering_unpressed = 0
-    self.low_speed_alert = False
-    self.no_steer_warning = False
-    self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
     self.CS: CarStateBase = CarState(CP)
@@ -259,88 +252,6 @@ class CarInterfaceBase(ABC):
     return ret
 
 
-  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
-                           enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
-    events = Events()
-
-    if cs_out.doorOpen:
-      events.add(EventName.doorOpen)
-    if cs_out.seatbeltUnlatched:
-      events.add(EventName.seatbeltNotLatched)
-    if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
-       cs_out.gearShifter not in extra_gears):
-      events.add(EventName.wrongGear)
-    if cs_out.gearShifter == GearShifter.reverse:
-      events.add(EventName.reverseGear)
-    if not cs_out.cruiseState.available:
-      events.add(EventName.wrongCarMode)
-    if cs_out.espDisabled:
-      events.add(EventName.espDisabled)
-    if cs_out.espActive:
-      events.add(EventName.espActive)
-    if cs_out.stockFcw:
-      events.add(EventName.stockFcw)
-    if cs_out.stockAeb:
-      events.add(EventName.stockAeb)
-    if cs_out.vEgo > MAX_CTRL_SPEED:
-      events.add(EventName.speedTooHigh)
-    if cs_out.cruiseState.nonAdaptive:
-      events.add(EventName.wrongCruiseMode)
-    if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.brakeHold)
-    if cs_out.parkingBrake:
-      events.add(EventName.parkBrake)
-    if cs_out.accFaulted:
-      events.add(EventName.accFaulted)
-    if cs_out.steeringPressed:
-      events.add(EventName.steerOverride)
-    if cs_out.brakePressed and cs_out.standstill:
-      events.add(EventName.preEnableStandstill)
-    if cs_out.gasPressed:
-      events.add(EventName.gasPressedOverride)
-    if cs_out.vehicleSensorsInvalid:
-      events.add(EventName.vehicleSensorsInvalid)
-
-    # Handle button presses
-    for b in cs_out.buttonEvents:
-      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
-      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
-        events.add(EventName.buttonEnable)
-      # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
-        events.add(EventName.buttonCancel)
-
-    # Handle permanent and temporary steering faults
-    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
-    if cs_out.steerFaultTemporary:
-      if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
-        self.no_steer_warning = True
-      else:
-        self.no_steer_warning = False
-
-        # if the user overrode recently, show a less harsh alert
-        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
-          self.silent_steer_warning = True
-          events.add(EventName.steerTempUnavailableSilent)
-        else:
-          events.add(EventName.steerTempUnavailable)
-    else:
-      self.no_steer_warning = False
-      self.silent_steer_warning = False
-    if cs_out.steerFaultPermanent:
-      events.add(EventName.steerUnavailable)
-
-    # we engage when pcm is active (rising edge)
-    # enabling can optionally be blocked by the car interface
-    if pcm_enable:
-      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
-        events.add(EventName.pcmEnable)
-      elif not cs_out.cruiseState.enabled:
-        events.add(EventName.pcmDisable)
-
-    return events
-
-
 class RadarInterfaceBase(ABC):
   def __init__(self, CP: car.CarParams):
     self.CP = CP
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index fcec6b18b0..8153d69693 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -6,7 +6,6 @@ from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
 
@@ -37,14 +36,4 @@ class CarInterface(CarInterfaceBase):
      # TODO: add button types for inc and dec
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    # events
-    events = self.create_common_events(ret)
-
-    if self.CS.lkas_disabled:
-      events.add(EventName.lkasDisabled)
-    elif self.CS.low_speed_alert:
-      events.add(EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 2e9a990610..551108ed0d 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -34,11 +34,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
-
-    if self.CS.lkas_enabled:
-      events.add(car.CarEvent.EventName.invalidLkasSetting)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 0ea71e812f..76bda1ee0b 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -101,8 +101,6 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    ret.events = self.create_common_events(ret).to_msg()
-
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index deb0e00230..5681f4c4a5 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -42,6 +42,4 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.events = self.create_common_events(ret).to_msg()
-
     return ret
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 5e356bfd49..236ce104ab 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 SteerControlType = car.CarParams.SteerControlType
 
 
@@ -151,23 +150,4 @@ class CarInterface(CarInterfaceBase):
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    # events
-    events = self.create_common_events(ret)
-
-    if self.CP.openpilotLongitudinalControl:
-      if ret.cruiseState.standstill and not ret.brakePressed:
-        events.add(EventName.resumeRequired)
-      if self.CS.low_speed_lockout:
-        events.add(EventName.lowSpeedLockout)
-      if ret.vEgo < self.CP.minEnableSpeed:
-        events.add(EventName.belowEngageSpeed)
-        if c.actuators.accel > 0.3:
-          # some margin on the actuator to not false trigger cancellation while stopping
-          events.add(EventName.speedTooLow)
-        if ret.vEgo < 0.001:
-          # while in standstill, send a user alert
-          events.add(EventName.manualRestart)
-
-    ret.events = events.to_msg()
-
     return ret
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 77e56875bf..db6adfe212 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -2,10 +2,9 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 
 
 class CarInterface(CarInterfaceBase):
@@ -104,28 +103,5 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
-                                       enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
-
-    # Low speed steer alert hysteresis logic
-    if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and ret.vEgo < (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(EventName.belowSteerSpeed)
-
-    if self.CS.CP.openpilotLongitudinalControl:
-      if ret.vEgo < self.CP.minEnableSpeed + 0.5:
-        events.add(EventName.belowEngageSpeed)
-      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
-        events.add(EventName.speedTooLow)
-
-    if self.CC.eps_timer_soft_disable_alert:
-      events.add(EventName.steerTimeLimit)
-
-    ret.events = events.to_msg()
-
     return ret
 

From 1b73a341e45b60c6fe887348f24b4d631576b4ae Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 13 Aug 2024 20:43:02 -0700
Subject: [PATCH 0409/1243] op.sh: remove python version check (#33288)

python check
old-commit-hash: 96a658648de3f227dea7eba1d495ac1333d7b89e
---
 tools/op.sh | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index e6d7ab8634..0a552c0bde 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -189,7 +189,6 @@ function op_setup() {
 
   op_check_openpilot_dir
   op_check_os
-  op_check_python
 
   echo "Installing dependencies..."
   st="$(date +%s)"

From 80bc61dc6c36dcac018203dfbcdd16b4a993c9cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 13 Aug 2024 21:11:16 -0700
Subject: [PATCH 0410/1243] controlsd: use livePose (#33283)

* Pose calibrator

* Fix static analysis

* Fix static

* Fix test_latcontrol

* Fix test_latcontrol

* Update services in process replay

* Fix static

* Matmul not mul

* Add assertion

* Move pose calibration to data_sample

* Update ref commit

* Remove llk from cycle alerts

* Deprecated nogps event

* Switch power_draw to lp

* Bring back noGps alert

* Add handling code back

* get_bool

* Bring inputsok back
old-commit-hash: 9734015bbb6d448bb6b0fb453370ec702fa73106
---
 common/mock/__init__.py                       |  4 +-
 common/mock/generators.py                     | 26 +++----
 selfdrive/controls/controlsd.py               | 45 ++++++++-----
 selfdrive/controls/lib/latcontrol.py          |  2 +-
 selfdrive/controls/lib/latcontrol_angle.py    |  2 +-
 selfdrive/controls/lib/latcontrol_pid.py      |  2 +-
 selfdrive/controls/lib/latcontrol_torque.py   |  7 +-
 .../controls/lib/tests/test_latcontrol.py     |  9 ++-
 selfdrive/debug/cycle_alerts.py               |  2 +-
 selfdrive/locationd/helpers.py                | 67 +++++++++++++++++++
 selfdrive/locationd/paramsd.py                | 25 +++----
 selfdrive/locationd/torqued.py                | 17 +++--
 .../test/process_replay/process_replay.py     | 10 ++-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 15 files changed, 148 insertions(+), 74 deletions(-)

diff --git a/common/mock/__init__.py b/common/mock/__init__.py
index 8c86bbd394..4b01dfe841 100644
--- a/common/mock/__init__.py
+++ b/common/mock/__init__.py
@@ -8,12 +8,12 @@ import functools
 import threading
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper
 
 
 MOCK_GENERATOR = {
-  "liveLocationKalman": generate_liveLocationKalman
+  "livePose": generate_livePose
 }
 
 
diff --git a/common/mock/generators.py b/common/mock/generators.py
index 40951faf85..5cd9c88a56 100644
--- a/common/mock/generators.py
+++ b/common/mock/generators.py
@@ -1,20 +1,14 @@
 from cereal import messaging
 
 
-LOCATION1 = (32.7174, -117.16277)
-LOCATION2 = (32.7558, -117.2037)
-
-LLK_DECIMATION = 10
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-
-
-def generate_liveLocationKalman(location=LOCATION1):
-  msg = messaging.new_message('liveLocationKalman')
-  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.status = 'valid'
-  msg.liveLocationKalman.gpsOK = True
+def generate_livePose():
+  msg = messaging.new_message('livePose')
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
+  msg.livePose.orientationNED = meas
+  msg.livePose.velocityDevice = meas
+  msg.livePose.angularVelocityDevice = meas
+  msg.livePose.accelerationDevice = meas
+  msg.livePose.inputsOK = True
+  msg.livePose.posenetOK = True
+  msg.livePose.sensorsOK = True
   return msg
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4dd60faa06..6916161307 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -28,6 +28,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, S
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
 from openpilot.system.hardware import HARDWARE
 
@@ -78,6 +79,11 @@ class Controls:
     # Setup sockets
     self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
 
+    if self.params.get_bool("UbloxAvailable"):
+      self.gps_location_service = "gpsLocationExternal"
+    else:
+      self.gps_location_service = "gpsLocation"
+    self.gps_packets = [self.gps_location_service]
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
@@ -86,16 +92,16 @@ class Controls:
     # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + ['testJoystick']
+    ignore = self.sensor_packets + self.gps_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
+                                   'testJoystick'] + self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
                                   frequency=int(1/DT_CTRL))
 
@@ -120,6 +126,9 @@ class Controls:
     self.AM = AlertManager()
     self.events = Events()
 
+    self.pose_calibrator = PoseCalibrator()
+    self.calibrated_pose: Pose|None = None
+
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
 
@@ -335,11 +344,9 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['liveLocationKalman'].posenetOK:
+      if not self.sm['livePose'].posenetOK:
         self.events.add(EventName.posenetInvalid)
-      if not self.sm['liveLocationKalman'].deviceStable:
-        self.events.add(EventName.deviceFalling)
-      if not self.sm['liveLocationKalman'].inputsOK:
+      if not self.sm['livePose'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
       if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
         self.events.add(EventName.paramsdTemporaryError)
@@ -375,10 +382,10 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1500):
+      gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
+      if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
         self.events.add(EventName.noGps)
-      if self.sm['liveLocationKalman'].gpsOK:
+      if gps_ok:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL
 
@@ -429,6 +436,13 @@ class Controls:
            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
+    # calibrate the live pose and save it for later use
+    if self.sm.updated["liveCalibration"]:
+      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
+    if self.sm.updated["livePose"]:
+      device_pose = Pose.from_live_pose(self.sm['livePose'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+
     return CS
 
   def state_transition(self, CS):
@@ -573,7 +587,7 @@ class Controls:
       actuators.curvature = self.desired_curvature
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                              self.steer_limited, self.desired_curvature,
-                                                                             self.sm['liveLocationKalman'])
+                                                                             self.calibrated_pose) # TODO what if not available
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.recv_frame['testJoystick'] > 0:
@@ -650,12 +664,9 @@ class Controls:
 
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
-    orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
-    if len(orientation_value) > 2:
-      CC.orientationNED = orientation_value
-    angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value)
-    if len(angular_rate_value) > 2:
-      CC.angularVelocity = angular_rate_value
+    if self.calibrated_pose is not None:
+      CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
+      CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
     CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index fddb331ccb..0e4a27da61 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -17,7 +17,7 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
     pass
 
   def reset(self):
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 329c486eb9..d3da656daa 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 9e6160838b..5b29958b69 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index decff2ec05..f4f56752bc 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -37,7 +37,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -49,8 +49,9 @@ class LatControlTorque(LatControl):
         actual_curvature = actual_curvature_vm
         curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       else:
-        actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
-        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
+        assert calibrated_pose is not None
+        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
+        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
         curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index e12da6ed97..4835aa2349 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -9,7 +9,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
 
 
 class TestLatControl:
@@ -29,8 +30,10 @@ class TestLatControl:
 
     params = log.LiveParametersData.new_message()
 
-    llk = generate_liveLocationKalman()
+    lp = generate_livePose()
+    pose = Pose.from_live_pose(lp.livePose)
+
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose)
 
     assert lac_log.saturated
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 93b0430c1e..6222daf664 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -54,7 +54,7 @@ def cycle_alerts(duration=200, is_metric=False):
   CS = car.CarState.new_message()
   CP = CarInterface.get_non_essential_params("HONDA_CIVIC")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
-                            'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
+                            'driverMonitoringState', 'longitudinalPlan', 'livePose',
                             'managerState'] + cameras)
 
   pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index af8a3d3726..af307b0336 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -2,6 +2,7 @@ import numpy as np
 from typing import Any
 
 from cereal import log
+from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
 def rotate_cov(rot_matrix, cov_in):
@@ -70,3 +71,69 @@ class ParameterEstimator:
 
   def get_msg(self, valid: bool, with_points: bool) -> log.Event:
     raise NotImplementedError
+
+
+class Measurement:
+  x, y, z = (property(lambda self: self.xyz[0]), property(lambda self: self.xyz[1]), property(lambda self: self.xyz[2]))
+  x_std, y_std, z_std = (property(lambda self: self.xyz_std[0]), property(lambda self: self.xyz_std[1]), property(lambda self: self.xyz_std[2]))
+  roll, pitch, yaw = x, y, z
+  roll_std, pitch_std, yaw_std = x_std, y_std, z_std
+
+  def __init__(self, xyz: np.ndarray, xyz_std: np.ndarray):
+    self.xyz: np.ndarray = xyz
+    self.xyz_std: np.ndarray = xyz_std
+
+  @classmethod
+  def from_measurement_xyz(cls, measurement: log.LivePose.XYZMeasurement) -> 'Measurement':
+    return cls(
+      xyz=np.array([measurement.x, measurement.y, measurement.z]),
+      xyz_std=np.array([measurement.xStd, measurement.yStd, measurement.zStd])
+    )
+
+
+class Pose:
+  def __init__(self, orientation: Measurement, velocity: Measurement, acceleration: Measurement, angular_velocity: Measurement):
+    self.orientation = orientation
+    self.velocity = velocity
+    self.acceleration = acceleration
+    self.angular_velocity = angular_velocity
+
+  @classmethod
+  def from_live_pose(cls, live_pose: log.LivePose) -> 'Pose':
+    return Pose(
+      orientation=Measurement.from_measurement_xyz(live_pose.orientationNED),
+      velocity=Measurement.from_measurement_xyz(live_pose.velocityDevice),
+      acceleration=Measurement.from_measurement_xyz(live_pose.accelerationDevice),
+      angular_velocity=Measurement.from_measurement_xyz(live_pose.angularVelocityDevice)
+    )
+
+
+class PoseCalibrator:
+  def __init__(self):
+    self.calib_valid = False
+    self.calib_from_device = np.eye(3)
+
+  def _transform_calib_from_device(self, meas: Measurement):
+    new_xyz = self.calib_from_device @ meas.xyz
+    new_xyz_std = rotate_std(self.calib_from_device, meas.xyz_std)
+    return Measurement(new_xyz, new_xyz_std)
+
+  def _ned_from_calib(self, orientation: Measurement):
+    ned_from_device = rot_from_euler(orientation.xyz)
+    ned_from_calib = ned_from_device @ self.calib_from_device.T
+    ned_from_calib_euler_meas = Measurement(euler_from_rot(ned_from_calib), np.full(3, np.nan))
+    return ned_from_calib_euler_meas
+
+  def build_calibrated_pose(self, pose: Pose) -> Pose:
+    ned_from_calib_euler = self._ned_from_calib(pose.orientation)
+    angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
+    acceleration_calib = self._transform_calib_from_device(pose.acceleration)
+    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
+
+    return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
+
+  def feed_live_calib(self, live_calib: log.LiveCalibrationData):
+    calib_rpy = np.array(live_calib.rpyCalib)
+    device_from_calib = rot_from_euler(calib_rpy)
+    self.calib_from_device = device_from_calib.T
+    self.calib_valid = live_calib.calStatus == log.LiveCalibrationData.Status.calibrated
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 1d5749cf34..459021b922 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -9,10 +9,9 @@ from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
-from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
-from openpilot.selfdrive.locationd.helpers import rotate_std
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.common.swaglog import cloudlog
 
 
@@ -40,9 +39,8 @@ class ParamsLearner:
     self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
 
     self.active = False
-    self.calibrated = False
 
-    self.calib_from_device = np.eye(3)
+    self.calibrator = PoseCalibrator()
 
     self.speed = 0.0
     self.yaw_rate = 0.0
@@ -53,15 +51,12 @@ class ParamsLearner:
 
   def handle_log(self, t, which, msg):
     if which == 'livePose':
-      angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
-      angular_velocity_device_std = np.array([msg.angularVelocityDevice.xStd, msg.angularVelocityDevice.yStd, msg.angularVelocityDevice.zStd])
-      angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
-      angular_velocity_calibrated_std = rotate_std(self.calib_from_device, angular_velocity_device_std)
+      device_pose = Pose.from_live_pose(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
 
-      self.yaw_rate, self.yaw_rate_std = angular_velocity_calibrated[2], angular_velocity_calibrated_std[2]
-
-      localizer_roll = msg.orientationNED.x
-      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.xStd) else msg.orientationNED.xStd
+      localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
+      localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
       self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
       if self.roll_valid:
         roll = localizer_roll
@@ -73,7 +68,7 @@ class ParamsLearner:
         roll_std = np.radians(10.0)
       self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
-      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrated
+      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
 
@@ -101,9 +96,7 @@ class ParamsLearner:
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
     elif which == 'liveCalibration':
-      self.calibrated  = msg.calStatus == log.LiveCalibrationData.Status.calibrated
-      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
-      self.calib_from_device = device_from_calib.T
+      self.calibrator.feed_live_calib(msg)
 
     elif which == 'carState':
       self.steering_angle = msg.steeringAngleDeg
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index edcf42ebcd..2b7cc62527 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -8,9 +8,8 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
+from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -78,7 +77,7 @@ class TorqueEstimator(ParameterEstimator):
       self.offline_friction = CP.lateralTuning.torque.friction
       self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
 
-    self.calib_from_device = np.eye(3)
+    self.calibrator = PoseCalibrator()
 
     self.reset()
 
@@ -175,17 +174,17 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
     elif which == "liveCalibration":
-      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
-      self.calib_from_device = device_from_calib.T
+      self.calibrator.feed_live_calib(msg)
 
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
-        angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
-        angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+        device_pose = Pose.from_live_pose(msg)
+        calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+        angular_velocity_calibrated = calibrated_pose.angular_velocity
 
-        yaw_rate = angular_velocity_calibrated[2]
-        roll = msg.orientationNED.x
+        yaw_rate = angular_velocity_calibrated.yaw
+        roll = device_pose.orientation.roll
         # check lat active up to now (without lag compensation)
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
                                self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 8cf7d4138a..170dbd0c82 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -465,6 +465,11 @@ def controlsd_config_callback(params, cfg, lr):
   assert controlsState is not None and initialized, "controlsState never initialized"
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
 
+  ublox = params.get_bool("UbloxAvailable")
+  sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
+
+  cfg.pubs = set(cfg.pubs) - sub_keys
+
 
 def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
@@ -478,9 +483,10 @@ CONFIGS = [
     proc_name="controlsd",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState",
+      "longitudinalPlan", "livePose", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput"
+      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
+      "gpsLocationExternal", "gpsLocation",
     ],
     subs=["controlsState", "carControl", "onroadEvents"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a85e8919c4..0d83bf96d1 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6ca7313b9c1337fad1334d9e087cb4984fdce74d
\ No newline at end of file
+d768496a1a85bfe5b74c99a79203affdf9a0a065
\ No newline at end of file
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index aa297269d1..4919b6e6b3 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -95,7 +95,7 @@ class TestPowerDraw:
 
     return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
 
-  @mock_messages(['liveLocationKalman'])
+  @mock_messages(['livePose'])
   def test_camera_procs(self, subtests):
     baseline = get_power()
 

From b97ed10ea1f61728dd3cccea76770915e64d6932 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 21:16:39 -0700
Subject: [PATCH 0411/1243] Car interface clean up (#33290)

* remove some defs

* now carstate

* remove carControl from CI update function

* almost merged that

* and that
old-commit-hash: 65fccbf7563ceca5ec84bb75ceb39556371a74de
---
 selfdrive/car/body/carstate.py             |  2 --
 selfdrive/car/body/interface.py            |  2 +-
 selfdrive/car/card.py                      |  2 +-
 selfdrive/car/chrysler/interface.py        |  2 +-
 selfdrive/car/ford/interface.py            |  3 +--
 selfdrive/car/gm/interface.py              |  3 +--
 selfdrive/car/honda/interface.py           |  2 +-
 selfdrive/car/hyundai/interface.py         |  2 +-
 selfdrive/car/interfaces.py                |  6 +++---
 selfdrive/car/mazda/interface.py           |  2 +-
 selfdrive/car/mock/interface.py            |  2 +-
 selfdrive/car/nissan/interface.py          |  2 +-
 selfdrive/car/subaru/interface.py          |  2 +-
 selfdrive/car/tesla/interface.py           |  2 +-
 selfdrive/car/tests/test_car_interfaces.py |  4 ++--
 selfdrive/car/tests/test_models.py         | 10 +++++-----
 selfdrive/car/toyota/interface.py          |  2 +-
 selfdrive/car/volkswagen/interface.py      |  4 +---
 18 files changed, 24 insertions(+), 30 deletions(-)

diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index fca9bcc627..f2a8d702f2 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -3,8 +3,6 @@ from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.body.values import DBC
 
-STARTUP_TICKS = 100
-
 class CarState(CarStateBase):
   def update(self, cp):
     ret = car.CarState.new_message()
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 29d55c934b..f0b473cc1d 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp)
 
     return ret
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 0cd5591e96..78b95163e3 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -142,7 +142,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
+    CS = self.CI.update(can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 803fc02a6d..04a7cc6c65 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 1d0233f771..8c50561a13 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
@@ -67,7 +66,7 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 8dd3426d38..142301bf70 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
@@ -200,7 +199,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index f02cc07ef0..7ee40b3267 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -221,7 +221,7 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.buttonEvents = [
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 365b8dac6d..739e9d6631 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -149,7 +149,7 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     if self.CS.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index fca988f553..58f814c0ef 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -218,17 +218,17 @@ class CarInterfaceBase(ABC):
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
   @abstractmethod
-  def _update(self, c: car.CarControl) -> car.CarState:
+  def _update(self) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
+  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
         cp.update_strings(can_packets)
 
     # get CarState
-    ret = self._update(c)
+    ret = self._update()
 
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 8153d69693..984ca16698 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -30,7 +30,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
      # TODO: add button types for inc and dec
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 7506bab053..06922888f7 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = True
     return ret
 
-  def _update(self, c):
+  def _update(self):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 551108ed0d..2df6b91f85 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 76bda1ee0b..d44be3de3b 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 5681f4c4a5..9b8834ccf7 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -39,7 +39,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.25
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     return ret
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 107c13a14b..f95a4a671a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -96,14 +96,14 @@ class TestCarInterfaces:
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
-      car_interface.update(CC, [])
+      car_interface.update([])
       car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
-      car_interface.update(CC, [])
+      car_interface.update([])
       car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index f57def0362..76d360c9da 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -217,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
       self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
@@ -293,7 +293,7 @@ class TestCarModelBase(unittest.TestCase):
       msgs_sent = 0
       CI = self.CarInterface(self.CP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
-        CI.update(car_control, [])
+        CI.update([])
         _, sendcan = CI.apply(car_control, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
@@ -358,7 +358,7 @@ class TestCarModelBase(unittest.TestCase):
       can = messaging.new_message('can', 1)
       can.can = [log.CanData(address=address, dat=dat, src=bus)]
 
-      CS = self.CI.update(CC, can_capnp_to_list((can.to_bytes(),)))
+      CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -397,7 +397,7 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
+      self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
@@ -407,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
+      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 236ce104ab..3efaa142aa 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -144,7 +144,7 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index db6adfe212..dd1a1fd1d8 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -4,8 +4,6 @@ from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
@@ -100,7 +98,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
     return ret

From c551f1d239e79e4d7d455709e45df1cedf8d9e2d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 13 Aug 2024 21:22:13 -0700
Subject: [PATCH 0412/1243] fix bash + python3 shebangs (#33287)

fix shebangs
old-commit-hash: 1dcd66081531f4568a8de69637fc7a3f4ef3214f
---
 launch_chffrplus.sh                            | 2 +-
 launch_env.sh                                  | 2 +-
 launch_openpilot.sh                            | 2 +-
 release/build_devel.sh                         | 2 +-
 release/build_release.sh                       | 2 +-
 release/check-dirty.sh                         | 2 +-
 release/check-submodules.sh                    | 2 +-
 scripts/apply-pr.sh                            | 2 +-
 scripts/build_small.sh                         | 2 +-
 scripts/cell.sh                                | 2 +-
 scripts/checkout-pr.sh                         | 2 +-
 scripts/launch_corolla.sh                      | 2 +-
 scripts/lint.sh                                | 2 +-
 scripts/retry.sh                               | 2 +-
 selfdrive/assets/compress-images.sh            | 2 +-
 selfdrive/assets/strip-svg-metadata.sh         | 2 +-
 selfdrive/car/tests/big_cars_test.sh           | 4 ++--
 selfdrive/debug/adb.sh                         | 2 +-
 selfdrive/modeld/tests/tf_test/build.sh        | 2 +-
 selfdrive/test/scons_build_test.sh             | 6 +++---
 selfdrive/test/setup_device_ci.sh              | 4 ++--
 selfdrive/test/setup_vsound.sh                 | 2 +-
 selfdrive/ui/installer/continue_openpilot.sh   | 2 +-
 selfdrive/ui/tests/create_test_translations.sh | 2 +-
 system/hardware/tici/restart_modem.sh          | 2 +-
 tools/joystick/joystickd.py                    | 2 +-
 tools/lib/kbhit.py                             | 2 +-
 tools/profiling/clpeak/build.sh                | 2 +-
 tools/profiling/ftrace.sh                      | 2 +-
 tools/profiling/palanteer/setup.sh             | 2 +-
 tools/profiling/perfetto/build.sh              | 2 +-
 tools/profiling/perfetto/copy.sh               | 2 +-
 tools/profiling/perfetto/record.sh             | 2 +-
 tools/profiling/perfetto/server.sh             | 2 +-
 tools/profiling/perfetto/traces.sh             | 2 +-
 tools/profiling/snapdragon/setup-agnos.sh      | 2 +-
 tools/profiling/snapdragon/setup-profiler.sh   | 4 ++--
 tools/profiling/watch-irqs.sh                  | 2 +-
 tools/rerun/run.sh                             | 2 +-
 tools/scripts/save_ubloxraw_stream.py          | 2 +-
 tools/serial/connect.sh                        | 2 +-
 tools/sim/launch_openpilot.sh                  | 2 +-
 tools/sim/run_bridge.py                        | 2 +-
 tools/webcam/start_camerad.sh                  | 2 +-
 44 files changed, 49 insertions(+), 49 deletions(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 9256f463af..442a811b16 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 if [ -z "$BASEDIR" ]; then
   BASEDIR="/data/openpilot"
diff --git a/launch_env.sh b/launch_env.sh
index 81578aff01..1e5bc7b607 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 export OMP_NUM_THREADS=1
 export MKL_NUM_THREADS=1
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index 2888814c22..d6e3424c34 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,3 +1,3 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 exec ./launch_chffrplus.sh
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 7fce11ca72..c6d04396fe 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -ex
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
diff --git a/release/build_release.sh b/release/build_release.sh
index 510df75e51..bcc4b5cded 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 set -x
 
diff --git a/release/check-dirty.sh b/release/check-dirty.sh
index 9c6389f380..ac049970cf 100755
--- a/release/check-dirty.sh
+++ b/release/check-dirty.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 5305cecd3a..48850deaf8 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 while read hash submodule ref; do
   git -C $submodule fetch --depth 3000 origin master
diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh
index 74f765391a..ad0af46b49 100755
--- a/scripts/apply-pr.sh
+++ b/scripts/apply-pr.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [ $# -eq 0 ]; then
   echo "usage: $0 <pull-request-number>"
diff --git a/scripts/build_small.sh b/scripts/build_small.sh
index 90f55373e2..176ca5aaa8 100755
--- a/scripts/build_small.sh
+++ b/scripts/build_small.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -ex
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
diff --git a/scripts/cell.sh b/scripts/cell.sh
index 4ba007a532..310a9694fd 100755
--- a/scripts/cell.sh
+++ b/scripts/cell.sh
@@ -1,3 +1,3 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
 nmcli con up esim
diff --git a/scripts/checkout-pr.sh b/scripts/checkout-pr.sh
index 43f658beff..eeba816d88 100755
--- a/scripts/checkout-pr.sh
+++ b/scripts/checkout-pr.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 if [ $# -eq 0 ]; then
diff --git a/scripts/launch_corolla.sh b/scripts/launch_corolla.sh
index 4e5bca6ce5..926569a1e0 100755
--- a/scripts/launch_corolla.sh
+++ b/scripts/launch_corolla.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
diff --git a/scripts/lint.sh b/scripts/lint.sh
index 2b6fd07185..9f4db8e35b 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 RED='\033[0;31m'
diff --git a/scripts/retry.sh b/scripts/retry.sh
index 4861748e55..23501d7559 100755
--- a/scripts/retry.sh
+++ b/scripts/retry.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 function fail {
   echo $1 >&2
diff --git a/selfdrive/assets/compress-images.sh b/selfdrive/assets/compress-images.sh
index a1a4f8bb40..de59099bd1 100755
--- a/selfdrive/assets/compress-images.sh
+++ b/selfdrive/assets/compress-images.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "compressing training guide images"
 optipng -o7 -strip all training/*
diff --git a/selfdrive/assets/strip-svg-metadata.sh b/selfdrive/assets/strip-svg-metadata.sh
index a8b35eadde..e51dc9481d 100755
--- a/selfdrive/assets/strip-svg-metadata.sh
+++ b/selfdrive/assets/strip-svg-metadata.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # sudo apt install scour
 
diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
index af45c9cd14..8b0e96d980 100755
--- a/selfdrive/car/tests/big_cars_test.sh
+++ b/selfdrive/car/tests/big_cars_test.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname "$0")
 BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
@@ -9,4 +9,4 @@ INTERNAL_SEG_CNT=300
 FILEREADER_CACHE=1
 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
 
-cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
\ No newline at end of file
+cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/selfdrive/debug/adb.sh b/selfdrive/debug/adb.sh
index 919a82fefc..8fa267fd4d 100755
--- a/selfdrive/debug/adb.sh
+++ b/selfdrive/debug/adb.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 
 PORT=5555
diff --git a/selfdrive/modeld/tests/tf_test/build.sh b/selfdrive/modeld/tests/tf_test/build.sh
index 4e92ca0698..df1d24761e 100755
--- a/selfdrive/modeld/tests/tf_test/build.sh
+++ b/selfdrive/modeld/tests/tf_test/build.sh
@@ -1,2 +1,2 @@
-#!/bin/bash
+#!/usr/bin/env bash
 clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
index a3b33f797a..efc9469deb 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/selfdrive/test/scons_build_test.sh
@@ -1,10 +1,10 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname "$0")
 BASEDIR=$(realpath "$SCRIPT_DIR/../../")
 cd $BASEDIR
 
-# tests that our build system's dependencies are configured properly, 
+# tests that our build system's dependencies are configured properly,
 # needs a machine with lots of cores
 scons --clean
-scons --no-cache --random -j$(nproc)
\ No newline at end of file
+scons --no-cache --random -j$(nproc)
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 84dae25821..fdc222e7e7 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
@@ -23,7 +23,7 @@ rm -rf /data/safe_staging/* || true
 
 CONTINUE_PATH="/data/continue.sh"
 tee $CONTINUE_PATH << EOF
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 sudo abctl --set_success
 
diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh
index a6601d0a61..aab1499744 100755
--- a/selfdrive/test/setup_vsound.sh
+++ b/selfdrive/test/setup_vsound.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 {
   #start pulseaudio daemon
diff --git a/selfdrive/ui/installer/continue_openpilot.sh b/selfdrive/ui/installer/continue_openpilot.sh
index 3da67313eb..ed41ab6f3f 100755
--- a/selfdrive/ui/installer/continue_openpilot.sh
+++ b/selfdrive/ui/installer/continue_openpilot.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 cd /data/openpilot
 exec ./launch_openpilot.sh
diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh
index 451a3cbfb0..ed0890d946 100755
--- a/selfdrive/ui/tests/create_test_translations.sh
+++ b/selfdrive/ui/tests/create_test_translations.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
index 3c67d9d21d..741dc72050 100755
--- a/system/hardware/tici/restart_modem.sh
+++ b/system/hardware/tici/restart_modem.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 #nmcli connection modify --temporary lte gsm.home-only yes
 #nmcli connection modify --temporary lte gsm.auto-config yes
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 176ff25be6..6b85be8777 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import argparse
 import threading
diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py
index 4451d02aea..3881ee7d18 100755
--- a/tools/lib/kbhit.py
+++ b/tools/lib/kbhit.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import termios
 import atexit
diff --git a/tools/profiling/clpeak/build.sh b/tools/profiling/clpeak/build.sh
index 1dcb05cbbc..5206ed0c45 100755
--- a/tools/profiling/clpeak/build.sh
+++ b/tools/profiling/clpeak/build.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 cd $DIR
diff --git a/tools/profiling/ftrace.sh b/tools/profiling/ftrace.sh
index fe91a3c0d9..7d5d1f5f9d 100755
--- a/tools/profiling/ftrace.sh
+++ b/tools/profiling/ftrace.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 
 cd /sys/kernel/tracing
diff --git a/tools/profiling/palanteer/setup.sh b/tools/profiling/palanteer/setup.sh
index e912a9367f..6f115dc86b 100755
--- a/tools/profiling/palanteer/setup.sh
+++ b/tools/profiling/palanteer/setup.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/tools/profiling/perfetto/build.sh b/tools/profiling/perfetto/build.sh
index 448c1d04ae..24255ac3b0 100755
--- a/tools/profiling/perfetto/build.sh
+++ b/tools/profiling/perfetto/build.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 if [ ! -d perfetto ]; then
   git clone https://android.googlesource.com/platform/external/perfetto/
diff --git a/tools/profiling/perfetto/copy.sh b/tools/profiling/perfetto/copy.sh
index 8deca9a6e7..b91d49a80b 100755
--- a/tools/profiling/perfetto/copy.sh
+++ b/tools/profiling/perfetto/copy.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 DEST=tici:/data/openpilot/selfdrive/debug/profiling/perfetto
 
diff --git a/tools/profiling/perfetto/record.sh b/tools/profiling/perfetto/record.sh
index 99f2168771..9715a7e7e9 100755
--- a/tools/profiling/perfetto/record.sh
+++ b/tools/profiling/perfetto/record.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
diff --git a/tools/profiling/perfetto/server.sh b/tools/profiling/perfetto/server.sh
index 19958c653b..103ad9bd84 100755
--- a/tools/profiling/perfetto/server.sh
+++ b/tools/profiling/perfetto/server.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 curl -LO https://get.perfetto.dev/trace_processor
 chmod +x ./trace_processor
diff --git a/tools/profiling/perfetto/traces.sh b/tools/profiling/perfetto/traces.sh
index 489b042377..17ca89da72 100755
--- a/tools/profiling/perfetto/traces.sh
+++ b/tools/profiling/perfetto/traces.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 DEST=tici:/data/openpilot/selfdrive/debug/profiling/perfetto
 
diff --git a/tools/profiling/snapdragon/setup-agnos.sh b/tools/profiling/snapdragon/setup-agnos.sh
index f036ca2111..9a781bf3ce 100755
--- a/tools/profiling/snapdragon/setup-agnos.sh
+++ b/tools/profiling/snapdragon/setup-agnos.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # TODO: there's probably a better way to do this
 
diff --git a/tools/profiling/snapdragon/setup-profiler.sh b/tools/profiling/snapdragon/setup-profiler.sh
index aaec1bf756..b97c1ae688 100755
--- a/tools/profiling/snapdragon/setup-profiler.sh
+++ b/tools/profiling/snapdragon/setup-profiler.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # install depends
 sudo apt update
@@ -11,4 +11,4 @@ echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | su
 sudo apt update
 sudo apt-get install -y mono-complete
 
-echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh"
\ No newline at end of file
+echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh"
diff --git a/tools/profiling/watch-irqs.sh b/tools/profiling/watch-irqs.sh
index 34cc4596f4..4e5cfde3c8 100755
--- a/tools/profiling/watch-irqs.sh
+++ b/tools/profiling/watch-irqs.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 
 RUBYOPT="-W0" irqtop -d1 -R
diff --git a/tools/rerun/run.sh b/tools/rerun/run.sh
index 25190411d1..0c02615360 100755
--- a/tools/rerun/run.sh
+++ b/tools/rerun/run.sh
@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 
 # TODO: remove this file once Rerun has interface to set log message level
 set -e
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
index ecbc2bb31e..b5354a7831 100755
--- a/tools/scripts/save_ubloxraw_stream.py
+++ b/tools/scripts/save_ubloxraw_stream.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import argparse
 import os
 import sys
diff --git a/tools/serial/connect.sh b/tools/serial/connect.sh
index a073310b0a..0ea4a73620 100755
--- a/tools/serial/connect.sh
+++ b/tools/serial/connect.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 while true; do
   if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 1b4ac4ef84..30c5b73827 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 export PASSIVE="0"
 export NOBOARD="1"
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
index 0992ef4bfe..b4da703da0 100755
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import argparse
 
 from typing import Any
diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh
index fbda2be9f3..d4828b3e25 100755
--- a/tools/webcam/start_camerad.sh
+++ b/tools/webcam/start_camerad.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # export the block below when call manager.py
 export BLOCK="${BLOCK},camerad"

From 6ab415bc5985cba5e425b09dad5762e90e7a93ea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 21:28:06 -0700
Subject: [PATCH 0413/1243] fix static analysis

old-commit-hash: d65e1d9500be32f45ebd19ff939ecbc458fcc5ed
---
 selfdrive/car/tests/test_models.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 76d360c9da..c8b0b0fc1f 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -339,8 +339,6 @@ class TestCarModelBase(unittest.TestCase):
     msg_strategy = st.binary(min_size=size, max_size=size)
     msgs = data.draw(st.lists(msg_strategy, min_size=20))
 
-    CC = car.CarControl.new_message()
-
     for dat in msgs:
       # due to panda updating state selectively, only edges are expected to match
       # TODO: warm up CarState with real CAN messages to check edge of both sources
@@ -393,8 +391,6 @@ class TestCarModelBase(unittest.TestCase):
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
 
-    CC = car.CarControl.new_message()
-
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
       self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))

From 786820953ba6e37a56962b04310be7ad1e930849 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 13 Aug 2024 21:47:20 -0700
Subject: [PATCH 0414/1243] lint.sh: check shebang format for bash + python3
 (#33286)

lint shebang
old-commit-hash: 63a38dcd4d463bdee788baa10c15e25cdf726ef4
---
 .github/workflows/selfdrive_tests.yaml |  2 +-
 scripts/lint/check_shebang_format.sh   | 15 +++++++++++++++
 scripts/{ => lint}/lint.sh             |  3 ++-
 tools/op.sh                            |  2 +-
 4 files changed, 19 insertions(+), 3 deletions(-)
 create mode 100755 scripts/lint/check_shebang_format.sh
 rename scripts/{ => lint}/lint.sh (97%)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 9d1a546c5f..0b17807308 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -67,7 +67,7 @@ jobs:
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh --skip check_added_large_files"
+        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
     strategy:
diff --git a/scripts/lint/check_shebang_format.sh b/scripts/lint/check_shebang_format.sh
new file mode 100755
index 0000000000..8d48602e6c
--- /dev/null
+++ b/scripts/lint/check_shebang_format.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep '^#!.*python$' $@ | grep -v '#!/usr/bin/env python3$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env python3'\n"
+  FAIL=1
+fi
+
+if grep '^#!.*bash$' $@ | grep -v '#!/usr/bin/env bash$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env bash'"
+  FAIL=1
+fi
+
+exit $FAIL
diff --git a/scripts/lint.sh b/scripts/lint/lint.sh
similarity index 97%
rename from scripts/lint.sh
rename to scripts/lint/lint.sh
index 9f4db8e35b..13f3fe133c 100755
--- a/scripts/lint.sh
+++ b/scripts/lint/lint.sh
@@ -8,7 +8,7 @@ BOLD='\033[1m'
 NC='\033[0m'
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../
+cd $DIR/../../
 
 FAILED=0
 
@@ -51,6 +51,7 @@ function run_tests() {
   run "lint-imports" lint-imports
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
diff --git a/tools/op.sh b/tools/op.sh
index 0a552c0bde..0dde7d1908 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -273,7 +273,7 @@ function op_juggle() {
 
 function op_lint() {
   op_before_cmd
-  op_run_command scripts/lint.sh $@
+  op_run_command scripts/lint/lint.sh $@
 }
 
 function op_test() {

From d26b49a409abb261b791f9052ac995833e304ea0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 22:08:48 -0700
Subject: [PATCH 0415/1243] Consistent spacing in car interfaces (#33293)

* formatting

* fix these

* not these
old-commit-hash: 29882b4519b00dbcd10f950dcf7c2986aae2fc1c
---
 selfdrive/car/body/carstate.py        | 1 +
 selfdrive/car/body/interface.py       | 1 +
 selfdrive/car/gm/interface.py         | 2 +-
 selfdrive/car/honda/interface.py      | 2 +-
 selfdrive/car/hyundai/interface.py    | 4 ++--
 selfdrive/car/mazda/carstate.py       | 1 +
 selfdrive/car/mazda/interface.py      | 5 +++--
 selfdrive/car/mock/interface.py       | 1 +
 selfdrive/car/nissan/carstate.py      | 1 +
 selfdrive/car/subaru/carstate.py      | 3 +--
 selfdrive/car/tesla/carstate.py       | 1 +
 selfdrive/car/toyota/interface.py     | 2 +-
 selfdrive/car/volkswagen/carstate.py  | 3 ++-
 selfdrive/car/volkswagen/interface.py | 1 -
 14 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index f2a8d702f2..e0e710b116 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -3,6 +3,7 @@ from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.body.values import DBC
 
+
 class CarState(CarStateBase):
   def update(self, cp):
     ret = car.CarState.new_message()
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index f0b473cc1d..2c66074fd3 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -4,6 +4,7 @@ from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
+
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 142301bf70..50c1cf510e 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -14,10 +14,10 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLater
 ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
-
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 7ee40b3267..65e0a32414 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -10,9 +10,9 @@ from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-
 ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
+
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 739e9d6631..e94c1080e5 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,8 +2,8 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
-                                         CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, Buttons
+                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
+                                                   UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 83aa09b66b..b07e75a225 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -5,6 +5,7 @@ from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
+
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 984ca16698..07d40553d7 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -7,6 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 
+
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
@@ -22,7 +23,7 @@ class CarInterface(CarInterfaceBase):
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate not in (CAR.MAZDA_CX5_2022, ):
+    if candidate not in (CAR.MAZDA_CX5_2022,):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 
     ret.centerToFront = ret.wheelbase * 0.41
@@ -33,7 +34,7 @@ class CarInterface(CarInterfaceBase):
   def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-     # TODO: add button types for inc and dec
+    # TODO: add button types for inc and dec
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 06922888f7..cfd11d1cfb 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -3,6 +3,7 @@ from cereal import car
 import cereal.messaging as messaging
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+
 # mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index c38173c3e3..a9e9d9e9ba 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -9,6 +9,7 @@ from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
 TORQUE_SAMPLES = 12
 
+
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 0501494fdd..7751785f0f 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -52,7 +52,7 @@ class CarState(CarStateBase):
 
     # continuous blinker signals for assisted lane change
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
-                                                                          cp.vl["Dashlights"]["RIGHT_BLINKER"])
+                                                                      cp.vl["Dashlights"]["RIGHT_BLINKER"])
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
@@ -226,4 +226,3 @@ class CarState(CarStateBase):
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
-
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 5aa21cbc7c..262ac7add1 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -7,6 +7,7 @@ from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3efaa142aa..0968fbf7f3 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,7 @@ from cereal import car
 from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
-                                        MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
+                                                  MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index c53639a7dd..3f3683329c 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,7 +4,7 @@ from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams, VolkswagenFlags
+                                                      CarControllerParams, VolkswagenFlags
 
 
 class CarState(CarStateBase):
@@ -387,6 +387,7 @@ class MqbExtraSignals:
     ("SWA_01", 20),                              # From J1086 Lane Change Assist
   ]
 
+
 class PqExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_messages = [
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index dd1a1fd1d8..3bd31a4d49 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -102,4 +102,3 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
     return ret
-

From 9cf575657eaf1298b033d629a34d204502997701 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 22:30:46 -0700
Subject: [PATCH 0416/1243] Move buttonEvents to CarState (#33292)

* move mazda button events to carstate

* do  more

* remove

* some more

* clean up
old-commit-hash: 9f14c447db234d90a8fafe55d3e7b6439198f19f
---
 selfdrive/car/body/interface.py       |  4 +---
 selfdrive/car/chrysler/carstate.py    |  8 ++++++--
 selfdrive/car/chrysler/interface.py   | 10 ++--------
 selfdrive/car/ford/carstate.py        |  7 +++++--
 selfdrive/car/ford/interface.py       |  9 ++-------
 selfdrive/car/gm/carstate.py          | 22 ++++++++++++++++++----
 selfdrive/car/gm/interface.py         | 21 +++------------------
 selfdrive/car/honda/carstate.py       | 17 ++++++++++++++---
 selfdrive/car/honda/interface.py      | 18 +++---------------
 selfdrive/car/hyundai/carstate.py     | 16 ++++++++++++++--
 selfdrive/car/hyundai/interface.py    | 13 +++----------
 selfdrive/car/mazda/carstate.py       |  9 +++++++--
 selfdrive/car/mazda/interface.py      | 10 ++--------
 selfdrive/car/nissan/carstate.py      |  8 ++++++--
 selfdrive/car/nissan/interface.py     | 10 ++--------
 selfdrive/car/subaru/interface.py     |  5 +----
 selfdrive/car/tesla/interface.py      |  4 +---
 selfdrive/car/toyota/carstate.py      | 11 ++++++-----
 selfdrive/car/toyota/interface.py     | 10 ++--------
 selfdrive/car/volkswagen/interface.py |  4 +---
 20 files changed, 99 insertions(+), 117 deletions(-)

diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 2c66074fd3..a22c7b6a27 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -26,6 +26,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp)
-
-    return ret
+    return self.CS.update(self.cp)
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index c8b084aa62..33d76767bf 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,10 +1,13 @@
 from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -21,14 +24,13 @@ class CarState(CarStateBase):
     else:
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
 
     # lock info
@@ -101,6 +103,8 @@ class CarState(CarStateBase):
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 04a7cc6c65..44ed2049c0 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -77,8 +75,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 5fe105482e..984b241a65 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,11 +1,13 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 
@@ -17,7 +19,6 @@ class CarState(CarStateBase):
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
@@ -85,7 +86,7 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
     # TODO: block this going to the camera otherwise it will enable stock TJA
     ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
 
     # lock info
@@ -105,6 +106,8 @@ class CarState(CarStateBase):
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 8c50561a13..0180f5948e 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,12 +1,11 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 
 
@@ -67,8 +66,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 97dbd389f4..b6f3ad5ebb 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -2,15 +2,21 @@ import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
 
+ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
+BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -26,14 +32,13 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
-    self.prev_cruise_buttons = self.cruise_buttons
-    self.prev_distance_button = self.distance_button
+    prev_cruise_buttons = self.cruise_buttons
+    prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
     self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
@@ -124,6 +129,15 @@ class CarState(CarStateBase):
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
       ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    # Don't add event if transitioning from INIT, unless it's to an actual button
+    if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
+      ret.buttonEvents = [
+        *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
+                              unpressed_btn=CruiseButtons.UNPRESS),
+        *create_button_events(self.distance_button, prev_distance_button,
+                              {1: ButtonType.gapAdjustCruise})
+      ]
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 50c1cf510e..ba93318911 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -5,19 +5,15 @@ from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
+from openpilot.selfdrive.car import get_safety_config, get_friction
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
+from openpilot.selfdrive.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
-ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
-
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
@@ -200,15 +196,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
-
-    # Don't add event if transitioning from INIT, unless it's to an actual button
-    if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      ret.buttonEvents = [
-        *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                              unpressed_btn=CruiseButtons.UNPRESS),
-        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
-      ]
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 956e6a3bd3..97c4bd2eb2 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -3,15 +3,21 @@ from collections import defaultdict
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
-                                                 HondaFlags
+                                                 HondaFlags, CruiseButtons, CruiseSettings
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
+ButtonType = car.CarState.ButtonEvent.Type
+
+BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
 
 
 def get_can_messages(CP, gearbox_msg):
@@ -112,8 +118,8 @@ class CarState(CarStateBase):
     v_weight_bp = [1., 6.]   # smooth blending, below ~0.6m/s the smooth speed snaps to zero
 
     # update prevs, update must run once per loop
-    self.prev_cruise_buttons = self.cruise_buttons
-    self.prev_cruise_setting = self.cruise_setting
+    prev_cruise_buttons = self.cruise_buttons
+    prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
 
@@ -258,6 +264,11 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
+    ret.buttonEvents = [
+      *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+    ]
+
     return ret
 
   def get_can_parser(self, CP):
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 65e0a32414..711577355b 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -4,19 +4,14 @@ from panda import Panda
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
-from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
-SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
-
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -222,11 +217,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-
-    ret.buttonEvents = [
-      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
-    ]
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 1b56b3304e..0cc0a6e1a9 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,16 +5,22 @@ import math
 from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
 STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
 
+BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
+                Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -162,10 +168,13 @@ class CarState(CarStateBase):
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.prev_cruise_buttons = self.cruise_buttons[-1]
+    prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
 
+    if self.CP.openpilotLongitudinalControl:
+      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
+
     return ret
 
   def update_canfd(self, cp, cp_cam):
@@ -238,7 +247,7 @@ class CarState(CarStateBase):
     if self.CP.flags & HyundaiFlags.EV:
       ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
 
-    self.prev_cruise_buttons = self.cruise_buttons[-1]
+    prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
@@ -248,6 +257,9 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
+    if self.CP.openpilotLongitudinalControl:
+      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
+
     return ret
 
   def get_can_parser(self, CP):
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index e94c1080e5..38d6603bff 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,19 +1,17 @@
 from cereal import car
 from panda import Panda
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
-ButtonType = car.CarState.ButtonEvent.Type
+
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
-BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
-                Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
 class CarInterface(CarInterfaceBase):
@@ -150,9 +148,4 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index b07e75a225..a55d02a8d8 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,10 +1,13 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -19,14 +22,13 @@ class CarState(CarStateBase):
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -111,6 +113,9 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
+    # TODO: add button types for inc and dec
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 07d40553d7..a4e1ffe413 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
@@ -32,9 +31,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index a9e9d9e9ba..32ac8014eb 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -3,10 +3,13 @@ from collections import deque
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 TORQUE_SAMPLES = 12
 
 
@@ -21,13 +24,12 @@ class CarState(CarStateBase):
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
 
     if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
@@ -122,6 +124,8 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 2df6b91f85..a12e28231b 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,11 +1,9 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 
 class CarInterface(CarInterfaceBase):
 
@@ -30,8 +28,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
+    return self.CS.update(self.cp, self.cp_adas, self.cp_cam)
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index d44be3de3b..0eb7d0be3f 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -98,10 +98,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
   @staticmethod
   def init(CP, can_recv, can_send):
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 9b8834ccf7..e31ae28604 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -40,6 +40,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 7c2d0e6ce6..ed0ece4997 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -3,7 +3,7 @@ import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL, create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.car.helpers import mean
@@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
+ButtonType = car.CarState.ButtonEvent.Type
 SteerControlType = car.CarParams.SteerControlType
 
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
@@ -40,7 +41,6 @@ class CarState(CarStateBase):
     self.accurate_steer_angle_seen = False
     self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
     self.pcm_follow_distance = 0
@@ -172,9 +172,10 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
-      self.prev_distance_button = self.distance_button
-      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-        self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      prev_distance_button = self.distance_button
+      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+
+      ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 0968fbf7f3..bf26d01de6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -3,11 +3,10 @@ from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
 SteerControlType = car.CarParams.SteerControlType
 
 
@@ -145,9 +144,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 3bd31a4d49..015f9b81d9 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -99,6 +99,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
-
-    return ret
+    return self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)

From fae517416e55aefc45b842278b53e7d7e8bdead6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 22:48:55 -0700
Subject: [PATCH 0417/1243] card: set mock carState fields (#33294)

* mock carstate inside card

* not used
old-commit-hash: cb61d0045cb38f7fed362a848dcf3646b130d951
---
 selfdrive/car/car_specific.py   | 16 ++++++++++++++++
 selfdrive/car/card.py           |  6 +++++-
 selfdrive/car/mock/carstate.py  |  4 ++--
 selfdrive/car/mock/interface.py | 16 +---------------
 4 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index a4500b6f13..98ae3e0b83 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,4 +1,5 @@
 from cereal import car
+import cereal.messaging as messaging
 from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED
 from openpilot.selfdrive.car.volkswagen.values import CarControllerParams as VWCarControllerParams
@@ -12,6 +13,21 @@ EventName = car.CarEvent.EventName
 NetworkLocation = car.CarParams.NetworkLocation
 
 
+# TODO: the goal is to abstract this file into the CarState struct and make events generic
+class MockCarState:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
+
+  def update(self, CS: car.CarState):
+    self.sm.update(0)
+    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
+
+    CS.vEgo = self.sm[gps_sock].speed
+    CS.vEgoRaw = self.sm[gps_sock].speed
+
+    return CS
+
+
 class CarSpecificEvents:
   def __init__(self, CP: car.CarParams):
     self.CP = CP
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 78b95163e3..a7cd2f5a4a 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -15,7 +15,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
 from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -133,6 +133,7 @@ class Car:
     self.events = Events()
 
     self.car_events = CarSpecificEvents(self.CP)
+    self.mock_carstate = MockCarState()
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -144,6 +145,9 @@ class Car:
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     CS = self.CI.update(can_capnp_to_list(can_strs))
 
+    if self.CP.carName == 'mock':
+      CS = self.mock_carstate.update(CS)
+
     self.sm.update(0)
 
     can_rcv_valid = len(can_strs) > 0
diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py
index 41a298e24e..3937e8d75e 100644
--- a/selfdrive/car/mock/carstate.py
+++ b/selfdrive/car/mock/carstate.py
@@ -3,5 +3,5 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
 
 
 class CarState(CarStateBase):
-  def update(self, *args) -> car.CarState:
-    pass
+  def update(self, *_) -> car.CarState:
+    return car.CarState.new_message()
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index cfd11d1cfb..44cd40d28c 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,16 +1,9 @@
 #!/usr/bin/env python3
-from cereal import car
-import cereal.messaging as messaging
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 # mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    self.speed = 0.
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -23,11 +16,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-
-    ret = car.CarState.new_message()
-    ret.vEgo = self.sm[gps_sock].speed
-    ret.vEgoRaw = self.sm[gps_sock].speed
-
-    return ret
+    return self.CS.update()

From 35a99d7fc685b3e8a08a01fe305c3144934eec00 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 13 Aug 2024 22:59:25 -0700
Subject: [PATCH 0418/1243] Common CI._update function (#33289)

* use CP

* no car control, consistent _update function signatures

* eh it's fine to name it whatever

* clean up

* oops

* !!

* now we can delete this!

* nobody does anymore
old-commit-hash: 7248b00086f9b8d5d95c80a2eb7fe89c387f44ea
---
 selfdrive/car/body/carstate.py        |  2 +-
 selfdrive/car/body/interface.py       |  3 ---
 selfdrive/car/chrysler/carstate.py    |  2 +-
 selfdrive/car/chrysler/interface.py   |  3 ---
 selfdrive/car/ford/carstate.py        |  2 +-
 selfdrive/car/ford/interface.py       |  3 ---
 selfdrive/car/gm/carstate.py          |  2 +-
 selfdrive/car/gm/interface.py         |  4 ----
 selfdrive/car/honda/carstate.py       |  2 +-
 selfdrive/car/honda/interface.py      |  4 ----
 selfdrive/car/hyundai/carstate.py     |  2 +-
 selfdrive/car/hyundai/interface.py    |  3 ---
 selfdrive/car/interfaces.py           |  5 ++---
 selfdrive/car/mazda/carstate.py       |  2 +-
 selfdrive/car/mazda/interface.py      |  4 ----
 selfdrive/car/mock/interface.py       |  3 ---
 selfdrive/car/nissan/carstate.py      |  2 +-
 selfdrive/car/nissan/interface.py     |  4 ----
 selfdrive/car/subaru/carstate.py      |  2 +-
 selfdrive/car/subaru/interface.py     |  4 ----
 selfdrive/car/tesla/carstate.py       |  2 +-
 selfdrive/car/tesla/interface.py      |  3 ---
 selfdrive/car/toyota/carstate.py      |  2 +-
 selfdrive/car/toyota/interface.py     |  4 ----
 selfdrive/car/volkswagen/carstate.py  | 19 +++++++++++--------
 selfdrive/car/volkswagen/interface.py | 16 +---------------
 26 files changed, 25 insertions(+), 79 deletions(-)

diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index e0e710b116..1c981a6c6e 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -5,7 +5,7 @@ from openpilot.selfdrive.car.body.values import DBC
 
 
 class CarState(CarStateBase):
-  def update(self, cp):
+  def update(self, cp, *_):
     ret = car.CarState.new_message()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index a22c7b6a27..68509aa246 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -24,6 +24,3 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp)
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 33d76767bf..216e6f7891 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -26,7 +26,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
 
     ret = car.CarState.new_message()
 
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 44ed2049c0..21e752889e 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -73,6 +73,3 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 720 in fingerprint[0]
 
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 984b241a65..6d1e4ae5dc 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     ret = car.CarState.new_message()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 0180f5948e..4021f583c1 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -64,6 +64,3 @@ class CarInterface(CarInterfaceBase):
     ret.autoResumeSng = ret.minEnableSpeed == -1.
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index b6f3ad5ebb..2efe2b41e6 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -34,7 +34,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, pt_cp, cam_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, _, __, loopback_cp):
     ret = car.CarState.new_message()
 
     prev_cruise_buttons = self.cruise_buttons
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ba93318911..1026fe97cd 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -193,7 +193,3 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 97c4bd2eb2..d8ecba8303 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -110,7 +110,7 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, _, cp_body, __):
     ret = car.CarState.new_message()
 
     # car params
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 711577355b..c6c25ae359 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -214,7 +214,3 @@ class CarInterface(CarInterfaceBase):
   def init(CP, can_recv, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
       disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 0cc0a6e1a9..a2940a3b91 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -58,7 +58,7 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 38d6603bff..923c84d4b2 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -146,6 +146,3 @@ class CarInterface(CarInterfaceBase):
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 58f814c0ef..ae0df0123c 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -217,9 +217,8 @@ class CarInterfaceBase(ABC):
     tune.torque.latAccelOffset = 0.0
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
-  @abstractmethod
   def _update(self) -> car.CarState:
-    pass
+    return self.CS.update(*self.can_parsers)
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
     # parse can
@@ -292,7 +291,7 @@ class CarStateBase(ABC):
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
   @abstractmethod
-  def update(self, *args) -> car.CarState:
+  def update(self, cp, cp_cam, cp_adas, cp_body, cp_loopback) -> car.CarState:
     pass
 
   def update_speed_kf(self, v_ego_raw):
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index a55d02a8d8..1693d167be 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -24,7 +24,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
 
     ret = car.CarState.new_message()
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index a4e1ffe413..e37fca384a 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -28,7 +28,3 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.41
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 44cd40d28c..95887b4442 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -14,6 +14,3 @@ class CarInterface(CarInterfaceBase):
     ret.steerRatio = 13.
     ret.dashcamOnly = True
     return ret
-
-  def _update(self):
-    return self.CS.update()
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 32ac8014eb..9da8e8d4ba 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -26,7 +26,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_adas, cp_cam):
+  def update(self, cp, cp_cam, cp_adas, *_):
     ret = car.CarState.new_message()
 
     prev_distance_button = self.distance_button
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index a12e28231b..c3418cabe6 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -25,7 +25,3 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_adas, self.cp_cam)
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 7751785f0f..125d589928 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -16,7 +16,7 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, _, cp_body, __):
     ret = car.CarState.new_message()
 
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 0eb7d0be3f..c733ef291b 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -96,10 +96,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
-
   @staticmethod
   def init(CP, can_recv, can_send):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 262ac7add1..71e891b9bd 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     self.acc_state = 0
     self.das_control_counters = deque(maxlen=32)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     ret = car.CarState.new_message()
 
     # Vehicle speed
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index e31ae28604..118987e2ef 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -38,6 +38,3 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index ed0ece4997..fd8306ef11 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -49,7 +49,7 @@ class CarState(CarStateBase):
     self.acc_type = 1
     self.lkas_hud = {}
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     ret = car.CarState.new_message()
 
     ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index bf26d01de6..fb63ab557b 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -141,7 +141,3 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 3f3683329c..31343887a4 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -32,9 +32,12 @@ class CarState(CarStateBase):
 
     return button_events
 
-  def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update(self, pt_cp, cam_cp, *_):
+
+    ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
+
     if self.CP.flags & VolkswagenFlags.PQ:
-      return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
+      return self.update_pq(pt_cp, cam_cp, ext_cp)
 
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
@@ -73,11 +76,11 @@ class CarState(CarStateBase):
     ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
 
     # Update gear and/or clutch position data.
-    if trans_type == TransmissionType.automatic:
+    if self.CP.transmissionType == TransmissionType.automatic:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
-    elif trans_type == TransmissionType.direct:
+    elif self.CP.transmissionType == TransmissionType.direct:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
-    elif trans_type == TransmissionType.manual:
+    elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
       if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
         ret.gearShifter = GearShifter.reverse
@@ -155,7 +158,7 @@ class CarState(CarStateBase):
     self.frame += 1
     return ret
 
-  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update_pq(self, pt_cp, cam_cp, ext_cp):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -187,9 +190,9 @@ class CarState(CarStateBase):
     ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
 
     # Update gear and/or clutch position data.
-    if trans_type == TransmissionType.automatic:
+    if self.CP.transmissionType == TransmissionType.automatic:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
-    elif trans_type == TransmissionType.manual:
+    elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
       reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
       if reverse_light:
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 015f9b81d9..48656d5e82 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -2,20 +2,10 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, NetworkLocation, TransmissionType, VolkswagenFlags
 
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      self.ext_bus = CANBUS.pt
-      self.cp_ext = self.cp
-    else:
-      self.ext_bus = CANBUS.cam
-      self.cp_ext = self.cp_cam
-
   @staticmethod
   def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -96,7 +86,3 @@ class CarInterface(CarInterfaceBase):
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)

From dc396b6301f482fbe6dd4390c1a97ab5c960acd3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 14 Aug 2024 11:34:52 -0700
Subject: [PATCH 0419/1243] lint.sh: better shebang lint (#33296)

-e
old-commit-hash: 585f362738908bb4c98e87fac0cd7cb64a78d6b4
---
 scripts/git_rewrite/rewrite-git-history.sh | 15 ++++++++-------
 scripts/lint/check_shebang_format.sh       |  4 ++--
 selfdrive/test/ci_shell.sh                 |  3 ++-
 3 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
index 5a97e6bbad..cce4455ce5 100755
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -1,4 +1,5 @@
-#!/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 SRC=/tmp/openpilot/
 SRC_CLONE=/tmp/openpilot-clone/
@@ -209,7 +210,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
     MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
     if [ -n "$MERGE_BASE" ]; then
       echo "Rewriting branch: $BRANCH"
-      
+
       # create a new branch based on the new master
       NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
       if [ -z "$NEW_MERGE_BASE" ]; then
@@ -217,10 +218,10 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
         continue
       fi
       git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-      
+
       # get the range of commits unique to this branch
       COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-      
+
       HAS_ERROR=0
 
       # simple delimiter
@@ -263,7 +264,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
           git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
         fi
       done
-      
+
       # force push the new branch
       if [ $HAS_ERROR -eq 0 ]; then
         # git lfs goes haywire here, so we need to install and uninstall
@@ -271,7 +272,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
         git lfs uninstall --local > /dev/null
         git push -f origin ${BRANCH}_new:${BRANCH}
       fi
-      
+
       # clean up local branch
       git checkout master > /dev/null
       git branch -D ${BRANCH}_new > /dev/null
@@ -318,7 +319,7 @@ if [ ! -f "$SRC_CLONE/validation-done" ]; then
 
     # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
     echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-    
+
     # generate lists of files and their hashes for the old and new commits, excluding ignored files
     OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
     NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
diff --git a/scripts/lint/check_shebang_format.sh b/scripts/lint/check_shebang_format.sh
index 8d48602e6c..89b95d5929 100755
--- a/scripts/lint/check_shebang_format.sh
+++ b/scripts/lint/check_shebang_format.sh
@@ -2,12 +2,12 @@
 
 FAIL=0
 
-if grep '^#!.*python$' $@ | grep -v '#!/usr/bin/env python3$'; then
+if grep '^#!.*python' $@ | grep -v '#!/usr/bin/env python3$'; then
   echo -e "Invalid shebang! Must use '#!/usr/bin/env python3'\n"
   FAIL=1
 fi
 
-if grep '^#!.*bash$' $@ | grep -v '#!/usr/bin/env bash$'; then
+if grep '^#!.*bash' $@ | grep -v '#!/usr/bin/env bash$'; then
   echo -e "Invalid shebang! Must use '#!/usr/bin/env bash'"
   FAIL=1
 fi
diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh
index a5ff714b2d..76f0a9f78c 100755
--- a/selfdrive/test/ci_shell.sh
+++ b/selfdrive/test/ci_shell.sh
@@ -1,4 +1,5 @@
-#!/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 OP_ROOT="$DIR/../../"

From 4ece8b6bb1519ec0550de60e762f0634baa13fb0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 14 Aug 2024 12:11:39 -0700
Subject: [PATCH 0420/1243] retry uv with cache (#33297)

try uv with cache
old-commit-hash: 2bc5d2b6351d82e3cb44379c7592e65bdd56c209
---
 tools/install_python_dependencies.sh | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 2783f7282a..5e66b9d0cb 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -32,9 +32,8 @@ fi
 echo "updating uv..."
 update_uv
 
-# TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."
-uv --no-cache sync --frozen --all-extras
+uv sync --frozen --all-extras
 source .venv/bin/activate
 
 # TODO: remove this. Workaround till get a new release. PEP508 doesn't seem to have find-links option

From f8ef09fcb2705dbf44e4829a3e9fc3ed339e5c9a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 14 Aug 2024 15:06:00 -0700
Subject: [PATCH 0421/1243] rm tesla (#33300)

* rm tesla

* more rm

* ugh we should remove dynamic imports soon
old-commit-hash: b9dec5e3b51cf60f5544e93ca208b15d47b99ef0
---
 release/release_files.py                      |   4 -
 selfdrive/car/car_specific.py                 |   2 +-
 selfdrive/car/fingerprints.py                 |   4 -
 selfdrive/car/tesla/__init__.py               |   0
 selfdrive/car/tesla/carcontroller.py          |  66 ---------
 selfdrive/car/tesla/carstate.py               | 140 ------------------
 selfdrive/car/tesla/fingerprints.py           |  32 ----
 selfdrive/car/tesla/interface.py              |  40 -----
 selfdrive/car/tesla/radar_interface.py        |  90 -----------
 selfdrive/car/tesla/teslacan.py               |  94 ------------
 selfdrive/car/tesla/values.py                 |  98 ------------
 selfdrive/car/tests/routes.py                 |   5 -
 selfdrive/car/tests/test_car_interfaces.py    |   2 +-
 selfdrive/car/tests/test_fw_fingerprint.py    |   4 +-
 selfdrive/car/torque_data/override.toml       |   5 -
 selfdrive/car/values.py                       |   3 +-
 .../test/process_replay/test_processes.py     |   3 +-
 17 files changed, 5 insertions(+), 587 deletions(-)
 delete mode 100644 selfdrive/car/tesla/__init__.py
 delete mode 100644 selfdrive/car/tesla/carcontroller.py
 delete mode 100644 selfdrive/car/tesla/carstate.py
 delete mode 100644 selfdrive/car/tesla/fingerprints.py
 delete mode 100755 selfdrive/car/tesla/interface.py
 delete mode 100755 selfdrive/car/tesla/radar_interface.py
 delete mode 100644 selfdrive/car/tesla/teslacan.py
 delete mode 100644 selfdrive/car/tesla/values.py

diff --git a/release/release_files.py b/release/release_files.py
index 29d565a952..5e9371c6fc 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -118,10 +118,6 @@ whitelist = [
   "opendbc_repo/dbc/toyota_tss2_adas.dbc",
   "opendbc_repo/dbc/vw_golf_mk4.dbc",
   "opendbc_repo/dbc/vw_mqb_2010.dbc",
-  "opendbc_repo/dbc/tesla_can.dbc",
-  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
-  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
-  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
 
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 98ae3e0b83..e8e03320ff 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -41,7 +41,7 @@ class CarSpecificEvents:
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName in ('tesla', 'subaru'):
+    elif self.CP.carName == 'subaru':
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index dc93c38246..460bb5c90d 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -9,7 +9,6 @@ from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
-from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
@@ -276,9 +275,6 @@ MIGRATION = {
   "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
   "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
   "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
-  'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
-  'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
-  'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
   "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
   "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
   "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
diff --git a/selfdrive/car/tesla/__init__.py b/selfdrive/car/tesla/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
deleted file mode 100644
index ed81fd0c50..0000000000
--- a/selfdrive/car/tesla/carcontroller.py
+++ /dev/null
@@ -1,66 +0,0 @@
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
-from openpilot.selfdrive.car.helpers import clip
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.apply_angle_last = 0
-    self.packer = CANPacker(dbc_name)
-    self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
-    self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    pcm_cancel_cmd = CC.cruiseControl.cancel
-
-    can_sends = []
-
-    # Temp disable steering on a hands_on_fault, and allow for user override
-    hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
-    lkas_enabled = CC.latActive and not hands_on_fault
-
-    if self.frame % 2 == 0:
-      if lkas_enabled:
-        # Angular rate limit based on speed
-        apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
-
-        # To not fault the EPS
-        apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
-      else:
-        apply_angle = CS.out.steeringAngleDeg
-
-      self.apply_angle_last = apply_angle
-      can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
-
-    # Longitudinal control (in sync with stock message, about 40Hz)
-    if self.CP.openpilotLongitudinalControl:
-      target_accel = actuators.accel
-      target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
-      max_accel = 0 if target_accel < 0 else target_accel
-      min_accel = 0 if target_accel > 0 else target_accel
-
-      while len(CS.das_control_counters) > 0:
-        can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
-
-    # Cancel on user steering override, since there is no steering torque blending
-    if hands_on_fault:
-      pcm_cancel_cmd = True
-
-    if self.frame % 10 == 0 and pcm_cancel_cmd:
-      # Spam every possible counter value, otherwise it might not be accepted
-      for counter in range(16):
-        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
-        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
-
-    # TODO: HUD control
-
-    new_actuators = actuators.as_builder()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
deleted file mode 100644
index 71e891b9bd..0000000000
--- a/selfdrive/car/tesla/carstate.py
+++ /dev/null
@@ -1,140 +0,0 @@
-import copy
-from collections import deque
-from cereal import car
-from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.button_states = {button.event_type: False for button in BUTTONS}
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
-
-    # Needed by carcontroller
-    self.msg_stw_actn_req = None
-    self.hands_on_level = 0
-    self.steer_warning = None
-    self.acc_state = 0
-    self.das_control_counters = deque(maxlen=32)
-
-  def update(self, cp, cp_cam, *_):
-    ret = car.CarState.new_message()
-
-    # Vehicle speed
-    ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = (ret.vEgo < 0.1)
-
-    # Gas pedal
-    ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
-    ret.gasPressed = (ret.gas > 0)
-
-    # Brake pedal
-    ret.brake = 0
-    ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
-
-    # Steering wheel
-    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
-
-    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
-    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
-    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
-
-    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
-    ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
-    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
-    ret.steeringPressed = (self.hands_on_level > 0)
-    ret.steerFaultPermanent = steer_status == "EAC_FAULT"
-    ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
-
-    # Cruise state
-    cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
-    speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
-
-    acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
-
-    ret.cruiseState.enabled = acc_enabled
-    if speed_units == "KPH":
-      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
-    elif speed_units == "MPH":
-      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
-    ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
-    ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
-
-    # Gear
-    ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
-
-    # Buttons
-    buttonEvents = []
-    for button in BUTTONS:
-      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
-      if self.button_states[button.event_type] != state:
-        event = car.CarState.ButtonEvent.new_message()
-        event.type = button.event_type
-        event.pressed = state
-        buttonEvents.append(event)
-      self.button_states[button.event_type] = state
-    ret.buttonEvents = buttonEvents
-
-    # Doors
-    ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
-
-    # Blinkers
-    ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
-    ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
-
-    # Seatbelt
-    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
-    else:
-      ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
-
-    # TODO: blindspot
-
-    # AEB
-    ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
-
-    # Messages needed by carcontroller
-    self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
-    self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
-    self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("ESP_B", 50),
-      ("DI_torque1", 100),
-      ("DI_torque2", 100),
-      ("STW_ANGLHP_STAT", 100),
-      ("EPAS_sysStatus", 25),
-      ("DI_state", 10),
-      ("STW_ACTN_RQ", 10),
-      ("GTW_carState", 10),
-      ("BrakeMessage", 50),
-    ]
-
-    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      messages.append(("DriverSeat", 20))
-    else:
-      messages.append(("SDM1", 10))
-
-    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("DAS_control", 40),
-    ]
-
-    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      messages.append(("EPAS3P_sysStatus", 100))
-
-    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)
diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py
deleted file mode 100644
index 68c50a62ed..0000000000
--- a/selfdrive/car/tesla/fingerprints.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.tesla.values import CAR
-
-Ecu = car.CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.TESLA_AP2_MODELS: {
-    (Ecu.adas, 0x649, None): [
-      b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
-    ],
-    (Ecu.electricBrakeBooster, 0x64d, None): [
-      b'1037123-00-A',
-    ],
-    (Ecu.fwdRadar, 0x671, None): [
-      b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe',
-    ],
-    (Ecu.eps, 0x730, None): [
-      b'\x10#\x01',
-    ],
-  },
-  CAR.TESLA_MODELS_RAVEN: {
-    (Ecu.electricBrakeBooster, 0x64d, None): [
-      b'1037123-00-A',
-    ],
-    (Ecu.fwdRadar, 0x671, None): [
-      b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
-    ],
-    (Ecu.eps, 0x730, None): [
-      b'SX_0.0.0 (99),SR013.7',
-    ],
-  },
-}
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
deleted file mode 100755
index 118987e2ef..0000000000
--- a/selfdrive/car/tesla/interface.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-from cereal import car
-from panda import Panda
-from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
-from openpilot.selfdrive.car import get_safety_config
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
-    ret.carName = "tesla"
-
-    # There is no safe way to do steer blending with user torque,
-    # so the steering behaves like autopilot. This is not
-    # how openpilot should be, hence dashcamOnly
-    ret.dashcamOnly = True
-
-    ret.steerControlType = car.CarParams.SteerControlType.angle
-
-    ret.longitudinalActuatorDelay = 0.5 # s
-    ret.radarTimeStep = (1.0 / 8) # 8Hz
-
-    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
-    # If so, we assume that it is connected to the longitudinal harness.
-    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
-    if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
-      ret.openpilotLongitudinalControl = True
-      flags |= Panda.FLAG_TESLA_LONG_CONTROL
-      ret.safetyConfigs = [
-        get_safety_config(car.CarParams.SafetyModel.tesla, flags),
-        get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
-      ]
-    else:
-      ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
-
-    ret.steerLimitTimer = 1.0
-    ret.steerActuatorDelay = 0.25
-    return ret
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
deleted file mode 100755
index 1684e42e7f..0000000000
--- a/selfdrive/car/tesla/radar_interface.py
+++ /dev/null
@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-from cereal import car
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-
-    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      messages = [('RadarStatus', 16)]
-      self.num_points = 40
-      self.trigger_msg = 1119
-    else:
-      messages = [('TeslaRadarSguInfo', 10)]
-      self.num_points = 32
-      self.trigger_msg = 878
-
-    for i in range(self.num_points):
-      messages.extend([
-        (f'RadarPoint{i}_A', 16),
-        (f'RadarPoint{i}_B', 16),
-      ])
-
-    self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
-    self.updated_messages = set()
-    self.track_id = 0
-
-  def update(self, can_strings):
-    if self.rcp is None:
-      return super().update(None)
-
-    values = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(values)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    ret = car.RadarData.new_message()
-
-    # Errors
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append('canError')
-
-    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      radar_status = self.rcp.vl['RadarStatus']
-      if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
-        errors.append('fault')
-    else:
-      radar_status = self.rcp.vl['TeslaRadarSguInfo']
-      if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
-        errors.append('fault')
-
-    ret.errors = errors
-
-    # Radar tracks
-    for i in range(self.num_points):
-      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
-      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
-
-      # Make sure msg A and B are together
-      if msg_a['Index'] != msg_b['Index2']:
-        continue
-
-      # Check if it's a valid track
-      if not msg_a['Tracked']:
-        if i in self.pts:
-          del self.pts[i]
-        continue
-
-      # New track!
-      if i not in self.pts:
-        self.pts[i] = car.RadarData.RadarPoint.new_message()
-        self.pts[i].trackId = self.track_id
-        self.track_id += 1
-
-      # Parse track data
-      self.pts[i].dRel = msg_a['LongDist']
-      self.pts[i].yRel = msg_a['LatDist']
-      self.pts[i].vRel = msg_a['LongSpeed']
-      self.pts[i].aRel = msg_a['LongAccel']
-      self.pts[i].yvRel = msg_b['LatSpeed']
-      self.pts[i].measured = bool(msg_a['Meas'])
-
-    ret.points = list(self.pts.values())
-    self.updated_messages.clear()
-    return ret
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
deleted file mode 100644
index 22e0ac6c4e..0000000000
--- a/selfdrive/car/tesla/teslacan.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import crcmod
-
-from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
-
-
-class TeslaCAN:
-  def __init__(self, packer, pt_packer):
-    self.packer = packer
-    self.pt_packer = pt_packer
-    self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
-
-  @staticmethod
-  def checksum(msg_id, dat):
-    # TODO: get message ID from name instead
-    ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
-    ret += sum(dat)
-    return ret & 0xFF
-
-  def create_steering_control(self, angle, enabled, counter):
-    values = {
-      "DAS_steeringAngleRequest": -angle,
-      "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": 1 if enabled else 0,
-      "DAS_steeringControlCounter": counter,
-    }
-
-    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1]
-    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
-    return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
-
-  def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
-    # We copy this whole message when spamming cancel
-    values = {s: msg_stw_actn_req[s] for s in [
-      "SpdCtrlLvr_Stat",
-      "VSL_Enbl_Rq",
-      "SpdCtrlLvrStat_Inv",
-      "DTR_Dist_Rq",
-      "TurnIndLvr_Stat",
-      "HiBmLvr_Stat",
-      "WprWashSw_Psd",
-      "WprWash_R_Sw_Posn_V2",
-      "StW_Lvr_Stat",
-      "StW_Cond_Flt",
-      "StW_Cond_Psd",
-      "HrnSw_Psd",
-      "StW_Sw00_Psd",
-      "StW_Sw01_Psd",
-      "StW_Sw02_Psd",
-      "StW_Sw03_Psd",
-      "StW_Sw04_Psd",
-      "StW_Sw05_Psd",
-      "StW_Sw06_Psd",
-      "StW_Sw07_Psd",
-      "StW_Sw08_Psd",
-      "StW_Sw09_Psd",
-      "StW_Sw10_Psd",
-      "StW_Sw11_Psd",
-      "StW_Sw12_Psd",
-      "StW_Sw13_Psd",
-      "StW_Sw14_Psd",
-      "StW_Sw15_Psd",
-      "WprSw6Posn",
-      "MC_STW_ACTN_RQ",
-      "CRC_STW_ACTN_RQ",
-    ]}
-
-    if cancel:
-      values["SpdCtrlLvr_Stat"] = 1
-      values["MC_STW_ACTN_RQ"] = counter
-
-    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
-    values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
-    return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
-
-  def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt):
-    messages = []
-    values = {
-      "DAS_setSpeed": speed * CV.MS_TO_KPH,
-      "DAS_accState": acc_state,
-      "DAS_aebEvent": 0,
-      "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
-      "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
-      "DAS_accelMin": min_accel,
-      "DAS_accelMax": max_accel,
-      "DAS_controlCounter": cnt,
-      "DAS_controlChecksum": 0,
-    }
-
-    for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
-      data = packer.make_can_msg("DAS_control", bus, values)[1]
-      values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
-      messages.append(packer.make_can_msg("DAS_control", bus, values))
-    return messages
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
deleted file mode 100644
index 0f9cd00f63..0000000000
--- a/selfdrive/car/tesla/values.py
+++ /dev/null
@@ -1,98 +0,0 @@
-from collections import namedtuple
-
-from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = car.CarParams.Ecu
-
-Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-
-class CAR(Platforms):
-  TESLA_AP1_MODELS = PlatformConfig(
-    [CarDocs("Tesla AP1 Model S", "All")],
-    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
-    dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
-  )
-  TESLA_AP2_MODELS = PlatformConfig(
-    [CarDocs("Tesla AP2 Model S", "All")],
-    TESLA_AP1_MODELS.specs,
-    TESLA_AP1_MODELS.dbc_dict
-  )
-  TESLA_MODELS_RAVEN = PlatformConfig(
-    [CarDocs("Tesla Model S Raven", "All")],
-    TESLA_AP1_MODELS.specs,
-    dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
-  )
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps],
-      rx_offset=0x08,
-      bus=0,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps],
-      rx_offset=0x08,
-      bus=0,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
-      rx_offset=0x10,
-      bus=0,
-    ),
-  ]
-)
-
-class CANBUS:
-  # Lateral harness
-  chassis = 0
-  radar = 1
-  autopilot_chassis = 2
-
-  # Longitudinal harness
-  powertrain = 4
-  private = 5
-  autopilot_powertrain = 6
-
-GEAR_MAP = {
-  "DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
-  "DI_GEAR_P": car.CarState.GearShifter.park,
-  "DI_GEAR_R": car.CarState.GearShifter.reverse,
-  "DI_GEAR_N": car.CarState.GearShifter.neutral,
-  "DI_GEAR_D": car.CarState.GearShifter.drive,
-  "DI_GEAR_SNA": car.CarState.GearShifter.unknown,
-}
-
-DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
-
-# Make sure the message and addr is also in the CAN parser!
-BUTTONS = [
-  Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
-  Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
-  Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
-  Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
-  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
-  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
-]
-
-class CarControllerParams:
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
-  JERK_LIMIT_MAX = 8
-  JERK_LIMIT_MIN = -8
-  ACCEL_TO_SPEED_MULTIPLIER = 3
-
-  def __init__(self, CP):
-    pass
-
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 0fc800a47d..aecf75358f 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
-from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
@@ -289,10 +288,6 @@ routes = [
   CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
   CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
 
-  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS),
-  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS),
-  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
-
   # Segments that test specific issues
   # Controls mismatch due to standstill threshold
   CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index f95a4a671a..e863c1d08c 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -138,7 +138,7 @@ class TestCarInterfaces:
   def test_interface_attrs(self):
     """Asserts basic behavior of interface attribute getter"""
     num_brands = len(get_interface_attr('CAR'))
-    assert num_brands >= 13
+    assert num_brands >= 12
 
     # Should return value for all brands when not combining, even if attribute doesn't exist
     ret = get_interface_attr('FAKE_ATTR')
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 46a432f8a2..6391427bde 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -267,7 +267,7 @@ class TestFwFingerprintTiming:
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 7.2, 2: 7.8}
+    total_ref_time = {1: 6.9, 2: 7.5}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -279,14 +279,12 @@ class TestFwFingerprintTiming:
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.65,
-        'tesla': 0.3,
         'toyota': 0.7,
         'volkswagen': 0.65,
       },
       2: {
         'ford': 1.6,
         'hyundai': 1.15,
-        'tesla': 0.3,
       }
     }
 
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
index 993eb3fb3c..a4fc2a479f 100644
--- a/selfdrive/car/torque_data/override.toml
+++ b/selfdrive/car/torque_data/override.toml
@@ -15,11 +15,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Toyota LTA also has torque
 "TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
 
-# Tesla has high torque
-"TESLA_AP1_MODELS" = [nan, 2.5, nan]
-"TESLA_AP2_MODELS" = [nan, 2.5, nan]
-"TESLA_MODELS_RAVEN" = [nan, 2.5, nan]
-
 # Guess
 "FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
 "FORD_ESCAPE_MK4" = [nan, 1.5, nan]
diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py
index bf5d378ab4..0622339f8a 100644
--- a/selfdrive/car/values.py
+++ b/selfdrive/car/values.py
@@ -9,11 +9,10 @@ from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
-from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TOYOTA | VOLKSWAGEN
 BRANDS = get_args(Platform)
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 84a19aa0a9..95b104966f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -36,7 +36,6 @@ source_segments = [
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
 
   # Enable when port is tested and dashcamOnly is no longer set
-  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.TESLA_AP2_MODELS
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
 ]
 
@@ -61,7 +60,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

From 8c8a4b4961293891012692998797d007601dc913 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 14 Aug 2024 15:14:31 -0700
Subject: [PATCH 0422/1243] replace python with python3 (#33303)

3
old-commit-hash: 406939b9c09c9f29526c18fe2f106c2059decf1e
---
 .github/workflows/badges.yaml          |  2 +-
 .github/workflows/selfdrive_tests.yaml | 10 +++++-----
 tools/cabana/streams/replaystream.cc   |  2 +-
 tools/camerastream/README.md           |  8 ++++----
 tools/car_porting/README.md            |  6 +++---
 tools/latencylogger/README.md          |  2 +-
 tools/replay/README.md                 |  4 ++--
 tools/sim/launch_openpilot.sh          |  2 +-
 8 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index f8d2fc3cf1..63ee736dca 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -23,7 +23,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
 
         rm .gitattributes
 
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 0b17807308..479a4ff21d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -54,7 +54,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
+        ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |
@@ -221,7 +221,7 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 4
@@ -291,7 +291,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
           sudo chown -R $USER:$USER ${{ github.workspace }}
       - uses: actions/checkout@v4
         with:
@@ -303,7 +303,7 @@ jobs:
         run: |
           cd current
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
@@ -348,7 +348,7 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python selfdrive/ui/tests/test_ui/run.py"
+                            python3 selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 1616f2aec3..293b363532 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -63,7 +63,7 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
       QString message;
       if (auth_content.empty()) {
         message = "Authentication Required. Please run the following command to authenticate:\n\n"
-                  "python tools/lib/auth.py\n\n"
+                  "python3 tools/lib/auth.py\n\n"
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
index 76133f07cd..7dbafb4be5 100644
--- a/tools/camerastream/README.md
+++ b/tools/camerastream/README.md
@@ -1,10 +1,10 @@
 # Camera stream
 
-`compressed_vipc.py` connects to a remote device running openpilot, decodes the video streams, and republishes them over VisionIPC. 
+`compressed_vipc.py` connects to a remote device running openpilot, decodes the video streams, and republishes them over VisionIPC.
 
 ## Usage
 
-### On the device 
+### On the device
 SSH into the device and run following in separate terminals:
 
 `cd /data/openpilot/cereal/messaging && ./bridge`
@@ -30,7 +30,7 @@ Alternatively paste this as a single command:
   wait
 ) ; trap 'kill $(jobs -p)' SIGINT
 ```
-Ctrl+C will stop all three processes. 
+Ctrl+C will stop all three processes.
 
 ### On the PC
 Decode the stream with `compressed_vipc.py`:
@@ -43,7 +43,7 @@ To actually display the stream, run `watch3` in separate terminal:
 
 ## compressed_vipc.py usage
 ```
-$ python compressed_vipc.py -h
+$ python3 compressed_vipc.py -h
 usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
 
 Decode video streams and broadcast on VisionIPC
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index a32e9f96c9..68b0a57fb3 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -21,7 +21,7 @@ Given a route and platform, automatically inserts FW fingerprints from the platf
 
 Example:
 ```bash
-> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
+> python3 tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
 Attempting to add fw version for:  OUTBACK
 ```
 
@@ -45,7 +45,7 @@ Given a route, runs most of the car interface to check for common errors like mi
 
 #### Example: panda safety mismatch for gasPressed
 ```bash
-> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
+> python3 tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
 
 =====================================================================
 FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
@@ -93,4 +93,4 @@ vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN              determi
 vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
 vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
 vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
-```
\ No newline at end of file
+```
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
index 421a6a0b4a..24169dfaef 100644
--- a/tools/latencylogger/README.md
+++ b/tools/latencylogger/README.md
@@ -5,7 +5,7 @@ LatencyLogger is a tool to track the time from first pixel to actuation. Timesta
 ## Usage
 
 ```
-$ python latency_logger.py -h
+$ python3 latency_logger.py -h
 usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
 
 A tool for analyzing openpilot's end-to-end latency
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 122af71521..67cfcd75a6 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -6,7 +6,7 @@
 
 ```bash
 # Log in via browser to have access to routes from your comma account
-python tools/lib/auth.py
+python3 tools/lib/auth.py
 
 # Start a replay
 tools/replay/replay <route-name>
@@ -20,7 +20,7 @@ tools/replay/replay --demo
 cd selfdrive/ui && ./ui
 
 # or try out radar point visualization in Rerun:
-python replay/rp_visualization.py
+python3 replay/rp_visualization.py
 
 # NOTE: To visualize radar points, make sure tools/replay/replay is running.
 ```
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 30c5b73827..fa5ac731bd 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -12,7 +12,7 @@ if [[ "$CI" ]]; then
   export BLOCK="${BLOCK},ui"
 fi
 
-python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+python3 -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
 
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../

From e66855c54d5067bf7cf4005bff34f6c625b8477e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 14 Aug 2024 15:52:47 -0700
Subject: [PATCH 0423/1243] ui: remove GPS status from the sidebar (#33304)

* Remove usage of llk in ui

* Remove GPS from sidebar

* Remove it from test
old-commit-hash: c61d504516158d1e9926cf09625bbfc87aba9664
---
 selfdrive/controls/controlsd.py          | 1 +
 selfdrive/ui/qt/sidebar.cc               | 2 --
 selfdrive/ui/tests/test_ui/run.py        | 2 +-
 selfdrive/ui/translations/main_ar.ts     | 8 --------
 selfdrive/ui/translations/main_de.ts     | 8 --------
 selfdrive/ui/translations/main_es.ts     | 8 --------
 selfdrive/ui/translations/main_fr.ts     | 8 --------
 selfdrive/ui/translations/main_ja.ts     | 8 --------
 selfdrive/ui/translations/main_ko.ts     | 8 --------
 selfdrive/ui/translations/main_pt-BR.ts  | 8 --------
 selfdrive/ui/translations/main_th.ts     | 8 --------
 selfdrive/ui/translations/main_tr.ts     | 8 --------
 selfdrive/ui/translations/main_zh-CHS.ts | 8 --------
 selfdrive/ui/translations/main_zh-CHT.ts | 8 --------
 selfdrive/ui/ui.cc                       | 2 +-
 15 files changed, 3 insertions(+), 92 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6916161307..08aaff2f7e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -382,6 +382,7 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
+      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
       gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
       if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
         self.events.add(EventName.noGps)
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 75b966c9aa..52d618ab48 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -102,8 +102,6 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
-  } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 15b97511bc..6286517ee6 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -116,7 +116,7 @@ class TestUI:
 
   def setup(self):
     self.sm = SubMaster(["uiDebug"])
-    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman'])
+    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState'])
     while not self.sm.valid["uiDebug"]:
       self.sm.update(1)
     time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index a8a1f29d23..645a63a493 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -779,14 +779,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>بحث</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 0b2b794ac4..48180eef92 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -762,14 +762,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>SUCHEN</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index c8093e3029..150c00d117 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -763,14 +763,6 @@ Esto puede tardar un minuto.</translation>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>BÚSQUEDA</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 480d70c481..a678742f74 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -763,14 +763,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>RECHERCHE</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index c448186823..096fa95091 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -757,14 +757,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>検索</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 40d07d9b1c..df012d3e85 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>검색중</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index c0c7fcb3e8..1500f07e63 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -763,14 +763,6 @@ Isso pode levar até um minuto.</translation>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>PROCURA</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 1d7aa3df00..bae326d532 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>จีพีเอส</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>ค้นหา</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 3fabd5a384..72148807d4 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -757,14 +757,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>ARA</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 255886a15e..976b58b31d 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>搜索中</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 9cea6a1bbc..de8d3ff701 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>車輛通訊</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>車輛通訊</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index bd26741193..6de0babc7b 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -242,7 +242,7 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "clocks",
   });
 

From f3cb2a3b66fded17a106dde7c03fb587a3f98a95 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 14 Aug 2024 16:51:14 -0700
Subject: [PATCH 0424/1243] op.sh: categorize commands (#33305)

names
old-commit-hash: f118d17659cfd57727a7bb48510b0a60c71b1237
---
 tools/op.sh | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/tools/op.sh b/tools/op.sh
index 0dde7d1908..05a55cd35b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -312,19 +312,22 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
-  echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
+  echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
   echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
   echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
-  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
   echo -e "  ${BOLD}juggle${NC}   Run PlotJuggler"
   echo -e "  ${BOLD}replay${NC}   Run Replay"
   echo -e "  ${BOLD}cabana${NC}   Run Cabana"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
+  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
-  echo -e "  ${BOLD}help${NC}     Show this message"
-  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"

From 915524d408a9e3131b92cb94401ad810d730f540 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 14 Aug 2024 18:10:11 -0700
Subject: [PATCH 0425/1243] Copy kalman filter to selfdrive/car (#33307)

move to car/common/ and give proper names
old-commit-hash: bcfb50d98cfb554bab352517793987027ad0a586
---
 .importlinter                                 |  3 --
 selfdrive/car/__init__.py                     |  2 +-
 selfdrive/car/common/__init__.py              |  0
 selfdrive/car/{ => common}/filter_simple.py   |  0
 .../car/{helpers.py => common/numpy_fast.py}  |  0
 selfdrive/car/common/simple_kalman.py         | 54 +++++++++++++++++++
 selfdrive/car/ford/carcontroller.py           |  2 +-
 selfdrive/car/gm/carcontroller.py             |  2 +-
 selfdrive/car/gm/carstate.py                  |  2 +-
 selfdrive/car/honda/carcontroller.py          |  2 +-
 selfdrive/car/honda/carstate.py               |  2 +-
 selfdrive/car/honda/interface.py              |  2 +-
 selfdrive/car/hyundai/carcontroller.py        |  2 +-
 selfdrive/car/hyundai/hyundaicanfd.py         |  2 +-
 selfdrive/car/interfaces.py                   |  4 +-
 selfdrive/car/subaru/carcontroller.py         |  2 +-
 selfdrive/car/toyota/carcontroller.py         |  2 +-
 selfdrive/car/toyota/carstate.py              |  4 +-
 selfdrive/car/volkswagen/carcontroller.py     |  2 +-
 19 files changed, 70 insertions(+), 19 deletions(-)
 create mode 100644 selfdrive/car/common/__init__.py
 rename selfdrive/car/{ => common}/filter_simple.py (100%)
 rename selfdrive/car/{helpers.py => common/numpy_fast.py} (100%)
 create mode 100644 selfdrive/car/common/simple_kalman.py

diff --git a/.importlinter b/.importlinter
index 46f70f91f6..ebc180a3ad 100644
--- a/.importlinter
+++ b/.importlinter
@@ -29,9 +29,6 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
     openpilot.selfdrive.car.docs -> openpilot.common.basedir
 
-    # car interface will not filter the speed
-    openpilot.selfdrive.car.interfaces -> openpilot.common.simple_kalman
-
     openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
     openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
 
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 52fbf0512a..567ac7199c 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,7 +11,7 @@ from cereal import car
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.helpers import clip, interp
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 
 # set up logging
 carlog = logging.getLogger('carlog')
diff --git a/selfdrive/car/common/__init__.py b/selfdrive/car/common/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/car/filter_simple.py b/selfdrive/car/common/filter_simple.py
similarity index 100%
rename from selfdrive/car/filter_simple.py
rename to selfdrive/car/common/filter_simple.py
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/common/numpy_fast.py
similarity index 100%
rename from selfdrive/car/helpers.py
rename to selfdrive/car/common/numpy_fast.py
diff --git a/selfdrive/car/common/simple_kalman.py b/selfdrive/car/common/simple_kalman.py
new file mode 100644
index 0000000000..194b27204b
--- /dev/null
+++ b/selfdrive/car/common/simple_kalman.py
@@ -0,0 +1,54 @@
+import numpy as np
+
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  def set_x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 961d7086c4..1eaccf7a3e 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index dff280ed9a..60d472620f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
-from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 2efe2b41e6..d6e729ef4a 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import mean
+from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 0f08ee21a8..87b867d2b3 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -3,7 +3,7 @@ from collections import namedtuple
 from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
-from openpilot.selfdrive.car.helpers import clip, interp
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index d8ecba8303..1f4cec7758 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index c6c25ae359..28b6849769 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index e121faa790..cfca7ab1d9 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -2,7 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.carstate import CarState
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index bd46f18612..10c3095b9d 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.car import CanBusBase
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index ae0df0123c..556652f88f 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -10,11 +10,11 @@ from functools import cache
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.simple_kalman import KF1D, get_kalman_gain
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 
 GearShifter = car.CarState.GearShifter
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index c8c2e7417b..ba8a87b2d5 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,6 +1,6 @@
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
-from openpilot.selfdrive.car.helpers import clip, interp
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 8f7a7ed9dd..427796cae9 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,7 +1,7 @@
 from cereal import car
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index fd8306ef11..bea4e40896 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -5,8 +5,8 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL, create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.car.helpers import mean
+from openpilot.selfdrive.car.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 4f8552b16a..cc76aaf493 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,7 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags

From 51ea9f5799eb1472af5c3fdaf5d339cbd11d5532 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 14 Aug 2024 19:24:24 -0700
Subject: [PATCH 0426/1243] move live fingerprint debugging code to debug/car
 (#33308)

* remove cereal from fw_versions

* fix it

* do ecu_addrs and vin

* do last one

* move executable-ness

* notexe

* nice test
old-commit-hash: 2ed567b0f576179cd8d03727f46ee4e579c2c989
---
 .importlinter                         |  4 --
 selfdrive/car/disable_ecu.py          | 15 ------
 selfdrive/car/ecu_addrs.py            | 41 +---------------
 selfdrive/car/fw_query_definitions.py |  1 -
 selfdrive/car/fw_versions.py          | 69 +-------------------------
 selfdrive/car/vin.py                  | 23 ---------
 selfdrive/debug/car/disable_ecu.py    | 15 ++++++
 selfdrive/debug/car/ecu_addrs.py      | 40 +++++++++++++++
 selfdrive/debug/car/fw_versions.py    | 70 +++++++++++++++++++++++++++
 selfdrive/debug/car/vin.py            | 22 +++++++++
 10 files changed, 149 insertions(+), 151 deletions(-)
 mode change 100755 => 100644 selfdrive/car/disable_ecu.py
 mode change 100755 => 100644 selfdrive/car/ecu_addrs.py
 mode change 100755 => 100644 selfdrive/car/fw_query_definitions.py
 mode change 100755 => 100644 selfdrive/car/fw_versions.py
 mode change 100755 => 100644 selfdrive/car/vin.py
 create mode 100755 selfdrive/debug/car/disable_ecu.py
 create mode 100755 selfdrive/debug/car/ecu_addrs.py
 create mode 100755 selfdrive/debug/car/fw_versions.py
 create mode 100755 selfdrive/debug/car/vin.py

diff --git a/.importlinter b/.importlinter
index ebc180a3ad..0b1e9f00d8 100644
--- a/.importlinter
+++ b/.importlinter
@@ -32,10 +32,6 @@ ignore_imports =
     openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
     openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
 
-    # params will need to move to new openpilot files that just call car files
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
-
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog
     openpilot.selfdrive.car.card -> openpilot.common.realtime
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
old mode 100755
new mode 100644
index e38a215684..ad5f492383
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 
@@ -35,17 +34,3 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
     carlog.error(f"ecu disable retry ({i + 1}) ...")
   carlog.error("ecu disable failed")
   return False
-
-
-if __name__ == "__main__":
-  import time
-  import cereal.messaging as messaging
-  from openpilot.selfdrive.car.card import can_comm_callbacks
-  sendcan = messaging.pub_sock('sendcan')
-  logcan = messaging.sub_sock('can')
-  can_callbacks = can_comm_callbacks(logcan, sendcan)
-  time.sleep(1)
-
-  # honda bosch radar disable
-  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
-  print(f"disabled: {disabled}")
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
old mode 100755
new mode 100644
index 1e7905dac6..064b3e9258
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import capnp
 import time
 
@@ -22,7 +21,7 @@ def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subad
   return False
 
 
-def _get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
   queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
@@ -56,41 +55,3 @@ def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries:
   except Exception:
     carlog.exception("ECU addr scan exception")
   return ecu_responses
-
-
-if __name__ == "__main__":
-  import argparse
-  import cereal.messaging as messaging
-  from openpilot.common.params import Params
-  from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
-
-  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
-  parser.add_argument('--debug', action='store_true')
-  parser.add_argument('--bus', type=int, default=1)
-  parser.add_argument('--no-obd', action='store_true')
-  parser.add_argument('--timeout', type=float, default=1.0)
-  args = parser.parse_args()
-
-  logcan = messaging.sub_sock('can')
-  sendcan = messaging.pub_sock('sendcan')
-  can_callbacks = can_comm_callbacks(logcan, sendcan)
-
-  # Set up params for pandad
-  params = Params()
-  params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
-  time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
-
-  obd_callback(params)(not args.no_obd)
-
-  print("Getting ECU addresses ...")
-  ecu_addrs = _get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
-
-  print()
-  print("Found ECUs on rx addresses:")
-  for addr, subaddr, _ in ecu_addrs:
-    msg = f"  {hex(addr)}"
-    if subaddr is not None:
-      msg += f" (sub-address: {hex(subaddr)})"
-    print(msg)
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
old mode 100755
new mode 100644
index bb2827571c..e502041462
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import capnp
 import copy
 from dataclasses import dataclass, field
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
old mode 100755
new mode 100644
index 0fef6456db..47c74d9998
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,7 +1,6 @@
-#!/usr/bin/env python3
 from collections import defaultdict
 from collections.abc import Callable, Iterator
-from typing import Any, Protocol, TypeVar
+from typing import Protocol, TypeVar
 
 from tqdm import tqdm
 import capnp
@@ -327,69 +326,3 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
           carlog.exception("FW query exception")
 
   return car_fw
-
-
-if __name__ == "__main__":
-  import time
-  import argparse
-  import cereal.messaging as messaging
-  from openpilot.common.params import Params
-  from openpilot.selfdrive.car.vin import get_vin
-  from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
-
-  parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
-  parser.add_argument('--scan', action='store_true')
-  parser.add_argument('--debug', action='store_true')
-  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
-  args = parser.parse_args()
-
-  logcan = messaging.sub_sock('can')
-  pandaStates_sock = messaging.sub_sock('pandaStates')
-  sendcan = messaging.pub_sock('sendcan')
-  can_callbacks = can_comm_callbacks(logcan, sendcan)
-
-  # Set up params for pandad
-  params = Params()
-  params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
-  time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
-  set_obd_multiplexing = obd_callback(params)
-
-  extra: Any = None
-  if args.scan:
-    extra = {}
-    # Honda
-    for i in range(256):
-      extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
-      extra[(Ecu.unknown, 0x700 + i, None)] = []
-      extra[(Ecu.unknown, 0x750, i)] = []
-    extra = {"any": {"debug": extra}}
-
-  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
-
-  t = time.time()
-  print("Getting vin...")
-  set_obd_multiplexing(True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
-  print(f"Getting VIN took {time.time() - t:.3f} s")
-  print()
-
-  t = time.time()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
-  _, candidates = match_fw_to_car(fw_vers, vin)
-
-  print()
-  print("Found FW versions")
-  print("{")
-  padding = max([len(fw.brand) for fw in fw_vers] or [0])
-  for version in fw_vers:
-    subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
-          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
-  print("}")
-
-  print()
-  print("Possible matches:", candidates)
-  print(f"Getting fw took {time.time() - t:.3f} s")
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
old mode 100755
new mode 100644
index c42f984dc1..9660e35cec
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import re
 
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
@@ -57,25 +56,3 @@ def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
     carlog.error(f"vin query retry ({i+1}) ...")
 
   return -1, -1, VIN_UNKNOWN
-
-
-if __name__ == "__main__":
-  import argparse
-  import time
-  import cereal.messaging as messaging
-  from openpilot.selfdrive.car.card import can_comm_callbacks
-
-  parser = argparse.ArgumentParser(description='Get VIN of the car')
-  parser.add_argument('--debug', action='store_true')
-  parser.add_argument('--bus', type=int, default=1)
-  parser.add_argument('--timeout', type=float, default=0.1)
-  parser.add_argument('--retry', type=int, default=5)
-  args = parser.parse_args()
-
-  sendcan = messaging.pub_sock('sendcan')
-  logcan = messaging.sub_sock('can')
-  can_callbacks = can_comm_callbacks(logcan, sendcan)
-  time.sleep(1)
-
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
diff --git a/selfdrive/debug/car/disable_ecu.py b/selfdrive/debug/car/disable_ecu.py
new file mode 100755
index 0000000000..cdfe433057
--- /dev/null
+++ b/selfdrive/debug/car/disable_ecu.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+import time
+import cereal.messaging as messaging
+from openpilot.selfdrive.car.card import can_comm_callbacks
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
+
+if __name__ == "__main__":
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  print(f"disabled: {disabled}")
diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py
new file mode 100755
index 0000000000..5e8844c1e1
--- /dev/null
+++ b/selfdrive/debug/car/ecu_addrs.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+import argparse
+import time
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
+from openpilot.selfdrive.car.ecu_addrs import get_all_ecu_addrs
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
+  parser.add_argument('--timeout', type=float, default=1.0)
+  args = parser.parse_args()
+
+  logcan = messaging.sub_sock('can')
+  sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  obd_callback(params)(not args.no_obd)
+
+  print("Getting ECU addresses ...")
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
+
+  print()
+  print("Found ECUs on rx addresses:")
+  for addr, subaddr, _ in ecu_addrs:
+    msg = f"  {hex(addr)}"
+    if subaddr is not None:
+      msg += f" (sub-address: {hex(subaddr)})"
+    print(msg)
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
new file mode 100755
index 0000000000..5c0426f28b
--- /dev/null
+++ b/selfdrive/debug/car/fw_versions.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+import time
+import argparse
+import cereal.messaging as messaging
+from cereal import car
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
+from openpilot.selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
+from openpilot.selfdrive.car.vin import get_vin
+from typing import Any
+
+Ecu = car.CarParams.Ecu
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
+  parser.add_argument('--scan', action='store_true')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
+  args = parser.parse_args()
+
+  logcan = messaging.sub_sock('can')
+  pandaStates_sock = messaging.sub_sock('pandaStates')
+  sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+  set_obd_multiplexing = obd_callback(params)
+
+  extra: Any = None
+  if args.scan:
+    extra = {}
+    # Honda
+    for i in range(256):
+      extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
+      extra[(Ecu.unknown, 0x700 + i, None)] = []
+      extra[(Ecu.unknown, 0x750, i)] = []
+    extra = {"any": {"debug": extra}}
+
+  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
+
+  t = time.time()
+  print("Getting vin...")
+  set_obd_multiplexing(True)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
+  print(f"Getting VIN took {time.time() - t:.3f} s")
+  print()
+
+  t = time.time()
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
+  _, candidates = match_fw_to_car(fw_vers, vin)
+
+  print()
+  print("Found FW versions")
+  print("{")
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
+  for version in fw_vers:
+    subaddr = None if version.subAddress == 0 else hex(version.subAddress)
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+  print("}")
+
+  print()
+  print("Possible matches:", candidates)
+  print(f"Getting fw took {time.time() - t:.3f} s")
diff --git a/selfdrive/debug/car/vin.py b/selfdrive/debug/car/vin.py
new file mode 100755
index 0000000000..025a27c1ea
--- /dev/null
+++ b/selfdrive/debug/car/vin.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+import argparse
+import time
+import cereal.messaging as messaging
+from openpilot.selfdrive.car.card import can_comm_callbacks
+from openpilot.selfdrive.car.vin import get_vin
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get VIN of the car')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--timeout', type=float, default=0.1)
+  parser.add_argument('--retry', type=int, default=5)
+  args = parser.parse_args()
+
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+  time.sleep(1)
+
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

From 9e5fe1e5c02880b856add63479a17b0b80e9dedf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 14 Aug 2024 20:27:53 -0700
Subject: [PATCH 0427/1243] body: remove controls import (#33309)

* body uses car's PIDController

* use a simple version
old-commit-hash: 9d0180ca9740db0a164c15cf65995e65b670d734
---
 .importlinter                       |  1 -
 selfdrive/car/body/carcontroller.py | 63 +++++++++++++++++++++++++++--
 2 files changed, 60 insertions(+), 4 deletions(-)

diff --git a/.importlinter b/.importlinter
index 0b1e9f00d8..eb2c5c971a 100644
--- a/.importlinter
+++ b/.importlinter
@@ -25,7 +25,6 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
-    openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
     openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
     openpilot.selfdrive.car.docs -> openpilot.common.basedir
 
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index eebf6798a2..0d6450a44d 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,11 +1,68 @@
 import numpy as np
+from numbers import Number
 
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.pid import PIDController
+
+
+class PIController:
+  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = k_p
+    self._k_i = k_i
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+    self.i_unwind_rate = 0.3 / rate
+    self.i_rate = 1.0 / rate
+    self.speed = 0.0
+
+    self.reset()
+
+  @property
+  def k_p(self):
+    return interp(self.speed, self._k_p[0], self._k_p[1])
+
+  @property
+  def k_i(self):
+    return interp(self.speed, self._k_i[0], self._k_i[1])
+
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
+  def reset(self):
+    self.p = 0.0
+    self.i = 0.0
+    self.control = 0
+
+  def update(self, error, speed=0.0, freeze_integrator=False):
+    self.speed = speed
+
+    self.p = float(error) * self.k_p
+
+    i = self.i + error * self.k_i * self.i_rate
+    control = self.p + i
+
+    # Update when changing i will move the control away from the limits
+    # or when i will move towards the sign of the error
+    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+       not freeze_integrator:
+      self.i = i
+
+    control = self.p + self.i
+
+    self.control = clip(control, self.neg_limit, self.pos_limit)
+    return self.control
 
 
 MAX_TORQUE = 500
@@ -21,8 +78,8 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
 
     # PIDs
-    self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.turn_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.

From 9b0adebec844bde7e8834c0f433b091b10030452 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 14 Aug 2024 20:29:14 -0700
Subject: [PATCH 0428/1243] docs: remove common import (#33310)

* add opcar

* fix references

* actually better to split this so opendbc will test docs conventions, and openpilot will test diffing

* not exe

* clean up
old-commit-hash: 424b657376d91d27fdc73d95862c1bbbe4de2b74
---
 .github/PULL_REQUEST_TEMPLATE/car_port.md |  2 +-
 .github/pull_request_template.md          |  2 +-
 .importlinter                             |  5 -----
 pyproject.toml                            |  1 +
 selfdrive/car/docs.py                     | 21 ------------------
 selfdrive/car/tests/test_docs.py          | 19 +----------------
 selfdrive/opcar/__init__.py               |  1 +
 selfdrive/opcar/docs.py                   | 21 ++++++++++++++++++
 selfdrive/opcar/tests/__init__.py         |  0
 selfdrive/opcar/tests/test_docs.py        | 26 +++++++++++++++++++++++
 10 files changed, 52 insertions(+), 46 deletions(-)
 mode change 100755 => 100644 selfdrive/car/docs.py
 create mode 100644 selfdrive/opcar/__init__.py
 create mode 100755 selfdrive/opcar/docs.py
 create mode 100644 selfdrive/opcar/tests/__init__.py
 create mode 100644 selfdrive/opcar/tests/test_docs.py

diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
index c7aa2b96c2..c1581d2055 100644
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index 2b4a5ed48f..9e0c54218e 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/.importlinter b/.importlinter
index eb2c5c971a..75f4b11d4d 100644
--- a/.importlinter
+++ b/.importlinter
@@ -25,9 +25,6 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
-    openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
-    openpilot.selfdrive.car.docs -> openpilot.common.basedir
-
     openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
     openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
 
@@ -48,8 +45,6 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
     openpilot.selfdrive.car.card -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.dump_car_docs
-    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.print_docs_diff
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
diff --git a/pyproject.toml b/pyproject.toml
index 0606317089..884c305ab3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -145,6 +145,7 @@ testpaths = [
   "common",
   "selfdrive/pandad",
   "selfdrive/car",
+  "selfdrive/opcar",
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
old mode 100755
new mode 100644
index 7bf6a6ad22..17f8947522
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -1,13 +1,9 @@
-#!/usr/bin/env python3
-import argparse
 from collections import defaultdict
 import jinja2
-import os
 from enum import Enum
 from natsort import natsorted
 
 from cereal import car
-from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
@@ -21,10 +17,6 @@ def get_all_footnotes() -> dict[Enum, int]:
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
-CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
-
-
 def get_all_car_docs() -> list[CarDocs]:
   all_car_docs: list[CarDocs] = []
   footnotes = get_all_footnotes()
@@ -65,16 +57,3 @@ def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
                                  group_by_make=group_by_make, footnotes=footnotes,
                                  Column=Column)
   return cars_md
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
-  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
-  args = parser.parse_args()
-
-  with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_docs(), args.template))
-  print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 40ad07b283..52d8976517 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,16 +1,12 @@
 from collections import defaultdict
-import os
 import pytest
 import re
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_docs
+from openpilot.selfdrive.car.docs import get_all_car_docs
 from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
-from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 
 
 class TestCarDocs:
@@ -18,19 +14,6 @@ class TestCarDocs:
   def setup_class(cls):
     cls.all_cars = get_all_car_docs()
 
-  def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT) as f:
-      current_cars_md = f.read()
-
-    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
-
-  def test_docs_diff(self):
-    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_docs(dump_path)
-    print_car_docs_diff(dump_path)
-    os.remove(dump_path)
-
   def test_duplicate_years(self, subtests):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
diff --git a/selfdrive/opcar/__init__.py b/selfdrive/opcar/__init__.py
new file mode 100644
index 0000000000..ddc217f21b
--- /dev/null
+++ b/selfdrive/opcar/__init__.py
@@ -0,0 +1 @@
+# This folder will be renamed back to car after the opendbc car split
diff --git a/selfdrive/opcar/docs.py b/selfdrive/opcar/docs.py
new file mode 100755
index 0000000000..99bf0b055b
--- /dev/null
+++ b/selfdrive/opcar/docs.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+import argparse
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.docs import get_all_car_docs, generate_cars_md
+
+CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
+CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
+  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
+  args = parser.parse_args()
+
+  with open(args.out, 'w') as f:
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
+  print(f"Generated and written to {args.out}")
diff --git a/selfdrive/opcar/tests/__init__.py b/selfdrive/opcar/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/opcar/tests/test_docs.py b/selfdrive/opcar/tests/test_docs.py
new file mode 100644
index 0000000000..f200bc292d
--- /dev/null
+++ b/selfdrive/opcar/tests/test_docs.py
@@ -0,0 +1,26 @@
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.docs import generate_cars_md, get_all_car_docs
+from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
+from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
+from openpilot.selfdrive.opcar.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
+
+
+class TestCarDocs:
+  @classmethod
+  def setup_class(cls):
+    cls.all_cars = get_all_car_docs()
+
+  def test_generator(self):
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
+    with open(CARS_MD_OUT) as f:
+      current_cars_md = f.read()
+
+    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
+
+  def test_docs_diff(self):
+    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
+    dump_car_docs(dump_path)
+    print_car_docs_diff(dump_path)
+    os.remove(dump_path)

From d2f4135521bd639d89812f3e6f6c3fb9f67be5a4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 14 Aug 2024 21:49:32 -0700
Subject: [PATCH 0429/1243] setup.sh: fix macOS path specification (#33311)

realpath and mac
old-commit-hash: 3e9b91a2acea31f025b3025720068bc9d7a0bb41
---
 tools/setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/setup.sh b/tools/setup.sh
index 2dc1144900..bc8e41a401 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -89,7 +89,7 @@ function ask_dir() {
   read
   if [[ ! -z "$REPLY" ]]; then
     mkdir -p $REPLY
-    OPENPILOT_ROOT="$(realpath $REPLY/openpilot)"
+    OPENPILOT_ROOT="$(realpath $REPLY)/openpilot"
   fi
 }
 

From 4490156cb1ad0546932739dceb1a94266964cdd4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 14 Aug 2024 22:55:17 -0700
Subject: [PATCH 0430/1243] GM: remove basedir import (#33312)

* remove these exceptions

* whoop

* ahhh
old-commit-hash: d43bf899786bb752fc13818c6a4f8d4a7669ab37
---
 .importlinter                   |  4 ----
 selfdrive/car/common/basedir.py |  4 ++++
 selfdrive/car/gm/interface.py   |  4 ++--
 selfdrive/car/interfaces.py     | 10 +++++-----
 4 files changed, 11 insertions(+), 11 deletions(-)
 create mode 100644 selfdrive/car/common/basedir.py

diff --git a/.importlinter b/.importlinter
index 75f4b11d4d..0a4ce2245a 100644
--- a/.importlinter
+++ b/.importlinter
@@ -24,10 +24,6 @@ forbidden_modules =
     openpilot.teleoprtc
     openpilot.tinygrad
 ignore_imports =
-    # remove these
-    openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
-    openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
-
     # these are okay
     openpilot.selfdrive.car.card -> openpilot.common.swaglog
     openpilot.selfdrive.car.card -> openpilot.common.realtime
diff --git a/selfdrive/car/common/basedir.py b/selfdrive/car/common/basedir.py
new file mode 100644
index 0000000000..6b4811e53c
--- /dev/null
+++ b/selfdrive/car/common/basedir.py
@@ -0,0 +1,4 @@
+import os
+
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 1026fe97cd..e6985b6144 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -4,8 +4,8 @@ from cereal import car
 from math import fabs, exp
 from panda import Panda
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import get_safety_config, get_friction
+from openpilot.selfdrive.car.common.basedir import BASEDIR
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
@@ -20,7 +20,7 @@ NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
 
-NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
+NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/neural_ff_weights.json')
 
 
 class CarInterface(CarInterfaceBase):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 556652f88f..e56c2d77ca 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -9,9 +9,9 @@ from collections.abc import Callable
 from functools import cache
 
 from cereal import car
-from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.common.basedir import BASEDIR
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car.common.numpy_fast import clip
@@ -25,9 +25,9 @@ ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
 FRICTION_THRESHOLD = 0.3
 
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
-TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
-TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/params.toml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'torque_data/override.toml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'torque_data/substitute.toml')
 
 GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
   'P': GearShifter.park, 'PARK': GearShifter.park,
@@ -397,7 +397,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo
   # - keys are all the car models or brand names
   # - values are attr values from all car folders
   result = {}
-  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
+  for car_folder in sorted([x[0] for x in os.walk(BASEDIR)]):
     try:
       brand_name = car_folder.split('/')[-1]
       brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr])

From 61c1bb5fb21872e7853d1f06244e296bc0fa8cbb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 15 Aug 2024 22:23:37 -0700
Subject: [PATCH 0431/1243] jenkins: remove unused pcStage old-commit-hash:
 72b5c6f61abe1d83540bbd1d0d4e5709500eb200

---
 Jenkinsfile | 36 ------------------------------------
 1 file changed, 36 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index d2dffeecc7..799b4fbbeb 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -95,42 +95,6 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
-def pcStage(String stageName, Closure body) {
-  node {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    checkout scm
-
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
-
-    def openpilot_base = retryWithDelay (3, 15) {
-      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
-    }
-
-    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
-      openpilot_base.inside(dockerArgs) {
-        timeout(time: 20, unit: 'MINUTES') {
-          try {
-            retryWithDelay (3, 15) {
-              sh "git config --global --add safe.directory '*'"
-              sh "git submodule update --init --recursive"
-              sh "git lfs pull"
-            }
-            body()
-          } finally {
-              sh "rm -rf ${env.WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),

From 1f04a80d382aa77193fa6921e5494e263ca4031c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:08:17 -0700
Subject: [PATCH 0432/1243] run_process_on_route.py: use zstd

old-commit-hash: b41f9f2dfe89cdb94b60dfa8c619829725dc8226
---
 selfdrive/debug/run_process_on_route.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index c98763f3c9..45665e8a48 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -25,6 +25,6 @@ if __name__ == "__main__":
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
-  fn = f"{args.route.replace('/', '_')}_{args.process}.bz2"
-  print(f"Saved log to {fn}")
+  fn = f"{args.route.replace('/', '_')}_{args.process}.zst"
+  print(f"Saving log to {fn}")
   save_log(fn, outputs)

From 5cea99cb2d76e09a34f121d43c075b86941536ee Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:18:37 -0700
Subject: [PATCH 0433/1243] toyota: pycapnp enum which should be called

old-commit-hash: f6780fca2fdd4998ed45a6295d64399e9fd23d41
---
 selfdrive/car/toyota/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ca422c73ef..345fe3c1f5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -32,7 +32,7 @@ class CarControllerParams:
   ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
 
   def __init__(self, CP):
-    if CP.lateralTuning.which == 'torque':
+    if CP.lateralTuning.which() == 'torque':
       self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
       self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
     else:

From b65b1bf908828ee3babd350de4b2ad018d5468c5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:26:40 -0700
Subject: [PATCH 0434/1243] hyundai: declare type override of cruise_buttons

old-commit-hash: bce11e393fe0298e6b759781b6d4182c70966261
---
 selfdrive/car/hyundai/carstate.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index a2940a3b91..2173565d06 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -27,8 +27,8 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
-    self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
-    self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
+    self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
+    self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
     self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
                           "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \

From b700f3db77b385a2145dd830694c4d7eda9b6195 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:30:11 -0700
Subject: [PATCH 0435/1243] hyundai: test some feature detection (#33315)

test some feature detection
old-commit-hash: 207c77ea93d53b3b5c916f7232503d01492c70c1
---
 selfdrive/car/hyundai/tests/test_hyundai.py | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 4d31d7d15e..66b65ea95b 100644
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -3,11 +3,14 @@ from hypothesis import settings, given, strategies as st
 import pytest
 
 from cereal import car
+from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
+from openpilot.selfdrive.car.hyundai.interface import CarInterface
+from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         get_platform_codes
+                                         HyundaiFlags, get_platform_codes
 from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
 
 Ecu = car.CarParams.Ecu
@@ -40,6 +43,21 @@ CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
 
 
 class TestHyundaiFingerprint:
+  def test_feature_detection(self):
+    # HDA2
+    for has_adas in (True, False):
+      car_fw = [car.CarParams.CarFw(ecu=Ecu.adas if has_adas else Ecu.fwdCamera)]
+      CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), car_fw, False, False)
+      assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == has_adas
+
+    # radar available
+    for radar in (True, False):
+      fingerprint = gen_empty_fingerprint()
+      if radar:
+        fingerprint[1][RADAR_START_ADDR] = 8
+      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, car_fw, False, False)
+      assert CP.radarUnavailable != radar
+
   def test_can_features(self):
     # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
     assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()

From 853a41ddaffd160abc52b45a080a42ee0dc728a9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:37:31 -0700
Subject: [PATCH 0436/1243] radard: remove redundant NoneType check

old-commit-hash: c2ab62c2b2e43f0930564bb27c76554fa8b9810c
---
 selfdrive/controls/radard.py | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index a7e3c0211d..bf19801a87 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -208,23 +208,17 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr):
+  def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
-    radar_points = []
-    radar_errors = []
-    if rr is not None:
-      radar_points = rr.points
-      radar_errors = rr.errors
-
     if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
       self.last_v_ego_frame = sm.recv_frame['carState']
 
     ar_pts = {}
-    for pt in radar_points:
+    for pt in rr.points:
       ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured]
 
     # *** remove missing points from meta data ***
@@ -245,10 +239,10 @@ class RadarD:
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***
-    self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0
+    self.radar_state_valid = sm.all_checks() and len(rr.errors) == 0
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
-    self.radar_state.radarErrors = list(radar_errors)
+    self.radar_state.radarErrors = list(rr.errors)
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].temporalPose.trans):
@@ -283,7 +277,7 @@ class RadarD:
 
 
 # fuses camera and radar data for best lead detection
-def main():
+def main() -> None:
   config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
@@ -307,7 +301,7 @@ def main():
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr = RI.update(can_capnp_to_list(can_strings))
+    rr: car.RadarData | None = RI.update(can_capnp_to_list(can_strings))
     sm.update(0)
     if rr is None:
       continue

From 7931926366ce7f2c1dd2f4af8aa26f85a151b846 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:38:28 -0700
Subject: [PATCH 0437/1243] fw_versions.py: mark raw in f-string

old-commit-hash: 6a5bbb261eb8ea8154220e18f47f3e78a65bd664
---
 selfdrive/debug/car/fw_versions.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 5c0426f28b..e52c8bf915 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
     print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
-          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion!r}]")
   print("}")
 
   print()

From 8dbf878f76ac2a75cfc909412008faea46bc424f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:56:31 -0700
Subject: [PATCH 0438/1243] card: fix return signature for update_events

old-commit-hash: c9f9eba61430269371f7d4be430a4bd64b2f2a9d
---
 selfdrive/car/card.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index a7cd2f5a4a..aab5070111 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -161,7 +161,7 @@ class Car:
 
     return CS
 
-  def update_events(self, CS: car.CarState) -> car.CarState:
+  def update_events(self, CS: car.CarState):
     self.events.clear()
 
     CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()

From e19db6a5eb315ce3d42ad9b5ecada7b52a7ccd8f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 00:58:53 -0700
Subject: [PATCH 0439/1243] ecu_addrs.py: fix function argument typing

old-commit-hash: a255b8043aa26c569e947e5e44e8f1dab29d45a5
---
 selfdrive/car/ecu_addrs.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 064b3e9258..6eba864c46 100644
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -1,13 +1,12 @@
-import capnp
 import time
 
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import make_tester_present_msg, carlog
-from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 
 
-def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
+def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0

From 6fc97576d6c8b605262fa76aa8e79087161febc2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 01:00:26 -0700
Subject: [PATCH 0440/1243] test_fw_fingerprint.py: fix RAM HD test

old-commit-hash: e6b29964785d836361636cee5c6e70af59d5fda0
---
 selfdrive/car/tests/test_fw_fingerprint.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 6391427bde..bd24054450 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -133,7 +133,7 @@ class TestFwFingerprint:
 
         elif CP.carName == "chrysler":
           # Some HD trucks have a combined TCM and ECM
-          if CP.carFingerprint.startswith("RAM HD"):
+          if CP.carFingerprint.startswith("RAM_HD"):
             for ecu in ecus.keys():
               assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})"
 

From 11986ddc7f5b775057a3b06718d68587316185ca Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 16 Aug 2024 10:46:26 -0700
Subject: [PATCH 0441/1243] rerun: update to 0.18 (#33316)

old-commit-hash: 4baf6c1be9b4e53ea0a6373d2ddfca4ba853f9f1
---
 pyproject.toml                       |   2 +-
 tools/install_python_dependencies.sh |   3 -
 uv.lock                              | 110 +++++++++++++++++++++++----
 3 files changed, 96 insertions(+), 19 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 884c305ab3..9eee3afcc5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -108,7 +108,7 @@ dev = [
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
-  "rerun-sdk",
+  "rerun-sdk >= 0.18",
   "tabulate",
   "types-requests",
   "types-tabulate",
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 5e66b9d0cb..8621ee0b00 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -36,9 +36,6 @@ echo "installing python packages..."
 uv sync --frozen --all-extras
 source .venv/bin/activate
 
-# TODO: remove this. Workaround till get a new release. PEP508 doesn't seem to have find-links option
-uv pip install --pre -f https://build.rerun.io/commit/a93faab/wheels --upgrade rerun-sdk
-
 echo "PYTHONPATH=${PWD}" > $ROOT/.env
 if [[ "$(uname)" == 'Darwin' ]]; then
   echo "# msgq doesn't work on mac" >> $ROOT/.env
diff --git a/uv.lock b/uv.lock
index 4160842939..989f406068 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,9 +1,15 @@
 version = 1
 requires-python = ">=3.11"
 environment-markers = [
-    "python_version == '3.11'",
-    "python_version >= '3.12'",
-    "python_version < '3.11' or (python_version > '3.11' and python_version < '3.12')",
+    "python_full_version == '3.11.*' and platform_system == 'Darwin'",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_system == 'Linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version == '3.11.*' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "python_full_version >= '3.12' and platform_system == 'Darwin'",
+    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "python_full_version < '3.11' and platform_system == 'Darwin'",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_system == 'Linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.11' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]
 
 [[package]]
@@ -1200,7 +1206,6 @@ version = "1.30.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cryptography" },
-    { name = "pyjwt" },
     { name = "pyjwt", extra = ["crypto"] },
     { name = "requests" },
 ]
@@ -1496,6 +1501,82 @@ testing = [
     { name = "ruff" },
 ]
 
+[package.metadata]
+requires-dist = [
+    { name = "aiohttp" },
+    { name = "aiortc" },
+    { name = "av", marker = "extra == 'dev'" },
+    { name = "azure-identity", marker = "extra == 'dev'" },
+    { name = "azure-storage-blob", marker = "extra == 'dev'" },
+    { name = "casadi", specifier = ">=3.6.6" },
+    { name = "cffi" },
+    { name = "codespell", marker = "extra == 'testing'" },
+    { name = "coverage", marker = "extra == 'testing'" },
+    { name = "crcmod" },
+    { name = "cython" },
+    { name = "dictdiffer", marker = "extra == 'dev'" },
+    { name = "flaky", marker = "extra == 'dev'" },
+    { name = "future-fstrings" },
+    { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
+    { name = "import-linter", marker = "extra == 'testing'" },
+    { name = "inputs", marker = "extra == 'dev'" },
+    { name = "jinja2", marker = "extra == 'docs'" },
+    { name = "json-rpc" },
+    { name = "libusb1" },
+    { name = "lru-dict", marker = "extra == 'dev'" },
+    { name = "matplotlib", marker = "extra == 'dev'" },
+    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'dev'", git = "https://github.com/commaai/metadrive?rev=main" },
+    { name = "mkdocs", marker = "extra == 'docs'" },
+    { name = "mypy", marker = "extra == 'testing'" },
+    { name = "natsort", marker = "extra == 'docs'" },
+    { name = "numpy", specifier = "<2.0.0" },
+    { name = "onnx", specifier = ">=1.14.0" },
+    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
+    { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8,<0.9" },
+    { name = "pre-commit-hooks", marker = "extra == 'testing'" },
+    { name = "psutil" },
+    { name = "pyaudio" },
+    { name = "pyautogui", marker = "extra == 'dev'" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "pyjwt" },
+    { name = "pyopencl", marker = "platform_machine != 'aarch64' and extra == 'dev'" },
+    { name = "pyprof2calltree", marker = "extra == 'dev'" },
+    { name = "pyqt5", marker = "platform_machine == 'x86_64' and extra == 'dev'", specifier = "==5.15.2" },
+    { name = "pyserial" },
+    { name = "pytest", marker = "extra == 'testing'" },
+    { name = "pytest-asyncio", marker = "extra == 'testing'" },
+    { name = "pytest-cov", marker = "extra == 'testing'" },
+    { name = "pytest-cpp", marker = "extra == 'testing'" },
+    { name = "pytest-mock", marker = "extra == 'testing'" },
+    { name = "pytest-randomly", marker = "extra == 'testing'" },
+    { name = "pytest-repeat", marker = "extra == 'testing'" },
+    { name = "pytest-subtests", marker = "extra == 'testing'" },
+    { name = "pytest-timeout", marker = "extra == 'testing'" },
+    { name = "pytest-xdist", marker = "extra == 'testing'" },
+    { name = "pytools", marker = "platform_machine != 'aarch64' and extra == 'dev'", specifier = "<2024.1.11" },
+    { name = "pywinctl", marker = "extra == 'dev'" },
+    { name = "pyzmq" },
+    { name = "requests" },
+    { name = "rerun-sdk", marker = "extra == 'dev'", specifier = ">=0.18" },
+    { name = "ruff", marker = "extra == 'testing'" },
+    { name = "scons" },
+    { name = "sentry-sdk" },
+    { name = "setproctitle" },
+    { name = "setuptools" },
+    { name = "smbus2" },
+    { name = "sounddevice" },
+    { name = "spidev", marker = "platform_system == 'Linux'" },
+    { name = "sympy" },
+    { name = "tabulate", marker = "extra == 'dev'" },
+    { name = "tqdm" },
+    { name = "types-requests", marker = "extra == 'dev'" },
+    { name = "types-tabulate", marker = "extra == 'dev'" },
+    { name = "websocket-client" },
+    { name = "zstandard" },
+]
+
 [[package]]
 name = "packaging"
 version = "24.1"
@@ -1554,7 +1635,7 @@ name = "pandas"
 version = "2.2.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12'" },
+    { name = "numpy" },
     { name = "python-dateutil" },
     { name = "pytz" },
     { name = "tzdata" },
@@ -4540,7 +4621,7 @@ name = "pyscreeze"
 version = "0.1.30"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pillow", marker = "python_version == '3.11'" },
+    { name = "pillow", marker = "python_full_version < '3.12'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/88/f5/754a6f29a25c7ec375a2e2468ceb83926856b1f0532abd9ec7720ab26b30/PyScreeze-0.1.30.tar.gz", hash = "sha256:74098ad048e76a6231dcfa6243343af94459b8c829f9ccb7a44a5d3b147a67d1", size = 27789 }
 
@@ -4585,7 +4666,6 @@ name = "pytest-cov"
 version = "5.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "coverage" },
     { name = "coverage", extra = ["toml"] },
     { name = "pytest" },
 ]
@@ -4718,7 +4798,7 @@ source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "platformdirs" },
     { name = "siphash24" },
-    { name = "typing-extensions", marker = "python_version < '3.13'" },
+    { name = "typing-extensions", marker = "python_full_version < '3.13'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
@@ -4905,7 +4985,7 @@ wheels = [
 
 [[package]]
 name = "rerun-sdk"
-version = "0.17.0"
+version = "0.18.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "attrs" },
@@ -4915,11 +4995,11 @@ dependencies = [
     { name = "typing-extensions" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/30/5f/ce02381b9d7e1e14f60c421c76dce12b7d823690181784780b30266017b1/rerun_sdk-0.17.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:abd34f746eada83b8bb0bc50007183151981d7ccf18306f3d42165819a3f6fcb", size = 33166544 },
-    { url = "https://files.pythonhosted.org/packages/b7/c5/d47ba7b774bc563aa3c07ba500dd304ea24b31fe438e10ea9ad5e10ffe17/rerun_sdk-0.17.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:8b0a8a6feab3f8e679801d158216a71d88a81480021587719330f50d083c4d26", size = 32237860 },
-    { url = "https://files.pythonhosted.org/packages/87/0a/b5fe1ffea700eeaa8d28817a92ad3cb4a7d56dc4af45de76ea412cfc5cd5/rerun_sdk-0.17.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:ad55807abafb01e527846742e087819aac8e103f1ec15aadc563a4038bb44e1d", size = 38608604 },
-    { url = "https://files.pythonhosted.org/packages/d9/74/6c1ff0c8dbe6da09ceb5ea838a72382fa3131ef6bb9377a30003299743fa/rerun_sdk-0.17.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:9d41f1f475270b1e0d50ddb8cb62e0d828988f0c371ac8457af25c8be5aa1dc0", size = 38917319 },
-    { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
+    { url = "https://files.pythonhosted.org/packages/12/05/639478e82e619554067e99f646af32df2b8f5c3a3e19c5e0899aa3fe7077/rerun_sdk-0.18.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:dc18de6f5e1a7b344d02d24a454bdcc10ce1099ce7151c2d93a044d76c6ce8f3", size = 32935334 },
+    { url = "https://files.pythonhosted.org/packages/21/ec/8faf4150b84548bab9d58da24a2be5e7f79dfe9ba8a7af1ec0ea4e1a50ac/rerun_sdk-0.18.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:a7bb437636ad69ade2dbc06f837cb506fcffc192a0881f4a44e1a89681eba4b0", size = 32014149 },
+    { url = "https://files.pythonhosted.org/packages/8a/a8/20708dcedce4e1ed15148a3d12052152854e3239c69cc276d0d0f3cf21e9/rerun_sdk-0.18.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:c17cb73de92be9c0bbd5d08e02bdec1defa86328dcb05f8154d5c3fa7e42fcc7", size = 38365605 },
+    { url = "https://files.pythonhosted.org/packages/a3/95/f1133bcfa08f4c93c1ee2ee67c7e13f5b9cdb9b978e8a7607896272dbf91/rerun_sdk-0.18.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:db4f783c22b5ce61915394e5fa3ad3c4045bdb00f12984862cd0c4372bff89da", size = 38685748 },
+    { url = "https://files.pythonhosted.org/packages/f9/41/8f80942f4a7166c871f3c20648debe87bf6f8a8884f36372f2cab5cb5f19/rerun_sdk-0.18.0-cp38-abi3-win_amd64.whl", hash = "sha256:4c4dde49fcb08eb34c51dfe8a12733f96102f44bd1dc89063b08d65de1a06cdb", size = 29437290 },
 ]
 
 [[package]]
@@ -4927,7 +5007,7 @@ name = "ruamel-yaml"
 version = "0.18.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
+    { name = "ruamel-yaml-clib", marker = "python_full_version < '3.13' and platform_python_implementation == 'CPython'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
 wheels = [

From 831562325734a19884ebfa2bed4c2aa8ccdd034b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 16 Aug 2024 14:25:42 -0700
Subject: [PATCH 0442/1243] paramsd: remove usages of llk nested structures
 (#33317)

* Remove usages of llk nested structures

* Rename to debugFitlerState

* Semicolon

* Initial parameters debugFilterState
old-commit-hash: 51fae363e4f794ced50c3dd00e712aefb5d68a23
---
 cereal/log.capnp               | 8 +++++++-
 selfdrive/locationd/paramsd.py | 9 ++++-----
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index dcf9463ac8..3e9fd3b311 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2082,9 +2082,15 @@ struct LiveParametersData {
   stiffnessFactorStd @12 :Float32;
   steerRatioStd @13 :Float32;
   roll @14 :Float32;
-  filterState @15 :LiveLocationKalman.Measurement;
+  debugFilterState @16 :FilterState;
 
   yawRateDEPRECATED @7 :Float32;
+  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+  }
 }
 
 struct LiveTorqueParametersData {
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 459021b922..19ded3b4f7 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -177,7 +177,7 @@ def main():
 
   pInitial = None
   if DEBUG:
-    pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None
+    pInitial = np.array(params['debugFilterState']['std']) if 'debugFilterState' in params else None
 
   learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial)
   angle_offset_average = params['angleOffsetAverageDeg']
@@ -242,10 +242,9 @@ def main():
       liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
       liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
       if DEBUG:
-        liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message()
-        liveParameters.filterState.value = x.tolist()
-        liveParameters.filterState.std = P.tolist()
-        liveParameters.filterState.valid = True
+        liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message()
+        liveParameters.debugFilterState.value = x.tolist()
+        liveParameters.debugFilterState.std = P.tolist()
 
       msg.valid = sm.all_checks()
 

From 95224db413214a2078f9701dad9dd4b2faa84381 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 15:13:00 -0700
Subject: [PATCH 0443/1243] selfdrive/car: ban cereal and capnp (#33208)

* ban cereal and msgq

* common too

* do toyota/values.py

* do all fingerprints

* example without builder

* this still works, but no type checking anymore

* stash

* wtf, how does this work

* okay actually not bad

* safe

* epic!

* stash data_structures.py

* some clean up

* hell yeah

* clean up old file

* add to delete

* delete

This reverts commit 90239b7797ace31ee647a2fdbd67e0c3faa98dcf.

* switch more CarParams stuff over

remove unused

* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(

* fix this too

* fix this too

* remove more cereal and add some good hyundai tests

* bunch more typing

* override default with 20hz radar

* temp capnp converter helper

* more lateralTuning

* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues

* can keep all this the same now!

* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)

* revert more

* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(

would have been `CarParams.NetworkLocation()`

* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("

This reverts commit bb28b228becba932052d2fc5a4389784027435b1.

* remove cereal from car_helpers (TODO: caching)

* remove a bunch of temp lines

* use dataclass_transform!

* remove some car.CarParams from the interfaces

* remove rest of car.CarParams from the interfaces

* same which() API

* sort

* from cereal/cache from fingerprinting!

* more typing

* dataclass to capnp helper for CarParams, cached it since it's kinda slow

* (partial) fix process replay fingerprintig for new API

* latcontrollers take capnp

* forgot this

* fix test_models

* fix unit tests

* not here

* VehicleModel and controller still takes capnp CP since they get it from Params()

* fix modeld test

* more fix

* need to namespace to structs, since CarState is both class and struct

* this was never in the base class?!

* clean that up again

* fix import error

fix import error

* cmts and more structs

* remove some more cereal from toyota + convert CarState to capnp

* bruh this was wrong

* replace more cereal

* EventName is one of the last things...

* replace a bunch more cereal.car

* missing imports

* more

* can fix this typing now

* proper toyota+others CS typing!

* mypy can detect return type of CS.update() now

* fix redeclaration of cruise_buttons type

* mypy is only complaining about events now

* temp fix

* add carControl struct

* replace CarControl

i hope there's no circular imports in hyundai's CC

* fine now

* lol this was wrong too

* fix crash

* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )

but attrs does, maybe will switch in the future

* clean up

* try out attr.s for its converter (doesn't work recursively yet, but interesting!)

* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"

This reverts commit ff2434f7bbd45a4d4bfb21f7d6712d1f1c3bcde9.

* test processes doesn't fail anymore (on toyota)!

* fix honda crash

* stash

* Revert "stash"

This reverts commit c1762af4e776790e4ad1322ad4ce0610157346e0.

* remove a bunch more cereal!

* LET'S GOOO

* fix these tests

* and these

* and that

* stash, something is wrong with hyundai enable

* Revert "stash, something is wrong with hyundai enable"

This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03.

* forgot these

* remove cereal from fw_versions

* Revert "remove cereal from fw_versions"

This reverts commit 232b37cd409b55d04b1afc90d4a80c49e710eb56.

* remove rest of the cereal exceptions!

* fix that

* add typing to radard since I didn't realize RI.update() switched from cereal to structs

* and here too!

* add TODO for slots

* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )

* remove the struct converter

* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy

btw pickle.loads(pickle.dumps()) is faster by ~1% CPU

* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone

saves ~1% CPU

* add non-copying asdict function

* should save ~3% CPU (still 4% above baseline)

* fix that, no dict support

* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)

* give a better name

* fix

* dont support none, capitalize

* sheesh, this called type() on every field

* remove CS.events, clean up

* bump card %

* this was a bug on master!

* add a which enum

* default to pid

* revert

* update refs

* not needed, but consistent

* just Ecu

* don't need to do this in this pr

* clean up

* no cast

* consistent typing

* rm

* fix

* can do this if we're desperate for the last few %

* Revert "can do this if we're desperate for the last few %"

This reverts commit 18e11ac7883a0a56583750b1cc5a2b13011e7299.

* type this

* don't need to convert carControl

* i guess don't support set either

* fix CP type hint

* simplify that
old-commit-hash: 6a15c42143a4764e79df851d797f950a6212f464
---
 .importlinter                                 |  15 +
 selfdrive/car/__init__.py                     |  22 +-
 selfdrive/car/body/carcontroller.py           |   3 +-
 selfdrive/car/body/carstate.py                |   8 +-
 selfdrive/car/body/fingerprints.py            |   4 +-
 selfdrive/car/body/interface.py               |   9 +-
 selfdrive/car/body/values.py                  |   4 +-
 selfdrive/car/car_helpers.py                  |  16 +-
 selfdrive/car/car_specific.py                 |  32 +-
 selfdrive/car/card.py                         |  91 +++-
 selfdrive/car/chrysler/carcontroller.py       |   3 +-
 selfdrive/car/chrysler/carstate.py            |   9 +-
 selfdrive/car/chrysler/chryslercan.py         |   6 +-
 selfdrive/car/chrysler/fingerprints.py        |   4 +-
 selfdrive/car/chrysler/interface.py           |   7 +-
 selfdrive/car/chrysler/radar_interface.py     |   6 +-
 selfdrive/car/chrysler/values.py              |   4 +-
 selfdrive/car/docs.py                         |   4 +-
 selfdrive/car/docs_definitions.py             |   6 +-
 selfdrive/car/ford/carcontroller.py           |  10 +-
 selfdrive/car/ford/carstate.py                |  13 +-
 selfdrive/car/ford/fingerprints.py            |   4 +-
 selfdrive/car/ford/fordcan.py                 |   5 +-
 selfdrive/car/ford/interface.py               |  13 +-
 selfdrive/car/ford/radar_interface.py         |   8 +-
 .../car/ford/tests/print_platform_codes.py    |  12 +-
 selfdrive/car/ford/tests/test_ford.py         |  13 +-
 selfdrive/car/ford/values.py                  |   6 +-
 selfdrive/car/fw_query_definitions.py         |  11 +-
 selfdrive/car/fw_versions.py                  |  19 +-
 selfdrive/car/gm/carcontroller.py             |  14 +-
 selfdrive/car/gm/carstate.py                  |  13 +-
 selfdrive/car/gm/interface.py                 |  21 +-
 selfdrive/car/gm/radar_interface.py           |   6 +-
 selfdrive/car/gm/values.py                    |   8 +-
 selfdrive/car/honda/carcontroller.py          |  16 +-
 selfdrive/car/honda/carstate.py               |  13 +-
 selfdrive/car/honda/fingerprints.py           |   4 +-
 selfdrive/car/honda/interface.py              |  11 +-
 selfdrive/car/honda/radar_interface.py        |   6 +-
 selfdrive/car/honda/values.py                 |   9 +-
 selfdrive/car/hyundai/carcontroller.py        |  12 +-
 selfdrive/car/hyundai/carstate.py             |  13 +-
 selfdrive/car/hyundai/fingerprints.py         |   4 +-
 selfdrive/car/hyundai/interface.py            |  15 +-
 selfdrive/car/hyundai/radar_interface.py      |   6 +-
 .../car/hyundai/tests/print_platform_codes.py |   9 +-
 selfdrive/car/hyundai/tests/test_hyundai.py   |  15 +-
 selfdrive/car/hyundai/values.py               |   6 +-
 selfdrive/car/interfaces.py                   |  63 +--
 selfdrive/car/mazda/carcontroller.py          |   8 +-
 selfdrive/car/mazda/carstate.py               |   9 +-
 selfdrive/car/mazda/fingerprints.py           |   4 +-
 selfdrive/car/mazda/interface.py              |   7 +-
 selfdrive/car/mazda/values.py                 |   4 +-
 selfdrive/car/mock/carcontroller.py           |   3 +-
 selfdrive/car/mock/carstate.py                |   6 +-
 selfdrive/car/mock/interface.py               |   3 +-
 selfdrive/car/nissan/carcontroller.py         |   8 +-
 selfdrive/car/nissan/carstate.py              |   9 +-
 selfdrive/car/nissan/fingerprints.py          |   4 +-
 selfdrive/car/nissan/interface.py             |   9 +-
 selfdrive/car/nissan/values.py                |   4 +-
 selfdrive/car/structs.py                      | 499 ++++++++++++++++++
 selfdrive/car/subaru/carcontroller.py         |   3 +-
 selfdrive/car/subaru/carstate.py              |   6 +-
 selfdrive/car/subaru/fingerprints.py          |   4 +-
 selfdrive/car/subaru/interface.py             |  11 +-
 selfdrive/car/subaru/subarucan.py             |   4 +-
 selfdrive/car/subaru/values.py                |   6 +-
 selfdrive/car/tests/test_car_interfaces.py    |  26 +-
 selfdrive/car/tests/test_fw_fingerprint.py    |  44 +-
 selfdrive/car/tests/test_models.py            |  31 +-
 selfdrive/car/toyota/carcontroller.py         |  10 +-
 selfdrive/car/toyota/carstate.py              |  11 +-
 selfdrive/car/toyota/fingerprints.py          |   4 +-
 selfdrive/car/toyota/interface.py             |   9 +-
 selfdrive/car/toyota/radar_interface.py       |   6 +-
 .../car/toyota/tests/print_platform_codes.py  |  12 +-
 selfdrive/car/toyota/tests/test_toyota.py     |  11 +-
 selfdrive/car/toyota/toyotacan.py             |   4 +-
 selfdrive/car/toyota/values.py                |   4 +-
 selfdrive/car/volkswagen/carcontroller.py     |  12 +-
 selfdrive/car/volkswagen/carstate.py          |  12 +-
 selfdrive/car/volkswagen/fingerprints.py      |   4 +-
 selfdrive/car/volkswagen/interface.py         |   9 +-
 .../car/volkswagen/tests/test_volkswagen.py   |   4 +-
 selfdrive/car/volkswagen/values.py            |  36 +-
 .../controls/lib/tests/test_latcontrol.py     |   2 +
 .../controls/lib/tests/test_vehicle_model.py  |   3 +-
 selfdrive/controls/radard.py                  |   5 +-
 selfdrive/debug/format_fingerprints.py        |  15 +-
 selfdrive/modeld/modeld.py                    |   3 +-
 selfdrive/modeld/tests/test_modeld.py         |   3 +-
 .../test/process_replay/process_replay.py     |   7 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/test/test_onroad.py                 |   2 +-
 system/hardware/tici/tests/test_power_draw.py |   3 +-
 98 files changed, 1051 insertions(+), 485 deletions(-)
 create mode 100644 selfdrive/car/structs.py

diff --git a/.importlinter b/.importlinter
index 0a4ce2245a..79f541ccb3 100644
--- a/.importlinter
+++ b/.importlinter
@@ -1,6 +1,8 @@
 [importlinter]
 root_packages =
     openpilot
+    cereal
+    capnp
 
 [importlinter:contract:1]
 name = Forbid imports from openpilot.selfdrive.car to openpilot.system
@@ -8,6 +10,8 @@ type = forbidden
 source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
+    cereal
+    capnp
     openpilot.common
     openpilot.selfdrive.controls
     openpilot.selfdrive.debug
@@ -44,5 +48,16 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
+    openpilot.selfdrive.car.tests.test_models -> capnp
+    openpilot.selfdrive.car.tests.test_car_interfaces -> cereal
+    openpilot.selfdrive.car.tests.test_car_interfaces -> cereal.messaging
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
+    openpilot.selfdrive.car.tests.test_models -> cereal
+    openpilot.selfdrive.car.tests.test_models -> cereal.messaging
+    openpilot.selfdrive.car.card -> cereal
+    openpilot.selfdrive.car.card -> cereal.messaging
     openpilot.selfdrive.car.car_specific -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.car_specific -> cereal
+    openpilot.selfdrive.car.car_specific -> cereal.messaging
+    openpilot.selfdrive.car.card -> capnp
 unmatched_ignore_imports_alerting = warn
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 567ac7199c..e6a195d7c9 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -5,10 +5,8 @@ from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
-import capnp
-
-from cereal import car
 from panda.python.uds import SERVICE_TYPE
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.common.numpy_fast import clip, interp
@@ -23,7 +21,7 @@ DT_CTRL = 0.01  # car state and control loop timestep (s)
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
 
@@ -35,9 +33,9 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
   return val_steady
 
 
-def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule],
-                         unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-  events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
+                         unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
+  events: list[structs.CarState.ButtonEvent] = []
 
   if cur_btn == prev_btn:
     return events
@@ -45,8 +43,8 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, ca
   # Add events for button presses, multiple when a button switches without going to unpressed
   for pressed, btn in ((False, prev_btn), (True, cur_btn)):
     if btn != unpressed_btn:
-      events.append(car.CarState.ButtonEvent(pressed=pressed,
-                                             type=buttons_dict.get(btn, ButtonType.unknown)))
+      events.append(structs.CarState.ButtonEvent(pressed=pressed,
+                                                 type=buttons_dict.get(btn, ButtonType.unknown)))
   return events
 
 
@@ -183,7 +181,7 @@ def rate_limit(new_value, last_value, dw_step, up_step):
 
 
 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+                 torque_params: structs.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
   friction_interp = interp(
     apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
     [-friction_threshold, friction_threshold],
@@ -203,8 +201,8 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   return CanData(addr, bytes(dat), bus)
 
 
-def get_safety_config(safety_model, safety_param = None):
-  ret = car.CarParams.SafetyConfig.new_message()
+def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int = None) -> structs.CarParams.SafetyConfig:
+  ret = structs.CarParams.SafetyConfig()
   ret.safetyModel = safety_model
   if safety_param is not None:
     ret.safetyParam = safety_param
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0d6450a44d..9411473968 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,3 +1,4 @@
+import copy
 import numpy as np
 from numbers import Number
 
@@ -132,7 +133,7 @@ class CarController(CarControllerBase):
     can_sends = []
     can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
-    new_actuators = CC.actuators.as_builder()
+    new_actuators = copy.copy(CC.actuators)
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
     new_actuators.steerOutputCan = torque_r
diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index 1c981a6c6e..7ce0ef1920 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -1,12 +1,12 @@
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.body.values import DBC
 
 
 class CarState(CarStateBase):
-  def update(self, cp, *_):
-    ret = car.CarState.new_message()
+  def update(self, cp, *_) -> structs.CarState:
+    ret = structs.CarState()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
     ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
@@ -23,7 +23,7 @@ class CarState(CarStateBase):
     ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
 
     # irrelevant for non-car
-    ret.gearShifter = car.CarState.GearShifter.drive
+    ret.gearShifter = structs.CarState.GearShifter.drive
     ret.cruiseState.enabled = True
     ret.cruiseState.available = True
 
diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py
index ab7a5f8d7b..9c4b29d827 100644
--- a/selfdrive/car/body/fingerprints.py
+++ b/selfdrive/car/body/fingerprints.py
@@ -1,8 +1,8 @@
 # ruff: noqa: E501
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.body.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # debug ecu fw version is the git hash of the firmware
 
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 68509aa246..9d3e1ccab6 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,16 +1,15 @@
 import math
-from cereal import car
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.notCar = True
     ret.carName = "body"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
@@ -21,6 +20,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
 
     return ret
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index a1195f7cb5..73d65a9f67 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,9 +1,9 @@
-from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 SPEED_FROM_RPM = 0.008587
 
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 823f038a9c..0981689b31 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,9 +1,9 @@
 import os
 import time
 
-from cereal import car
 from openpilot.selfdrive.car import carlog, gen_empty_fingerprint
 from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
 from openpilot.selfdrive.car.interfaces import get_interface_attr
@@ -82,7 +82,7 @@ def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, di
 
 # **** for use live only ****
 def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
-                cached_params: type[car.CarParams] | None) -> tuple[str | None, dict, str, list, int, bool]:
+                cached_params: CarParams | None) -> tuple[str | None, dict, str, list[CarParams.CarFw], CarParams.FingerprintSource, bool]:
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@@ -129,17 +129,17 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
   car_fingerprint, finger = can_fingerprint(can_recv)
 
   exact_match = True
-  source = car.CarParams.FingerprintSource.can
+  source = CarParams.FingerprintSource.can
 
   # If FW query returns exactly 1 candidate, use it
   if len(fw_candidates) == 1:
     car_fingerprint = list(fw_candidates)[0]
-    source = car.CarParams.FingerprintSource.fw
+    source = CarParams.FingerprintSource.fw
     exact_match = exact_fw_match
 
   if fixed_fingerprint:
     car_fingerprint = fixed_fingerprint
-    source = car.CarParams.FingerprintSource.fixed
+    source = CarParams.FingerprintSource.fixed
 
   carlog.error({"event": "fingerprinted", "car_fingerprint": str(car_fingerprint), "source": source, "fuzzy": not exact_match,
                 "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
@@ -148,13 +148,13 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
-def get_car_interface(CP):
+def get_car_interface(CP: CarParams):
   CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
   return CarInterface(CP, CarController, CarState)
 
 
 def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool,
-            num_pandas: int = 1, cached_params: type[car.CarParams] | None = None):
+            num_pandas: int = 1, cached_params: CarParams | None = None):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
@@ -162,7 +162,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
     candidate = "MOCK"
 
   CarInterface, _, _ = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
+  CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index e8e03320ff..6f620e5e97 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,16 +1,16 @@
 from cereal import car
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import DT_CTRL
-from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED
+from openpilot.selfdrive.car import DT_CTRL, structs
+from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
 from openpilot.selfdrive.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from openpilot.selfdrive.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
 from openpilot.selfdrive.controls.lib.events import Events
 
-ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
+ButtonType = structs.CarState.ButtonEvent.Type
+GearShifter = structs.CarState.GearShifter
 EventName = car.CarEvent.EventName
-NetworkLocation = car.CarParams.NetworkLocation
+NetworkLocation = structs.CarParams.NetworkLocation
 
 
 # TODO: the goal is to abstract this file into the CarState struct and make events generic
@@ -29,7 +29,7 @@ class MockCarState:
 
 
 class CarSpecificEvents:
-  def __init__(self, CP: car.CarParams):
+  def __init__(self, CP: structs.CarParams):
     self.CP = CP
 
     self.steering_unpressed = 0
@@ -37,7 +37,7 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
-  def update(self, CS, CS_prev, CC, CC_prev):
+  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
@@ -50,15 +50,15 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-      if CS.lkas_enabled:
+      if CS.lkas_enabled:  # type: ignore[attr-defined]
         events.add(EventName.invalidLkasSetting)
 
     elif self.CP.carName == 'mazda':
       events = self.create_common_events(CS.out, CS_prev)
 
-      if CS.lkas_disabled:
+      if CS.lkas_disabled:  # type: ignore[attr-defined]
         events.add(EventName.lkasDisabled)
-      elif CS.low_speed_alert:
+      elif CS.low_speed_alert:  # type: ignore[attr-defined]
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'chrysler':
@@ -99,7 +99,7 @@ class CarSpecificEvents:
       if self.CP.openpilotLongitudinalControl:
         if CS.out.cruiseState.standstill and not CS.out.brakePressed:
           events.add(EventName.resumeRequired)
-        if CS.low_speed_lockout:
+        if CS.low_speed_lockout:  # type: ignore[attr-defined]
           events.add(EventName.lowSpeedLockout)
         if CS.out.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -121,7 +121,7 @@ class CarSpecificEvents:
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward
+      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward  # type: ignore[attr-defined]
       if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
                                          self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
@@ -149,14 +149,14 @@ class CarSpecificEvents:
         if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
-      if CC.eps_timer_soft_disable_alert:
+      if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
         events.add(EventName.steerTimeLimit)
 
     elif self.CP.carName == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
-      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)
+      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)  # type: ignore[attr-defined]
       events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
@@ -172,8 +172,8 @@ class CarSpecificEvents:
 
     return events
 
-  def create_common_events(self, CS, CS_prev, extra_gears=None, pcm_enable=True, allow_enable=True,
-                           enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if CS.doorOpen:
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index aab5070111..7aaef6e94a 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
+import capnp
 import os
 import time
+from typing import Any
 
 import cereal.messaging as messaging
 
@@ -13,7 +15,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL, carlog
+from openpilot.selfdrive.car import DT_CTRL, carlog, structs
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
 from openpilot.selfdrive.car.fw_versions import ObdCallback
@@ -22,6 +24,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
+_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
 
 EventName = car.CarEvent.EventName
 
@@ -58,8 +61,74 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   return can_recv, can_send
 
 
+def is_dataclass(obj):
+  """Similar to dataclasses.is_dataclass without instance type check checking"""
+  return hasattr(obj, _FIELDS)
+
+
+def asdictref(obj) -> dict[str, Any]:
+  """
+  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
+  Note that the resulting dict will contain references to the original struct as a result
+  """
+  if not is_dataclass(obj):
+    raise TypeError("asdictref() should be called on dataclass instances")
+
+  def _asdictref_inner(obj) -> dict[str, Any] | Any:
+    if is_dataclass(obj):
+      ret = {}
+      for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
+        ret[field] = _asdictref_inner(getattr(obj, field))
+      return ret
+    elif isinstance(obj, (tuple, list)):
+      return type(obj)(_asdictref_inner(v) for v in obj)
+    else:
+      return obj
+
+  return _asdictref_inner(obj)
+
+
+def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder:
+  struct_dict = asdictref(struct)
+
+  if isinstance(struct, structs.CarParams):
+    del struct_dict['lateralTuning']
+    struct_capnp = car.CarParams.new_message(**struct_dict)
+
+    # this is the only union, special handling
+    which = struct.lateralTuning.which()
+    struct_capnp.lateralTuning.init(which)
+    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
+    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
+  elif isinstance(struct, structs.CarState):
+    struct_capnp = car.CarState.new_message(**struct_dict)
+  elif isinstance(struct, structs.CarControl.Actuators):
+    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
+  else:
+    raise ValueError(f"Unsupported struct type: {type(struct)}")
+
+  return struct_capnp
+
+
+def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
+  # TODO: recursively handle any car struct as needed
+  def remove_deprecated(s: dict) -> dict:
+    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
+
+  struct_dict = struct.to_dict()
+  struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
+
+  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
+  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
+  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
+
+  return struct_dataclass
+
+
 class Car:
   CI: CarInterfaceBase
+  CP: structs.CarParams
+  CP_capnp: car.CarParams
 
   def __init__(self, CI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -72,7 +141,7 @@ class Car:
     self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
-    self.last_actuators_output = car.CarControl.Actuators.new_message()
+    self.last_actuators_output = structs.CarControl.Actuators()
 
     self.params = Params()
 
@@ -93,7 +162,7 @@ class Car:
       cached_params_raw = self.params.get("CarParamsCache")
       if cached_params_raw is not None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-          cached_params = _cached_params
+          cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.CP = self.CI.CP
@@ -115,8 +184,8 @@ class Car:
 
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
-      safety_config = car.CarParams.SafetyConfig.new_message()
-      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      safety_config = structs.CarParams.SafetyConfig()
+      safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams
@@ -125,7 +194,9 @@ class Car:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
-    cp_bytes = self.CP.to_bytes()
+    # convert to pycapnp representation for caching and logging
+    self.CP_capnp = convert_to_capnp(self.CP)
+    cp_bytes = self.CP_capnp.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
@@ -143,7 +214,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(can_capnp_to_list(can_strs))
+    CS = convert_to_capnp(self.CI.update(can_capnp_to_list(can_strs)))
 
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
@@ -189,13 +260,13 @@ class Car:
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
-      cp_send.carParams = self.CP
+      cp_send.carParams = self.CP_capnp
       self.pm.send('carParams', cp_send)
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = self.last_actuators_output
+    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -219,7 +290,7 @@ class Car:
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index c194488de9..b9b1a9f4cb 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,3 +1,4 @@
+import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
@@ -76,7 +77,7 @@ class CarController(CarControllerBase):
 
     self.frame += 1
 
-    new_actuators = CC.actuators.as_builder()
+    new_actuators = copy.copy(CC.actuators)
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 216e6f7891..f7ebf82f1a 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,12 +1,11 @@
-from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 
 
 class CarState(CarStateBase):
@@ -26,9 +25,9 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam, *_):
+  def update(self, cp, cp_cam, *_) -> structs.CarState:
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 96439f35d8..9fefeef8fb 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -1,8 +1,8 @@
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS
 
-GearShifter = car.CarState.GearShifter
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+GearShifter = structs.CarState.GearShifter
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
   # LKAS_HUD - Controls what lane-keeping icon is displayed
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 1f453d8f50..aac12c1149 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.chrysler.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.CHRYSLER_PACIFICA_2018: {
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 21e752889e..9092e92313 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
-from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
@@ -18,7 +17,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
 
     # safety config
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
     if candidate in RAM_HD:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
     elif candidate in RAM_DT:
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index f1d863d1e1..c386274c5c 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 from openpilot.selfdrive.car.chrysler.values import DBC
 
@@ -53,7 +53,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     errors = []
     if not self.rcp.can_valid:
       errors.append("canError")
@@ -64,7 +64,7 @@ class RadarInterface(RadarInterfaceBase):
       trackId = _address_to_track(ii)
 
       if trackId not in self.pts:
-        self.pts[trackId] = car.RadarData.RadarPoint.new_message()
+        self.pts[trackId] = structs.RadarData.RadarPoint()
         self.pts[trackId].trackId = trackId
         self.pts[trackId].aRel = float('nan')
         self.pts[trackId].yvRel = float('nan')
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index c44c647fd4..e568c8af1d 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,13 +1,13 @@
 from enum import IntFlag
 from dataclasses import dataclass, field
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class ChryslerFlags(IntFlag):
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 17f8947522..a9e9c7ee83 100644
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -3,8 +3,8 @@ import jinja2
 from enum import Enum
 from natsort import natsorted
 
-from cereal import car
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -24,7 +24,7 @@ def get_all_car_docs() -> list[CarDocs]:
     car_docs = platform.config.car_docs
     # If available, uses experimental longitudinal limits for the docs
     CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
-                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
+                                         car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)], experimental_long=True, docs=True)
 
     if CP.dashcamOnly or not len(car_docs):
       continue
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index f039fea9ac..6df109facf 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -4,8 +4,8 @@ import copy
 from dataclasses import dataclass, field
 from enum import Enum
 
-from cereal import car
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.structs import CarParams
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
@@ -248,7 +248,7 @@ class CarDocs:
     self.make, self.model, self.years = split_name(self.name)
     self.year_list = get_year_list(self.years)
 
-  def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]):
+  def init(self, CP: CarParams, all_footnotes: dict[Enum, int]):
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
 
@@ -316,7 +316,7 @@ class CarDocs:
 
     return self
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
 
   def get_detail_sentence(self, CP):
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 1eaccf7a3e..e4e7bc5040 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,13 +1,13 @@
-from cereal import car
+import copy
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
-LongCtrlState = car.CarControl.Actuators.LongControlState
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+LongCtrlState = structs.CarControl.Actuators.LongControlState
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
@@ -111,7 +111,7 @@ class CarController(CarControllerBase):
     self.steer_alert_last = steer_alert
     self.lead_distance_bars_last = hud_control.leadDistanceBars
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.curvature = self.apply_curvature_last
 
     self.frame += 1
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 6d1e4ae5dc..813af76949 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,15 +1,14 @@
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
-TransmissionType = car.CarParams.TransmissionType
+ButtonType = structs.CarState.ButtonEvent.Type
+GearShifter = structs.CarState.GearShifter
+TransmissionType = structs.CarParams.TransmissionType
 
 
 class CarState(CarStateBase):
@@ -21,8 +20,8 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam, *_):
-    ret = car.CarState.new_message()
+  def update(self, cp, cp_cam, *_) -> structs.CarState:
+    ret = structs.CarState()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
index 2201072fa3..a9e4ed9a5e 100644
--- a/selfdrive/car/ford/fingerprints.py
+++ b/selfdrive/car/ford/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.ford.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.FORD_BRONCO_SPORT_MK1: {
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 5bb3d0570f..b2cbe945c3 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -1,7 +1,6 @@
-from cereal import car
-from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car import CanBusBase, structs
 
-HUDControl = car.CarControl.HUDControl
+HUDControl = structs.CarControl.HUDControl
 
 
 class CanBus(CanBusBase):
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 4021f583c1..17f136b1be 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,29 +1,28 @@
-from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-TransmissionType = car.CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "ford"
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
     CAN = CanBus(fingerprint=fingerprint)
-    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
-      cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
     ret.experimentalLongitudinalAvailable = True
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index f405373661..a4e80380e7 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -1,6 +1,6 @@
 from math import cos, sin
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, RADAR
@@ -58,7 +58,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     errors = []
     if not self.rcp.can_valid:
       errors.append("canError")
@@ -89,7 +89,7 @@ class RadarInterface(RadarInterfaceBase):
       # radar point only valid if there have been enough valid measurements
       if self.valid_cnt[ii] > 0:
         if ii not in self.pts:
-          self.pts[ii] = car.RadarData.RadarPoint.new_message()
+          self.pts[ii] = structs.RadarData.RadarPoint()
           self.pts[ii].trackId = self.track_id
           self.track_id += 1
         self.pts[ii].dRel = cpt['X_Rel']  # from front of car
@@ -112,7 +112,7 @@ class RadarInterface(RadarInterfaceBase):
       i = (ii - 1) * 4 + scanIndex
 
       if i not in self.pts:
-        self.pts[i] = car.RadarData.RadarPoint.new_message()
+        self.pts[i] = structs.RadarData.RadarPoint()
         self.pts[i].trackId = self.track_id
         self.pts[i].aRel = float('nan')
         self.pts[i].yvRel = float('nan')
diff --git a/selfdrive/car/ford/tests/print_platform_codes.py b/selfdrive/car/ford/tests/print_platform_codes.py
index 670199980a..1384985779 100755
--- a/selfdrive/car/ford/tests/print_platform_codes.py
+++ b/selfdrive/car/ford/tests/print_platform_codes.py
@@ -1,30 +1,28 @@
 #!/usr/bin/env python3
 from collections import defaultdict
 
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.ford.values import get_platform_codes
 from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
+Ecu = CarParams.Ecu
 
 if __name__ == "__main__":
   cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
 
   for car_model, ecus in FW_VERSIONS.items():
     print(car_model)
-    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+    for ecu in sorted(ecus):
       platform_codes = get_platform_codes(ecus[ecu])
       for code in platform_codes:
         cars_for_code[ecu][code].add(car_model)
 
-      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
       print(f'    Codes: {sorted(platform_codes)}')
     print()
 
   print('\nCar models vs. platform codes:')
   for ecu, codes in cars_for_code.items():
-    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
     for code, cars in codes.items():
       print(f'    {code!r}: {sorted(map(str, cars))}')
diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py
index b1a19017d4..4d3a9a53bc 100644
--- a/selfdrive/car/ford/tests/test_ford.py
+++ b/selfdrive/car/ford/tests/test_ford.py
@@ -1,16 +1,15 @@
 import random
 from collections.abc import Iterable
 
-import capnp
 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
 
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
 from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 ECU_ADDRESSES = {
@@ -49,7 +48,7 @@ class TestFordFW:
       assert subaddr is None, "Unexpected ECU subaddress"
 
   @parameterized.expand(FW_VERSIONS.items())
-  def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
+  def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[Ecu, int, int | None], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
       assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
       assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
@@ -93,10 +92,10 @@ class TestFordFW:
         for ecu, fw_versions in fw_by_addr.items():
           ecu_name, addr, sub_addr = ecu
           fw = random.choice(fw_versions)
-          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
-                         "subAddress": 0 if sub_addr is None else sub_addr})
+          car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
+                                        subAddress=0 if sub_addr is None else sub_addr))
 
-        CP = car.CarParams.new_message(carFw=car_fw)
+        CP = CarParams(carFw=car_fw)
         matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
         assert matches == {platform}
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index b1868bfa9b..5b415a44ec 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -4,13 +4,13 @@ from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
 import panda.python.uds as uds
-from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:
@@ -65,7 +65,7 @@ class FordCarDocs(CarDocs):
   hybrid: bool = False
   plug_in_hybrid: bool = False
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
     if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, harness])
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index e502041462..a39cd889ab 100644
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -1,4 +1,3 @@
-import capnp
 import copy
 from dataclasses import dataclass, field
 import struct
@@ -6,9 +5,11 @@ from collections.abc import Callable
 
 import panda.python.uds as uds
 
+from openpilot.selfdrive.car.structs import CarParams
+
 AddrType = tuple[int, int | None]
 EcuAddrBusType = tuple[int, int | None, int]
-EcuAddrSubAddr = tuple[int, int, int | None]
+EcuAddrSubAddr = tuple[CarParams.Ecu, int, int | None]
 
 LiveFwVersions = dict[AddrType, set[bytes]]
 OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
@@ -77,7 +78,7 @@ class StdQueries:
 class Request:
   request: list[bytes]
   response: list[bytes]
-  whitelist_ecus: list[int] = field(default_factory=list)
+  whitelist_ecus: list[CarParams.Ecu] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
   # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
@@ -93,9 +94,9 @@ class FwQueryConfig:
   requests: list[Request]
   # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
-  non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
+  non_essential_ecus: dict[CarParams.Ecu, list[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
-  extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
+  extra_ecus: list[tuple[CarParams.Ecu, int, int | None]] = field(default_factory=list)
   # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
   # returns set of candidates. Only will match if one candidate is returned
   match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 47c74d9998..71278505c6 100644
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -3,19 +3,18 @@ from collections.abc import Callable, Iterator
 from typing import Protocol, TypeVar
 
 from tqdm import tqdm
-import capnp
 
 import panda.python.uds as uds
-from cereal import car
 from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
-from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
@@ -39,7 +38,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
   return filter_brand is None or brand == filter_brand
 
 
-def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
+def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
   fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
   for fw in fw_versions:
     if is_brand(fw.brand, filter_brand) and not fw.logging:
@@ -144,8 +143,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
   return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str,
-                    allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
+def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: bool = True,
+                    allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
   # Try exact matching first
   exact_matches: list[tuple[bool, MatchFwToCar]] = []
   if allow_exact:
@@ -229,7 +228,7 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
 
 def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
                             ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
-                            progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+                            progress: bool = False) -> list[CarParams.CarFw]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -254,7 +253,7 @@ def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable
 
 def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
                     extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
-                    progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+                    progress: bool = False) -> list[CarParams.CarFw]:
   versions = VERSIONS.copy()
 
   if query_brand is not None:
@@ -306,7 +305,7 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
           if query_addrs:
             query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
-              f = car.CarParams.CarFw.new_message()
+              f = CarParams.CarFw()
 
               f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
               f.fwVersion = version
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 60d472620f..e562ef6e83 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,15 +1,15 @@
-from cereal import car
+import copy
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.gm import gmcan
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-NetworkLocation = car.CarParams.NetworkLocation
-LongCtrlState = car.CarControl.Actuators.LongControlState
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+NetworkLocation = structs.CarParams.NetworkLocation
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
@@ -153,7 +153,7 @@ class CarController(CarControllerBase):
       if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index d6e729ef4a..99823c9e7e 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,16 +1,15 @@
 import copy
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
 
-ButtonType = car.CarState.ButtonEvent.Type
-TransmissionType = car.CarParams.TransmissionType
-NetworkLocation = car.CarParams.NetworkLocation
+ButtonType = structs.CarState.ButtonEvent.Type
+TransmissionType = structs.CarParams.TransmissionType
+NetworkLocation = structs.CarParams.NetworkLocation
 
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
@@ -34,8 +33,8 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, pt_cp, cam_cp, _, __, loopback_cp):
-    ret = car.CarState.new_message()
+  def update(self, pt_cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
+    ret = structs.CarState()
 
     prev_cruise_buttons = self.cruise_buttons
     prev_distance_button = self.distance_button
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index e6985b6144..4f47dbde2c 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,18 +1,17 @@
 #!/usr/bin/env python3
 import os
-from cereal import car
 from math import fabs, exp
 from panda import Panda
 
-from openpilot.selfdrive.car import get_safety_config, get_friction
+from openpilot.selfdrive.car import get_safety_config, get_friction, structs
 from openpilot.selfdrive.car.common.basedir import BASEDIR
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
-TransmissionType = car.CarParams.TransmissionType
-NetworkLocation = car.CarParams.NetworkLocation
+TransmissionType = structs.CarParams.TransmissionType
+NetworkLocation = structs.CarParams.NetworkLocation
 
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
@@ -41,8 +40,8 @@ class CarInterface(CarInterfaceBase):
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
-                                       lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
@@ -57,14 +56,14 @@ class CarInterface(CarInterfaceBase):
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
     # This has big effect on the stability about 0 (noise when going straight)
     # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
-    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
+    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)  # type: ignore[call-overload]
     assert non_linear_torque_params, "The params are not defined"
     a, b, c, _ = non_linear_torque_params
     steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
     return float(steer_torque) + friction
 
-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
-                                       lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
+  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
     inputs = list(latcontrol_inputs)
     if gravity_adjusted:
@@ -81,9 +80,9 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "gm"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index b305d418b8..919e2940f8 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
@@ -52,7 +52,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     header = self.rcp.vl[RADAR_HEADER_MSG]
     fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
       header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
@@ -82,7 +82,7 @@ class RadarInterface(RadarInterfaceBase):
         targetId = cpt['TrkObjectID']
         currentTargets.add(targetId)
         if targetId not in self.pts:
-          self.pts[targetId] = car.RadarData.RadarPoint.new_message()
+          self.pts[targetId] = structs.RadarData.RadarPoint()
           self.pts[targetId].trackId = targetId
         distance = cpt['TrkRange']
         self.pts[targetId].dRel = distance  # from front of car
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 53a4621d27..ff669b3940 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,11 +1,11 @@
 from dataclasses import dataclass, field
 
-from cereal import car
 from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:
@@ -63,8 +63,8 @@ class CarControllerParams:
 class GMCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
 
-  def init_make(self, CP: car.CarParams):
-    if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
+  def init_make(self, CP: CarParams):
+    if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
       self.car_parts = CarParts.common([CarHarness.gm])
     else:
       self.car_parts = CarParts.common([CarHarness.obd_ii])
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 87b867d2b3..b088f775ea 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -1,15 +1,15 @@
+import copy
 from collections import namedtuple
 
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
+from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, structs
 from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-LongCtrlState = car.CarControl.Actuators.LongControlState
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 
 def compute_gb_honda_bosch(accel, speed):
@@ -83,11 +83,11 @@ def process_hud_alert(hud_alert):
 
   # priority is: FCW, steer required, all others
   if hud_alert == VisualAlert.fcw:
-    fcw_display = VISUAL_HUD[hud_alert.raw]
+    fcw_display = VISUAL_HUD[hud_alert]
   elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-    steer_required = VISUAL_HUD[hud_alert.raw]
+    steer_required = VISUAL_HUD[hud_alert]
   else:
-    acc_alert = VISUAL_HUD[hud_alert.raw]
+    acc_alert = VISUAL_HUD[hud_alert]
 
   return fcw_display, steer_required, acc_alert
 
@@ -242,7 +242,7 @@ class CarController(CarControllerBase):
         self.speed = pcm_speed
         self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.speed = self.speed
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 1f4cec7758..7558562d00 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,9 +1,8 @@
 from collections import defaultdict
 
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
@@ -12,8 +11,8 @@ from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HOND
                                                  HondaFlags, CruiseButtons, CruiseSettings
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
-TransmissionType = car.CarParams.TransmissionType
-ButtonType = car.CarState.ButtonEvent.Type
+TransmissionType = structs.CarParams.TransmissionType
+ButtonType = structs.CarState.ButtonEvent.Type
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -110,8 +109,8 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-  def update(self, cp, cp_cam, _, cp_body, __):
-    ret = car.CarState.new_message()
+  def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
+    ret = structs.CarState()
 
     # car params
     v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
@@ -198,7 +197,7 @@ class CarState(CarStateBase):
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)  # type: ignore[call-overload]
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 191fd8e44a..9160031ab4 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.honda.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # Modified FW can be identified by the second dash being replaced by a comma
 # For example: `b'39990-TVA,A150\x00\x00'`
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 28b6849769..54df6c2579 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,16 +1,15 @@
 #!/usr/bin/env python3
-from cereal import car
 from panda import Panda
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-TransmissionType = car.CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
 
 
 class CarInterface(CarInterfaceBase):
@@ -26,13 +25,13 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "honda"
 
     CAN = CanBus(ret, fingerprint)
 
     if candidate in HONDA_BOSCH:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
       ret.radarUnavailable = True
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
@@ -41,7 +40,7 @@ class CarInterface(CarInterfaceBase):
       ret.openpilotLongitudinalControl = experimental_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
       ret.openpilotLongitudinalControl = True
 
       ret.pcmCruise = True
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
index 8090f8e03e..8dd1ddd529 100755
--- a/selfdrive/car/honda/radar_interface.py
+++ b/selfdrive/car/honda/radar_interface.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 from openpilot.selfdrive.car.honda.values import DBC
 
@@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase):
     return rr
 
   def _update(self, updated_messages):
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
 
     for ii in sorted(updated_messages):
       cpt = self.rcp.vl[ii]
@@ -57,7 +57,7 @@ class RadarInterface(RadarInterfaceBase):
         self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
       elif cpt['LONG_DIST'] < 255:
         if ii not in self.pts or cpt['NEW_TRACK']:
-          self.pts[ii] = car.RadarData.RadarPoint.new_message()
+          self.pts[ii] = structs.RadarData.RadarPoint()
           self.pts[ii].trackId = self.track_id
           self.track_id += 1
         self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 53e5435f29..499cbbc0e0 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,15 +1,14 @@
 from dataclasses import dataclass
 from enum import Enum, IntFlag
 
-from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
-Ecu = car.CarParams.Ecu
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+Ecu = structs.CarParams.Ecu
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 class CarControllerParams:
@@ -90,7 +89,7 @@ VISUAL_HUD = {
 class HondaCarDocs(CarDocs):
   package: str = "Honda Sensing"
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: structs.CarParams):
     if CP.flags & HondaFlags.BOSCH:
       self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
     else:
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index cfca7ab1d9..f9f2603058 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,6 +1,6 @@
-from cereal import car
+import copy
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
@@ -9,8 +9,8 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-LongCtrlState = car.CarControl.Actuators.LongControlState
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 # EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
 # All slightly below EPS thresholds to avoid fault
@@ -162,7 +162,7 @@ class CarController(CarControllerBase):
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
         can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
@@ -170,7 +170,7 @@ class CarController(CarControllerBase):
     self.frame += 1
     return new_actuators, can_sends
 
-  def create_button_messages(self, CC: car.CarControl, CS: CarState, use_clu11: bool):
+  def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 2173565d06..2aa8e453c4 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -2,17 +2,16 @@ from collections import deque
 import copy
 import math
 
-from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
@@ -58,11 +57,11 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, cp, cp_cam, *_):
+  def update(self, cp, cp_cam, *_) -> structs.CarState:
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
     cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
     self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
     speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
@@ -177,8 +176,8 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_canfd(self, cp, cp_cam):
-    ret = car.CarState.new_message()
+  def update_canfd(self, cp, cp_cam) -> structs.CarState:
+    ret = structs.CarState()
 
     self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
     speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index a109d3a0b2..22172a2a1f 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.hyundai.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 923c84d4b2..4530704ed2 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,6 +1,5 @@
-from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
@@ -9,14 +8,14 @@ from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-Ecu = car.CarParams.Ecu
+Ecu = structs.CarParams.Ecu
 
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -97,9 +96,9 @@ class CarInterface(CarInterfaceBase):
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
-      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
-        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+        cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
       ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
@@ -113,9 +112,9 @@ class CarInterface(CarInterfaceBase):
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
       else:
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
 
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index 5260050986..1a5915f298 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -1,7 +1,7 @@
 import math
 
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 from openpilot.selfdrive.car.hyundai.values import DBC
 
@@ -44,7 +44,7 @@ class RadarInterface(RadarInterfaceBase):
     return rr
 
   def _update(self, updated_messages):
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     if self.rcp is None:
       return ret
 
@@ -58,7 +58,7 @@ class RadarInterface(RadarInterfaceBase):
       msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
 
       if addr not in self.pts:
-        self.pts[addr] = car.RadarData.RadarPoint.new_message()
+        self.pts[addr] = structs.RadarData.RadarPoint()
         self.pts[addr].trackId = self.track_id
         self.track_id += 1
 
diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py
index f641535678..d719f73e37 100755
--- a/selfdrive/car/hyundai/tests/print_platform_codes.py
+++ b/selfdrive/car/hyundai/tests/print_platform_codes.py
@@ -1,22 +1,21 @@
 #!/usr/bin/env python3
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes
 from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+Ecu = CarParams.Ecu
 
 if __name__ == "__main__":
   for car_model, ecus in FW_VERSIONS.items():
     print()
     print(car_model)
-    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+    for ecu in sorted(ecus):
       if ecu[0] not in PLATFORM_CODE_ECUS:
         continue
 
       platform_codes = get_platform_codes(ecus[ecu])
       codes = {code for code, _ in platform_codes}
       dates = {date for _, date in platform_codes if date is not None}
-      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
       print(f'    Codes: {codes}')
       print(f'    Dates: {dates}')
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 66b65ea95b..3c008e3ebb 100644
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -2,8 +2,8 @@ from hypothesis import settings, given, strategies as st
 
 import pytest
 
-from cereal import car
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.hyundai.interface import CarInterface
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -13,8 +13,7 @@ from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CA
                                          HyundaiFlags, get_platform_codes
 from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+Ecu = CarParams.Ecu
 
 # Some platforms have date codes in a different format we don't yet parse (or are missing).
 # For now, assert list of expected missing date cars
@@ -46,7 +45,7 @@ class TestHyundaiFingerprint:
   def test_feature_detection(self):
     # HDA2
     for has_adas in (True, False):
-      car_fw = [car.CarParams.CarFw(ecu=Ecu.adas if has_adas else Ecu.fwdCamera)]
+      car_fw = [CarParams.CarFw(ecu=Ecu.adas if has_adas else Ecu.fwdCamera)]
       CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), car_fw, False, False)
       assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == has_adas
 
@@ -76,7 +75,7 @@ class TestHyundaiFingerprint:
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
       ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
-      ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
+      ecu_strings = ", ".join([f"Ecu.{ecu}" for ecu in ecus_not_in_whitelist])
       assert len(ecus_not_in_whitelist) == 0, \
                        f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"
 
@@ -223,10 +222,10 @@ class TestHyundaiFingerprint:
       for ecu, fw_versions in fw_by_addr.items():
         ecu_name, addr, sub_addr = ecu
         for fw in fw_versions:
-          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
-                         "subAddress": 0 if sub_addr is None else sub_addr})
+          car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
+                                        subAddress=0 if sub_addr is None else sub_addr))
 
-      CP = car.CarParams.new_message(carFw=car_fw)
+      CP = CarParams(carFw=car_fw)
       matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
       if len(matches) == 1:
         assert list(matches)[0] == platform
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 0db82a7577..6937b719c8 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -2,14 +2,14 @@ import re
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:
@@ -107,7 +107,7 @@ class Footnote(Enum):
 class HyundaiCarDocs(CarDocs):
   package: str = "Smart Cruise Control (SCC)"
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     if CP.flags & HyundaiFlags.CANFD:
       self.footnotes.insert(0, Footnote.CANFD)
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e56c2d77ca..e89b63eb1e 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -8,8 +8,8 @@ from typing import Any, NamedTuple
 from collections.abc import Callable
 from functools import cache
 
-from cereal import car
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.common.basedir import BASEDIR
 from openpilot.selfdrive.car.conversions import Conversions as CV
@@ -17,7 +17,7 @@ from openpilot.selfdrive.car.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 
-GearShifter = car.CarState.GearShifter
+GearShifter = structs.CarState.GearShifter
 
 V_CRUISE_MAX = 145
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
@@ -29,7 +29,7 @@ TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'torque_data/override.toml')
 TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'torque_data/substitute.toml')
 
-GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
+GEAR_SHIFTER_MAP: dict[str, GearShifter] = {
   'P': GearShifter.park, 'PARK': GearShifter.park,
   'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
   'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
@@ -49,7 +49,7 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
+TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, structs.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
 @cache
@@ -84,7 +84,7 @@ def get_torque_params():
 # generic car and radar interfaces
 
 class CarInterfaceBase(ABC):
-  def __init__(self, CP: car.CarParams, CarController, CarState):
+  def __init__(self, CP: structs.CarParams, CarController, CarState):
     self.CP = CP
 
     self.frame = 0
@@ -101,7 +101,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
+  def apply(self, c: structs.CarControl, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -109,14 +109,15 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_non_essential_params(cls, candidate: str) -> car.CarParams:
+  def get_non_essential_params(cls, candidate: str) -> structs.CarParams:
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
+                 experimental_long: bool, docs: bool) -> structs.CarParams:
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -143,12 +144,12 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool) -> car.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
+                  car_fw: list[structs.CarParams.CarFw], experimental_long: bool, docs: bool) -> structs.CarParams:
     raise NotImplementedError
 
   @staticmethod
-  def init(CP: car.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
+  def init(CP: structs.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
     pass
 
   @staticmethod
@@ -159,7 +160,7 @@ class CarInterfaceBase(ABC):
   def get_steer_feedforward_function(self):
     return self.get_steer_feedforward_default
 
-  def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning,
+  def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
                                        lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
@@ -170,8 +171,8 @@ class CarInterfaceBase(ABC):
 
   # returns a set of default params to avoid repetition in car specific params
   @staticmethod
-  def get_std_params(candidate):
-    ret = car.CarParams.new_message()
+  def get_std_params(candidate: str) -> structs.CarParams:
+    ret = structs.CarParams()
     ret.carFingerprint = candidate
 
     # Car docs fields
@@ -180,7 +181,7 @@ class CarInterfaceBase(ABC):
 
     # standard ALC params
     ret.tireStiffnessFactor = 1.0
-    ret.steerControlType = car.CarParams.SteerControlType.torque
+    ret.steerControlType = structs.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
 
@@ -204,7 +205,7 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def configure_torque_tune(candidate: str, tune: car.CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
+  def configure_torque_tune(candidate: str, tune: structs.CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
     params = get_torque_params()[candidate]
 
     tune.init('torque')
@@ -217,10 +218,10 @@ class CarInterfaceBase(ABC):
     tune.torque.latAccelOffset = 0.0
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
-  def _update(self) -> car.CarState:
+  def _update(self) -> structs.CarState:
     return self.CS.update(*self.can_parsers)
 
-  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
+  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -245,33 +246,33 @@ class CarInterfaceBase(ABC):
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
-    # copy back for next iteration
-    self.CS.out = ret.as_reader()
+    # save for next iteration
+    self.CS.out = ret
 
     return ret
 
 
 class RadarInterfaceBase(ABC):
-  def __init__(self, CP: car.CarParams):
+  def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.rcp = None
-    self.pts: dict[int, car.RadarData.RadarPoint] = {}
+    self.pts: dict[int, structs.RadarData.RadarPoint] = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
 
-  def update(self, can_strings):
+  def update(self, can_strings) -> structs.RadarData | None:
     self.frame += 1
     if (self.frame % int(100 * self.radar_ts)) == 0:
-      return car.RadarData.new_message()
+      return structs.RadarData()
     return None
 
 
 class CarStateBase(ABC):
-  def __init__(self, CP: car.CarParams):
+  def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
-    self.out = car.CarState.new_message()
+    self.out = structs.CarState()
 
     self.cruise_buttons = 0
     self.left_blinker_cnt = 0
@@ -291,7 +292,7 @@ class CarStateBase(ABC):
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
   @abstractmethod
-  def update(self, cp, cp_cam, cp_adas, cp_body, cp_loopback) -> car.CarState:
+  def update(self, cp, cp_cam, cp_adas, cp_body, cp_loopback) -> structs.CarState:
     pass
 
   def update_speed_kf(self, v_ego_raw):
@@ -304,7 +305,7 @@ class CarStateBase(ABC):
   def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
     factor = unit * self.CP.wheelSpeedFactor
 
-    wheelSpeeds = car.CarState.WheelSpeeds.new_message()
+    wheelSpeeds = structs.CarState.WheelSpeeds()
     wheelSpeeds.fl = fl * factor
     wheelSpeeds.fr = fr * factor
     wheelSpeeds.rl = rl * factor
@@ -349,7 +350,7 @@ class CarStateBase(ABC):
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
   @staticmethod
-  def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
+  def parse_gear_shifter(gear: str | None) -> GearShifter:
     if gear is None:
       return GearShifter.unknown
     return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown)
@@ -376,12 +377,12 @@ class CarStateBase(ABC):
 
 
 class CarControllerBase(ABC):
-  def __init__(self, dbc_name: str, CP: car.CarParams):
+  def __init__(self, dbc_name: str, CP: structs.CarParams):
     self.CP = CP
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl, CS: CarStateBase, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
+  def update(self, CC: structs.CarControl, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     pass
 
 
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 910e2303d8..db52c07dea 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -1,11 +1,11 @@
-from cereal import car
+import copy
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.mazda import mazdacan
 from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
@@ -57,7 +57,7 @@ class CarController(CarControllerBase):
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
                                                       self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = CC.actuators.as_builder()
+    new_actuators = copy.copy(CC.actuators)
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
 
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 1693d167be..d48d078243 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,12 +1,11 @@
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 
 
 class CarState(CarStateBase):
@@ -24,9 +23,9 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam, *_):
+  def update(self, cp, cp_cam, *_) -> structs.CarState:
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
index c7b331b1cb..41c1e7fb62 100644
--- a/selfdrive/car/mazda/fingerprints.py
+++ b/selfdrive/car/mazda/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.mazda.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.MAZDA_CX5_2022: {
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index e37fca384a..3c868745fc 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -10,9 +9,9 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "mazda"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
     ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index cfd7067db6..ea49eeaecf 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,13 +1,13 @@
 from dataclasses import dataclass, field
 from enum import IntFlag
 
-from cereal import car
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 # Steer torque limits
diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py
index 0cd37c0369..cd1d67747e 100644
--- a/selfdrive/car/mock/carcontroller.py
+++ b/selfdrive/car/mock/carcontroller.py
@@ -1,5 +1,6 @@
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
+
 class CarController(CarControllerBase):
   def update(self, CC, CS, now_nanos):
-    return CC.actuators.as_builder(), []
+    return CC.actuators, []
diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py
index 3937e8d75e..4fbebf5a4f 100644
--- a/selfdrive/car/mock/carstate.py
+++ b/selfdrive/car/mock/carstate.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 
 class CarState(CarStateBase):
-  def update(self, *_) -> car.CarState:
-    return car.CarState.new_message()
+  def update(self, *_) -> structs.CarState:
+    return structs.CarState()
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 95887b4442..d33cc7d164 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -6,7 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 35a70ff106..e0e0389866 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -1,11 +1,11 @@
-from cereal import car
+import copy
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.nissan import nissancan
 from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
@@ -74,7 +74,7 @@ class CarController(CarControllerBase):
           self.packer, CS.lkas_hud_info_msg, steer_hud_alert
         ))
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.steeringAngleDeg = apply_angle
 
     self.frame += 1
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 9da8e8d4ba..78d57b7e2e 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -1,14 +1,13 @@
 import copy
 from collections import deque
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events
+from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 
 TORQUE_SAMPLES = 12
 
@@ -26,8 +25,8 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam, cp_adas, *_):
-    ret = car.CarState.new_message()
+  def update(self, cp, cp_cam, cp_adas, *_) -> structs.CarState:
+    ret = structs.CarState()
 
     prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py
index 743feeace9..0ba4140fb7 100644
--- a/selfdrive/car/nissan/fingerprints.py
+++ b/selfdrive/car/nissan/fingerprints.py
@@ -1,8 +1,8 @@
 # ruff: noqa: E501
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.nissan.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FINGERPRINTS = {
   CAR.NISSAN_XTRAIL: [{
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index c3418cabe6..4a9b31dacf 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,6 +1,5 @@
-from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
@@ -8,16 +7,16 @@ from openpilot.selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "nissan"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
 
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
 
-    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
     if candidate == CAR.NISSAN_ALTIMA:
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index eecffb21bc..e50ffbd94b 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,12 +1,12 @@
 from dataclasses import dataclass, field
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:
diff --git a/selfdrive/car/structs.py b/selfdrive/car/structs.py
new file mode 100644
index 0000000000..c375468353
--- /dev/null
+++ b/selfdrive/car/structs.py
@@ -0,0 +1,499 @@
+from dataclasses import dataclass as _dataclass, field, is_dataclass
+from enum import Enum, StrEnum as _StrEnum, auto
+from typing import dataclass_transform, get_origin
+
+AUTO_OBJ = object()
+
+
+def auto_field():
+  return AUTO_OBJ
+
+
+@dataclass_transform()
+def auto_dataclass(cls=None, /, **kwargs):
+  cls_annotations = cls.__dict__.get('__annotations__', {})
+  for name, typ in cls_annotations.items():
+    current_value = getattr(cls, name)
+    if current_value is AUTO_OBJ:
+      origin_typ = get_origin(typ) or typ
+      if isinstance(origin_typ, str):
+        raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.")
+      elif origin_typ in (int, float, str, bytes, list, tuple, bool) or is_dataclass(origin_typ):
+        setattr(cls, name, field(default_factory=origin_typ))
+      elif issubclass(origin_typ, Enum):  # first enum is the default
+        setattr(cls, name, field(default=next(iter(origin_typ))))
+      else:
+        raise TypeError(f"Unsupported type for auto_field: {origin_typ}")
+
+  # TODO: use slots, this prevents accidentally setting attributes that don't exist
+  return _dataclass(cls, **kwargs)
+
+
+class StrEnum(_StrEnum):
+  @staticmethod
+  def _generate_next_value_(name, *args):
+    # auto() defaults to name.lower()
+    return name
+
+
+@auto_dataclass
+class CarState:
+  # CAN health
+  canValid: bool = auto_field()  # invalid counter/checksums
+  canTimeout: bool = auto_field()  # CAN bus dropped out
+  canErrorCounter: int = auto_field()
+
+  # car speed
+  vEgo: float = auto_field()  # best estimate of speed
+  aEgo: float = auto_field()  # best estimate of acceleration
+  vEgoRaw: float = auto_field()  # unfiltered speed from CAN sensors
+  vEgoCluster: float = auto_field()  # best estimate of speed shown on car's instrument cluster, used for UI
+
+  yawRate: float = auto_field()  # best estimate of yaw rate
+  standstill: bool = auto_field()
+  wheelSpeeds: 'CarState.WheelSpeeds' = field(default_factory=lambda: CarState.WheelSpeeds())
+
+  # gas pedal, 0.0-1.0
+  gas: float = auto_field()  # this is user pedal only
+  gasPressed: bool = auto_field()  # this is user pedal only
+
+  engineRpm: float = auto_field()
+
+  # brake pedal, 0.0-1.0
+  brake: float = auto_field()  # this is user pedal only
+  brakePressed: bool = auto_field()  # this is user pedal only
+  regenBraking: bool = auto_field()  # this is user pedal only
+  parkingBrake: bool = auto_field()
+  brakeHoldActive: bool = auto_field()
+
+  # steering wheel
+  steeringAngleDeg: float = auto_field()
+  steeringAngleOffsetDeg: float = auto_field()  # Offset betweens sensors in case there multiple
+  steeringRateDeg: float = auto_field()
+  steeringTorque: float = auto_field()  # TODO: standardize units
+  steeringTorqueEps: float = auto_field()  # TODO: standardize units
+  steeringPressed: bool = auto_field()  # if the user is using the steering wheel
+  steerFaultTemporary: bool = auto_field()  # temporary EPS fault
+  steerFaultPermanent: bool = auto_field()  # permanent EPS fault
+  stockAeb: bool = auto_field()
+  stockFcw: bool = auto_field()
+  espDisabled: bool = auto_field()
+  accFaulted: bool = auto_field()
+  carFaultedNonCritical: bool = auto_field()  # some ECU is faulted, but car remains controllable
+  espActive: bool = auto_field()
+  vehicleSensorsInvalid: bool = auto_field()  # invalid steering angle readings, etc.
+
+  # cruise state
+  cruiseState: 'CarState.CruiseState' = field(default_factory=lambda: CarState.CruiseState())
+
+  # gear
+  gearShifter: 'CarState.GearShifter' = field(default_factory=lambda: CarState.GearShifter.unknown)
+
+  # button presses
+  buttonEvents: list['CarState.ButtonEvent'] = auto_field()
+  leftBlinker: bool = auto_field()
+  rightBlinker: bool = auto_field()
+  genericToggle: bool = auto_field()
+
+  # lock info
+  doorOpen: bool = auto_field()
+  seatbeltUnlatched: bool = auto_field()
+
+  # clutch (manual transmission only)
+  clutchPressed: bool = auto_field()
+
+  # blindspot sensors
+  leftBlindspot: bool = auto_field()  # Is there something blocking the left lane change
+  rightBlindspot: bool = auto_field()  # Is there something blocking the right lane change
+
+  fuelGauge: float = auto_field()  # battery or fuel tank level from 0.0 to 1.0
+  charging: bool = auto_field()
+
+  # process meta
+  cumLagMs: float = auto_field()
+
+  @auto_dataclass
+  class WheelSpeeds:
+    # optional wheel speeds
+    fl: float = auto_field()
+    fr: float = auto_field()
+    rl: float = auto_field()
+    rr: float = auto_field()
+
+  @auto_dataclass
+  class CruiseState:
+    enabled: bool = auto_field()
+    speed: float = auto_field()
+    speedCluster: float = auto_field()  # Set speed as shown on instrument cluster
+    available: bool = auto_field()
+    speedOffset: float = auto_field()
+    standstill: bool = auto_field()
+    nonAdaptive: bool = auto_field()
+
+  class GearShifter(StrEnum):
+    unknown = auto()
+    park = auto()
+    drive = auto()
+    neutral = auto()
+    reverse = auto()
+    sport = auto()
+    low = auto()
+    brake = auto()
+    eco = auto()
+    manumatic = auto()
+
+  # send on change
+  @auto_dataclass
+  class ButtonEvent:
+    pressed: bool = auto_field()
+    type: 'CarState.ButtonEvent.Type' = field(default_factory=lambda: CarState.ButtonEvent.Type.unknown)
+
+    class Type(StrEnum):
+      unknown = auto()
+      leftBlinker = auto()
+      rightBlinker = auto()
+      accelCruise = auto()
+      decelCruise = auto()
+      cancel = auto()
+      altButton1 = auto()
+      altButton2 = auto()
+      altButton3 = auto()
+      setCruise = auto()
+      resumeCruise = auto()
+      gapAdjustCruise = auto()
+
+
+@auto_dataclass
+class RadarData:
+  errors: list['Error'] = auto_field()
+  points: list['RadarPoint'] = auto_field()
+
+  class Error(StrEnum):
+    canError = auto()
+    fault = auto()
+    wrongConfig = auto()
+
+  @auto_dataclass
+  class RadarPoint:
+    trackId: int = auto_field()  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel: float = auto_field()  # m from the front bumper of the car
+    yRel: float = auto_field()  # m
+    vRel: float = auto_field()  # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel: float = auto_field()  # m/s^2
+    yvRel: float = auto_field()  # m/s
+
+    # some radars flag measurements VS estimates
+    measured: bool = auto_field()
+
+
+@auto_dataclass
+class CarControl:
+  # must be true for any actuator commands to work
+  enabled: bool = auto_field()
+  latActive: bool = auto_field()
+  longActive: bool = auto_field()
+
+  # Actuator commands as computed by controlsd
+  actuators: 'CarControl.Actuators' = field(default_factory=lambda: CarControl.Actuators())
+
+  leftBlinker: bool = auto_field()
+  rightBlinker: bool = auto_field()
+
+  orientationNED: list[float] = auto_field()
+  angularVelocity: list[float] = auto_field()
+
+  cruiseControl: 'CarControl.CruiseControl' = field(default_factory=lambda: CarControl.CruiseControl())
+  hudControl: 'CarControl.HUDControl' = field(default_factory=lambda: CarControl.HUDControl())
+
+  @auto_dataclass
+  class Actuators:
+    # range from 0.0 - 1.0
+    gas: float = auto_field()
+    brake: float = auto_field()
+    # range from -1.0 - 1.0
+    steer: float = auto_field()
+    # value sent over can to the car
+    steerOutputCan: float = auto_field()
+    steeringAngleDeg: float = auto_field()
+
+    curvature: float = auto_field()
+
+    speed: float = auto_field()  # m/s
+    accel: float = auto_field()  # m/s^2
+    longControlState: 'CarControl.Actuators.LongControlState' = field(default_factory=lambda: CarControl.Actuators.LongControlState.off)
+
+    class LongControlState(StrEnum):
+      off = auto()
+      pid = auto()
+      stopping = auto()
+      starting = auto()
+
+  @auto_dataclass
+  class CruiseControl:
+    cancel: bool = auto_field()
+    resume: bool = auto_field()
+    override: bool = auto_field()
+
+  @auto_dataclass
+  class HUDControl:
+    speedVisible: bool = auto_field()
+    setSpeed: float = auto_field()
+    lanesVisible: bool = auto_field()
+    leadVisible: bool = auto_field()
+    visualAlert: 'CarControl.HUDControl.VisualAlert' = field(default_factory=lambda: CarControl.HUDControl.VisualAlert.none)
+    audibleAlert: 'CarControl.HUDControl.AudibleAlert' = field(default_factory=lambda: CarControl.HUDControl.AudibleAlert.none)
+    rightLaneVisible: bool = auto_field()
+    leftLaneVisible: bool = auto_field()
+    rightLaneDepart: bool = auto_field()
+    leftLaneDepart: bool = auto_field()
+    leadDistanceBars: int = auto_field()  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+
+    class VisualAlert(StrEnum):
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none = auto()
+      fcw = auto()
+      steerRequired = auto()
+      brakePressed = auto()
+      wrongGear = auto()
+      seatbeltUnbuckled = auto()
+      speedTooHigh = auto()
+      ldw = auto()
+
+    class AudibleAlert(StrEnum):
+      none = auto()
+
+      engage = auto()
+      disengage = auto()
+      refuse = auto()
+
+      warningSoft = auto()
+      warningImmediate = auto()
+
+      prompt = auto()
+      promptRepeat = auto()
+      promptDistracted = auto()
+
+
+@auto_dataclass
+class CarParams:
+  carName: str = auto_field()
+  carFingerprint: str = auto_field()
+  fuzzyFingerprint: bool = auto_field()
+
+  notCar: bool = auto_field()  # flag for non-car robotics platforms
+
+  pcmCruise: bool = auto_field()  # is openpilot's state tied to the PCM's cruise state?
+  enableDsu: bool = auto_field()  # driving support unit
+  enableBsm: bool = auto_field()  # blind spot monitoring
+  flags: int = auto_field()  # flags for car specific quirks
+  experimentalLongitudinalAvailable: bool = auto_field()
+
+  minEnableSpeed: float = auto_field()
+  minSteerSpeed: float = auto_field()
+  safetyConfigs: list['CarParams.SafetyConfig'] = auto_field()
+  alternativeExperience: int = auto_field()  # panda flag for features like no disengage on gas
+
+  maxLateralAccel: float = auto_field()
+  autoResumeSng: bool = auto_field()  # describes whether car can resume from a stop automatically
+
+  mass: float = auto_field()  # [kg] curb weight: all fluids no cargo
+  wheelbase: float = auto_field()  # [m] distance from rear axle to front axle
+  centerToFront: float = auto_field()  # [m] distance from center of mass to front axle
+  steerRatio: float = auto_field()  # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear: float = auto_field()  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
+
+  rotationalInertia: float = auto_field()  # [kg*m2] body rotational inertia
+  tireStiffnessFactor: float = auto_field()  # scaling factor used in calculating tireStiffness[Front,Rear]
+  tireStiffnessFront: float = auto_field()  # [N/rad] front tire coeff of stiff
+  tireStiffnessRear: float = auto_field()  # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning: 'CarParams.LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
+  lateralParams: 'CarParams.LateralParams' = field(default_factory=lambda: CarParams.LateralParams())
+  lateralTuning: 'CarParams.LateralTuning' = field(default_factory=lambda: CarParams.LateralTuning())
+
+  @auto_dataclass
+  class LateralTuning:
+    def init(self, which: str):
+      self.which = CarParams.LateralTuning.Which(which)
+
+    class Which(StrEnum):
+      pid = auto()
+      torque = auto()
+
+      def __call__(self):
+        return self.value
+
+    which: 'CarParams.LateralTuning.Which' = field(default_factory=lambda: CarParams.LateralTuning.Which.pid)
+
+    pid: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
+    torque: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning())
+
+  @auto_dataclass
+  class SafetyConfig:
+    safetyModel: 'CarParams.SafetyModel' = field(default_factory=lambda: CarParams.SafetyModel.silent)
+    safetyParam: int = auto_field()
+
+  @auto_dataclass
+  class LateralParams:
+    torqueBP: list[int] = auto_field()
+    torqueV: list[int] = auto_field()
+
+  @auto_dataclass
+  class LateralPIDTuning:
+    kpBP: list[float] = auto_field()
+    kpV: list[float] = auto_field()
+    kiBP: list[float] = auto_field()
+    kiV: list[float] = auto_field()
+    kf: float = auto_field()
+
+  @auto_dataclass
+  class LateralTorqueTuning:
+    useSteeringAngle: bool = auto_field()
+    kp: float = auto_field()
+    ki: float = auto_field()
+    friction: float = auto_field()
+    kf: float = auto_field()
+    steeringAngleDeadzoneDeg: float = auto_field()
+    latAccelFactor: float = auto_field()
+    latAccelOffset: float = auto_field()
+
+  steerLimitAlert: bool = auto_field()
+  steerLimitTimer: float = auto_field()  # time before steerLimitAlert is issued
+
+  vEgoStopping: float = auto_field()  # Speed at which the car goes into stopping state
+  vEgoStarting: float = auto_field()  # Speed at which the car goes into starting state
+  stoppingControl: bool = auto_field()  # Does the car allow full control even at lows speeds when stopping
+  steerControlType: 'CarParams.SteerControlType' = field(default_factory=lambda: CarParams.SteerControlType.torque)
+  radarUnavailable: bool = auto_field()  # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel: float = auto_field()  # Required acceleration to keep vehicle stationary
+  stoppingDecelRate: float = auto_field()  # m/s^2/s while trying to stop
+  startAccel: float = auto_field()  # Required acceleration to get car moving
+  startingState: bool = auto_field()  # Does this car make use of special starting state
+
+  steerActuatorDelay: float = auto_field()  # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelay: float = auto_field()  # Gas/Brake actuator delay in seconds
+  openpilotLongitudinalControl: bool = auto_field()  # is openpilot doing the longitudinal control?
+  carVin: str = auto_field()  # VIN number queried during fingerprinting
+  dashcamOnly: bool = auto_field()
+  passive: bool = auto_field()  # is openpilot in control?
+  transmissionType: 'CarParams.TransmissionType' = field(default_factory=lambda: CarParams.TransmissionType.unknown)
+  carFw: list['CarParams.CarFw'] = auto_field()
+
+  radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
+  fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can)
+  # Where Panda/C2 is integrated into the car's CAN network
+  networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera)
+
+  wheelSpeedFactor: float = auto_field()  # Multiplier on wheels speeds to computer actual speeds
+
+  @auto_dataclass
+  class LongitudinalPIDTuning:
+    kpBP: list[float] = auto_field()
+    kpV: list[float] = auto_field()
+    kiBP: list[float] = auto_field()
+    kiV: list[float] = auto_field()
+    kf: float = auto_field()
+
+  class SafetyModel(StrEnum):
+    silent = auto()
+    hondaNidec = auto()
+    toyota = auto()
+    elm327 = auto()
+    gm = auto()
+    hondaBoschGiraffe = auto()
+    ford = auto()
+    cadillac = auto()
+    hyundai = auto()
+    chrysler = auto()
+    tesla = auto()
+    subaru = auto()
+    gmPassive = auto()
+    mazda = auto()
+    nissan = auto()
+    volkswagen = auto()
+    toyotaIpas = auto()
+    allOutput = auto()
+    gmAscm = auto()
+    noOutput = auto()  # like silent but without silent CAN TXs
+    hondaBosch = auto()
+    volkswagenPq = auto()
+    subaruPreglobal = auto()  # pre-Global platform
+    hyundaiLegacy = auto()
+    hyundaiCommunity = auto()
+    volkswagenMlb = auto()
+    hongqi = auto()
+    body = auto()
+    hyundaiCanfd = auto()
+    volkswagenMqbEvo = auto()
+    chryslerCusw = auto()
+    psa = auto()
+
+  class SteerControlType(StrEnum):
+    torque = auto()
+    angle = auto()
+
+  class TransmissionType(StrEnum):
+    unknown = auto()
+    automatic = auto()  # Traditional auto, including DSG
+    manual = auto()  # True "stick shift" only
+    direct = auto()  # Electric vehicle or other direct drive
+    cvt = auto()
+
+  @auto_dataclass
+  class CarFw:
+    ecu: 'CarParams.Ecu' = field(default_factory=lambda: CarParams.Ecu.unknown)
+    fwVersion: bytes = auto_field()
+    address: int = auto_field()
+    subAddress: int = auto_field()
+    responseAddress: int = auto_field()
+    request: list[bytes] = auto_field()
+    brand: str = auto_field()
+    bus: int = auto_field()
+    logging: bool = auto_field()
+    obdMultiplexing: bool = auto_field()
+
+  class Ecu(StrEnum):
+    eps = auto()
+    abs = auto()
+    fwdRadar = auto()
+    fwdCamera = auto()
+    engine = auto()
+    unknown = auto()
+    transmission = auto()  # Transmission Control Module
+    hybrid = auto()  # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs = auto()  # airbag
+    gateway = auto()  # can gateway
+    hud = auto()  # heads up display
+    combinationMeter = auto()  # instrument cluster
+    electricBrakeBooster = auto()
+    shiftByWire = auto()
+    adas = auto()
+    cornerRadar = auto()
+    hvac = auto()
+    parkingAdas = auto()  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb = auto()  # electronic parking brake
+    telematics = auto()
+    body = auto()  # body control module
+
+    # Toyota only
+    dsu = auto()
+
+    # Honda only
+    vsa = auto()  # Vehicle Stability Assist
+    programmedFuelInjection = auto()
+
+    debug = auto()
+
+  class FingerprintSource(StrEnum):
+    can = auto()
+    fw = auto()
+    fixed = auto()
+
+  class NetworkLocation(StrEnum):
+    fwdCamera = auto()  # Standard/default integration at LKAS camera
+    gateway = auto()    # Integration at vehicle's CAN gateway
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index ba8a87b2d5..2b8de77cb1 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,3 +1,4 @@
+import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.common.numpy_fast import clip, interp
@@ -135,7 +136,7 @@ class CarController(CarControllerBase):
         if self.frame % 2 == 0:
           can_sends.append(subarucan.create_es_static_2(self.packer))
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 125d589928..5ae7416c9e 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -1,7 +1,7 @@
 import copy
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
@@ -16,8 +16,8 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, _, cp_body, __):
-    ret = car.CarState.new_message()
+  def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
+    ret = structs.CarState()
 
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
     ret.gas = throttle_msg["Throttle_Pedal"] / 255.
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index 7f3ae73163..340844e561 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.subaru.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.SUBARU_ASCENT: {
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index c733ef291b..d392edc60b 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,6 +1,5 @@
-from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
@@ -9,7 +8,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFla
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -25,10 +24,10 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & SubaruFlags.PREGLOBAL:
       ret.enableBsm = 0x25c in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaruPreglobal)]
     else:
       ret.enableBsm = 0x228 in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
       if ret.flags & SubaruFlags.GLOBAL_GEN2:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
@@ -36,7 +35,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
 
     if ret.flags & SubaruFlags.LKAS_ANGLE:
-      ret.steerControlType = car.CarParams.SteerControlType.angle
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 41bd177ff2..fd6644c22c 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.subaru.values import CanBus
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 def create_steering_control(packer, apply_steer, steer_req):
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index dcbea1979f..655627159d 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,13 +1,13 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:
@@ -93,7 +93,7 @@ class SubaruCarDocs(CarDocs):
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
   footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
 
     if CP.experimentalLongitudinalAvailable:
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index e863c1d08c..249fb24a7a 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -7,7 +7,9 @@ from parameterized import parameterized
 
 from cereal import car, messaging
 from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from openpilot.selfdrive.car.interfaces import get_interface_attr
@@ -43,8 +45,8 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
   })
 
   params: dict = draw(params_strategy)
-  params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0,
-                                          request=draw(st.sampled_from(sorted(ALL_REQUESTS))))
+  params['car_fw'] = [CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0,
+                                      request=draw(st.sampled_from(sorted(ALL_REQUESTS))))
                       for fw in params['car_fw']]
   return params
 
@@ -63,7 +65,6 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
-    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -79,7 +80,7 @@ class TestCarInterfaces:
     assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
 
     # Lateral sanity checks
-    if car_params.steerControlType != car.CarParams.SteerControlType.angle:
+    if car_params.steerControlType != CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning
       if tune.which() == 'pid':
         if car_name != MOCK.MOCK:
@@ -95,28 +96,31 @@ class TestCarInterfaces:
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
+    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC.as_reader(), now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
+    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC.as_reader(), now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params)
-    if car_params.steerControlType == car.CarParams.SteerControlType.angle:
-      LatControlAngle(car_params, car_interface)
+    car_params_capnp = convert_to_capnp(car_params).as_reader()
+    LongControl(car_params_capnp)
+    if car_params.steerControlType == CarParams.SteerControlType.angle:
+      LatControlAngle(car_params_capnp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params, car_interface)
+      LatControlPID(car_params_capnp, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params, car_interface)
+      LatControlTorque(car_params_capnp, car_interface)
 
     # Test radar interface
     RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index bd24054450..c859287cbd 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -4,18 +4,16 @@ import time
 from collections import defaultdict
 from parameterized import parameterized
 
-from cereal import car
 from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                 match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_fw_versions_ordered, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
 
-CarFw = car.CarParams.CarFw
-Ecu = car.CarParams.Ecu
-
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+CarFw = CarParams.CarFw
+Ecu = CarParams.Ecu
 
 
 class TestFwFingerprint:
@@ -27,7 +25,7 @@ class TestFwFingerprint:
   @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
   def test_exact_match(self, brand, car_model, ecus, test_non_essential):
     config = FW_QUERY_CONFIGS[brand]
-    CP = car.CarParams.new_message()
+    CP = CarParams()
     for _ in range(100):
       fw = []
       for ecu, fw_versions in ecus.items():
@@ -37,8 +35,8 @@ class TestFwFingerprint:
           continue
 
         ecu_name, addr, sub_addr = ecu
-        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
-                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+        fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(fw_versions), brand=brand,
+                        address=addr, subAddress=0 if sub_addr is None else sub_addr))
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_fuzzy=False)
       if not test_non_essential:
@@ -55,13 +53,13 @@ class TestFwFingerprint:
     if config.match_fw_to_car_fuzzy is None:
       pytest.skip("Brand does not implement custom fuzzy fingerprinting function")
 
-    CP = car.CarParams.new_message()
+    CP = CarParams()
     for _ in range(5):
       fw = []
       for ecu, fw_versions in ecus.items():
         ecu_name, addr, sub_addr = ecu
-        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
-                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+        fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(fw_versions), brand=brand,
+                        address=addr, subAddress=0 if sub_addr is None else sub_addr))
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
       brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, VERSIONS[brand])
@@ -82,13 +80,13 @@ class TestFwFingerprint:
       ecu_name, addr, sub_addr = ecu
       for _ in range(5):
         # Add multiple FW versions to simulate ECU returning to multiple queries in a brand
-        fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
-                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
-      CP = car.CarParams.new_message(carFw=fw)
+        fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(ecus[ecu]), brand=brand,
+                        address=addr, subAddress=0 if sub_addr is None else sub_addr))
+      CP = CarParams(carFw=fw)
       _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
 
       # Assert no match if there are not enough unique ECUs
-      unique_ecus = {(f['address'], f['subAddress']) for f in fw}
+      unique_ecus = {(f.address, f.subAddress) for f in fw}
       if len(unique_ecus) < 2:
         assert len(matches) == 0, car_model
       # There won't always be a match due to shared FW, but if there is it should be correct
@@ -99,10 +97,10 @@ class TestFwFingerprint:
     for car_model, ecus in FW_VERSIONS.items():
       with subtests.test(car_model=car_model.value):
         for ecu, ecu_fw in ecus.items():
-          with subtests.test(ecu):
+          with subtests.test((ecu[0].value, ecu[1], ecu[2])):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-            assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}'
-            assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}'
+            assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ecu[0]}, {duplicates}'
+            assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ecu[0]}'
 
   def test_all_addrs_map_to_one_ecu(self):
     for brand, cars in VERSIONS.items():
@@ -111,7 +109,7 @@ class TestFwFingerprint:
         for ecu_type, addr, sub_addr in ecus.keys():
           addr_to_ecu[(addr, sub_addr)].add(ecu_type)
           ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
-          ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
+          ecu_strings = ", ".join([f'Ecu.{ecu}' for ecu in ecus_for_addr])
           assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})"
 
   def test_data_collection_ecus(self, subtests):
@@ -129,13 +127,13 @@ class TestFwFingerprint:
         CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():
-            assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})'
+            assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ecu[0]}, {hex(ecu[1])})'
 
         elif CP.carName == "chrysler":
           # Some HD trucks have a combined TCM and ECM
           if CP.carFingerprint.startswith("RAM_HD"):
             for ecu in ecus.keys():
-              assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})"
+              assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ecu[0]}, {hex(ecu[1])})"
 
   def test_non_essential_ecus(self, subtests):
     for brand, config in FW_QUERY_CONFIGS.items():
@@ -143,7 +141,7 @@ class TestFwFingerprint:
         # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
         unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS)
         assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \
-                                                                f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}"
+                                                                f"{', '.join([f'Ecu.{ecu}' for ecu in unnecessary_non_essential_ecus])}"
 
   def test_missing_versions_and_configs(self, subtests):
     brand_versions = set(VERSIONS.keys())
@@ -172,7 +170,7 @@ class TestFwFingerprint:
         # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
         ecus_not_whitelisted = brand_ecus - whitelisted_ecus
 
-        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
+        ecu_strings = ", ".join([f'Ecu.{ecu}' for ecu in ecus_not_whitelisted])
         assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \
                          f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}'
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index c8b0b0fc1f..eecb6c1ba9 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -1,4 +1,6 @@
 import capnp
+import copy
+import dataclasses
 import os
 import importlib
 import pytest
@@ -13,12 +15,13 @@ from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car.card import Car, convert_to_capnp
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -181,7 +184,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
+    self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
     assert self.CI
 
     Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -189,7 +192,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
-    cfg = self.CP.safetyConfigs[-1]
+    cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
@@ -201,7 +204,7 @@ class TestCarModelBase(unittest.TestCase):
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)
 
-    if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType != structs.CarParams.SteerControlType.angle:
       tuning = self.CP.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
@@ -214,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = car.CarControl.new_message().as_reader()
+    CC = structs.CarControl()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -238,9 +241,9 @@ class TestCarModelBase(unittest.TestCase):
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      rr: structs.RadarData | None = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
       if rr is not None and i > 50:
-        error_cnt += car.RadarData.Error.canError in rr.errors
+        error_cnt += structs.RadarData.Error.canError in rr.errors
     self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_checks(self):
@@ -306,18 +309,18 @@ class TestCarModelBase(unittest.TestCase):
       self.assertGreater(msgs_sent, 50)
 
     # Make sure we can send all messages while inactive
-    CC = car.CarControl.new_message()
-    test_car_controller(CC.as_reader())
+    CC = structs.CarControl()
+    test_car_controller(CC)
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
-    CC = car.CarControl.new_message(cruiseControl={'cancel': True})
-    test_car_controller(CC.as_reader())
+    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
+    test_car_controller(CC)
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
-    CC = car.CarControl.new_message(cruiseControl={'resume': True})
-    test_car_controller(CC.as_reader())
+    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
+    test_car_controller(CC)
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -403,7 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
+      CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 427796cae9..aaaf072de7 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,5 +1,5 @@
-from cereal import car
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg
+import copy
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg, structs
 from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -9,8 +9,8 @@ from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
-SteerControlType = car.CarParams.SteerControlType
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+SteerControlType = structs.CarParams.SteerControlType
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -168,7 +168,7 @@ class CarController(CarControllerBase):
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
     new_actuators.steeringAngleDeg = self.last_angle
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index bea4e40896..2970d8c34d 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,9 +1,8 @@
 import copy
 
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL, create_button_events
+from openpilot.selfdrive.car import DT_CTRL, create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.car.common.numpy_fast import mean
@@ -11,8 +10,8 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
-ButtonType = car.CarState.ButtonEvent.Type
-SteerControlType = car.CarParams.SteerControlType
+ButtonType = structs.CarState.ButtonEvent.Type
+SteerControlType = structs.CarParams.SteerControlType
 
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
@@ -49,8 +48,8 @@ class CarState(CarStateBase):
     self.acc_type = 1
     self.lkas_hud = {}
 
-  def update(self, cp, cp_cam, *_):
-    ret = car.CarState.new_message()
+  def update(self, cp, cp_cam, *_) -> structs.CarState:
+    ret = structs.CarState()
 
     ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
                         cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 292be96fc8..6a0bbbdf94 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.toyota.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.TOYOTA_AVALON: {
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index fb63ab557b..39586a8de8 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,13 +1,12 @@
-from cereal import car
 from panda import Panda
 from panda.python import uds
+from openpilot.selfdrive.car import structs, get_safety_config
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
-from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-SteerControlType = car.CarParams.SteerControlType
+SteerControlType = structs.CarParams.SteerControlType
 
 
 class CarInterface(CarInterfaceBase):
@@ -16,9 +15,9 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "toyota"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
     # BRAKE_MODULE is on a different address for these cars
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index fae6eecaf6..162b8a891d 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
-from cereal import car
+from openpilot.selfdrive.car.structs import RadarData
 from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
@@ -54,7 +54,7 @@ class RadarInterface(RadarInterfaceBase):
     return rr
 
   def _update(self, updated_messages):
-    ret = car.RadarData.new_message()
+    ret = RadarData()
     errors = []
     if not self.rcp.can_valid:
       errors.append("canError")
@@ -77,7 +77,7 @@ class RadarInterface(RadarInterfaceBase):
         # radar point only valid if it's a valid measurement and score is above 50
         if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0):
           if ii not in self.pts or cpt['NEW_TRACK']:
-            self.pts[ii] = car.RadarData.RadarPoint.new_message()
+            self.pts[ii] = RadarData.RadarPoint()
             self.pts[ii].trackId = self.track_id
             self.track_id += 1
           self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py
index 9ec7a14cd3..495a9f7242 100755
--- a/selfdrive/car/toyota/tests/print_platform_codes.py
+++ b/selfdrive/car/toyota/tests/print_platform_codes.py
@@ -1,19 +1,15 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from cereal import car
 from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes
 from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
 if __name__ == "__main__":
   parts_for_ecu: dict = defaultdict(set)
   cars_for_code: dict = defaultdict(lambda: defaultdict(set))
   for car_model, ecus in FW_VERSIONS.items():
     print()
     print(car_model)
-    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+    for ecu in sorted(ecus):
       if ecu[0] not in PLATFORM_CODE_ECUS:
         continue
 
@@ -21,15 +17,15 @@ if __name__ == "__main__":
       parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1}
       for code in platform_codes:
         cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model}
-      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
       print(f'    Codes: {platform_codes}')
 
   print('\nECU parts:')
   for ecu, parts in parts_for_ecu.items():
-    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
+    print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
 
   print('\nCar models vs. platform codes (no major versions):')
   for ecu, codes in cars_for_code.items():
-    print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
     for code, cars in codes.items():
       print(f'    {code!r}: {sorted(cars)}')
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index 75e3ea7037..6648e56cef 100644
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -1,14 +1,13 @@
 from hypothesis import given, settings, strategies as st
 
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, \
                                                   FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
                                                   get_platform_codes
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+Ecu = CarParams.Ecu
 
 
 def check_fw_version(fw_version: bytes) -> bool:
@@ -153,10 +152,10 @@ class TestToyotaFingerprint:
       for ecu, fw_versions in fw_by_addr.items():
         ecu_name, addr, sub_addr = ecu
         for fw in fw_versions:
-          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
-                         "subAddress": 0 if sub_addr is None else sub_addr})
+          car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
+                                        subAddress=0 if sub_addr is None else sub_addr))
 
-      CP = car.CarParams.new_message(carFw=car_fw)
+      CP = CarParams(carFw=car_fw)
       matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
       if len(matches) == 1:
         assert list(matches)[0] == platform
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 1cc99b41b5..8068b8e143 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -1,6 +1,6 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 
-SteerControlType = car.CarParams.SteerControlType
+SteerControlType = CarParams.SteerControlType
 
 
 def create_steer_command(packer, steer, steer_req):
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 345fe3c1f5..e10eba13b4 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -3,13 +3,13 @@ from collections import defaultdict
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
 PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index cc76aaf493..72168f6e45 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,14 +1,14 @@
-from cereal import car
+import copy
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-LongCtrlState = car.CarControl.Actuators.LongControlState
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 
 class CarController(CarControllerBase):
@@ -17,7 +17,7 @@ class CarController(CarControllerBase):
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
-    self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
+    self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
@@ -110,7 +110,7 @@ class CarController(CarControllerBase):
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
-    new_actuators = actuators.as_builder()
+    new_actuators = copy.copy(actuators)
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 31343887a4..8feb0642b5 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -1,6 +1,6 @@
 import numpy as np
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
@@ -24,7 +24,7 @@ class CarState(CarStateBase):
     for button in buttons:
       state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
       if self.button_states[button.event_type] != state:
-        event = car.CarState.ButtonEvent.new_message()
+        event = structs.CarState.ButtonEvent()
         event.type = button.event_type
         event.pressed = state
         button_events.append(event)
@@ -32,14 +32,14 @@ class CarState(CarStateBase):
 
     return button_events
 
-  def update(self, pt_cp, cam_cp, *_):
+  def update(self, pt_cp, cam_cp, *_) -> structs.CarState:
 
     ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
 
     if self.CP.flags & VolkswagenFlags.PQ:
       return self.update_pq(pt_cp, cam_cp, ext_cp)
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
@@ -158,8 +158,8 @@ class CarState(CarStateBase):
     self.frame += 1
     return ret
 
-  def update_pq(self, pt_cp, cam_cp, ext_cp):
-    ret = car.CarState.new_message()
+  def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
+    ret = structs.CarState()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index f78fbb6591..4c17b9113f 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.volkswagen.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 48656d5e82..96f3493fe8 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,19 +1,18 @@
-from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.volkswagen.values import CAR, NetworkLocation, TransmissionType, VolkswagenFlags
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
     if ret.flags & VolkswagenFlags.PQ:
       # Set global PQ35/PQ46/NMS parameters
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
       if 0x440 in fingerprint[0] or docs:  # Getriebe_1
@@ -36,7 +35,7 @@ class CarInterface(CarInterfaceBase):
 
     else:
       # Set global MQB parameters
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
       if 0xAD in fingerprint[0] or docs:  # Getriebe_11
diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py
index 0002578105..ba27806dda 100644
--- a/selfdrive/car/volkswagen/tests/test_volkswagen.py
+++ b/selfdrive/car/volkswagen/tests/test_volkswagen.py
@@ -1,11 +1,11 @@
 import random
 import re
 
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
 from openpilot.selfdrive.car.volkswagen.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}')
 # TODO: determine the unknown groups
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 27816712f6..f4562f3c09 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -2,19 +2,19 @@ from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
 
-from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
 
-Ecu = car.CarParams.Ecu
-NetworkLocation = car.CarParams.NetworkLocation
-TransmissionType = car.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
+Ecu = structs.CarParams.Ecu
+NetworkLocation = structs.CarParams.NetworkLocation
+TransmissionType = structs.CarParams.TransmissionType
+GearShifter = structs.CarState.GearShifter
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
@@ -54,12 +54,12 @@ class CarControllerParams:
       self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
 
       self.BUTTONS = [
-        Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
-        Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
-        Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
-        Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
-        Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
-        Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
+        Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
+        Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
+        Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
+        Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
       ]
 
       self.LDW_MESSAGES = {
@@ -85,12 +85,12 @@ class CarControllerParams:
       self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
 
       self.BUTTONS = [
-        Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
-        Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
-        Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
-        Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
-        Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
-        Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
+        Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+        Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+        Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+        Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
+        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
       ]
 
       self.LDW_MESSAGES = {
@@ -190,7 +190,7 @@ class VWCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: structs.CarParams):
     self.footnotes.append(Footnote.VW_EXP_LONG)
     if "SKODA" in CP.carFingerprint:
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 4835aa2349..2f4a2aef81 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -1,6 +1,7 @@
 from parameterized import parameterized
 
 from cereal import car, log
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
@@ -20,6 +21,7 @@ class TestLatControl:
     CarInterface, CarController, CarState = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
+    CP = convert_to_capnp(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index f666f875a6..dae465a50d 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -3,6 +3,7 @@ import math
 
 import numpy as np
 
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.car.honda.values import CAR
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
@@ -11,7 +12,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_
 class TestVehicleModel:
   def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(CP)
+    self.VM = VehicleModel(convert_to_capnp(CP))
 
   def test_round_trip_yaw_rate(self):
     # TODO: fix VM to work at zero speed
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index bf19801a87..eb1cdb2d2c 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -11,6 +11,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
@@ -208,7 +209,7 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr: car.RadarData):
+  def update(self, sm: messaging.SubMaster, rr: structs.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
@@ -301,7 +302,7 @@ def main() -> None:
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr: car.RadarData | None = RI.update(can_capnp_to_list(can_strings))
+    rr: structs.RadarData | None = RI.update(can_capnp_to_list(can_strings))
     sm.update(0)
     if rr is None:
       continue
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
index 2a5e4e6080..ac4cef0ccc 100755
--- a/selfdrive/debug/format_fingerprints.py
+++ b/selfdrive/debug/format_fingerprints.py
@@ -2,28 +2,24 @@
 import jinja2
 import os
 
-from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 
-Ecu = car.CarParams.Ecu
-
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
 # ruff: noqa: E501
 {% endif %}
 {% if FW_VERSIONS[brand] %}
-from cereal import car
+from openpilot.selfdrive.car.structs import CarParams
 {% endif %}
 from openpilot.selfdrive.car.{{brand}}.values import CAR
 {% if FW_VERSIONS[brand] %}
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 {% endif %}
 {% if comments +%}
 {{ comments | join() }}
@@ -49,7 +45,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+    (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
   {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
     {{fw_version}},
@@ -71,9 +67,8 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
-                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
-                                            extra_fw_versions=extra_fw_versions))
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
+                                            FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index f439578afd..a4d873b174 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -16,6 +16,7 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
@@ -170,7 +171,7 @@ def main(demo=False):
 
 
   if demo:
-    CP = get_demo_car_params()
+    CP = convert_to_capnp(get_demo_car_params())
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 03c08fd034..e407b12d6a 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -6,6 +6,7 @@ from msgq.visionipc import VisionIpcServer, VisionStreamType
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
@@ -23,7 +24,7 @@ class TestModeld:
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
+    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 170dbd0c82..c2041efd3f 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -22,8 +22,9 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks
+from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
+from openpilot.selfdrive.car import structs
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -362,14 +363,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     cached_params = None
     if has_cached_cp:
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-        cached_params = _cached_params
+        cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-  params.put("CarParams", CP.to_bytes())
+  params.put("CarParams", convert_to_capnp(CP).to_bytes())
 
 
 def controlsd_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0d83bf96d1..e580430a36 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d768496a1a85bfe5b74c99a79203affdf9a0a065
\ No newline at end of file
+fa4965a27dee4449ad8b255f9f7674d69327b6f7
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 5f9e725852..61b0e28483 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 250.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
-  "selfdrive.car.card": 22.0,
+  "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 4919b6e6b3..22246f44d1 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -9,6 +9,7 @@ import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
@@ -42,7 +43,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", get_demo_car_params().to_bytes())
+    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
 
     # wait a bit for power save to disable
     time.sleep(5)

From 93b11c816e82a60ae145cd9531c592e2792ab7aa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 15:53:37 -0700
Subject: [PATCH 0444/1243] car: move conversions.py into common/

old-commit-hash: 1eda5f47362892d5294bd3955dcfd959b2569af6
---
 selfdrive/car/chrysler/carstate.py        | 2 +-
 selfdrive/car/{ => common}/conversions.py | 0
 selfdrive/car/docs_definitions.py         | 2 +-
 selfdrive/car/ford/carstate.py            | 2 +-
 selfdrive/car/ford/interface.py           | 2 +-
 selfdrive/car/ford/radar_interface.py     | 2 +-
 selfdrive/car/gm/carcontroller.py         | 2 +-
 selfdrive/car/gm/carstate.py              | 2 +-
 selfdrive/car/gm/interface.py             | 2 +-
 selfdrive/car/gm/radar_interface.py       | 2 +-
 selfdrive/car/honda/carstate.py           | 2 +-
 selfdrive/car/honda/hondacan.py           | 2 +-
 selfdrive/car/honda/interface.py          | 2 +-
 selfdrive/car/honda/values.py             | 2 +-
 selfdrive/car/hyundai/carcontroller.py    | 2 +-
 selfdrive/car/hyundai/carstate.py         | 2 +-
 selfdrive/car/hyundai/values.py           | 2 +-
 selfdrive/car/interfaces.py               | 2 +-
 selfdrive/car/mazda/carstate.py           | 2 +-
 selfdrive/car/mazda/interface.py          | 2 +-
 selfdrive/car/mazda/values.py             | 2 +-
 selfdrive/car/nissan/carstate.py          | 2 +-
 selfdrive/car/subaru/carstate.py          | 2 +-
 selfdrive/car/toyota/carstate.py          | 2 +-
 selfdrive/car/toyota/values.py            | 2 +-
 selfdrive/car/volkswagen/carcontroller.py | 2 +-
 selfdrive/car/volkswagen/carstate.py      | 2 +-
 selfdrive/car/volkswagen/values.py        | 2 +-
 28 files changed, 27 insertions(+), 27 deletions(-)
 rename selfdrive/car/{ => common}/conversions.py (100%)

diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index f7ebf82f1a..6d76ddd8ec 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -2,7 +2,7 @@ from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
diff --git a/selfdrive/car/conversions.py b/selfdrive/car/common/conversions.py
similarity index 100%
rename from selfdrive/car/conversions.py
rename to selfdrive/car/common/conversions.py
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 6df109facf..cf047445bb 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -4,7 +4,7 @@ import copy
 from dataclasses import dataclass, field
 from enum import Enum
 
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.structs import CarParams
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 813af76949..4e06b65617 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,7 +1,7 @@
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 17f136b1be..8f644b65a8 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,6 +1,6 @@
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index a4e80380e7..55cd2bd8d3 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -1,7 +1,7 @@
 from math import cos, sin
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, RADAR
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index e562ef6e83..ab9db94bae 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -2,7 +2,7 @@ import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 99823c9e7e..ba44910d3c 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -2,7 +2,7 @@ import copy
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 4f47dbde2c..902ffe5e76 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -5,7 +5,7 @@ from panda import Panda
 
 from openpilot.selfdrive.car import get_safety_config, get_friction, structs
 from openpilot.selfdrive.car.common.basedir import BASEDIR
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index 919e2940f8..9831e692c5 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -2,7 +2,7 @@
 import math
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 7558562d00..7452630eb9 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -3,7 +3,7 @@ from collections import defaultdict
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index b350455014..63ca8b43d1 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.car import CanBusBase
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 54df6c2579..61443b8ada 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 499cbbc0e0..f6357f6cb3 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -3,7 +3,7 @@ from enum import Enum, IntFlag
 
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index f9f2603058..059c7dd849 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,7 +1,7 @@
 import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.carstate import CarState
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 2aa8e453c4..4d716aac80 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ import math
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 6937b719c8..25267d7e9b 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -4,7 +4,7 @@ from enum import Enum, IntFlag
 
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e89b63eb1e..b918302a4a 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -12,7 +12,7 @@ from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerp
 from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.common.basedir import BASEDIR
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.values import PLATFORMS
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index d48d078243..c3b3394734 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,7 +1,7 @@
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 3c868745fc..3da5e8e1b0 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index ea49eeaecf..3f71a4db32 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -2,7 +2,7 @@ from dataclasses import dataclass, field
 from enum import IntFlag
 
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 78d57b7e2e..1298315942 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -3,7 +3,7 @@ from collections import deque
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 5ae7416c9e..cabf2c5c56 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -2,7 +2,7 @@ import copy
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 2970d8c34d..924388eab8 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -3,7 +3,7 @@ import copy
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL, create_button_events, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index e10eba13b4..45b6f7a03d 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -4,7 +4,7 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 72168f6e45..1f46520cb9 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,7 +1,7 @@
 import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 8feb0642b5..b441c73f3e 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -2,7 +2,7 @@ import numpy as np
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
                                                       CarControllerParams, VolkswagenFlags
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index f4562f3c09..53161e98a1 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -5,7 +5,7 @@ from enum import Enum, IntFlag, StrEnum
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
-from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device

From 69e30a5a408d5faea9e6a5e048f53150b424a18e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 16 Aug 2024 23:57:42 -0700
Subject: [PATCH 0445/1243] remove import linter (#33319)

* rm import linter, we're done!

* revert

* uv lock

* Revert "uv lock"

This reverts commit 5e46f48e8a5738ea5121da6f2d1c7210dcefe053.
old-commit-hash: bf68eeb596f873f3e6ab497ea42a079c98835f97
---
 .importlinter        | 63 --------------------------------------------
 pyproject.toml       |  1 -
 scripts/lint/lint.sh |  2 --
 3 files changed, 66 deletions(-)
 delete mode 100644 .importlinter

diff --git a/.importlinter b/.importlinter
deleted file mode 100644
index 79f541ccb3..0000000000
--- a/.importlinter
+++ /dev/null
@@ -1,63 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-    cereal
-    capnp
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    cereal
-    capnp
-    openpilot.common
-    openpilot.selfdrive.controls
-    openpilot.selfdrive.debug
-    openpilot.selfdrive.pandad
-    openpilot.selfdrive.test
-    openpilot.system
-    openpilot.body
-    openpilot.tools
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    # these are okay
-    openpilot.selfdrive.car.card -> openpilot.common.swaglog
-    openpilot.selfdrive.car.card -> openpilot.common.realtime
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
-    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
-    openpilot.selfdrive.car.card -> openpilot.common.params
-    openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
-    openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
-    openpilot.selfdrive.car.tests.test_models -> capnp
-    openpilot.selfdrive.car.tests.test_car_interfaces -> cereal
-    openpilot.selfdrive.car.tests.test_car_interfaces -> cereal.messaging
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
-    openpilot.selfdrive.car.tests.test_models -> cereal
-    openpilot.selfdrive.car.tests.test_models -> cereal.messaging
-    openpilot.selfdrive.car.card -> cereal
-    openpilot.selfdrive.car.card -> cereal.messaging
-    openpilot.selfdrive.car.car_specific -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.car_specific -> cereal
-    openpilot.selfdrive.car.car_specific -> cereal.messaging
-    openpilot.selfdrive.car.card -> capnp
-unmatched_ignore_imports_alerting = warn
diff --git a/pyproject.toml b/pyproject.toml
index 9eee3afcc5..df6ba3f7cc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -74,7 +74,6 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "import-linter",
   "mypy",
   "pytest",
   "pytest-cov",
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 13f3fe133c..652fa4d65f 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -48,7 +48,6 @@ function run_tests() {
   PYTHON_FILES=$2
 
   run "ruff" ruff check $PYTHON_FILES --quiet
-  run "lint-imports" lint-imports
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
@@ -69,7 +68,6 @@ function help() {
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
   echo -e "  ${BOLD}mypy${NC}"
-  echo -e "  ${BOLD}lint-imports${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
   echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"

From 4f019b5f600e2b98b25d6b41f3e30ac2163bc1f5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 17 Aug 2024 00:54:51 -0700
Subject: [PATCH 0446/1243] move selfdrive/car to opendbc (#32630)

* move most of /car

* move some car tests

move some car tests

* fix selfdrive/car/tests

* fix selfdrive/controls tests

* fix the rest of the selfdrive tests

* bump opendbc

* fix all tests

* few more non-test references

* remove opcar and move docs to car

fix these debugging scripts

fix docs

* bump opendbc and panda

forgot panda
old-commit-hash: e735a7f3796e208cdc1ecc651ace09e1daf6009a
---
 opendbc_repo                                  |    2 +-
 panda                                         |    2 +-
 scripts/count_cars.py                         |    2 +-
 selfdrive/car/__init__.py                     |  323 ----
 selfdrive/car/body/__init__.py                |    0
 selfdrive/car/body/bodycan.py                 |    7 -
 selfdrive/car/body/carcontroller.py           |  142 --
 selfdrive/car/body/carstate.py                |   39 -
 selfdrive/car/body/fingerprints.py            |   28 -
 selfdrive/car/body/interface.py               |   25 -
 selfdrive/car/body/radar_interface.py         |    4 -
 selfdrive/car/body/values.py                  |   40 -
 selfdrive/car/can_definitions.py              |   15 -
 selfdrive/car/car_helpers.py                  |  178 --
 selfdrive/car/car_specific.py                 |    8 +-
 selfdrive/car/card.py                         |   10 +-
 selfdrive/car/chrysler/__init__.py            |    0
 selfdrive/car/chrysler/carcontroller.py       |   84 -
 selfdrive/car/chrysler/carstate.py            |  159 --
 selfdrive/car/chrysler/chryslercan.py         |   71 -
 selfdrive/car/chrysler/fingerprints.py        |  716 -------
 selfdrive/car/chrysler/interface.py           |   74 -
 selfdrive/car/chrysler/radar_interface.py     |   85 -
 selfdrive/car/chrysler/values.py              |  152 --
 selfdrive/car/common/__init__.py              |    0
 selfdrive/car/common/basedir.py               |    4 -
 selfdrive/car/common/conversions.py           |   19 -
 selfdrive/car/common/filter_simple.py         |   18 -
 selfdrive/car/common/numpy_fast.py            |   22 -
 selfdrive/car/common/simple_kalman.py         |   54 -
 selfdrive/car/disable_ecu.py                  |   36 -
 selfdrive/car/docs.py                         |   70 +-
 selfdrive/car/docs_definitions.py             |  368 ----
 selfdrive/car/ecu_addrs.py                    |   56 -
 selfdrive/car/fingerprints.py                 |  344 ----
 selfdrive/car/ford/__init__.py                |    0
 selfdrive/car/ford/carcontroller.py           |  118 --
 selfdrive/car/ford/carstate.py                |  174 --
 selfdrive/car/ford/fingerprints.py            |  166 --
 selfdrive/car/ford/fordcan.py                 |  339 ----
 selfdrive/car/ford/interface.py               |   65 -
 selfdrive/car/ford/radar_interface.py         |  143 --
 selfdrive/car/ford/tests/__init__.py          |    0
 .../car/ford/tests/print_platform_codes.py    |   28 -
 selfdrive/car/ford/tests/test_ford.py         |  142 --
 selfdrive/car/ford/values.py                  |  279 ---
 selfdrive/car/fw_query_definitions.py         |  119 --
 selfdrive/car/fw_versions.py                  |  327 ----
 selfdrive/car/gm/__init__.py                  |    0
 selfdrive/car/gm/carcontroller.py             |  163 --
 selfdrive/car/gm/carstate.py                  |  193 --
 selfdrive/car/gm/fingerprints.py              |   63 -
 selfdrive/car/gm/gmcan.py                     |  173 --
 selfdrive/car/gm/interface.py                 |  194 --
 selfdrive/car/gm/radar_interface.py           |  101 -
 selfdrive/car/gm/tests/__init__.py            |    0
 selfdrive/car/gm/tests/test_gm.py             |   20 -
 selfdrive/car/gm/values.py                    |  234 ---
 selfdrive/car/honda/__init__.py               |    0
 selfdrive/car/honda/carcontroller.py          |  254 ---
 selfdrive/car/honda/carstate.py               |  307 ---
 selfdrive/car/honda/fingerprints.py           |  899 ---------
 selfdrive/car/honda/hondacan.py               |  211 --
 selfdrive/car/honda/interface.py              |  215 ---
 selfdrive/car/honda/radar_interface.py        |   84 -
 selfdrive/car/honda/tests/__init__.py         |    0
 selfdrive/car/honda/tests/test_honda.py       |   14 -
 selfdrive/car/honda/values.py                 |  330 ----
 selfdrive/car/hyundai/__init__.py             |    0
 selfdrive/car/hyundai/carcontroller.py        |  207 --
 selfdrive/car/hyundai/carstate.py             |  380 ----
 selfdrive/car/hyundai/fingerprints.py         | 1142 -----------
 selfdrive/car/hyundai/hyundaican.py           |  213 ---
 selfdrive/car/hyundai/hyundaicanfd.py         |  223 ---
 selfdrive/car/hyundai/interface.py            |  147 --
 selfdrive/car/hyundai/radar_interface.py      |   79 -
 selfdrive/car/hyundai/tests/__init__.py       |    0
 .../car/hyundai/tests/print_platform_codes.py |   21 -
 selfdrive/car/hyundai/tests/test_hyundai.py   |  235 ---
 selfdrive/car/hyundai/values.py               |  752 --------
 selfdrive/car/interfaces.py                   |  451 -----
 selfdrive/car/isotp_parallel_query.py         |  172 --
 selfdrive/car/mazda/__init__.py               |    0
 selfdrive/car/mazda/carcontroller.py          |   65 -
 selfdrive/car/mazda/carstate.py               |  158 --
 selfdrive/car/mazda/fingerprints.py           |  266 ---
 selfdrive/car/mazda/interface.py              |   29 -
 selfdrive/car/mazda/mazdacan.py               |  128 --
 selfdrive/car/mazda/radar_interface.py        |    5 -
 selfdrive/car/mazda/values.py                 |  104 -
 selfdrive/car/mock/__init__.py                |    0
 selfdrive/car/mock/carcontroller.py           |    6 -
 selfdrive/car/mock/carstate.py                |    7 -
 selfdrive/car/mock/interface.py               |   17 -
 selfdrive/car/mock/radar_interface.py         |    4 -
 selfdrive/car/mock/values.py                  |    9 -
 selfdrive/car/nissan/__init__.py              |    0
 selfdrive/car/nissan/carcontroller.py         |   81 -
 selfdrive/car/nissan/carstate.py              |  201 --
 selfdrive/car/nissan/fingerprints.py          |  119 --
 selfdrive/car/nissan/interface.py             |   26 -
 selfdrive/car/nissan/nissancan.py             |  154 --
 selfdrive/car/nissan/radar_interface.py       |    4 -
 selfdrive/car/nissan/values.py                |  107 --
 selfdrive/car/structs.py                      |  499 -----
 selfdrive/car/subaru/__init__.py              |    0
 selfdrive/car/subaru/carcontroller.py         |  144 --
 selfdrive/car/subaru/carstate.py              |  228 ---
 selfdrive/car/subaru/fingerprints.py          |  563 ------
 selfdrive/car/subaru/interface.py             |  101 -
 selfdrive/car/subaru/radar_interface.py       |    4 -
 selfdrive/car/subaru/subarucan.py             |  321 ----
 selfdrive/car/subaru/tests/test_subaru.py     |   10 -
 selfdrive/car/subaru/values.py                |  275 ---
 selfdrive/car/tests/routes.py                 |   24 +-
 selfdrive/car/tests/test_can_fingerprint.py   |   56 -
 selfdrive/car/tests/test_car_interfaces.py    |   16 +-
 selfdrive/car/tests/test_docs.py              |   80 +-
 selfdrive/car/tests/test_fw_fingerprint.py    |  323 ----
 selfdrive/car/tests/test_lateral_limits.py    |   10 +-
 selfdrive/car/tests/test_models.py            |   13 +-
 selfdrive/car/tests/test_platform_configs.py  |   17 -
 .../car/torque_data/neural_ff_weights.json    |    1 -
 selfdrive/car/torque_data/override.toml       |   72 -
 selfdrive/car/torque_data/params.toml         |   81 -
 selfdrive/car/torque_data/substitute.toml     |   83 -
 selfdrive/car/toyota/__init__.py              |    0
 selfdrive/car/toyota/carcontroller.py         |  179 --
 selfdrive/car/toyota/carstate.py              |  240 ---
 selfdrive/car/toyota/fingerprints.py          | 1697 -----------------
 selfdrive/car/toyota/interface.py             |  142 --
 selfdrive/car/toyota/radar_interface.py       |   94 -
 selfdrive/car/toyota/tests/__init__.py        |    0
 .../car/toyota/tests/print_platform_codes.py  |   31 -
 selfdrive/car/toyota/tests/test_toyota.py     |  166 --
 selfdrive/car/toyota/toyotacan.py             |  118 --
 selfdrive/car/toyota/values.py                |  572 ------
 selfdrive/car/values.py                       |   18 -
 selfdrive/car/vin.py                          |   58 -
 selfdrive/car/volkswagen/__init__.py          |    0
 selfdrive/car/volkswagen/carcontroller.py     |  119 --
 selfdrive/car/volkswagen/carstate.py          |  402 ----
 selfdrive/car/volkswagen/fingerprints.py      | 1209 ------------
 selfdrive/car/volkswagen/interface.py         |   87 -
 selfdrive/car/volkswagen/mqbcan.py            |  137 --
 selfdrive/car/volkswagen/pqcan.py             |  105 -
 selfdrive/car/volkswagen/radar_interface.py   |    4 -
 .../car/volkswagen/tests/test_volkswagen.py   |   60 -
 selfdrive/car/volkswagen/values.py            |  516 -----
 selfdrive/controls/controlsd.py               |    2 +-
 selfdrive/controls/lib/latcontrol_torque.py   |    2 +-
 .../lib/longitudinal_mpc_lib/long_mpc.py      |    2 +-
 .../controls/lib/longitudinal_planner.py      |    2 +-
 .../controls/lib/tests/test_latcontrol.py     |    8 +-
 .../controls/lib/tests/test_vehicle_model.py  |    4 +-
 selfdrive/controls/radard.py                  |    4 +-
 selfdrive/controls/tests/test_leads.py        |    2 +-
 selfdrive/controls/tests/test_startup.py      |    6 +-
 .../controls/tests/test_state_machine.py      |    4 +-
 selfdrive/debug/car/disable_ecu.py            |    2 +-
 selfdrive/debug/car/ecu_addrs.py              |    2 +-
 selfdrive/debug/car/fw_versions.py            |    4 +-
 selfdrive/debug/car/vin.py                    |    2 +-
 selfdrive/debug/cycle_alerts.py               |    2 +-
 selfdrive/debug/dump_car_docs.py              |    2 +-
 selfdrive/debug/format_fingerprints.py        |    8 +-
 .../debug/internal/fuzz_fw_fingerprint.py     |   10 +-
 selfdrive/debug/print_docs_diff.py            |    4 +-
 selfdrive/debug/print_flags.py                |    2 +-
 selfdrive/debug/show_matching_cars.py         |    2 +-
 selfdrive/debug/test_fw_query_on_routes.py    |    6 +-
 selfdrive/debug/toyota_eps_factor.py          |    2 +-
 selfdrive/modeld/modeld.py                    |    2 +-
 selfdrive/modeld/tests/test_modeld.py         |    2 +-
 selfdrive/opcar/__init__.py                   |    1 -
 selfdrive/opcar/docs.py                       |   21 -
 selfdrive/opcar/tests/__init__.py             |    0
 selfdrive/opcar/tests/test_docs.py            |   26 -
 .../pandad/tests/test_pandad_loopback.py      |    2 +-
 .../test/longitudinal_maneuvers/plant.py      |    4 +-
 selfdrive/test/process_replay/migration.py    |    4 +-
 .../test/process_replay/process_replay.py     |    4 +-
 selfdrive/test/process_replay/test_fuzzy.py   |    2 +-
 .../test/process_replay/test_processes.py     |    2 +-
 selfdrive/test/profiling/profiler.py          |    6 +-
 system/hardware/tici/tests/test_power_draw.py |    2 +-
 tools/cabana/dbc/generate_dbc_json.py         |    4 +-
 tools/car_porting/auto_fingerprint.py         |    4 +-
 tools/lib/comma_car_segments.py               |    2 +-
 tools/lib/tests/test_comma_car_segments.py    |    2 +-
 tools/plotjuggler/juggle.py                   |    4 +-
 tools/sim/bridge/common.py                    |    2 +-
 192 files changed, 141 insertions(+), 22938 deletions(-)
 delete mode 100644 selfdrive/car/body/__init__.py
 delete mode 100644 selfdrive/car/body/bodycan.py
 delete mode 100644 selfdrive/car/body/carcontroller.py
 delete mode 100644 selfdrive/car/body/carstate.py
 delete mode 100644 selfdrive/car/body/fingerprints.py
 delete mode 100644 selfdrive/car/body/interface.py
 delete mode 100644 selfdrive/car/body/radar_interface.py
 delete mode 100644 selfdrive/car/body/values.py
 delete mode 100644 selfdrive/car/can_definitions.py
 delete mode 100644 selfdrive/car/car_helpers.py
 delete mode 100644 selfdrive/car/chrysler/__init__.py
 delete mode 100644 selfdrive/car/chrysler/carcontroller.py
 delete mode 100644 selfdrive/car/chrysler/carstate.py
 delete mode 100644 selfdrive/car/chrysler/chryslercan.py
 delete mode 100644 selfdrive/car/chrysler/fingerprints.py
 delete mode 100755 selfdrive/car/chrysler/interface.py
 delete mode 100755 selfdrive/car/chrysler/radar_interface.py
 delete mode 100644 selfdrive/car/chrysler/values.py
 delete mode 100644 selfdrive/car/common/__init__.py
 delete mode 100644 selfdrive/car/common/basedir.py
 delete mode 100644 selfdrive/car/common/conversions.py
 delete mode 100644 selfdrive/car/common/filter_simple.py
 delete mode 100644 selfdrive/car/common/numpy_fast.py
 delete mode 100644 selfdrive/car/common/simple_kalman.py
 delete mode 100644 selfdrive/car/disable_ecu.py
 mode change 100644 => 100755 selfdrive/car/docs.py
 delete mode 100644 selfdrive/car/docs_definitions.py
 delete mode 100644 selfdrive/car/ecu_addrs.py
 delete mode 100644 selfdrive/car/fingerprints.py
 delete mode 100644 selfdrive/car/ford/__init__.py
 delete mode 100644 selfdrive/car/ford/carcontroller.py
 delete mode 100644 selfdrive/car/ford/carstate.py
 delete mode 100644 selfdrive/car/ford/fingerprints.py
 delete mode 100644 selfdrive/car/ford/fordcan.py
 delete mode 100644 selfdrive/car/ford/interface.py
 delete mode 100644 selfdrive/car/ford/radar_interface.py
 delete mode 100644 selfdrive/car/ford/tests/__init__.py
 delete mode 100755 selfdrive/car/ford/tests/print_platform_codes.py
 delete mode 100644 selfdrive/car/ford/tests/test_ford.py
 delete mode 100644 selfdrive/car/ford/values.py
 delete mode 100644 selfdrive/car/fw_query_definitions.py
 delete mode 100644 selfdrive/car/fw_versions.py
 delete mode 100644 selfdrive/car/gm/__init__.py
 delete mode 100644 selfdrive/car/gm/carcontroller.py
 delete mode 100644 selfdrive/car/gm/carstate.py
 delete mode 100644 selfdrive/car/gm/fingerprints.py
 delete mode 100644 selfdrive/car/gm/gmcan.py
 delete mode 100755 selfdrive/car/gm/interface.py
 delete mode 100755 selfdrive/car/gm/radar_interface.py
 delete mode 100644 selfdrive/car/gm/tests/__init__.py
 delete mode 100644 selfdrive/car/gm/tests/test_gm.py
 delete mode 100644 selfdrive/car/gm/values.py
 delete mode 100644 selfdrive/car/honda/__init__.py
 delete mode 100644 selfdrive/car/honda/carcontroller.py
 delete mode 100644 selfdrive/car/honda/carstate.py
 delete mode 100644 selfdrive/car/honda/fingerprints.py
 delete mode 100644 selfdrive/car/honda/hondacan.py
 delete mode 100755 selfdrive/car/honda/interface.py
 delete mode 100755 selfdrive/car/honda/radar_interface.py
 delete mode 100644 selfdrive/car/honda/tests/__init__.py
 delete mode 100644 selfdrive/car/honda/tests/test_honda.py
 delete mode 100644 selfdrive/car/honda/values.py
 delete mode 100644 selfdrive/car/hyundai/__init__.py
 delete mode 100644 selfdrive/car/hyundai/carcontroller.py
 delete mode 100644 selfdrive/car/hyundai/carstate.py
 delete mode 100644 selfdrive/car/hyundai/fingerprints.py
 delete mode 100644 selfdrive/car/hyundai/hyundaican.py
 delete mode 100644 selfdrive/car/hyundai/hyundaicanfd.py
 delete mode 100644 selfdrive/car/hyundai/interface.py
 delete mode 100644 selfdrive/car/hyundai/radar_interface.py
 delete mode 100644 selfdrive/car/hyundai/tests/__init__.py
 delete mode 100755 selfdrive/car/hyundai/tests/print_platform_codes.py
 delete mode 100644 selfdrive/car/hyundai/tests/test_hyundai.py
 delete mode 100644 selfdrive/car/hyundai/values.py
 delete mode 100644 selfdrive/car/interfaces.py
 delete mode 100644 selfdrive/car/isotp_parallel_query.py
 delete mode 100644 selfdrive/car/mazda/__init__.py
 delete mode 100644 selfdrive/car/mazda/carcontroller.py
 delete mode 100644 selfdrive/car/mazda/carstate.py
 delete mode 100644 selfdrive/car/mazda/fingerprints.py
 delete mode 100755 selfdrive/car/mazda/interface.py
 delete mode 100644 selfdrive/car/mazda/mazdacan.py
 delete mode 100755 selfdrive/car/mazda/radar_interface.py
 delete mode 100644 selfdrive/car/mazda/values.py
 delete mode 100644 selfdrive/car/mock/__init__.py
 delete mode 100644 selfdrive/car/mock/carcontroller.py
 delete mode 100644 selfdrive/car/mock/carstate.py
 delete mode 100755 selfdrive/car/mock/interface.py
 delete mode 100644 selfdrive/car/mock/radar_interface.py
 delete mode 100644 selfdrive/car/mock/values.py
 delete mode 100644 selfdrive/car/nissan/__init__.py
 delete mode 100644 selfdrive/car/nissan/carcontroller.py
 delete mode 100644 selfdrive/car/nissan/carstate.py
 delete mode 100644 selfdrive/car/nissan/fingerprints.py
 delete mode 100644 selfdrive/car/nissan/interface.py
 delete mode 100644 selfdrive/car/nissan/nissancan.py
 delete mode 100644 selfdrive/car/nissan/radar_interface.py
 delete mode 100644 selfdrive/car/nissan/values.py
 delete mode 100644 selfdrive/car/structs.py
 delete mode 100644 selfdrive/car/subaru/__init__.py
 delete mode 100644 selfdrive/car/subaru/carcontroller.py
 delete mode 100644 selfdrive/car/subaru/carstate.py
 delete mode 100644 selfdrive/car/subaru/fingerprints.py
 delete mode 100644 selfdrive/car/subaru/interface.py
 delete mode 100644 selfdrive/car/subaru/radar_interface.py
 delete mode 100644 selfdrive/car/subaru/subarucan.py
 delete mode 100644 selfdrive/car/subaru/tests/test_subaru.py
 delete mode 100644 selfdrive/car/subaru/values.py
 delete mode 100644 selfdrive/car/tests/test_can_fingerprint.py
 delete mode 100644 selfdrive/car/tests/test_fw_fingerprint.py
 delete mode 100644 selfdrive/car/tests/test_platform_configs.py
 delete mode 100644 selfdrive/car/torque_data/neural_ff_weights.json
 delete mode 100644 selfdrive/car/torque_data/override.toml
 delete mode 100644 selfdrive/car/torque_data/params.toml
 delete mode 100644 selfdrive/car/torque_data/substitute.toml
 delete mode 100644 selfdrive/car/toyota/__init__.py
 delete mode 100644 selfdrive/car/toyota/carcontroller.py
 delete mode 100644 selfdrive/car/toyota/carstate.py
 delete mode 100644 selfdrive/car/toyota/fingerprints.py
 delete mode 100644 selfdrive/car/toyota/interface.py
 delete mode 100755 selfdrive/car/toyota/radar_interface.py
 delete mode 100644 selfdrive/car/toyota/tests/__init__.py
 delete mode 100755 selfdrive/car/toyota/tests/print_platform_codes.py
 delete mode 100644 selfdrive/car/toyota/tests/test_toyota.py
 delete mode 100644 selfdrive/car/toyota/toyotacan.py
 delete mode 100644 selfdrive/car/toyota/values.py
 delete mode 100644 selfdrive/car/values.py
 delete mode 100644 selfdrive/car/vin.py
 delete mode 100644 selfdrive/car/volkswagen/__init__.py
 delete mode 100644 selfdrive/car/volkswagen/carcontroller.py
 delete mode 100644 selfdrive/car/volkswagen/carstate.py
 delete mode 100644 selfdrive/car/volkswagen/fingerprints.py
 delete mode 100644 selfdrive/car/volkswagen/interface.py
 delete mode 100644 selfdrive/car/volkswagen/mqbcan.py
 delete mode 100644 selfdrive/car/volkswagen/pqcan.py
 delete mode 100644 selfdrive/car/volkswagen/radar_interface.py
 delete mode 100644 selfdrive/car/volkswagen/tests/test_volkswagen.py
 delete mode 100644 selfdrive/car/volkswagen/values.py
 delete mode 100644 selfdrive/opcar/__init__.py
 delete mode 100755 selfdrive/opcar/docs.py
 delete mode 100644 selfdrive/opcar/tests/__init__.py
 delete mode 100644 selfdrive/opcar/tests/test_docs.py

diff --git a/opendbc_repo b/opendbc_repo
index f4d077b832..9a53f08080 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f4d077b832d46ac149c2b07dc37d777dc21237ea
+Subproject commit 9a53f0808029b34c997d2999e2d7df4280a3ce32
diff --git a/panda b/panda
index 1cbcc13c35..e7a04b54b0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1cbcc13c35429b06e9d36c55b9ab46df73a8b51a
+Subproject commit e7a04b54b039307c33f542efd21ce936c45756be
diff --git a/scripts/count_cars.py b/scripts/count_cars.py
index 28057ddb04..19f486735a 100755
--- a/scripts/count_cars.py
+++ b/scripts/count_cars.py
@@ -2,7 +2,7 @@
 from collections import Counter
 from pprint import pprint
 
-from openpilot.selfdrive.car.docs import get_all_car_docs
+from opendbc.car.docs import get_all_car_docs
 
 if __name__ == "__main__":
   cars = get_all_car_docs()
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index e6a195d7c9..e69de29bb2 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,323 +0,0 @@
-# functions common among cars
-import logging
-from collections import namedtuple
-from dataclasses import dataclass
-from enum import IntFlag, ReprEnum, EnumType
-from dataclasses import replace
-
-from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.common.numpy_fast import clip, interp
-
-# set up logging
-carlog = logging.getLogger('carlog')
-carlog.setLevel(logging.INFO)
-carlog.propagate = False
-
-DT_CTRL = 0.01  # car state and control loop timestep (s)
-
-# kg of standard extra cargo to count for drive, gas, etc...
-STD_CARGO_KG = 136.
-
-ButtonType = structs.CarState.ButtonEvent.Type
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
-
-
-def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
-  if val > val_steady + hyst_gap:
-    val_steady = val - hyst_gap
-  elif val < val_steady - hyst_gap:
-    val_steady = val + hyst_gap
-  return val_steady
-
-
-def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
-                         unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
-  events: list[structs.CarState.ButtonEvent] = []
-
-  if cur_btn == prev_btn:
-    return events
-
-  # Add events for button presses, multiple when a button switches without going to unpressed
-  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
-    if btn != unpressed_btn:
-      events.append(structs.CarState.ButtonEvent(pressed=pressed,
-                                                 type=buttons_dict.get(btn, ButtonType.unknown)))
-  return events
-
-
-def gen_empty_fingerprint():
-  return {i: {} for i in range(8)}
-
-
-# these params were derived for the Civic and used to calculate params for other cars
-class VehicleDynamicsParams:
-  MASS = 1326. + STD_CARGO_KG
-  WHEELBASE = 2.70
-  CENTER_TO_FRONT = WHEELBASE * 0.4
-  CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
-  ROTATIONAL_INERTIA = 2500
-  TIRE_STIFFNESS_FRONT = 192150
-  TIRE_STIFFNESS_REAR = 202500
-
-
-# TODO: get actual value, for now starting with reasonable value for
-# civic and scaling by mass and wheelbase
-def scale_rot_inertia(mass, wheelbase):
-  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
-
-
-# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-# mass and CG position, so all cars will have approximately similar dyn behaviors
-def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
-  center_to_rear = wheelbase - center_to_front
-  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
-                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
-
-  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
-                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
-
-  return tire_stiffness_front, tire_stiffness_rear
-
-
-DbcDict = dict[str, str]
-
-
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
-  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
-
-
-def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
-
-  # limits due to driver torque
-  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
-  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
-  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
-
-  # slow rate if steer torque increases in magnitude
-  if apply_torque_last > 0:
-    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                        apply_torque_last + LIMITS.STEER_DELTA_UP)
-  else:
-    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
-                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
-
-  return int(round(float(apply_torque)))
-
-
-def apply_dist_to_meas_limits(val, val_last, val_meas,
-                              STEER_DELTA_UP, STEER_DELTA_DOWN,
-                              STEER_ERROR_MAX, STEER_MAX):
-  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
-  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
-  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
-
-  val = clip(val, min_lim, max_lim)
-
-  # slow rate if val increases in magnitude
-  if val_last > 0:
-    val = clip(val,
-               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
-               val_last + STEER_DELTA_UP)
-  else:
-    val = clip(val,
-               val_last - STEER_DELTA_UP,
-               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
-
-  return float(val)
-
-
-def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
-                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
-                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
-
-
-def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
-  # pick angle rate limits based on wind up/down
-  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
-  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
-
-  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
-  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
-
-
-def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
-                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
-  """
-  Several cars have the ability to work around their EPS limits by cutting the
-  request bit of their LKAS message after a certain number of frames above the limit.
-  """
-
-  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
-  if request and fault_condition:
-    above_limit_frames += 1
-  else:
-    above_limit_frames = 0
-
-  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
-  # Some brands do not respect our workaround without multiple messages on the bus, for example
-  if above_limit_frames > max_above_limit_frames:
-    request = False
-
-  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
-    above_limit_frames = 0
-
-  return above_limit_frames, request
-
-
-def apply_center_deadzone(error, deadzone):
-  if (error > - deadzone) and (error < deadzone):
-    error = 0.
-  return error
-
-
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: structs.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
-    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
-  )
-  friction = float(friction_interp) if friction_compensation else 0.0
-  return friction
-
-
-def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
-  if subaddr is not None:
-    dat.insert(0, subaddr)
-  dat.append(0x80 if suppress_response else 0x0)  # sub-function
-
-  dat.extend([0x0] * (8 - len(dat)))
-  return CanData(addr, bytes(dat), bus)
-
-
-def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int = None) -> structs.CarParams.SafetyConfig:
-  ret = structs.CarParams.SafetyConfig()
-  ret.safetyModel = safety_model
-  if safety_param is not None:
-    ret.safetyParam = safety_param
-  return ret
-
-
-class CanBusBase:
-  offset: int
-
-  def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
-    if CP is None:
-      assert fingerprint is not None
-      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
-    else:
-      num = len(CP.safetyConfigs)
-    self.offset = 4 * (num - 1)
-
-
-class CanSignalRateCalculator:
-  """
-  Calculates the instantaneous rate of a CAN signal by using the counter
-  variable and the known frequency of the CAN message that contains it.
-  """
-  def __init__(self, frequency):
-    self.frequency = frequency
-    self.previous_counter = 0
-    self.previous_value = 0
-    self.rate = 0
-
-  def update(self, current_value, current_counter):
-    if current_counter != self.previous_counter:
-      self.rate = (current_value - self.previous_value) * self.frequency
-
-    self.previous_counter = current_counter
-    self.previous_value = current_value
-
-    return self.rate
-
-
-@dataclass(frozen=True, kw_only=True)
-class CarSpecs:
-  mass: float  # kg, curb weight
-  wheelbase: float  # meters
-  steerRatio: float
-  centerToFrontRatio: float = 0.5
-  minSteerSpeed: float = 0.0  # m/s
-  minEnableSpeed: float = -1.0  # m/s
-  tireStiffnessFactor: float = 1.0
-
-  def override(self, **kwargs):
-    return replace(self, **kwargs)
-
-
-class Freezable:
-  _frozen: bool = False
-
-  def freeze(self):
-    if not self._frozen:
-      self._frozen = True
-
-  def __setattr__(self, *args, **kwargs):
-    if self._frozen:
-      raise Exception("cannot modify frozen object")
-    super().__setattr__(*args, **kwargs)
-
-
-@dataclass(order=True)
-class PlatformConfig(Freezable):
-  car_docs: list[CarDocs]
-  specs: CarSpecs
-
-  dbc_dict: DbcDict
-
-  flags: int = 0
-
-  platform_str: str | None = None
-
-  def __hash__(self) -> int:
-    return hash(self.platform_str)
-
-  def override(self, **kwargs):
-    return replace(self, **kwargs)
-
-  def init(self):
-    pass
-
-  def __post_init__(self):
-    self.init()
-
-
-class PlatformsType(EnumType):
-  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
-    for key in classdict._member_names.keys():
-      cfg: PlatformConfig = classdict[key]
-      cfg.platform_str = key
-      cfg.freeze()
-    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
-
-
-class Platforms(str, ReprEnum, metaclass=PlatformsType):
-  config: PlatformConfig
-
-  def __new__(cls, platform_config: PlatformConfig):
-    member = str.__new__(cls, platform_config.platform_str)
-    member.config = platform_config
-    member._value_ = platform_config.platform_str
-    return member
-
-  def __repr__(self):
-    return f"<{self.__class__.__name__}.{self.name}>"
-
-  @classmethod
-  def create_dbc_map(cls) -> dict[str, DbcDict]:
-    return {p: p.config.dbc_dict for p in cls}
-
-  @classmethod
-  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
-    return {p for p in cls if p.config.flags & flags}
diff --git a/selfdrive/car/body/__init__.py b/selfdrive/car/body/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py
deleted file mode 100644
index 580e5025ad..0000000000
--- a/selfdrive/car/body/bodycan.py
+++ /dev/null
@@ -1,7 +0,0 @@
-def create_control(packer, torque_l, torque_r):
-  values = {
-    "TORQUE_L": torque_l,
-    "TORQUE_R": torque_r,
-  }
-
-  return packer.make_can_msg("TORQUE_CMD", 0, values)
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
deleted file mode 100644
index 9411473968..0000000000
--- a/selfdrive/car/body/carcontroller.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import copy
-import numpy as np
-from numbers import Number
-
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
-from openpilot.selfdrive.car.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car.body import bodycan
-from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-
-class PIController:
-  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
-    self.speed = 0.0
-
-    self.reset()
-
-  @property
-  def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
-
-  @property
-  def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
-
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
-  def reset(self):
-    self.p = 0.0
-    self.i = 0.0
-    self.control = 0
-
-  def update(self, error, speed=0.0, freeze_integrator=False):
-    self.speed = speed
-
-    self.p = float(error) * self.k_p
-
-    i = self.i + error * self.k_i * self.i_rate
-    control = self.p + i
-
-    # Update when changing i will move the control away from the limits
-    # or when i will move towards the sign of the error
-    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-       not freeze_integrator:
-      self.i = i
-
-    control = self.p + self.i
-
-    self.control = clip(control, self.neg_limit, self.pos_limit)
-    return self.control
-
-
-MAX_TORQUE = 500
-MAX_TORQUE_RATE = 50
-MAX_ANGLE_ERROR = np.radians(7)
-MAX_POS_INTEGRATOR = 0.2   # meters
-MAX_TURN_INTEGRATOR = 0.1  # meters
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.packer = CANPacker(dbc_name)
-
-    # PIDs
-    self.turn_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
-
-    self.torque_r_filtered = 0.
-    self.torque_l_filtered = 0.
-
-  @staticmethod
-  def deadband_filter(torque, deadband):
-    if torque > 0:
-      torque += deadband
-    else:
-      torque -= deadband
-    return torque
-
-  def update(self, CC, CS, now_nanos):
-
-    torque_l = 0
-    torque_r = 0
-
-    llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
-    if CC.enabled and llk_valid:
-      # Read these from the joystick
-      # TODO: this isn't acceleration, okay?
-      speed_desired = CC.actuators.accel / 5.
-      speed_diff_desired = -CC.actuators.steer / 2.
-
-      speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
-      speed_error = speed_desired - speed_measured
-
-      torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
-
-      speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
-      turn_error = speed_diff_measured - speed_diff_desired
-      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
-                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
-      torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
-
-      # Combine 2 PIDs outputs
-      torque_r = torque + torque_diff
-      torque_l = torque - torque_diff
-
-      # Torque rate limits
-      self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
-                                       self.torque_r_filtered - MAX_TORQUE_RATE,
-                                       self.torque_r_filtered + MAX_TORQUE_RATE)
-      self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
-                                       self.torque_l_filtered - MAX_TORQUE_RATE,
-                                       self.torque_l_filtered + MAX_TORQUE_RATE)
-      torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
-      torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
-
-    can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
-
-    new_actuators = copy.copy(CC.actuators)
-    new_actuators.accel = torque_l
-    new_actuators.steer = torque_r
-    new_actuators.steerOutputCan = torque_r
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
deleted file mode 100644
index 7ce0ef1920..0000000000
--- a/selfdrive/car/body/carstate.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.body.values import DBC
-
-
-class CarState(CarStateBase):
-  def update(self, cp, *_) -> structs.CarState:
-    ret = structs.CarState()
-
-    ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
-    ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
-
-    ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
-
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = False
-
-    ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
-                                   cp.vl['VAR_VALUES']['FAULT']])
-
-    ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
-    ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
-
-    # irrelevant for non-car
-    ret.gearShifter = structs.CarState.GearShifter.drive
-    ret.cruiseState.enabled = True
-    ret.cruiseState.available = True
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      ("MOTORS_DATA", 100),
-      ("VAR_VALUES", 10),
-      ("BODY_DATA", 1),
-    ]
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py
deleted file mode 100644
index 9c4b29d827..0000000000
--- a/selfdrive/car/body/fingerprints.py
+++ /dev/null
@@ -1,28 +0,0 @@
-# ruff: noqa: E501
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.body.values import CAR
-
-Ecu = CarParams.Ecu
-
-# debug ecu fw version is the git hash of the firmware
-
-
-FINGERPRINTS = {
-  CAR.COMMA_BODY: [{
-    513: 8, 516: 8, 514: 3, 515: 4
-  }],
-}
-
-FW_VERSIONS = {
-  CAR.COMMA_BODY: {
-    (Ecu.engine, 0x720, None): [
-      b'0.0.01',
-      b'0.3.00a',
-      b'02/27/2022',
-    ],
-    (Ecu.debug, 0x721, None): [
-      b'166bd860',
-      b'dc780f85',
-    ],
-  },
-}
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
deleted file mode 100644
index 9d3e1ccab6..0000000000
--- a/selfdrive/car/body/interface.py
+++ /dev/null
@@ -1,25 +0,0 @@
-import math
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.notCar = True
-    ret.carName = "body"
-    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
-
-    ret.minSteerSpeed = -math.inf
-    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
-    ret.steerLimitTimer = 1.0
-    ret.steerActuatorDelay = 0.
-
-    ret.wheelSpeedFactor = SPEED_FROM_RPM
-
-    ret.radarUnavailable = True
-    ret.openpilotLongitudinalControl = True
-    ret.steerControlType = structs.CarParams.SteerControlType.angle
-
-    return ret
diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py
deleted file mode 100644
index e654bd61fd..0000000000
--- a/selfdrive/car/body/radar_interface.py
+++ /dev/null
@@ -1,4 +0,0 @@
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
deleted file mode 100644
index 73d65a9f67..0000000000
--- a/selfdrive/car/body/values.py
+++ /dev/null
@@ -1,40 +0,0 @@
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = CarParams.Ecu
-
-SPEED_FROM_RPM = 0.008587
-
-
-class CarControllerParams:
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
-  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
-  STEER_THRESHOLD = 1.0
-
-  def __init__(self, CP):
-    pass
-
-
-class CAR(Platforms):
-  COMMA_BODY = PlatformConfig(
-    [CarDocs("comma body", package="All")],
-    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
-    dbc_dict('comma_body', None),
-  )
-
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-    ),
-  ],
-)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/can_definitions.py b/selfdrive/car/can_definitions.py
deleted file mode 100644
index 2dba7f26a8..0000000000
--- a/selfdrive/car/can_definitions.py
+++ /dev/null
@@ -1,15 +0,0 @@
-from collections.abc import Callable
-from typing import NamedTuple, Protocol
-
-
-class CanData(NamedTuple):
-  address: int
-  dat: bytes
-  src: int
-
-
-CanSendCallable = Callable[[list[CanData]], None]
-
-
-class CanRecvCallable(Protocol):
-  def __call__(self, wait_for_one: bool = False) -> list[list[CanData]]: ...
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
deleted file mode 100644
index 0981689b31..0000000000
--- a/selfdrive/car/car_helpers.py
+++ /dev/null
@@ -1,178 +0,0 @@
-import os
-import time
-
-from openpilot.selfdrive.car import carlog, gen_empty_fingerprint
-from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from openpilot.selfdrive.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-
-FRAME_FINGERPRINT = 100  # 1s
-
-
-def load_interfaces(brand_names):
-  ret = {}
-  for brand_name in brand_names:
-    path = f'openpilot.selfdrive.car.{brand_name}'
-    CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    for model_name in brand_names[brand_name]:
-      ret[model_name] = (CarInterface, CarController, CarState)
-  return ret
-
-
-def _get_interface_names() -> dict[str, list[str]]:
-  # returns a dict of brand name and its respective models
-  brand_names = {}
-  for brand_name, brand_models in get_interface_attr("CAR").items():
-    brand_names[brand_name] = [model.value for model in brand_models]
-
-  return brand_names
-
-
-# imports from directory selfdrive/car/<name>/
-interface_names = _get_interface_names()
-interfaces = load_interfaces(interface_names)
-
-
-def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, dict]]:
-  finger = gen_empty_fingerprint()
-  candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
-  frame = 0
-  car_fingerprint = None
-  done = False
-
-  while not done:
-    # can_recv(wait_for_one=True) may return zero or multiple packets, so we increment frame for each one we receive
-    can_packets = can_recv(wait_for_one=True)
-    for can_packet in can_packets:
-      for can in can_packet:
-        # The fingerprint dict is generated for all buses, this way the car interface
-        # can use it to detect a (valid) multipanda setup and initialize accordingly
-        if can.src < 128:
-          if can.src not in finger:
-            finger[can.src] = {}
-          finger[can.src][can.address] = len(can.dat)
-
-        for b in candidate_cars:
-          # Ignore extended messages and VIN query response.
-          if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-            candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-      # if we only have one car choice and the time since we got our first
-      # message has elapsed, exit
-      for b in candidate_cars:
-        if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
-          # fingerprint done
-          car_fingerprint = candidate_cars[b][0]
-
-      # bail if no cars left or we've been waiting for more than 2s
-      failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
-      succeeded = car_fingerprint is not None
-      done = failed or succeeded
-
-      frame += 1
-
-  return car_fingerprint, finger
-
-
-# **** for use live only ****
-def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
-                cached_params: CarParams | None) -> tuple[str | None, dict, str, list[CarParams.CarFw], CarParams.FingerprintSource, bool]:
-  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
-  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
-  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
-  ecu_rx_addrs = set()
-
-  start_time = time.monotonic()
-  if not skip_fw_query:
-    if cached_params is not None and cached_params.carName != "mock" and len(cached_params.carFw) > 0 and \
-       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
-      carlog.warning("Using cached CarParams")
-      vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
-      car_fw = list(cached_params.carFw)
-      cached = True
-    else:
-      carlog.warning("Getting VIN & FW versions")
-      # enable OBD multiplexing for VIN query
-      # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
-      set_obd_multiplexing(True)
-      # VIN query only reliably works through OBDII
-      vin_rx_addr, vin_rx_bus, vin = get_vin(can_recv, can_send, (0, 1))
-      ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
-      cached = False
-
-    exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
-  else:
-    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
-    exact_fw_match, fw_candidates, car_fw = True, set(), []
-    cached = False
-
-  if not is_valid_vin(vin):
-    carlog.error({"event": "Malformed VIN", "vin": vin})
-    vin = VIN_UNKNOWN
-  carlog.warning("VIN %s", vin)
-
-  # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
-  set_obd_multiplexing(False)
-
-  fw_query_time = time.monotonic() - start_time
-
-  # CAN fingerprint
-  # drain CAN socket so we get the latest messages
-  can_recv()
-  car_fingerprint, finger = can_fingerprint(can_recv)
-
-  exact_match = True
-  source = CarParams.FingerprintSource.can
-
-  # If FW query returns exactly 1 candidate, use it
-  if len(fw_candidates) == 1:
-    car_fingerprint = list(fw_candidates)[0]
-    source = CarParams.FingerprintSource.fw
-    exact_match = exact_fw_match
-
-  if fixed_fingerprint:
-    car_fingerprint = fixed_fingerprint
-    source = CarParams.FingerprintSource.fixed
-
-  carlog.error({"event": "fingerprinted", "car_fingerprint": str(car_fingerprint), "source": source, "fuzzy": not exact_match,
-                "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
-                "vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
-
-  return car_fingerprint, finger, vin, car_fw, source, exact_match
-
-
-def get_car_interface(CP: CarParams):
-  CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
-  return CarInterface(CP, CarController, CarState)
-
-
-def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool,
-            num_pandas: int = 1, cached_params: CarParams | None = None):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
-
-  if candidate is None:
-    carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
-    candidate = "MOCK"
-
-  CarInterface, _, _ = interfaces[candidate]
-  CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
-  CP.carVin = vin
-  CP.carFw = car_fw
-  CP.fingerprintSource = source
-  CP.fuzzyFingerprint = not exact_match
-
-  return get_car_interface(CP)
-
-
-def get_demo_car_params():
-  platform = MOCK.MOCK
-  CarInterface, _, _ = interfaces[platform]
-  CP = CarInterface.get_non_essential_params(platform)
-  return CP
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 6f620e5e97..899f56beb0 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,9 +1,9 @@
 from cereal import car
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import DT_CTRL, structs
-from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
-from openpilot.selfdrive.car.volkswagen.values import CarControllerParams as VWCarControllerParams
-from openpilot.selfdrive.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+from opendbc.car import DT_CTRL, structs
+from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
+from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
+from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
 from openpilot.selfdrive.controls.lib.events import Events
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 7aaef6e94a..47bef0349e 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -14,13 +14,13 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
+from opendbc.car import DT_CTRL, carlog, structs
+from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from opendbc.car.fw_versions import ObdCallback
+from opendbc.car.car_helpers import get_car
+from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL, carlog, structs
-from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
-from openpilot.selfdrive.car.fw_versions import ObdCallback
-from openpilot.selfdrive.car.car_helpers import get_car
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
diff --git a/selfdrive/car/chrysler/__init__.py b/selfdrive/car/chrysler/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
deleted file mode 100644
index b9b1a9f4cb..0000000000
--- a/selfdrive/car/chrysler/carcontroller.py
+++ /dev/null
@@ -1,84 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
-from openpilot.selfdrive.car.chrysler import chryslercan
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.apply_steer_last = 0
-
-    self.hud_count = 0
-    self.last_lkas_falling_edge = 0
-    self.lkas_control_bit_prev = False
-    self.last_button_frame = 0
-
-    self.packer = CANPacker(dbc_name)
-    self.params = CarControllerParams(CP)
-
-  def update(self, CC, CS, now_nanos):
-    can_sends = []
-
-    lkas_active = CC.latActive and self.lkas_control_bit_prev
-
-    # cruise buttons
-    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
-      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-
-      # ACC cancellation
-      if CC.cruiseControl.cancel:
-        self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
-
-      # ACC resume from standstill
-      elif CC.cruiseControl.resume:
-        self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
-
-    # HUD alerts
-    if self.frame % 25 == 0:
-      if CS.lkas_car_model != -1:
-        can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
-                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
-        self.hud_count += 1
-
-    # steering
-    if self.frame % self.params.STEER_STEP == 0:
-
-      # TODO: can we make this more sane? why is it different for all the cars?
-      lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
-        lkas_control_bit = True
-      elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
-        if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
-          lkas_control_bit = False
-      elif self.CP.carFingerprint in RAM_CARS:
-        if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
-          lkas_control_bit = False
-
-      # EPS faults if LKAS re-enables too quickly
-      lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
-
-      if not lkas_control_bit and self.lkas_control_bit_prev:
-        self.last_lkas_falling_edge = self.frame
-      self.lkas_control_bit_prev = lkas_control_bit
-
-      # steer torque
-      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
-      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
-      if not lkas_active or not lkas_control_bit:
-        apply_steer = 0
-      self.apply_steer_last = apply_steer
-
-      can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
-
-    self.frame += 1
-
-    new_actuators = copy.copy(CC.actuators)
-    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
-    new_actuators.steerOutputCan = self.apply_steer_last
-
-    return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
deleted file mode 100644
index 6d76ddd8ec..0000000000
--- a/selfdrive/car/chrysler/carstate.py
+++ /dev/null
@@ -1,159 +0,0 @@
-from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-ButtonType = structs.CarState.ButtonEvent.Type
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.CP = CP
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-
-    self.auto_high_beam = 0
-    self.button_counter = 0
-    self.lkas_car_model = -1
-
-    if CP.carFingerprint in RAM_CARS:
-      self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
-    else:
-      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
-
-    self.distance_button = 0
-
-  def update(self, cp, cp_cam, *_) -> structs.CarState:
-
-    ret = structs.CarState()
-
-    prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
-
-    # lock info
-    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
-                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
-                        cp.vl["BCM_1"]["DOOR_OPEN_RL"],
-                        cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
-
-    # brake pedal
-    ret.brake = 0
-    ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch
-
-    # gas pedal
-    ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
-    ret.gasPressed = ret.gas > 1e-5
-
-    # car speed
-    if self.CP.carFingerprint in RAM_CARS:
-      ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
-    else:
-      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = not ret.vEgoRaw > 0.001
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
-      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
-      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
-      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
-      unit=1,
-    )
-
-    # button presses
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
-                                                                       cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
-    ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
-
-    # steering wheel
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
-    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
-    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
-    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-
-    # cruise state
-    cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
-
-    ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
-    ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
-    ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
-    ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2)  # 1 NormalCCOn and 2 NormalCCSet
-    ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
-    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
-
-    if self.CP.carFingerprint in RAM_CARS:
-      # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
-      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
-      ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
-    else:
-      ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
-      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
-
-    # blindspot sensors
-    if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
-      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
-
-    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
-
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
-
-  @staticmethod
-  def get_cruise_messages():
-    messages = [
-      ("DAS_3", 50),
-      ("DAS_4", 50),
-    ]
-    return messages
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("ESP_1", 50),
-      ("EPS_2", 100),
-      ("ESP_6", 50),
-      ("STEERING", 100),
-      ("ECM_5", 50),
-      ("CRUISE_BUTTONS", 50),
-      ("STEERING_LEVERS", 10),
-      ("ORC_1", 2),
-      ("BCM_1", 1),
-    ]
-
-    if CP.enableBsm:
-      messages.append(("BSM_1", 2))
-
-    if CP.carFingerprint in RAM_CARS:
-      messages += [
-        ("ESP_8", 50),
-        ("EPS_3", 50),
-        ("Transmission_Status", 50),
-      ]
-    else:
-      messages += [
-        ("GEAR", 50),
-        ("SPEED_1", 100),
-      ]
-      messages += CarState.get_cruise_messages()
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      ("DAS_6", 4),
-    ]
-
-    if CP.carFingerprint in RAM_CARS:
-      messages += CarState.get_cruise_messages()
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
deleted file mode 100644
index 9fefeef8fb..0000000000
--- a/selfdrive/car/chrysler/chryslercan.py
+++ /dev/null
@@ -1,71 +0,0 @@
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS
-
-GearShifter = structs.CarState.GearShifter
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
-  # LKAS_HUD - Controls what lane-keeping icon is displayed
-
-  # == Color ==
-  # 0 hidden?
-  # 1 white
-  # 2 green
-  # 3 ldw
-
-  # == Lines ==
-  # 03 white Lines
-  # 04 grey lines
-  # 09 left lane close
-  # 0A right lane close
-  # 0B left Lane very close
-  # 0C right Lane very close
-  # 0D left cross cross
-  # 0E right lane cross
-
-  # == Alerts ==
-  # 7 Normal
-  # 6 lane departure place hands on wheel
-
-  color = 2 if lkas_active else 1
-  lines = 3 if lkas_active else 0
-  alerts = 7 if lkas_active else 0
-
-  if hud_count < (1 * 4):  # first 3 seconds, 4Hz
-    alerts = 1
-
-  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
-    color = 4
-    lines = 0
-    alerts = 6
-
-  values = {
-    "LKAS_ICON_COLOR": color,
-    "CAR_MODEL": car_model,
-    "LKAS_LANE_LINES": lines,
-    "LKAS_ALERTS": alerts,
-  }
-
-  if CP.carFingerprint in RAM_CARS:
-    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
-
-  return packer.make_can_msg("DAS_6", 0, values)
-
-
-def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
-  # LKAS_COMMAND Lane-keeping signal to turn the wheel
-  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
-  values = {
-    "STEERING_TORQUE": apply_steer,
-    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
-  }
-  return packer.make_can_msg("LKAS_COMMAND", 0, values)
-
-
-def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
-  values = {
-    "ACC_Cancel": cancel,
-    "ACC_Resume": resume,
-    "COUNTER": frame % 0x10,
-  }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
deleted file mode 100644
index aac12c1149..0000000000
--- a/selfdrive/car/chrysler/fingerprints.py
+++ /dev/null
@@ -1,716 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.chrysler.values import CAR
-
-Ecu = CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.CHRYSLER_PACIFICA_2018: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68227902AF',
-      b'68227902AG',
-      b'68227902AH',
-      b'68227905AG',
-      b'68360252AC',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68211617AF',
-      b'68211617AG',
-      b'68358974AC',
-      b'68405937AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68222747AG',
-      b'68330876AA',
-      b'68330876AB',
-      b'68352227AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AA',
-      b'04672758AB',
-      b'68226356AF',
-      b'68226356AH',
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288891AE',
-      b'68378884AA',
-      b'68525338AA',
-      b'68525338AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68267018AO ',
-      b'68267020AJ ',
-      b'68303534AG ',
-      b'68303534AJ ',
-      b'68340762AD ',
-      b'68340764AD ',
-      b'68352652AE ',
-      b'68352654AE ',
-      b'68366851AH ',
-      b'68366853AE ',
-      b'68366853AG ',
-      b'68372861AF ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'68277370AJ',
-      b'68277370AM',
-      b'68277372AD',
-      b'68277372AE',
-      b'68277372AN',
-      b'68277374AA',
-      b'68277374AB',
-      b'68277374AD',
-      b'68277374AN',
-      b'68367471AC',
-      b'68367471AD',
-      b'68380571AB',
-    ],
-  },
-  CAR.CHRYSLER_PACIFICA_2020: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68405327AC',
-      b'68436233AB',
-      b'68436233AC',
-      b'68436234AB',
-      b'68436250AE',
-      b'68529067AA',
-      b'68594993AB',
-      b'68594994AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68405565AB',
-      b'68405565AC',
-      b'68444299AC',
-      b'68480707AC',
-      b'68480708AC',
-      b'68526663AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68397394AA',
-      b'68433480AB',
-      b'68453575AF',
-      b'68577676AA',
-      b'68593395AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AA',
-      b'04672758AB',
-      b'68417813AF',
-      b'68540436AA',
-      b'68540436AC',
-      b'68540436AD',
-      b'68598670AB',
-      b'68598670AC',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68416742AA',
-      b'68460393AA',
-      b'68460393AB',
-      b'68494461AB',
-      b'68494461AC',
-      b'68524936AA',
-      b'68524936AB',
-      b'68525338AB',
-      b'68594337AB',
-      b'68594340AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68413871AD ',
-      b'68413871AE ',
-      b'68413871AH ',
-      b'68413871AI ',
-      b'68413873AH ',
-      b'68413873AI ',
-      b'68443120AE ',
-      b'68443123AC ',
-      b'68443125AC ',
-      b'68496647AI ',
-      b'68496647AJ ',
-      b'68496650AH ',
-      b'68496650AI ',
-      b'68496652AH ',
-      b'68526752AD ',
-      b'68526752AE ',
-      b'68526754AE ',
-      b'68536264AE ',
-      b'68700304AB ',
-      b'68700306AB ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'68414271AC',
-      b'68414271AD',
-      b'68414275AC',
-      b'68414275AD',
-      b'68443154AB',
-      b'68443155AC',
-      b'68443158AB',
-      b'68501050AD',
-      b'68501051AD',
-      b'68501055AD',
-      b'68527221AB',
-      b'68527223AB',
-      b'68586231AD',
-      b'68586233AD',
-    ],
-  },
-  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
-      b'68358439AE',
-      b'68358439AG',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68238840AH',
-      b'68358990AC',
-      b'68405939AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AA',
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
-      b'68288309AD',
-      b'68525339AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
-      b'68366580AI ',
-      b'68366580AK ',
-      b'68366580AM ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
-      b'05190226AI',
-      b'05190226AK',
-      b'05190226AM',
-    ],
-  },
-  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68405292AC',
-      b'68434956AC',
-      b'68434956AD',
-      b'68434960AE',
-      b'68434960AF',
-      b'68529064AB',
-      b'68594990AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68405567AB',
-      b'68405567AC',
-      b'68453076AD',
-      b'68480710AC',
-      b'68526665AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AB',
-      b'68417813AF',
-      b'68540436AA',
-      b'68540436AB',
-      b'68540436AC',
-      b'68540436AD',
-      b'68598670AB',
-      b'68598670AC',
-      b'68645752AA',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68416741AA',
-      b'68460392AA',
-      b'68525339AA',
-      b'68525339AB',
-      b'68594341AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68416680AE ',
-      b'68416680AF ',
-      b'68416680AG ',
-      b'68444228AC ',
-      b'68444228AD ',
-      b'68444228AE ',
-      b'68444228AF ',
-      b'68499122AD ',
-      b'68499122AE ',
-      b'68499122AF ',
-      b'68526772AD ',
-      b'68526772AH ',
-      b'68599493AC ',
-      b'68657433AA ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05185116AF',
-      b'05185116AJ',
-      b'05185116AK',
-      b'05190240AP',
-      b'05190240AQ',
-      b'05190240AR',
-      b'05190265AG',
-      b'05190265AH',
-      b'05190289AE',
-      b'68540977AH',
-      b'68540977AK',
-      b'68597647AE',
-      b'68632416AB',
-    ],
-  },
-  CAR.JEEP_GRAND_CHEROKEE: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68243549AG',
-      b'68302211AC',
-      b'68302212AD',
-      b'68302223AC',
-      b'68302246AC',
-      b'68331511AC',
-      b'68331574AC',
-      b'68331687AC',
-      b'68331690AC',
-      b'68340272AD',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68309533AA',
-      b'68316742AB',
-      b'68355363AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68252642AG',
-      b'68306178AD',
-      b'68336275AB',
-      b'68336276AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672627AB',
-      b'68251506AF',
-      b'68332015AB',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68276201AG',
-      b'68321644AB',
-      b'68321644AC',
-      b'68321646AC',
-      b'68321648AC',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035920AE ',
-      b'68252272AG ',
-      b'68284455AI ',
-      b'68284456AI ',
-      b'68284477AF ',
-      b'68325564AH ',
-      b'68325564AI ',
-      b'68325565AH ',
-      b'68325565AI ',
-      b'68325618AD ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035517AH',
-      b'68253222AF',
-      b'68311218AC',
-      b'68311223AF',
-      b'68311223AG',
-      b'68361911AE',
-      b'68361911AF',
-      b'68361911AH',
-      b'68361916AD',
-    ],
-  },
-  CAR.JEEP_GRAND_CHEROKEE_2019: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68402703AB',
-      b'68402704AB',
-      b'68402708AB',
-      b'68402971AD',
-      b'68454144AD',
-      b'68454145AB',
-      b'68454152AB',
-      b'68454156AB',
-      b'68516650AB',
-      b'68516651AB',
-      b'68516669AB',
-      b'68516671AB',
-      b'68516683AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68355363AB',
-      b'68355364AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68408639AC',
-      b'68408639AD',
-      b'68499978AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672788AA',
-      b'68456722AC',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68417279AA',
-      b'68417280AA',
-      b'68417281AA',
-      b'68453431AA',
-      b'68453433AA',
-      b'68453435AA',
-      b'68499171AA',
-      b'68499171AB',
-      b'68501183AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035674AB ',
-      b'68412635AG ',
-      b'68412660AD ',
-      b'68422860AB',
-      b'68449435AE ',
-      b'68496223AA ',
-      b'68504959AD ',
-      b'68504959AE ',
-      b'68504960AD ',
-      b'68504993AC ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035707AA',
-      b'68419672AC',
-      b'68419678AB',
-      b'68423905AB',
-      b'68449258AC',
-      b'68495807AA',
-      b'68495807AB',
-      b'68503641AC',
-      b'68503664AC',
-    ],
-  },
-  CAR.RAM_1500_5TH_GEN: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68294051AG',
-      b'68294051AI',
-      b'68294052AG',
-      b'68294052AH',
-      b'68294059AI',
-      b'68294063AG',
-      b'68294063AH',
-      b'68294063AI',
-      b'68434846AC',
-      b'68434847AC',
-      b'68434849AC',
-      b'68434856AC',
-      b'68434858AC',
-      b'68434859AC',
-      b'68434860AC',
-      b'68453471AD',
-      b'68453483AC',
-      b'68453483AD',
-      b'68453487AD',
-      b'68453491AC',
-      b'68453491AD',
-      b'68453499AD',
-      b'68453503AC',
-      b'68453503AD',
-      b'68453505AC',
-      b'68453505AD',
-      b'68453511AC',
-      b'68453513AC',
-      b'68453513AD',
-      b'68453514AD',
-      b'68505633AB',
-      b'68510277AG',
-      b'68510277AH',
-      b'68510280AG',
-      b'68510282AG',
-      b'68510282AH',
-      b'68510283AG',
-      b'68527346AE',
-      b'68527361AD',
-      b'68527375AD',
-      b'68527381AD',
-      b'68527381AE',
-      b'68527382AE',
-      b'68527383AD',
-      b'68527383AE',
-      b'68527387AE',
-      b'68527397AD',
-      b'68527403AC',
-      b'68527403AD',
-      b'68546047AF',
-      b'68631938AA',
-      b'68631939AA',
-      b'68631940AA',
-      b'68631940AB',
-      b'68631942AA',
-      b'68631943AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68428609AB',
-      b'68441329AB',
-      b'68473844AB',
-      b'68490898AA',
-      b'68500728AA',
-      b'68615033AA',
-      b'68615034AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68292406AG',
-      b'68292406AH',
-      b'68432418AB',
-      b'68432418AC',
-      b'68432418AD',
-      b'68436004AD',
-      b'68436004AE',
-      b'68438454AC',
-      b'68438454AD',
-      b'68438456AE',
-      b'68438456AF',
-      b'68535469AB',
-      b'68535470AC',
-      b'68548900AB',
-      b'68586307AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672892AB',
-      b'04672932AB',
-      b'04672932AC',
-      b'22DTRHD_AA',
-      b'68320950AH',
-      b'68320950AI',
-      b'68320950AJ',
-      b'68320950AL',
-      b'68320950AM',
-      b'68454268AB',
-      b'68475160AE',
-      b'68475160AF',
-      b'68475160AG',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'21590101AA',
-      b'21590101AB',
-      b'68273275AF',
-      b'68273275AG',
-      b'68273275AH',
-      b'68312176AE',
-      b'68312176AF',
-      b'68312176AG',
-      b'68440789AC',
-      b'68466110AA',
-      b'68466110AB',
-      b'68466113AA',
-      b'68469901AA',
-      b'68469907AA',
-      b'68522583AA',
-      b'68522583AB',
-      b'68522584AA',
-      b'68522585AB',
-      b'68552788AA',
-      b'68552789AA',
-      b'68552790AA',
-      b'68552791AB',
-      b'68552794AA',
-      b'68552794AD',
-      b'68585106AB',
-      b'68585107AB',
-      b'68585108AB',
-      b'68585109AB',
-      b'68585112AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035699AG ',
-      b'05035841AC ',
-      b'05035841AD ',
-      b'05036026AB ',
-      b'05036065AE ',
-      b'05036066AE ',
-      b'05036067AE ',
-      b'05036193AA ',
-      b'05149368AA ',
-      b'05149374AA ',
-      b'05149591AD ',
-      b'05149591AE ',
-      b'05149592AE ',
-      b'05149599AE ',
-      b'05149600AD ',
-      b'05149600AE ',
-      b'05149605AE ',
-      b'05149846AA ',
-      b'05149848AA ',
-      b'05149848AC ',
-      b'05190341AD',
-      b'68378695AJ ',
-      b'68378696AJ ',
-      b'68378696AK ',
-      b'68378701AI ',
-      b'68378702AI ',
-      b'68378710AL ',
-      b'68378742AI ',
-      b'68378742AK ',
-      b'68378743AM ',
-      b'68378748AL ',
-      b'68378758AM ',
-      b'68448163AJ',
-      b'68448163AK',
-      b'68448163AL',
-      b'68448165AG',
-      b'68448165AK',
-      b'68455111AC ',
-      b'68455119AC ',
-      b'68455145AC ',
-      b'68455145AE ',
-      b'68455146AC ',
-      b'68460927AA ',
-      b'68467915AC ',
-      b'68467916AC ',
-      b'68467936AC ',
-      b'68500630AD',
-      b'68500630AE',
-      b'68500631AE',
-      b'68502719AC ',
-      b'68502722AC ',
-      b'68502733AC ',
-      b'68502734AF ',
-      b'68502740AF ',
-      b'68502741AF ',
-      b'68502742AC ',
-      b'68502742AF ',
-      b'68539650AD',
-      b'68539650AF',
-      b'68539651AD',
-      b'68586101AA ',
-      b'68586102AA ',
-      b'68586105AB ',
-      b'68629919AC ',
-      b'68629922AC ',
-      b'68629925AC ',
-      b'68629926AC ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035706AD',
-      b'05035842AB',
-      b'05036069AA',
-      b'05036181AA',
-      b'05149536AC',
-      b'05149537AC',
-      b'05149543AC',
-      b'68360078AL',
-      b'68360080AL',
-      b'68360080AM',
-      b'68360081AM',
-      b'68360085AJ',
-      b'68360085AL',
-      b'68360086AH',
-      b'68360086AK',
-      b'68360086AN',
-      b'68384328AD',
-      b'68384332AD',
-      b'68445531AC',
-      b'68445533AB',
-      b'68445536AB',
-      b'68445537AB',
-      b'68466081AB',
-      b'68466087AB',
-      b'68484466AC',
-      b'68484467AC',
-      b'68484471AC',
-      b'68502994AD',
-      b'68502996AD',
-      b'68520867AE',
-      b'68520867AF',
-      b'68520870AC',
-      b'68520871AC',
-      b'68528325AE',
-      b'68540431AB',
-      b'68540433AB',
-      b'68551676AA',
-      b'68629935AB',
-      b'68629936AC',
-    ],
-  },
-  CAR.RAM_HD_5TH_GEN: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68361606AH',
-      b'68437735AC',
-      b'68492693AD',
-      b'68525485AB',
-      b'68525487AB',
-      b'68525498AB',
-      b'68528791AF',
-      b'68628474AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68399794AC',
-      b'68428503AA',
-      b'68428505AA',
-      b'68428507AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68334977AH',
-      b'68455481AC',
-      b'68504022AA',
-      b'68504022AB',
-      b'68504022AC',
-      b'68530686AB',
-      b'68530686AC',
-      b'68544596AC',
-      b'68641704AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672895AB',
-      b'04672934AB',
-      b'56029827AG',
-      b'56029827AH',
-      b'68462657AE',
-      b'68484694AD',
-      b'68484694AE',
-      b'68615489AB',
-    ],
-    (Ecu.eps, 0x761, None): [
-      b'68421036AC',
-      b'68507906AB',
-      b'68534023AC',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'52370131AF',
-      b'52370231AF',
-      b'52370231AG',
-      b'52370491AA',
-      b'52370931CT',
-      b'52401032AE',
-      b'52421132AF',
-      b'52421332AF',
-      b'68527616AD ',
-      b'M2370131MB',
-      b'M2421132MB',
-    ],
-  },
-  CAR.DODGE_DURANGO: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68454261AD',
-      b'68471535AE',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68355362AB',
-      b'68492238AD',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68408639AD',
-      b'68499978AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68440581AE',
-      b'68456722AC',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68453435AA',
-      b'68498477AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035786AE ',
-      b'68449476AE ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035826AC',
-      b'68449265AC',
-    ],
-  },
-}
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
deleted file mode 100755
index 9092e92313..0000000000
--- a/selfdrive/car/chrysler/interface.py
+++ /dev/null
@@ -1,74 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "chrysler"
-    ret.dashcamOnly = candidate in RAM_HD
-
-    # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
-    ret.radarUnavailable = True # DBC[candidate]['radar'] is None
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.4
-
-    # safety config
-    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
-    if candidate in RAM_HD:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
-    elif candidate in RAM_DT:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
-
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-    if candidate not in RAM_CARS:
-      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
-      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
-      if new_eps_platform or new_eps_firmware:
-        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
-
-    # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
-                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
-
-    # Jeep
-    elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
-      ret.steerActuatorDelay = 0.2
-
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
-
-    # Ram
-    elif candidate == CAR.RAM_1500_5TH_GEN:
-      ret.steerActuatorDelay = 0.2
-      ret.wheelbase = 3.88
-      # Older EPS FW allow steer to zero
-      if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
-        ret.minSteerSpeed = 0.
-
-    elif candidate == CAR.RAM_HD_5TH_GEN:
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
-
-    else:
-      raise ValueError(f"Unsupported car: {candidate}")
-
-    if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
-      # TODO: allow these cars to steer down to 13 m/s if already engaged.
-      # TODO: Durango 2020 may be able to steer to zero once above 38 kph
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
-
-    ret.centerToFront = ret.wheelbase * 0.44
-    ret.enableBsm = 720 in fingerprint[0]
-
-    return ret
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
deleted file mode 100755
index c386274c5c..0000000000
--- a/selfdrive/car/chrysler/radar_interface.py
+++ /dev/null
@@ -1,85 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-from openpilot.selfdrive.car.chrysler.values import DBC
-
-RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
-RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
-LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
-NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
-
-def _create_radar_can_parser(car_fingerprint):
-  dbc = DBC[car_fingerprint]['radar']
-  if dbc is None:
-    return None
-
-  msg_n = len(RADAR_MSGS_C)
-  # list of [(signal name, message name or number), (...)]
-  # [('RADAR_STATE', 1024),
-  #  ('LONG_DIST', 1072),
-  #  ('LONG_DIST', 1073),
-  #  ('LONG_DIST', 1074),
-  #  ('LONG_DIST', 1075),
-
-  messages = list(zip(RADAR_MSGS_C +
-                      RADAR_MSGS_D,
-                      [20] * msg_n +  # 20Hz (0.05s)
-                      [20] * msg_n, strict=True))  # 20Hz (0.05s)
-
-  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
-
-def _address_to_track(address):
-  if address in RADAR_MSGS_C:
-    return (address - RADAR_MSGS_C[0]) // 2
-  if address in RADAR_MSGS_D:
-    return (address - RADAR_MSGS_D[0]) // 2
-  raise ValueError("radar received unexpected address %d" % address)
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.rcp = _create_radar_can_parser(CP.carFingerprint)
-    self.updated_messages = set()
-    self.trigger_msg = LAST_MSG
-
-  def update(self, can_strings):
-    if self.rcp is None or self.CP.radarUnavailable:
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    ret = structs.RadarData()
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    ret.errors = errors
-
-    for ii in self.updated_messages:  # ii should be the message ID as a number
-      cpt = self.rcp.vl[ii]
-      trackId = _address_to_track(ii)
-
-      if trackId not in self.pts:
-        self.pts[trackId] = structs.RadarData.RadarPoint()
-        self.pts[trackId].trackId = trackId
-        self.pts[trackId].aRel = float('nan')
-        self.pts[trackId].yvRel = float('nan')
-        self.pts[trackId].measured = True
-
-      if 'LONG_DIST' in cpt:  # c_* message
-        self.pts[trackId].dRel = cpt['LONG_DIST']  # from front of car
-        # our lat_dist is positive to the right in car's frame.
-        # TODO what does yRel want?
-        self.pts[trackId].yRel = cpt['LAT_DIST']  # in car frame's y axis, left is positive
-      else:  # d_* message
-        self.pts[trackId].vRel = cpt['REL_SPEED']
-
-    # We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid.
-    ret.points = [x for x in self.pts.values() if x.dRel != 0]
-
-    self.updated_messages.clear()
-    return ret
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
deleted file mode 100644
index e568c8af1d..0000000000
--- a/selfdrive/car/chrysler/values.py
+++ /dev/null
@@ -1,152 +0,0 @@
-from enum import IntFlag
-from dataclasses import dataclass, field
-
-from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
-
-Ecu = CarParams.Ecu
-
-
-class ChryslerFlags(IntFlag):
-  # Detected flags
-  HIGHER_MIN_STEERING_SPEED = 1
-
-@dataclass
-class ChryslerCarDocs(CarDocs):
-  package: str = "Adaptive Cruise Control (ACC)"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
-
-
-@dataclass
-class ChryslerPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
-
-
-@dataclass(frozen=True)
-class ChryslerCarSpecs(CarSpecs):
-  minSteerSpeed: float = 3.8  # m/s
-
-
-class CAR(Platforms):
-  # Chrysler
-  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  )
-  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
-    [
-      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
-      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
-    ],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-
-  # Dodge
-  DODGE_DURANGO = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-
-  # Jeep
-  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
-    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
-  )
-
-  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
-    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
-    JEEP_GRAND_CHEROKEE.specs,
-  )
-
-  # Ram
-  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
-    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
-    dbc_dict('chrysler_ram_dt_generated', None),
-  )
-  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
-    [
-      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
-    ],
-    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
-    dbc_dict('chrysler_ram_hd_generated', None),
-  )
-
-
-class CarControllerParams:
-  def __init__(self, CP):
-    self.STEER_STEP = 2  # 50 Hz
-    self.STEER_ERROR_MAX = 80
-    if CP.carFingerprint in RAM_HD:
-      self.STEER_DELTA_UP = 14
-      self.STEER_DELTA_DOWN = 14
-      self.STEER_MAX = 361  # higher than this faults the EPS
-    elif CP.carFingerprint in RAM_DT:
-      self.STEER_DELTA_UP = 6
-      self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
-    else:
-      self.STEER_DELTA_UP = 3
-      self.STEER_DELTA_DOWN = 3
-      self.STEER_MAX = 261  # higher than this faults the EPS
-
-
-STEER_THRESHOLD = 120
-
-RAM_DT = {CAR.RAM_1500_5TH_GEN, }
-RAM_HD = {CAR.RAM_HD_5TH_GEN, }
-RAM_CARS = RAM_DT | RAM_HD
-
-
-CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf132)
-CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(0xf132)
-
-CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
-CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
-
-CHRYSLER_RX_OFFSET = -0x280
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [CHRYSLER_VERSION_REQUEST],
-      [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
-      rx_offset=CHRYSLER_RX_OFFSET,
-      bus=0,
-    ),
-    Request(
-      [CHRYSLER_VERSION_REQUEST],
-      [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
-      bus=0,
-    ),
-    Request(
-      [CHRYSLER_SOFTWARE_VERSION_REQUEST],
-      [CHRYSLER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission],
-      bus=0,
-    ),
-  ],
-  extra_ecus=[
-    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids, NOTE: not on all hybrid platforms
-  ],
-)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/common/__init__.py b/selfdrive/car/common/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/common/basedir.py b/selfdrive/car/common/basedir.py
deleted file mode 100644
index 6b4811e53c..0000000000
--- a/selfdrive/car/common/basedir.py
+++ /dev/null
@@ -1,4 +0,0 @@
-import os
-
-
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
diff --git a/selfdrive/car/common/conversions.py b/selfdrive/car/common/conversions.py
deleted file mode 100644
index b02b33c625..0000000000
--- a/selfdrive/car/common/conversions.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import numpy as np
-
-class Conversions:
-  # Speed
-  MPH_TO_KPH = 1.609344
-  KPH_TO_MPH = 1. / MPH_TO_KPH
-  MS_TO_KPH = 3.6
-  KPH_TO_MS = 1. / MS_TO_KPH
-  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
-  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
-  MS_TO_KNOTS = 1.9438
-  KNOTS_TO_MS = 1. / MS_TO_KNOTS
-
-  # Angle
-  DEG_TO_RAD = np.pi / 180.
-  RAD_TO_DEG = 1. / DEG_TO_RAD
-
-  # Mass
-  LB_TO_KG = 0.453592
diff --git a/selfdrive/car/common/filter_simple.py b/selfdrive/car/common/filter_simple.py
deleted file mode 100644
index 0ec7a51562..0000000000
--- a/selfdrive/car/common/filter_simple.py
+++ /dev/null
@@ -1,18 +0,0 @@
-class FirstOrderFilter:
-  # first order filter
-  def __init__(self, x0, rc, dt, initialized=True):
-    self.x = x0
-    self.dt = dt
-    self.update_alpha(rc)
-    self.initialized = initialized
-
-  def update_alpha(self, rc):
-    self.alpha = self.dt / (rc + self.dt)
-
-  def update(self, x):
-    if self.initialized:
-      self.x = (1. - self.alpha) * self.x + self.alpha * x
-    else:
-      self.initialized = True
-      self.x = x
-    return self.x
diff --git a/selfdrive/car/common/numpy_fast.py b/selfdrive/car/common/numpy_fast.py
deleted file mode 100644
index 81f6d6a6bc..0000000000
--- a/selfdrive/car/common/numpy_fast.py
+++ /dev/null
@@ -1,22 +0,0 @@
-def clip(x, lo, hi):
-  return max(lo, min(hi, x))
-
-
-def interp(x, xp, fp):
-  N = len(xp)
-
-  def get_interp(xv):
-    hi = 0
-    while hi < N and xv > xp[hi]:
-      hi += 1
-    low = hi - 1
-    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else
-      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-
-  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
-
-
-def mean(x):
-  return sum(x) / len(x)
-
diff --git a/selfdrive/car/common/simple_kalman.py b/selfdrive/car/common/simple_kalman.py
deleted file mode 100644
index 194b27204b..0000000000
--- a/selfdrive/car/common/simple_kalman.py
+++ /dev/null
@@ -1,54 +0,0 @@
-import numpy as np
-
-
-def get_kalman_gain(dt, A, C, Q, R, iterations=100):
-  P = np.zeros_like(Q)
-  for _ in range(iterations):
-    P = A.dot(P).dot(A.T) + dt * Q
-    S = C.dot(P).dot(C.T) + R
-    K = P.dot(C.T).dot(np.linalg.inv(S))
-    P = (np.eye(len(P)) - K.dot(C)).dot(P)
-  return K
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x0_0 = x0[0][0]
-    self.x1_0 = x0[1][0]
-    self.A0_0 = A[0][0]
-    self.A0_1 = A[0][1]
-    self.A1_0 = A[1][0]
-    self.A1_1 = A[1][1]
-    self.C0_0 = C[0]
-    self.C0_1 = C[1]
-    self.K0_0 = K[0][0]
-    self.K1_0 = K[1][0]
-
-    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
-    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
-    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
-    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
-    x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
-    self.x0_0 = x0_0
-    self.x1_0 = x1_0
-    return [self.x0_0, self.x1_0]
-
-  @property
-  def x(self):
-    return [[self.x0_0], [self.x1_0]]
-
-  def set_x(self, x):
-    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
deleted file mode 100644
index ad5f492383..0000000000
--- a/selfdrive/car/disable_ecu.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from openpilot.selfdrive.car import carlog
-from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-
-EXT_DIAG_REQUEST = b'\x10\x03'
-EXT_DIAG_RESPONSE = b'\x50\x03'
-
-COM_CONT_RESPONSE = b''
-
-
-def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
-  """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
-  The ECU will stay silent as long as openpilot keeps sending Tester Present.
-
-  This is used to disable the radar in some cars. Openpilot will emulate the radar.
-  WARNING: THIS DISABLES AEB!"""
-  carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
-
-  for i in range(retry):
-    try:
-      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-
-      for _, _ in query.get_data(timeout).items():
-        carlog.warning("communication control disable tx/rx ...")
-
-        query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
-        query.get_data(0)
-
-        carlog.warning("ecu disabled")
-        return True
-
-    except Exception:
-      carlog.exception("ecu disable exception")
-
-    carlog.error(f"ecu disable retry ({i + 1}) ...")
-  carlog.error("ecu disable failed")
-  return False
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
old mode 100644
new mode 100755
index a9e9c7ee83..f807fc320e
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -1,59 +1,21 @@
-from collections import defaultdict
-import jinja2
-from enum import Enum
-from natsort import natsorted
+#!/usr/bin/env python3
+import argparse
+import os
 
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
-from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
-from openpilot.selfdrive.car.values import PLATFORMS
+from openpilot.common.basedir import BASEDIR
+from opendbc.car.docs import get_all_car_docs, generate_cars_md
 
+CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
+CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
-def get_all_footnotes() -> dict[Enum, int]:
-  all_footnotes = list(CommonFootnote)
-  for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    all_footnotes.extend(footnotes)
-  return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
+  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
+  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
+  args = parser.parse_args()
 
-def get_all_car_docs() -> list[CarDocs]:
-  all_car_docs: list[CarDocs] = []
-  footnotes = get_all_footnotes()
-  for model, platform in PLATFORMS.items():
-    car_docs = platform.config.car_docs
-    # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
-                                         car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)], experimental_long=True, docs=True)
-
-    if CP.dashcamOnly or not len(car_docs):
-      continue
-
-    # A platform can include multiple car models
-    for _car_docs in car_docs:
-      if not hasattr(_car_docs, "row"):
-        _car_docs.init_make(CP)
-        _car_docs.init(CP, footnotes)
-      all_car_docs.append(_car_docs)
-
-  # Sort cars by make and model + year
-  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
-  return sorted_cars
-
-
-def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
-  sorted_car_docs = defaultdict(list)
-  for car_docs in all_car_docs:
-    sorted_car_docs[car_docs.make].append(car_docs)
-  return dict(sorted_car_docs)
-
-
-def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
-  with open(template_fn) as f:
-    template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
-
-  footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
-                                 group_by_make=group_by_make, footnotes=footnotes,
-                                 Column=Column)
-  return cars_md
+  with open(args.out, 'w') as f:
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
+  print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
deleted file mode 100644
index cf047445bb..0000000000
--- a/selfdrive/car/docs_definitions.py
+++ /dev/null
@@ -1,368 +0,0 @@
-import re
-from collections import namedtuple
-import copy
-from dataclasses import dataclass, field
-from enum import Enum
-
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
-
-GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
-MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
-
-
-class Column(Enum):
-  MAKE = "Make"
-  MODEL = "Model"
-  PACKAGE = "Supported Package"
-  LONGITUDINAL = "ACC"
-  FSR_LONGITUDINAL = "No ACC accel below"
-  FSR_STEERING = "No ALC below"
-  STEERING_TORQUE = "Steering Torque"
-  AUTO_RESUME = "Resume from stop"
-  HARDWARE = "Hardware Needed"
-  VIDEO = "Video"
-
-
-class Star(Enum):
-  FULL = "full"
-  HALF = "half"
-  EMPTY = "empty"
-
-
-# A part + its comprised parts
-@dataclass
-class BasePart:
-  name: str
-  parts: list[Enum] = field(default_factory=list)
-
-  def all_parts(self):
-    # Recursively get all parts
-    _parts = 'parts'
-    parts = []
-    parts.extend(getattr(self, _parts))
-    for part in getattr(self, _parts):
-      parts.extend(part.value.all_parts())
-
-    return parts
-
-
-class EnumBase(Enum):
-  @property
-  def part_type(self):
-    return PartType(self.__class__)
-
-
-class Mount(EnumBase):
-  mount = BasePart("mount")
-  angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
-
-
-class Cable(EnumBase):
-  rj45_cable_7ft = BasePart("RJ45 cable (7 ft)")
-  long_obdc_cable = BasePart("long OBD-C cable")
-  usb_a_2_a_cable = BasePart("USB A-A cable")
-  usbc_otg_cable = BasePart("USB C OTG cable")
-  usbc_coupler = BasePart("USB-C coupler")
-  obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
-  right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
-
-
-class Accessory(EnumBase):
-  harness_box = BasePart("harness box")
-  comma_power_v2 = BasePart("comma power v2")
-
-
-@dataclass
-class BaseCarHarness(BasePart):
-  parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
-  has_connector: bool = True  # without are hidden on the harness connector page
-
-
-class CarHarness(EnumBase):
-  nidec = BaseCarHarness("Honda Nidec connector")
-  bosch_a = BaseCarHarness("Honda Bosch A connector")
-  bosch_b = BaseCarHarness("Honda Bosch B connector")
-  toyota_a = BaseCarHarness("Toyota A connector")
-  toyota_b = BaseCarHarness("Toyota B connector")
-  subaru_a = BaseCarHarness("Subaru A connector")
-  subaru_b = BaseCarHarness("Subaru B connector")
-  subaru_c = BaseCarHarness("Subaru C connector")
-  subaru_d = BaseCarHarness("Subaru D connector")
-  fca = BaseCarHarness("FCA connector")
-  ram = BaseCarHarness("Ram connector")
-  vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  hyundai_a = BaseCarHarness("Hyundai A connector")
-  hyundai_b = BaseCarHarness("Hyundai B connector")
-  hyundai_c = BaseCarHarness("Hyundai C connector")
-  hyundai_d = BaseCarHarness("Hyundai D connector")
-  hyundai_e = BaseCarHarness("Hyundai E connector")
-  hyundai_f = BaseCarHarness("Hyundai F connector")
-  hyundai_g = BaseCarHarness("Hyundai G connector")
-  hyundai_h = BaseCarHarness("Hyundai H connector")
-  hyundai_i = BaseCarHarness("Hyundai I connector")
-  hyundai_j = BaseCarHarness("Hyundai J connector")
-  hyundai_k = BaseCarHarness("Hyundai K connector")
-  hyundai_l = BaseCarHarness("Hyundai L connector")
-  hyundai_m = BaseCarHarness("Hyundai M connector")
-  hyundai_n = BaseCarHarness("Hyundai N connector")
-  hyundai_o = BaseCarHarness("Hyundai O connector")
-  hyundai_p = BaseCarHarness("Hyundai P connector")
-  hyundai_q = BaseCarHarness("Hyundai Q connector")
-  hyundai_r = BaseCarHarness("Hyundai R connector")
-  custom = BaseCarHarness("Developer connector")
-  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
-  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
-  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
-  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
-  mazda = BaseCarHarness("Mazda connector")
-  ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft, Cable.long_obdc_cable,
-                                                       Cable.usbc_coupler])
-
-
-class Device(EnumBase):
-  threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
-  # variant of comma 3X with angled mounts
-  threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
-  red_panda = BasePart("red panda")
-
-
-class Kit(EnumBase):
-  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
-                                                      Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
-
-
-class Tool(EnumBase):
-  socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)")
-  pry_tool = BasePart("Pry Tool")
-
-
-class PartType(Enum):
-  accessory = Accessory
-  cable = Cable
-  connector = CarHarness
-  device = Device
-  kit = Kit
-  mount = Mount
-  tool = Tool
-
-
-DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
-
-
-@dataclass
-class CarParts:
-  parts: list[EnumBase] = field(default_factory=list)
-
-  def __call__(self):
-    return copy.deepcopy(self)
-
-  @classmethod
-  def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
-    p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
-    return cls(p)
-
-  def all_parts(self):
-    parts = []
-    for part in self.parts:
-      parts.extend(part.value.all_parts())
-    return self.parts + parts
-
-
-CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
-
-
-class CommonFootnote(Enum):
-  EXP_LONG_AVAIL = CarFootnote(
-    "openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
-    "the toggle is only available in non-release branches such as `devel` or `master-ci`.",
-    Column.LONGITUDINAL, docs_only=True)
-  EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
-    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
-    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
-    Column.LONGITUDINAL)
-
-
-def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
-  # Returns applicable footnotes given current column
-  return [fn for fn in footnotes if fn.value.column == column]
-
-
-# TODO: store years as a list
-def get_year_list(years):
-  years_list = []
-  if len(years) == 0:
-    return years_list
-
-  for year in years.split(','):
-    year = year.strip()
-    if len(year) == 4:
-      years_list.append(str(year))
-    elif "-" in year and len(year) == 7:
-      start, end = year.split("-")
-      years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
-    else:
-      raise Exception(f"Malformed year string: {years}")
-  return years_list
-
-
-def split_name(name: str) -> tuple[str, str, str]:
-  make, model = name.split(" ", 1)
-  years = ""
-  match = re.search(MODEL_YEARS_RE, model)
-  if match is not None:
-    years = model[match.start():]
-    model = model[:match.start() - 1]
-  return make, model, years
-
-
-@dataclass
-class CarDocs:
-  # make + model + model years
-  name: str
-
-  # Example for Toyota Corolla MY20
-  # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
-  # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
-
-  # the simplest description of the requirements for the US market
-  package: str
-
-  # the minimum compatibility requirements for this model, regardless
-  # of market. can be a package, trim, or list of features
-  requirements: str | None = None
-
-  video_link: str | None = None
-  footnotes: list[Enum] = field(default_factory=list)
-  min_steer_speed: float | None = None
-  min_enable_speed: float | None = None
-  auto_resume: bool | None = None
-
-  # all the parts needed for the supported car
-  car_parts: CarParts = field(default_factory=CarParts)
-
-  def __post_init__(self):
-    self.make, self.model, self.years = split_name(self.name)
-    self.year_list = get_year_list(self.years)
-
-  def init(self, CP: CarParams, all_footnotes: dict[Enum, int]):
-    self.car_name = CP.carName
-    self.car_fingerprint = CP.carFingerprint
-
-    # longitudinal column
-    op_long = "Stock"
-    if CP.experimentalLongitudinalAvailable or CP.enableDsu:
-      op_long = "openpilot available"
-      if CP.enableDsu:
-        self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
-      else:
-        self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
-    elif CP.openpilotLongitudinalControl and not CP.enableDsu:
-      op_long = "openpilot"
-
-    # min steer & enable speed columns
-    # TODO: set all the min steer speeds in carParams and remove this
-    if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
-    else:
-      self.min_steer_speed = CP.minSteerSpeed
-
-    # TODO: set all the min enable speeds in carParams correctly and remove this
-    if self.min_enable_speed is None:
-      self.min_enable_speed = CP.minEnableSpeed
-
-    if self.auto_resume is None:
-      self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0
-
-    # hardware column
-    hardware_col = "None"
-    if self.car_parts.parts:
-      model_years = self.model + (' ' + self.years if self.years else '')
-      buy_link = f'<a href="https://comma.ai/shop/comma-3x.html?make={self.make}&model={model_years}">Buy Here</a>'
-
-      tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)]
-      parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)]
-
-      def display_func(parts):
-        return '<br>'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))])
-
-      hardware_col = f'<details><summary>Parts</summary><sub>{display_func(parts_docs)}<br>{buy_link}</sub></details>'
-      if len(tools_docs):
-        hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
-
-    self.row: dict[Enum, str | Star] = {
-      Column.MAKE: self.make,
-      Column.MODEL: self.model,
-      Column.PACKAGE: self.package,
-      Column.LONGITUDINAL: op_long,
-      Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
-      Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
-      Column.STEERING_TORQUE: Star.EMPTY,
-      Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
-      Column.HARDWARE: hardware_col,
-      Column.VIDEO: self.video_link if self.video_link is not None else "",  # replaced with an image and link from template in get_column
-    }
-
-    # Set steering torque star from max lateral acceleration
-    assert CP.maxLateralAccel > 0.1
-    if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
-      self.row[Column.STEERING_TORQUE] = Star.FULL
-
-    self.all_footnotes = all_footnotes
-    self.detail_sentence = self.get_detail_sentence(CP)
-
-    return self
-
-  def init_make(self, CP: CarParams):
-    """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
-
-  def get_detail_sentence(self, CP):
-    if not CP.notCar:
-      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
-
-      if self.min_steer_speed > self.min_enable_speed:
-        alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
-      else:
-        alc = ""
-
-      # Exception for cars which do not auto-resume yet
-      acc = ""
-      if self.min_enable_speed > 0:
-        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif self.auto_resume:
-        acc = " <strong>that automatically resumes from a stop</strong>"
-
-      if self.row[Column.STEERING_TORQUE] != Star.FULL:
-        sentence_builder += " This car may not be able to take tight turns on its own."
-
-      # experimental mode
-      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
-        sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
-
-      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
-
-    else:
-      if CP.carFingerprint == "COMMA_BODY":
-        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
-      else:
-        raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
-
-  def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
-    item: str | Star = self.row[column]
-    if isinstance(item, Star):
-      item = star_icon.format(item.value)
-    elif column == Column.MODEL and len(self.years):
-      item += f" {self.years}"
-    elif column == Column.VIDEO and len(item) > 0:
-      item = video_icon.format(item)
-
-    footnotes = get_footnotes(self.footnotes, column)
-    if len(footnotes):
-      sups = sorted([self.all_footnotes[fn] for fn in footnotes])
-      item += footnote_tag.format(f'{",".join(map(str, sups))}')
-
-    return item
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
deleted file mode 100644
index 6eba864c46..0000000000
--- a/selfdrive/car/ecu_addrs.py
+++ /dev/null
@@ -1,56 +0,0 @@
-import time
-
-from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_tester_present_msg, carlog
-from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
-
-
-def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
-  # ISO-TP messages are always padded to 8 bytes
-  # tester present response is always a single frame
-  dat_offset = 1 if subaddr is not None else 0
-  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
-    # success response
-    if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
-      return True
-    # error response
-    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
-      return True
-  return False
-
-
-def get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
-  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
-  queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
-  responses = queries
-  return get_ecu_addrs(can_recv, can_send, queries, responses, timeout=timeout, debug=debug)
-
-
-def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries: set[EcuAddrBusType],
-                  responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
-  ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
-  try:
-    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
-
-    can_recv()
-    can_send(msgs)
-    start_time = time.monotonic()
-    while time.monotonic() - start_time < timeout:
-      can_packets = can_recv(wait_for_one=True)
-      for packet in can_packets:
-        for msg in packet:
-          if not len(msg.dat):
-            carlog.warning("ECU addr scan: skipping empty remote frame")
-            continue
-
-          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
-            if debug:
-              print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
-              if (msg.address, subaddr, msg.src) in ecu_responses:
-                print(f"Duplicate ECU address: {hex(msg.address)}")
-            ecu_responses.add((msg.address, subaddr, msg.src))
-  except Exception:
-    carlog.exception("ECU addr scan exception")
-  return ecu_responses
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
deleted file mode 100644
index 460bb5c90d..0000000000
--- a/selfdrive/car/fingerprints.py
+++ /dev/null
@@ -1,344 +0,0 @@
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.body.values import CAR as BODY
-from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
-from openpilot.selfdrive.car.ford.values import CAR as FORD
-from openpilot.selfdrive.car.gm.values import CAR as GM
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
-from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.volkswagen.values import CAR as VW
-
-FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
-_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
-
-_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
-
-
-def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]):
-  adr = msg.address
-  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
-
-
-def eliminate_incompatible_cars(msg, candidate_cars):
-  """Removes cars that could not have sent msg.
-
-     Inputs:
-      msg: A cereal/log CanData message from the car.
-      candidate_cars: A list of cars to consider.
-
-     Returns:
-      A list containing the subset of candidate_cars that could have sent msg.
-  """
-  compatible_cars = []
-
-  for car_name in candidate_cars:
-    car_fingerprints = _FINGERPRINTS[car_name]
-
-    for fingerprint in car_fingerprints:
-      # add alien debug address
-      if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
-        compatible_cars.append(car_name)
-        break
-
-  return compatible_cars
-
-
-def all_known_cars():
-  """Returns a list of all known car strings."""
-  return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})
-
-
-def all_legacy_fingerprint_cars():
-  """Returns a list of all known car strings, FPv1 only."""
-  return list(_FINGERPRINTS.keys())
-
-
-# A dict that maps old platform strings to their latest representations
-MIGRATION = {
-  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
-  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
-  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
-  "AUDI A3": VW.AUDI_A3_MK3,
-  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
-  "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
-  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
-  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
-  "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
-  "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
-  "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
-  "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
-  "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
-  "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
-  "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
-  "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
-  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
-  "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
-  "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
-  "HONDA PILOT 2019": HONDA.HONDA_PILOT,
-  "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
-  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
-  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
-  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
-  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
-  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
-  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
-  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
-  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
-  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
-  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
-  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
-  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
-  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
-  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
-  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
-  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
-  "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
-  "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
-  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
-  "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
-  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
-  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
-  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
-  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
-  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
-  "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
-  "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
-  "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
-  "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
-  "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
-  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
-  "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
-  "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
-  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
-  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
-  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
-  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
-  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
-  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
-  "CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
-
-  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
-  "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
-  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
-  "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
-  "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
-  "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
-  "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
-  "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
-  "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
-  "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
-  "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
-  "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
-  "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
-  "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
-  "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
-  "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
-  "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
-  "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
-  "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
-  "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
-  "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
-  "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
-  "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
-  "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
-  "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
-  "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
-  "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
-  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
-  "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
-  "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
-  "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
-  "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
-  "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
-  "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
-  "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
-  "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
-  "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
-  "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
-  "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
-  "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
-  "HONDA E 2020": HONDA.HONDA_E,
-  "ACURA ILX 2016": HONDA.ACURA_ILX,
-  "HONDA CR-V 2016": HONDA.HONDA_CRV,
-  "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
-  "HONDA FIT 2018": HONDA.HONDA_FIT,
-  "HONDA FREED 2020": HONDA.HONDA_FREED,
-  "HONDA HRV 2019": HONDA.HONDA_HRV,
-  "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
-  "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
-  "ACURA RDX 2018": HONDA.ACURA_RDX,
-  "HONDA PILOT 2017": HONDA.HONDA_PILOT,
-  "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
-  "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
-  "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
-  "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
-  "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
-  "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
-  "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
-  "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
-  "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
-  "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
-  "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
-  "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
-  "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
-  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
-  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
-  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
-  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
-  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
-  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
-  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
-  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
-  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
-  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
-  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
-  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
-  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
-  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
-  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
-  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
-  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
-  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
-  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
-  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
-  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
-  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
-  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
-  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
-  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
-  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
-  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
-  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
-  "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
-  "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
-  "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
-  "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
-  "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
-  "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
-  "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
-  "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
-  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
-  "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
-  "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
-  "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
-  "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
-  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
-  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
-  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
-  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
-  "KIA EV6 2022": HYUNDAI.KIA_EV6,
-  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
-  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
-  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
-  "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
-  "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
-  "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
-  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
-  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
-  "MAZDA CX-5": MAZDA.MAZDA_CX5,
-  "MAZDA CX-9": MAZDA.MAZDA_CX9,
-  "MAZDA 3": MAZDA.MAZDA_3,
-  "MAZDA 6": MAZDA.MAZDA_6,
-  "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
-  "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
-  "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
-  "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
-  "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
-  "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
-  "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
-  "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
-  "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
-  "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
-  "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
-  "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
-  "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
-  "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
-  "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
-  "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
-  "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
-  "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
-  "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
-  "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
-  "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
-  "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
-  "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
-  "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
-  "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
-  "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
-  "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
-  "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
-  "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
-  "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
-  "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
-  "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
-  "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
-  "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
-  "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
-  "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
-  "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
-  "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
-  "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
-  "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
-  "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
-  "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
-  "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
-  "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
-  "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
-  "LEXUS ES 2018": TOYOTA.LEXUS_ES,
-  "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
-  "LEXUS IS 2018": TOYOTA.LEXUS_IS,
-  "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
-  "LEXUS NX 2018": TOYOTA.LEXUS_NX,
-  "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
-  "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
-  "LEXUS RC 2020": TOYOTA.LEXUS_RC,
-  "LEXUS RX 2016": TOYOTA.LEXUS_RX,
-  "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
-  "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
-  "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
-  "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
-  "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
-  "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
-  "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
-  "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
-  "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
-  "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
-  "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
-  "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
-  "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
-  "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
-  "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
-  "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
-  "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
-  "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
-  "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
-  "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
-  "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
-  "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
-  "SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
-  "SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
-  "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
-  "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
-  "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
-  "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
-  "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
-  "SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
-  "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
-  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
-
-  "mock": MOCK.MOCK,
-}
diff --git a/selfdrive/car/ford/__init__.py b/selfdrive/car/ford/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
deleted file mode 100644
index e4e7bc5040..0000000000
--- a/selfdrive/car/ford/carcontroller.py
+++ /dev/null
@@ -1,118 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
-from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.car.common.numpy_fast import clip
-from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
-
-LongCtrlState = structs.CarControl.Actuators.LongControlState
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-
-def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
-  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
-  if v_ego_raw > 9:
-    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
-                           current_curvature + CarControllerParams.CURVATURE_ERROR)
-
-  # Curvature rate limit after driver torque limit
-  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
-
-  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.packer = CANPacker(dbc_name)
-    self.CAN = fordcan.CanBus(CP)
-
-    self.apply_curvature_last = 0
-    self.main_on_last = False
-    self.lkas_enabled_last = False
-    self.steer_alert_last = False
-    self.lead_distance_bars_last = None
-
-  def update(self, CC, CS, now_nanos):
-    can_sends = []
-
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-
-    main_on = CS.out.cruiseState.available
-    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
-    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-
-    ### acc buttons ###
-    if CC.cruiseControl.cancel:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
-    elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
-    # if stock lane centering isn't off, send a button press to toggle it off
-    # the stock system checks for steering pressed, and eventually disengages cruise control
-    elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
-
-    ### lateral control ###
-    # send steer msg at 20Hz
-    if (self.frame % CarControllerParams.STEER_STEP) == 0:
-      if CC.latActive:
-        # apply rate limits, curvature error limit, and clip to signal range
-        current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-        apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
-      else:
-        apply_curvature = 0.
-
-      self.apply_curvature_last = apply_curvature
-
-      if self.CP.flags & FordFlags.CANFD:
-        # TODO: extended mode
-        mode = 1 if CC.latActive else 0
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
-      else:
-        can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
-
-    # send lka msg at 33Hz
-    if (self.frame % CarControllerParams.LKA_STEP) == 0:
-      can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
-
-    ### longitudinal control ###
-    # send acc msg at 50Hz
-    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
-      # Both gas and accel are in m/s^2, accel is used solely for braking
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-      gas = accel
-      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
-        gas = CarControllerParams.INACTIVE_GAS
-      stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      # TODO: look into using the actuators packet to send the desired speed
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
-
-    ### ui ###
-    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
-    # send lkas ui msg at 1Hz or if ui state changes
-    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
-
-    # send acc ui msg at 5Hz or if ui state changes
-    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
-      send_ui = True
-    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                                 fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                                 CS.acc_tja_status_stock_values))
-
-    self.main_on_last = main_on
-    self.lkas_enabled_last = CC.latActive
-    self.steer_alert_last = steer_alert
-    self.lead_distance_bars_last = hud_control.leadDistanceBars
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.curvature = self.apply_curvature_last
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
deleted file mode 100644
index 4e06b65617..0000000000
--- a/selfdrive/car/ford/carstate.py
+++ /dev/null
@@ -1,174 +0,0 @@
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-ButtonType = structs.CarState.ButtonEvent.Type
-GearShifter = structs.CarState.GearShifter
-TransmissionType = structs.CarParams.TransmissionType
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
-
-    self.distance_button = 0
-
-  def update(self, cp, cp_cam, *_) -> structs.CarState:
-    ret = structs.CarState()
-
-    # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
-    # The vehicle usually recovers out of this state within a minute of normal driving
-    ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
-
-    # car speed
-    ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
-    ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
-
-    # gas pedal
-    ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100.
-    ret.gasPressed = ret.gas > 1e-6
-
-    # brake pedal
-    ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756.  # torque in Nm
-    ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
-    ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
-
-    # steering wheel
-    ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
-    ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
-    ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
-    ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
-    ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0  # 0 is default mode
-
-    if self.CP.flags & FordFlags.CANFD:
-      # this signal is always 0 on non-CAN FD cars
-      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
-
-    # cruise state
-    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
-    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
-    ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
-    ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
-    ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
-    ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
-    ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
-    if not self.CP.openpilotLongitudinalControl:
-      ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
-
-    # gear
-    if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
-      ret.gearShifter = self.parse_gear_shifter(gear)
-    elif self.CP.transmissionType == TransmissionType.manual:
-      ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
-      if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
-        ret.gearShifter = GearShifter.reverse
-      else:
-        ret.gearShifter = GearShifter.drive
-
-    # safety
-    ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
-    ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
-
-    # button presses
-    ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
-    ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
-    # TODO: block this going to the camera otherwise it will enable stock TJA
-    ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
-    prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
-
-    # lock info
-    ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
-                        cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]])
-    ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2
-
-    # blindspot sensors
-    if self.CP.enableBsm:
-      cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
-      ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
-      ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
-
-    # Stock steering buttons so that we can passthru blinkers etc.
-    self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
-    # Stock values from IPMA so that we can retain some stock functionality
-    self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
-    self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
-
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("VehicleOperatingModes", 100),
-      ("BrakeSysFeatures", 50),
-      ("Yaw_Data_FD1", 100),
-      ("DesiredTorqBrk", 50),
-      ("EngVehicleSpThrottle", 100),
-      ("BrakeSnData_4", 50),
-      ("EngBrakeData", 10),
-      ("Cluster_Info1_FD1", 10),
-      ("SteeringPinion_Data", 100),
-      ("EPAS_INFO", 50),
-      ("Steering_Data_FD1", 10),
-      ("BodyInfo_3_FD1", 2),
-      ("RCMStatusMessage2_FD1", 10),
-    ]
-
-    if CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Lane_Assist_Data3_FD1", 33),
-      ]
-    else:
-      messages += [
-        ("INSTRUMENT_PANEL", 1),
-      ]
-
-    if CP.transmissionType == TransmissionType.automatic:
-      messages += [
-        ("PowertrainData_10", 10),
-      ]
-    elif CP.transmissionType == TransmissionType.manual:
-      messages += [
-        ("Engine_Clutch_Data", 33),
-        ("BCM_Lamp_Stat_FD1", 1),
-      ]
-
-    if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
-      messages += [
-        ("Side_Detect_L_Stat", 5),
-        ("Side_Detect_R_Stat", 5),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("ACCDATA", 50),
-      ("ACCDATA_2", 50),
-      ("ACCDATA_3", 5),
-      ("IPMA_Data", 1),
-    ]
-
-    if CP.enableBsm and CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Side_Detect_L_Stat", 5),
-        ("Side_Detect_R_Stat", 5),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
deleted file mode 100644
index a9e4ed9a5e..0000000000
--- a/selfdrive/car/ford/fingerprints.py
+++ /dev/null
@@ -1,166 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.ford.values import CAR
-
-Ecu = CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.FORD_BRONCO_SPORT_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_ESCAPE_MK4: {
-    (Ecu.eps, 0x730, None): [
-      b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_EXPLORER_MK6: {
-    (Ecu.eps, 0x730, None): [
-      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_F_150_MK14: {
-    (Ecu.eps, 0x730, None): [
-      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_F_150_LIGHTNING_MK1: {
-    (Ecu.abs, 0x760, None): [
-      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_MUSTANG_MACH_E_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_FOCUS_MK4: {
-    (Ecu.eps, 0x730, None): [
-      b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_MAVERICK_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_RANGER_MK2: {
-    (Ecu.eps, 0x730, None): [
-      b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-}
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
deleted file mode 100644
index b2cbe945c3..0000000000
--- a/selfdrive/car/ford/fordcan.py
+++ /dev/null
@@ -1,339 +0,0 @@
-from openpilot.selfdrive.car import CanBusBase, structs
-
-HUDControl = structs.CarControl.HUDControl
-
-
-class CanBus(CanBusBase):
-  def __init__(self, CP=None, fingerprint=None) -> None:
-    super().__init__(CP, fingerprint)
-
-  @property
-  def main(self) -> int:
-    return self.offset
-
-  @property
-  def radar(self) -> int:
-    return self.offset + 1
-
-  @property
-  def camera(self) -> int:
-    return self.offset + 2
-
-
-def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
-  curvature = (dat[2] << 3) | ((dat[3]) >> 5)
-  curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
-  path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
-  path_offset = ((dat[4] & 0x3) << 8) | dat[5]
-
-  checksum = mode + counter
-  for sig_val in (curvature, curvature_rate, path_angle, path_offset):
-    checksum += sig_val + (sig_val >> 8)
-
-  return 0xFF - (checksum & 0xFF)
-
-
-def create_lka_msg(packer, CAN: CanBus):
-  """
-  Creates an empty CAN message for the Ford LKA Command.
-
-  This command can apply "Lane Keeping Aid" maneuvers, which are subject to the PSCM lockout.
-
-  Frequency is 33Hz.
-  """
-
-  return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
-
-
-def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
-                       curvature_rate: float):
-  """
-  Creates a CAN message for the Ford TJA/LCA Command.
-
-  This command can apply "Lane Centering" maneuvers: continuous lane centering for traffic jam assist and highway
-  driving. It is not subject to the PSCM lockout.
-
-  Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
-  by the following coefficients:
-    c0: lateral offset between the vehicle and the centerline (positive is right)
-    c1: heading angle between the vehicle and the centerline (positive is right)
-    c2: curvature of the centerline (positive is left)
-    c3: rate of change of curvature of the centerline
-  As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
-  angle cannot be easily controlled.
-
-  The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
-  using tools such as Forscan.
-
-  Frequency is 20Hz.
-  """
-
-  values = {
-    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
-                                                #       3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": 0,                   # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-                                                #             Makes no difference with curvature control
-    "LatCtlPrecision_D_Rq": 1,                  # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-                                                #            The stock system always uses comfortable
-    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
-  }
-  return packer.make_can_msg("LateralMotionControl", CAN.main, values)
-
-
-def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
-                        curvature_rate: float, counter: int):
-  """
-  Create a CAN message for the new Ford Lane Centering command.
-
-  This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
-  additional signals for a counter and checksum.
-
-  Frequency is 20Hz.
-  """
-
-  values = {
-    "LatCtl_D2_Rq": mode,                       # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
-                                                #       3=SafeRampOut, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": 0,                   # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": 1,                  # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,      # [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,           # [-0.5|0.5235] radians
-    "LatCtlCurv_No_Actl": curvature,            # [-0.02|0.02094] 1/meter
-    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
-    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
-    "LatCtlPath_No_Cnt": counter,               # [0|15]
-    "LatCtlPath_No_Cs": 0,                      # [0|255]
-  }
-
-  # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
-  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
-
-  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
-
-
-def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, v_ego_kph: float):
-  """
-  Creates a CAN message for the Ford ACC Command.
-
-  This command can be used to enable ACC, to set the ACC gas/brake/decel values
-  and to disable ACC.
-
-  Frequency is 50Hz.
-  """
-  decel = accel < 0 and long_active
-  values = {
-    "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
-    "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
-    "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
-    "AccPrpl_A_Pred": -5.0,                           # Acceleration request: [-5|5.23] m/s^2
-    "AccResumEnbl_B_Rq": 1 if long_active else 0,
-    "AccVeh_V_Trg": v_ego_kph,                        # Target speed: [0|255] km/h
-    # TODO: we may be able to improve braking response by utilizing pre-charging better
-    "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
-    "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
-    "AccStopStat_B_Rq": 1 if stopping else 0,
-  }
-  return packer.make_can_msg("ACCDATA", CAN.main, values)
-
-
-def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
-                      hud_control, stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
-  assist status.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 5Hz.
-  """
-
-  # Tja_D_Stat
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  else:
-    status = 0    # Off
-
-  values = {s: stock_values[s] for s in [
-    "HaDsply_No_Cs",
-    "HaDsply_No_Cnt",
-    "AccStopStat_D_Dsply",       # ACC stopped status message
-    "AccTrgDist2_D_Dsply",       # ACC target distance
-    "AccStopRes_B_Dsply",
-    "TjaWarn_D_Rq",              # TJA warning
-    "TjaMsgTxt_D_Dsply",         # TJA text
-    "IaccLamp_D_Rq",             # iACC status icon
-    "AccMsgTxt_D2_Rq",           # ACC text
-    "FcwDeny_B_Dsply",           # FCW disabled
-    "FcwMemStat_B_Actl",         # FCW enabled setting
-    "AccTGap_B_Dsply",           # ACC time gap display setting
-    "CadsAlignIncplt_B_Actl",
-    "AccFllwMde_B_Dsply",        # ACC follow mode display setting
-    "CadsRadrBlck_B_Actl",
-    "CmbbPostEvnt_B_Dsply",      # AEB event status
-    "AccStopMde_B_Dsply",        # ACC stop mode display setting
-    "FcwMemSens_D_Actl",         # FCW sensitivity setting
-    "FcwMsgTxt_D_Rq",            # FCW text
-    "AccWarn_D_Dsply",           # ACC warning
-    "FcwVisblWarn_B_Rq",         # FCW visible alert
-    "FcwAudioWarn_B_Rq",         # FCW audio alert
-    "AccTGap_D_Dsply",           # ACC time gap
-    "AccMemEnbl_B_RqDrv",        # ACC adaptive/normal setting
-    "FdaMem_B_Stat",             # FDA enabled setting
-  ]}
-
-  values.update({
-    "Tja_D_Stat": status,        # TJA status
-  })
-
-  if CP.openpilotLongitudinalControl:
-    values.update({
-      "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
-      "AccMsgTxt_D2_Rq": 0,                                       # ACC text
-      "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
-      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
-      "AccStopMde_B_Dsply": 1 if standstill else 0,
-      "AccWarn_D_Dsply": 0,                                       # ACC warning
-      "AccTGap_D_Dsply": hud_control.leadDistanceBars,            # Time gap
-    })
-
-  # Forwards FCW alert from IPMA
-  if fcw_alert:
-    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
-
-  return packer.make_can_msg("ACCDATA_3", CAN.main, values)
-
-
-def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
-                       stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC IPMA/LKAS status.
-
-  Show the LKAS status with the "driver assist" lines in the IPC.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 1Hz.
-  """
-
-  # LaActvStats_D_Dsply
-  #    R  Intvn Warn Supprs Avail No
-  # L
-  # Intvn  24    19    14     9   4
-  # Warn   23    18    13     8   3
-  # Supprs 22    17    12     7   2
-  # Avail  21    16    11     6   1
-  # No     20    15    10     5   0
-  #
-  # TODO: test suppress state
-  if enabled:
-    lines = 0  # NoLeft_NoRight
-    if hud_control.leftLaneDepart:
-      lines += 4
-    elif hud_control.leftLaneVisible:
-      lines += 1
-    if hud_control.rightLaneDepart:
-      lines += 20
-    elif hud_control.rightLaneVisible:
-      lines += 5
-  elif main_on:
-    lines = 0
-  else:
-    if hud_control.leftLaneDepart:
-      lines = 3  # WarnLeft_NoRight
-    elif hud_control.rightLaneDepart:
-      lines = 15  # NoLeft_WarnRight
-    else:
-      lines = 30  # LA_Off
-
-  hands_on_wheel_dsply = 1 if steer_alert else 0
-
-  values = {s: stock_values[s] for s in [
-    "FeatConfigIpmaActl",
-    "FeatNoIpmaActl",
-    "PersIndexIpma_D_Actl",
-    "AhbcRampingV_D_Rq",     # AHB ramping
-    "LaDenyStats_B_Dsply",   # LKAS error
-    "CamraDefog_B_Req",      # Windshield heater?
-    "CamraStats_D_Dsply",    # Camera status
-    "DasAlrtLvl_D_Dsply",    # DAS alert level
-    "DasStats_D_Dsply",      # DAS status
-    "DasWarn_D_Dsply",       # DAS warning
-    "AhbHiBeam_D_Rq",        # AHB status
-    "Passthru_63",
-    "Passthru_48",
-  ]}
-
-  values.update({
-    "LaActvStats_D_Dsply": lines,                 # LKAS status (lines) [0|31]
-    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-  })
-  return packer.make_can_msg("IPMA_Data", CAN.main, values)
-
-
-def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
-  """
-  Creates a CAN message for the Ford SCCM buttons/switches.
-
-  Includes cruise control buttons, turn lights and more.
-
-  Frequency is 10Hz.
-  """
-
-  values = {s: stock_values[s] for s in [
-    "HeadLghtHiFlash_D_Stat",  # SCCM Passthrough the remaining buttons
-    "TurnLghtSwtch_D_Stat",    # SCCM Turn signal switch
-    "WiprFront_D_Stat",
-    "LghtAmb_D_Sns",
-    "AccButtnGapDecPress",
-    "AccButtnGapIncPress",
-    "AslButtnOnOffCnclPress",
-    "AslButtnOnOffPress",
-    "LaSwtchPos_D_Stat",
-    "CcAslButtnCnclResPress",
-    "CcAslButtnDeny_B_Actl",
-    "CcAslButtnIndxDecPress",
-    "CcAslButtnIndxIncPress",
-    "CcAslButtnOffCnclPress",
-    "CcAslButtnOnOffCncl",
-    "CcAslButtnOnPress",
-    "CcAslButtnResDecPress",
-    "CcAslButtnResIncPress",
-    "CcAslButtnSetDecPress",
-    "CcAslButtnSetIncPress",
-    "CcAslButtnSetPress",
-    "CcButtnOffPress",
-    "CcButtnOnOffCnclPress",
-    "CcButtnOnOffPress",
-    "CcButtnOnPress",
-    "HeadLghtHiFlash_D_Actl",
-    "HeadLghtHiOn_B_StatAhb",
-    "AhbStat_B_Dsply",
-    "AccButtnGapTogglePress",
-    "WiprFrontSwtch_D_Stat",
-    "HeadLghtHiCtrl_D_RqAhb",
-  ]}
-
-  values.update({
-    "CcAslButtnCnclPress": 1 if cancel else 0,      # CC cancel button
-    "CcAsllButtnResPress": 1 if resume else 0,      # CC resume button
-    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # LCA/TJA toggle button
-  })
-  return packer.make_can_msg("Steering_Data_FD1", bus, values)
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
deleted file mode 100644
index 8f644b65a8..0000000000
--- a/selfdrive/car/ford/interface.py
+++ /dev/null
@@ -1,65 +0,0 @@
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-TransmissionType = structs.CarParams.TransmissionType
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "ford"
-    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
-
-    ret.radarUnavailable = True
-    ret.steerControlType = structs.CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.2
-    ret.steerLimitTimer = 1.0
-
-    CAN = CanBus(fingerprint=fingerprint)
-    cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
-    if CAN.main >= 4:
-      cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
-    ret.safetyConfigs = cfgs
-
-    ret.experimentalLongitudinalAvailable = True
-    if experimental_long:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
-      ret.openpilotLongitudinalControl = True
-
-    if ret.flags & FordFlags.CANFD:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
-    else:
-      # Lock out if the car does not have needed lateral and longitudinal control APIs.
-      # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
-      pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
-      if pscm_config:
-        if len(pscm_config.fwVersion) != 24:
-          ret.dashcamOnly = True
-        else:
-          config_tja = pscm_config.fwVersion[7]  # Traffic Jam Assist
-          config_lca = pscm_config.fwVersion[8]  # Lane Centering Assist
-          if config_tja != 0xFF or config_lca != 0xFF:
-            ret.dashcamOnly = True
-
-    # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
-    found_ecus = [fw.ecu for fw in car_fw]
-    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
-      ret.transmissionType = TransmissionType.automatic
-    else:
-      ret.transmissionType = TransmissionType.manual
-      ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
-
-    # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
-    # TODO: detect bsm in car_fw?
-    ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
-
-    # LCA can steer down to zero
-    ret.minSteerSpeed = 0.
-
-    ret.autoResumeSng = ret.minEnableSpeed == -1.
-    ret.centerToFront = ret.wheelbase * 0.44
-    return ret
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
deleted file mode 100644
index 55cd2bd8d3..0000000000
--- a/selfdrive/car/ford/radar_interface.py
+++ /dev/null
@@ -1,143 +0,0 @@
-from math import cos, sin
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import DBC, RADAR
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
-
-DELPHI_MRR_RADAR_START_ADDR = 0x120
-DELPHI_MRR_RADAR_MSG_COUNT = 64
-
-
-def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
-  msg_n = len(DELPHI_ESR_RADAR_MSGS)
-  messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True))
-
-  return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
-
-
-def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
-  messages = []
-
-  for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
-    msg = f"MRR_Detection_{i:03d}"
-    messages += [(msg, 20)]
-
-  return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
-
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-
-    self.updated_messages = set()
-    self.track_id = 0
-    self.radar = DBC[CP.carFingerprint]['radar']
-    if self.radar is None or CP.radarUnavailable:
-      self.rcp = None
-    elif self.radar == RADAR.DELPHI_ESR:
-      self.rcp = _create_delphi_esr_radar_can_parser(CP)
-      self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
-      self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
-    elif self.radar == RADAR.DELPHI_MRR:
-      self.rcp = _create_delphi_mrr_radar_can_parser(CP)
-      self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
-    else:
-      raise ValueError(f"Unsupported radar: {self.radar}")
-
-  def update(self, can_strings):
-    if self.rcp is None:
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    ret = structs.RadarData()
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    ret.errors = errors
-
-    if self.radar == RADAR.DELPHI_ESR:
-      self._update_delphi_esr()
-    elif self.radar == RADAR.DELPHI_MRR:
-      self._update_delphi_mrr()
-
-    ret.points = list(self.pts.values())
-    self.updated_messages.clear()
-    return ret
-
-  def _update_delphi_esr(self):
-    for ii in sorted(self.updated_messages):
-      cpt = self.rcp.vl[ii]
-
-      if cpt['X_Rel'] > 0.00001:
-        self.valid_cnt[ii] = 0    # reset counter
-
-      if cpt['X_Rel'] > 0.00001:
-        self.valid_cnt[ii] += 1
-      else:
-        self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
-      #print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
-
-      # radar point only valid if there have been enough valid measurements
-      if self.valid_cnt[ii] > 0:
-        if ii not in self.pts:
-          self.pts[ii] = structs.RadarData.RadarPoint()
-          self.pts[ii].trackId = self.track_id
-          self.track_id += 1
-        self.pts[ii].dRel = cpt['X_Rel']  # from front of car
-        self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD  # in car frame's y axis, left is positive
-        self.pts[ii].vRel = cpt['V_Rel']
-        self.pts[ii].aRel = float('nan')
-        self.pts[ii].yvRel = float('nan')
-        self.pts[ii].measured = True
-      else:
-        if ii in self.pts:
-          del self.pts[ii]
-
-  def _update_delphi_mrr(self):
-    for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
-      msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
-
-      # SCAN_INDEX rotates through 0..3 on each message
-      # treat these as separate points
-      scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
-      i = (ii - 1) * 4 + scanIndex
-
-      if i not in self.pts:
-        self.pts[i] = structs.RadarData.RadarPoint()
-        self.pts[i].trackId = self.track_id
-        self.pts[i].aRel = float('nan')
-        self.pts[i].yvRel = float('nan')
-        self.track_id += 1
-
-      valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
-
-      if valid:
-        azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"]              # rad [-3.1416|3.13964]
-        dist = msg[f"CAN_DET_RANGE_{ii:02d}"]                   # m [0|255.984]
-        distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"]          # m/s [-128|127.984]
-        dRel = cos(azimuth) * dist                              # m from front of car
-        yRel = -sin(azimuth) * dist                             # in car frame's y axis, left is positive
-
-        # delphi doesn't notify of track switches, so do it manually
-        # TODO: refactor this to radard if more radars behave this way
-        if abs(self.pts[i].vRel - distRate) > 2 or abs(self.pts[i].dRel - dRel) > 5:
-          self.track_id += 1
-          self.pts[i].trackId = self.track_id
-
-        self.pts[i].dRel = dRel
-        self.pts[i].yRel = yRel
-        self.pts[i].vRel = distRate
-
-        self.pts[i].measured = True
-
-      else:
-        del self.pts[i]
diff --git a/selfdrive/car/ford/tests/__init__.py b/selfdrive/car/ford/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/ford/tests/print_platform_codes.py b/selfdrive/car/ford/tests/print_platform_codes.py
deleted file mode 100755
index 1384985779..0000000000
--- a/selfdrive/car/ford/tests/print_platform_codes.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-from collections import defaultdict
-
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.ford.values import get_platform_codes
-from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
-
-Ecu = CarParams.Ecu
-
-if __name__ == "__main__":
-  cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
-
-  for car_model, ecus in FW_VERSIONS.items():
-    print(car_model)
-    for ecu in sorted(ecus):
-      platform_codes = get_platform_codes(ecus[ecu])
-      for code in platform_codes:
-        cars_for_code[ecu][code].add(car_model)
-
-      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
-      print(f'    Codes: {sorted(platform_codes)}')
-    print()
-
-  print('\nCar models vs. platform codes:')
-  for ecu, codes in cars_for_code.items():
-    print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
-    for code, cars in codes.items():
-      print(f'    {code!r}: {sorted(map(str, cars))}')
diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py
deleted file mode 100644
index 4d3a9a53bc..0000000000
--- a/selfdrive/car/ford/tests/test_ford.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import random
-from collections.abc import Iterable
-
-from hypothesis import settings, given, strategies as st
-from parameterized import parameterized
-
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.fw_versions import build_fw_dict
-from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
-from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
-
-Ecu = CarParams.Ecu
-
-
-ECU_ADDRESSES = {
-  Ecu.eps: 0x730,          # Power Steering Control Module (PSCM)
-  Ecu.abs: 0x760,          # Anti-Lock Brake System (ABS)
-  Ecu.fwdRadar: 0x764,     # Cruise Control Module (CCM)
-  Ecu.fwdCamera: 0x706,    # Image Processing Module A (IPMA)
-  Ecu.engine: 0x7E0,       # Powertrain Control Module (PCM)
-  Ecu.shiftByWire: 0x732,  # Gear Shift Module (GSM)
-  Ecu.debug: 0x7D0,        # Accessory Protocol Interface Module (APIM)
-}
-
-
-ECU_PART_NUMBER = {
-  Ecu.eps: [
-    b"14D003",
-  ],
-  Ecu.abs: [
-    b"2D053",
-  ],
-  Ecu.fwdRadar: [
-    b"14D049",
-  ],
-  Ecu.fwdCamera: [
-    b"14F397",  # Ford Q3
-    b"14H102",  # Ford Q4
-  ],
-}
-
-
-class TestFordFW:
-  def test_fw_query_config(self):
-    for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
-      assert ecu in ECU_ADDRESSES, "Unknown ECU"
-      assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
-      assert subaddr is None, "Unexpected ECU subaddress"
-
-  @parameterized.expand(FW_VERSIONS.items())
-  def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[Ecu, int, int | None], Iterable[bytes]]):
-    for (ecu, addr, subaddr), fws in fw_versions.items():
-      assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
-      assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
-      assert subaddr is None, "Unexpected ECU subaddress"
-
-      for fw in fws:
-        assert len(fw) == 24, "Expected ECU response to be 24 bytes"
-
-        match = FW_PATTERN.match(fw)
-        assert match is not None, f"Unable to parse FW: {fw!r}"
-        if match:
-          part_number = match.group("part_number")
-          assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}"
-
-        codes = get_platform_codes([fw])
-        assert 1 == len(codes), f"Unable to parse FW: {fw!r}"
-
-  @settings(max_examples=100)
-  @given(data=st.data())
-  def test_platform_codes_fuzzy_fw(self, data):
-    """Ensure function doesn't raise an exception"""
-    fw_strategy = st.lists(st.binary())
-    fws = data.draw(fw_strategy)
-    get_platform_codes(fws)
-
-  def test_platform_codes_spot_check(self):
-    # Asserts basic platform code parsing behavior for a few cases
-    results = get_platform_codes([
-      b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-    ])
-    assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}
-
-  def test_fuzzy_match(self):
-    for platform, fw_by_addr in FW_VERSIONS.items():
-      # Ensure there's no overlaps in platform codes
-      for _ in range(20):
-        car_fw = []
-        for ecu, fw_versions in fw_by_addr.items():
-          ecu_name, addr, sub_addr = ecu
-          fw = random.choice(fw_versions)
-          car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
-                                        subAddress=0 if sub_addr is None else sub_addr))
-
-        CP = CarParams(carFw=car_fw)
-        matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
-        assert matches == {platform}
-
-  def test_match_fw_fuzzy(self):
-    offline_fw = {
-      (Ecu.eps, 0x730, None): [
-        b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-        b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      ],
-      (Ecu.abs, 0x760, None): [
-        b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-        b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      ],
-      (Ecu.fwdRadar, 0x764, None): [
-        b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-        b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      ],
-      # We consider all model year hints for ECU, even with different platform codes
-      (Ecu.fwdCamera, 0x706, None): [
-        b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-        b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
-      ],
-    }
-    expected_fingerprint = CAR.FORD_EXPLORER_MK6
-
-    # ensure that we fuzzy match on all non-exact FW with changed revisions
-    live_fw = {
-      (0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
-      (0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
-      (0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
-      (0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
-    }
-    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
-    assert candidates == {expected_fingerprint}
-
-    # model year hint in between the range should match
-    live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
-    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
-    assert candidates == {expected_fingerprint}
-
-    # unseen model year hint should not match
-    live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
-    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
-    assert len(candidates) == 0, "Should not match new model year hint"
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
deleted file mode 100644
index 5b415a44ec..0000000000
--- a/selfdrive/car/ford/values.py
+++ /dev/null
@@ -1,279 +0,0 @@
-import copy
-import re
-from dataclasses import dataclass, field, replace
-from enum import Enum, IntFlag
-
-import panda.python.uds as uds
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
-                                                     Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
-
-Ecu = CarParams.Ecu
-
-
-class CarControllerParams:
-  STEER_STEP = 5        # LateralMotionControl, 20Hz
-  LKA_STEP = 3          # Lane_Assist_Data1, 33Hz
-  ACC_CONTROL_STEP = 2  # ACCDATA, 50Hz
-  LKAS_UI_STEP = 100    # IPMA_Data, 1Hz
-  ACC_UI_STEP = 20      # ACCDATA_3, 5Hz
-  BUTTONS_STEP = 5      # Steering_Data_FD1, 10Hz, but send twice as fast
-
-  CURVATURE_MAX = 0.02  # Max curvature for steering command, m^-1
-  STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm
-
-  # Curvature rate limits
-  # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
-  # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
-  # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
-  CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
-
-  ACCEL_MAX = 2.0               # m/s^2 max acceleration
-  ACCEL_MIN = -3.5              # m/s^2 max deceleration
-  MIN_GAS = -0.5
-  INACTIVE_GAS = -5.0
-
-  def __init__(self, CP):
-    pass
-
-
-class FordFlags(IntFlag):
-  # Static flags
-  CANFD = 1
-
-
-class RADAR:
-  DELPHI_ESR = 'ford_fusion_2018_adas'
-  DELPHI_MRR = 'FORD_CADS'
-
-
-class Footnote(Enum):
-  FOCUS = CarFootnote(
-    "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
-    "North and South America/Southeast Asia.",
-    Column.MODEL,
-  )
-
-
-@dataclass
-class FordCarDocs(CarDocs):
-  package: str = "Co-Pilot360 Assist+"
-  hybrid: bool = False
-  plug_in_hybrid: bool = False
-
-  def init_make(self, CP: CarParams):
-    harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
-    if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
-      self.car_parts = CarParts([Device.threex_angled_mount, harness])
-    else:
-      self.car_parts = CarParts([Device.threex, harness])
-
-
-@dataclass
-class FordPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
-
-  def init(self):
-    for car_docs in list(self.car_docs):
-      if car_docs.hybrid:
-        name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
-        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
-      if car_docs.plug_in_hybrid:
-        name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
-        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
-
-
-@dataclass
-class FordCANFDPlatformConfig(FordPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
-
-  def init(self):
-    super().init()
-    self.flags |= FordFlags.CANFD
-
-
-class CAR(Platforms):
-  FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
-    [FordCarDocs("Ford Bronco Sport 2021-23")],
-    CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
-  )
-  FORD_ESCAPE_MK4 = FordPlatformConfig(
-    [
-      FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
-      FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
-    ],
-    CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
-  )
-  FORD_EXPLORER_MK6 = FordPlatformConfig(
-    [
-      FordCarDocs("Ford Explorer 2020-23", hybrid=True),  # Hybrid: Limited and Platinum only
-      FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True),  # Hybrid: Grand Touring only
-    ],
-    CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
-  )
-  FORD_F_150_MK14 = FordCANFDPlatformConfig(
-    [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
-    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
-  )
-  FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
-    [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
-    CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
-  )
-  FORD_FOCUS_MK4 = FordPlatformConfig(
-    [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
-    CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
-  )
-  FORD_MAVERICK_MK1 = FordPlatformConfig(
-    [
-      FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
-      FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
-    ],
-    CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
-  )
-  FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
-    [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
-    CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
-  )
-  FORD_RANGER_MK2 = FordCANFDPlatformConfig(
-    [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")],
-    CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
-  )
-
-
-# FW response contains a combined software and part number
-# A-Z except no I, O or W
-# e.g. NZ6A-14C204-AAA
-#      1222-333333-444
-# 1 = Model year hint (approximates model year/generation)
-# 2 = Platform hint
-# 3 = Part number
-# 4 = Software version
-FW_ALPHABET = b'A-HJ-NP-VX-Z'
-FW_PATTERN = re.compile(b'^(?P<model_year_hint>[' + FW_ALPHABET + b'])' +
-                        b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
-                        b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
-                        b'(?P<software_revision>[' + FW_ALPHABET + b']{2,})\x00*$')
-
-
-def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]:
-  codes = set()
-  for fw in fw_versions:
-    match = FW_PATTERN.match(fw)
-    if match is not None:
-      codes.add((match.group('platform_hint'), match.group('model_year_hint')))
-
-  return codes
-
-
-def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]:
-  candidates: set[str] = set()
-
-  for candidate, fws in offline_fw_versions.items():
-    # Keep track of ECUs which pass all checks (platform hint, within model year hint range)
-    valid_found_ecus = set()
-    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
-    for ecu, expected_versions in fws.items():
-      addr = ecu[1:]
-      # Only check ECUs expected to have platform codes
-      if ecu[0] not in PLATFORM_CODE_ECUS:
-        continue
-
-      # Expected platform codes & model year hints
-      codes = get_platform_codes(expected_versions)
-      expected_platform_codes = {code for code, _ in codes}
-      expected_model_year_hints = {model_year_hint for _, model_year_hint in codes}
-
-      # Found platform codes & model year hints
-      codes = get_platform_codes(live_fw_versions.get(addr, set()))
-      found_platform_codes = {code for code, _ in codes}
-      found_model_year_hints = {model_year_hint for _, model_year_hint in codes}
-
-      # Check platform code matches for any found versions
-      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
-        break
-
-      # Check any model year hint within range in the database. Note that some models have more than one
-      # platform code per ECU which we don't consider as separate ranges
-      if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for
-                 found_model_year_hint in found_model_year_hints):
-        break
-
-      valid_found_ecus.add(addr)
-
-    # If all live ECUs pass all checks for candidate, add it as a match
-    if valid_expected_ecus.issubset(valid_found_ecus):
-      candidates.add(candidate)
-
-  return candidates
-
-
-# All of these ECUs must be present and are expected to have platform codes we can match
-PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
-
-DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
-
-ASBUILT_BLOCKS: list[tuple[int, list]] = [
-  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
-  (2, [Ecu.abs, Ecu.debug, Ecu.eps]),
-  (3, [Ecu.abs, Ecu.debug, Ecu.eps]),
-  (4, [Ecu.debug, Ecu.fwdCamera]),
-  (5, [Ecu.debug]),
-  (6, [Ecu.debug]),
-  (7, [Ecu.debug]),
-  (8, [Ecu.debug]),
-  (9, [Ecu.debug]),
-  (16, [Ecu.debug, Ecu.fwdCamera]),
-  (18, [Ecu.fwdCamera]),
-  (20, [Ecu.fwdCamera]),
-  (21, [Ecu.fwdCamera]),
-]
-
-
-def ford_asbuilt_block_request(block_id: int):
-  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
-
-
-def ford_asbuilt_block_response(block_id: int):
-  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
-
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    # CAN and CAN FD queries are combined.
-    # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
-      logging=True,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
-      bus=0,
-      auxiliary=True,
-    ),
-    *[Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
-      [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
-      whitelist_ecus=ecus,
-      bus=0,
-      logging=True,
-    ) for block_id, ecus in ASBUILT_BLOCKS],
-  ],
-  extra_ecus=[
-    (Ecu.engine, 0x7e0, None),        # Powertrain Control Module
-                                      # Note: We are unlikely to get a response from behind the gateway
-    (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
-    (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
-  ],
-  # Custom fuzzy fingerprinting function using platform and model year hints
-  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
-)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
deleted file mode 100644
index a39cd889ab..0000000000
--- a/selfdrive/car/fw_query_definitions.py
+++ /dev/null
@@ -1,119 +0,0 @@
-import copy
-from dataclasses import dataclass, field
-import struct
-from collections.abc import Callable
-
-import panda.python.uds as uds
-
-from openpilot.selfdrive.car.structs import CarParams
-
-AddrType = tuple[int, int | None]
-EcuAddrBusType = tuple[int, int | None, int]
-EcuAddrSubAddr = tuple[CarParams.Ecu, int, int | None]
-
-LiveFwVersions = dict[AddrType, set[bytes]]
-OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
-
-# A global list of addresses we will only ever consider for VIN responses
-# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
-# TODO: move these to each brand's FW query config
-STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
-
-
-def p16(val):
-  return struct.pack("!H", val)
-
-
-class StdQueries:
-  # FW queries
-  TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
-  TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
-
-  SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
-  SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
-
-  DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
-                                      uds.SESSION_TYPE.DEFAULT])
-  DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
-                                      uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
-
-  EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
-                                       uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
-  EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
-                                        uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
-
-  MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-  MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-
-  SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
-  SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
-
-  UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
-  UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
-
-  OBD_VERSION_REQUEST = b'\x09\x04'
-  OBD_VERSION_RESPONSE = b'\x49\x04'
-
-  # VIN queries
-  OBD_VIN_REQUEST = b'\x09\x02'
-  OBD_VIN_RESPONSE = b'\x49\x02\x01'
-
-  UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
-  UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
-
-  GM_VIN_REQUEST = b'\x1a\x90'
-  GM_VIN_RESPONSE = b'\x5a\x90'
-
-  KWP_VIN_REQUEST = b'\x21\x81'
-  KWP_VIN_RESPONSE = b'\x61\x81'
-
-
-@dataclass
-class Request:
-  request: list[bytes]
-  response: list[bytes]
-  whitelist_ecus: list[CarParams.Ecu] = field(default_factory=list)
-  rx_offset: int = 0x8
-  bus: int = 1
-  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
-  auxiliary: bool = False
-  # FW responses from these queries will not be used for fingerprinting
-  logging: bool = False
-  # pandad toggles OBD multiplexing on/off as needed
-  obd_multiplexing: bool = True
-
-
-@dataclass
-class FwQueryConfig:
-  requests: list[Request]
-  # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
-  # Overrides and removes from essential ecus for specific models and ecus (exact matching)
-  non_essential_ecus: dict[CarParams.Ecu, list[str]] = field(default_factory=dict)
-  # Ecus added for data collection, not to be fingerprinted on
-  extra_ecus: list[tuple[CarParams.Ecu, int, int | None]] = field(default_factory=list)
-  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
-  # returns set of candidates. Only will match if one candidate is returned
-  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
-
-  def __post_init__(self):
-    for i in range(len(self.requests)):
-      if self.requests[i].auxiliary:
-        new_request = copy.deepcopy(self.requests[i])
-        new_request.bus += 4
-        self.requests.append(new_request)
-
-  def get_all_ecus(self, offline_fw_versions: OfflineFwVersions,
-                   include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]:
-    # Add ecus in database + extra ecus
-    brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
-
-    if include_extra_ecus:
-      brand_ecus |= set(self.extra_ecus)
-
-    return brand_ecus
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
deleted file mode 100644
index 71278505c6..0000000000
--- a/selfdrive/car/fw_versions.py
+++ /dev/null
@@ -1,327 +0,0 @@
-from collections import defaultdict
-from collections.abc import Callable, Iterator
-from typing import Protocol, TypeVar
-
-from tqdm import tqdm
-
-import panda.python.uds as uds
-from openpilot.selfdrive.car import carlog
-from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
-from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
-from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-
-Ecu = CarParams.Ecu
-ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
-FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
-
-FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
-VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
-
-MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
-REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
-
-T = TypeVar('T')
-ObdCallback = Callable[[bool], None]
-
-
-def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
-  for i in range(0, len(l), n):
-    yield l[i:i + n]
-
-
-def is_brand(brand: str, filter_brand: str | None) -> bool:
-  """Returns if brand matches filter_brand or no brand filter is specified"""
-  return filter_brand is None or brand == filter_brand
-
-
-def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
-  fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
-  for fw in fw_versions:
-    if is_brand(fw.brand, filter_brand) and not fw.logging:
-      sub_addr = fw.subAddress if fw.subAddress != 0 else None
-      fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
-  return dict(fw_versions_dict)
-
-
-class MatchFwToCar(Protocol):
-  def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
-    ...
-
-
-def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
-  """Do a fuzzy FW match. This function will return a match, and the number of firmware version
-  that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
-  the match is rejected."""
-
-  # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
-  all_fw_versions = defaultdict(list)
-  for candidate, fw_by_addr in FW_VERSIONS.items():
-    if not is_brand(MODEL_TO_BRAND[candidate], match_brand):
-      continue
-
-    if candidate == exclude:
-      continue
-
-    for addr, fws in fw_by_addr.items():
-      # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
-      # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
-      # impossible to get 3 matching versions, even if two models with shared parts are released at the same
-      # time and only one is in our database.
-      if addr[0] in FUZZY_EXCLUDE_ECUS:
-        continue
-      for f in fws:
-        all_fw_versions[(addr[1], addr[2], f)].append(candidate)
-
-  matched_ecus = set()
-  match: str | None = None
-  for addr, versions in live_fw_versions.items():
-    ecu_key = (addr[0], addr[1])
-    for version in versions:
-      # All cars that have this FW response on the specified address
-      candidates = all_fw_versions[(*ecu_key, version)]
-
-      if len(candidates) == 1:
-        matched_ecus.add(ecu_key)
-        if match is None:
-          match = candidates[0]
-        # We uniquely matched two different cars. No fuzzy match possible
-        elif match != candidates[0]:
-          return set()
-
-  # Note that it is possible to match to a candidate without all its ECUs being present
-  # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
-  if match and len(matched_ecus) >= 2:
-    if log:
-      carlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
-    return {match}
-  else:
-    return set()
-
-
-def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]:
-  """Do an exact FW match. Returns all cars that match the given
-  FW versions for a list of "essential" ECUs. If an ECU is not considered
-  essential the FW version can be missing to get a fingerprint, but if it's present it
-  needs to match the database."""
-  if extra_fw_versions is None:
-    extra_fw_versions = {}
-
-  invalid = set()
-  candidates = {c: f for c, f in FW_VERSIONS.items() if
-                is_brand(MODEL_TO_BRAND[c], match_brand)}
-
-  for candidate, fws in candidates.items():
-    config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
-    for ecu, expected_versions in fws.items():
-      expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
-      ecu_type = ecu[0]
-      addr = ecu[1:]
-
-      found_versions = live_fw_versions.get(addr, set())
-      if not len(found_versions):
-        # Some models can sometimes miss an ecu, or show on two different addresses
-        # FIXME: this logic can be improved to be more specific, should require one of the two addresses
-        if candidate in config.non_essential_ecus.get(ecu_type, []):
-          continue
-
-        # Ignore non essential ecus
-        if ecu_type not in ESSENTIAL_ECUS:
-          continue
-
-      # Virtual debug ecu doesn't need to match the database
-      if ecu_type == Ecu.debug:
-        continue
-
-      if not any(found_version in expected_versions for found_version in found_versions):
-        invalid.add(candidate)
-        break
-
-  return set(candidates.keys()) - invalid
-
-
-def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: bool = True,
-                    allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
-  # Try exact matching first
-  exact_matches: list[tuple[bool, MatchFwToCar]] = []
-  if allow_exact:
-    exact_matches = [(True, match_fw_to_car_exact)]
-  if allow_fuzzy:
-    exact_matches.append((False, match_fw_to_car_fuzzy))
-
-  for exact_match, match_func in exact_matches:
-    # For each brand, attempt to fingerprint using all FW returned from its queries
-    matches: set[str] = set()
-    for brand in VERSIONS.keys():
-      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
-      matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
-
-      # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
-      config = FW_QUERY_CONFIGS[brand]
-      if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
-        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])
-
-    if len(matches):
-      return exact_match, matches
-
-  return True, set()
-
-
-def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
-  # queries are split by OBD multiplexing mode
-  queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
-  parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
-  responses: set[EcuAddrBusType] = set()
-
-  for brand, config, r in REQUESTS:
-    # Skip query if no panda available
-    if r.bus > num_pandas * 4 - 1:
-      continue
-
-    for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
-      # Only query ecus in whitelist if whitelist is not empty
-      if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
-        a = (addr, sub_addr, r.bus)
-        # Build set of queries
-        if sub_addr is None:
-          if a not in parallel_queries[r.obd_multiplexing]:
-            parallel_queries[r.obd_multiplexing].append(a)
-        else:  # subaddresses must be queried one by one
-          if [a] not in queries[r.obd_multiplexing]:
-            queries[r.obd_multiplexing].append([a])
-
-        # Build set of expected responses to filter
-        response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
-        responses.add((response_addr, sub_addr, r.bus))
-
-  for obd_multiplexing in queries:
-    queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
-
-  ecu_responses = set()
-  for obd_multiplexing in queries:
-    set_obd_multiplexing(obd_multiplexing)
-    for query in queries[obd_multiplexing]:
-      ecu_responses.update(get_ecu_addrs(can_recv, can_send, set(query), responses, timeout=0.1))
-  return ecu_responses
-
-
-def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[AddrType]]:
-  """Returns dictionary of brands and matches with ECUs in their FW versions"""
-
-  brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for
-                 brand, config in FW_QUERY_CONFIGS.items()}
-  brand_matches: dict[str, set[AddrType]] = {brand: set() for brand, _, _ in REQUESTS}
-
-  brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS}
-  for addr, sub_addr, _ in ecu_rx_addrs:
-    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
-    for brand, rx_offset in brand_rx_offsets:
-      a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr)
-      if a in brand_addrs[brand]:
-        brand_matches[brand].add(a)
-
-  return brand_matches
-
-
-def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
-                            ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
-                            progress: bool = False) -> list[CarParams.CarFw]:
-  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
-
-  all_car_fw = []
-  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
-
-  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
-    # Skip this brand if there are no matching present ECUs
-    if not len(brand_matches[brand]):
-      continue
-
-    car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug,
-                             progress=progress)
-    all_car_fw.extend(car_fw)
-
-    # If there is a match using this brand's FW alone, finish querying early
-    _, matches = match_fw_to_car(car_fw, vin, log=False)
-    if len(matches) == 1:
-      break
-
-  return all_car_fw
-
-
-def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
-                    extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
-                    progress: bool = False) -> list[CarParams.CarFw]:
-  versions = VERSIONS.copy()
-
-  if query_brand is not None:
-    versions = {query_brand: versions[query_brand]}
-
-  if extra is not None:
-    versions.update(extra)
-
-  # Extract ECU addresses to query from fingerprints
-  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
-  addrs = []
-  parallel_addrs = []
-  ecu_types = {}
-
-  for brand, brand_versions in versions.items():
-    config = FW_QUERY_CONFIGS[brand]
-    for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions):
-      a = (brand, addr, sub_addr)
-      if a not in ecu_types:
-        ecu_types[a] = ecu_type
-
-      if sub_addr is None:
-        if a not in parallel_addrs:
-          parallel_addrs.append(a)
-      else:
-        if [a] not in addrs:
-          addrs.append([a])
-
-  addrs.insert(0, parallel_addrs)
-
-  # Get versions and build capnp list to put into CarParams
-  car_fw = []
-  requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
-  for addr_group in tqdm(addrs, disable=not progress):  # split by subaddr, if any
-    for addr_chunk in chunks(addr_group):
-      for brand, config, r in requests:
-        # Skip query if no panda available
-        if r.bus > num_pandas * 4 - 1:
-          continue
-
-        # Toggle OBD multiplexing for each request
-        if r.bus % 4 == 1:
-          set_obd_multiplexing(r.obd_multiplexing)
-
-        try:
-          query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
-                         (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
-
-          if query_addrs:
-            query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
-            for (tx_addr, sub_addr), version in query.get_data(timeout).items():
-              f = CarParams.CarFw()
-
-              f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
-              f.fwVersion = version
-              f.address = tx_addr
-              f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
-              f.request = r.request
-              f.brand = brand
-              f.bus = r.bus
-              f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
-              f.obdMultiplexing = r.obd_multiplexing
-
-              if sub_addr is not None:
-                f.subAddress = sub_addr
-
-              car_fw.append(f)
-        except Exception:
-          carlog.exception("FW query exception")
-
-  return car_fw
diff --git a/selfdrive/car/gm/__init__.py b/selfdrive/car/gm/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
deleted file mode 100644
index ab9db94bae..0000000000
--- a/selfdrive/car/gm/carcontroller.py
+++ /dev/null
@@ -1,163 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
-from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
-from openpilot.selfdrive.car.common.numpy_fast import interp
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-NetworkLocation = structs.CarParams.NetworkLocation
-LongCtrlState = structs.CarControl.Actuators.LongControlState
-
-# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
-CAMERA_CANCEL_DELAY_FRAMES = 10
-# Enforce a minimum interval between steering messages to avoid a fault
-MIN_STEER_MSG_INTERVAL_MS = 15
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.start_time = 0.
-    self.apply_steer_last = 0
-    self.apply_gas = 0
-    self.apply_brake = 0
-    self.last_steer_frame = 0
-    self.last_button_frame = 0
-    self.cancel_counter = 0
-
-    self.lka_steering_cmd_counter = 0
-    self.lka_icon_status_last = (False, False)
-
-    self.params = CarControllerParams(self.CP)
-
-    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
-    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
-    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-    hud_alert = hud_control.visualAlert
-    hud_v_cruise = hud_control.setSpeed
-    if hud_v_cruise > 70:
-      hud_v_cruise = 0
-
-    # Send CAN commands.
-    can_sends = []
-
-    # Steering (Active: 50Hz, inactive: 10Hz)
-    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
-
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      # Also send at 50Hz:
-      # - on startup, first few msgs are blocked
-      # - until we're in sync with camera so counters align when relay closes, preventing a fault.
-      #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
-      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
-      if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
-        steer_step = self.params.STEER_STEP
-
-    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
-
-    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
-    # received the ASCMLKASteeringCmd loopback confirmation too recently
-    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
-    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
-      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
-        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
-
-      if CC.latActive:
-        new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-      else:
-        apply_steer = 0
-
-      self.last_steer_frame = self.frame
-      self.apply_steer_last = apply_steer
-      idx = self.lka_steering_cmd_counter % 4
-      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
-
-    if self.CP.openpilotLongitudinalControl:
-      # Gas/regen, brakes, and UI commands - all at 25Hz
-      if self.frame % 4 == 0:
-        stopping = actuators.longControlState == LongCtrlState.stopping
-        if not CC.longActive:
-          # ASCM sends max regen when not enabled
-          self.apply_gas = self.params.INACTIVE_REGEN
-          self.apply_brake = 0
-        else:
-          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-          # Don't allow any gas above inactive regen while stopping
-          # FIXME: brakes aren't applied immediately when enabling at a stop
-          if stopping:
-            self.apply_gas = self.params.INACTIVE_REGEN
-
-        idx = (self.frame // 4) % 4
-
-        at_full_stop = CC.longActive and CS.out.standstill
-        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
-        friction_brake_bus = CanBus.CHASSIS
-        # GM Camera exceptions
-        # TODO: can we always check the longControlState?
-        if self.CP.networkLocation == NetworkLocation.fwdCamera:
-          at_full_stop = at_full_stop and stopping
-          friction_brake_bus = CanBus.POWERTRAIN
-
-        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
-                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
-
-        # Send dashboard UI commands (ACC status)
-        send_fcw = hud_alert == VisualAlert.fcw
-        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
-
-      # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (10hz)
-      if not self.CP.radarUnavailable:
-        tt = self.frame * DT_CTRL
-        time_and_headlights_step = 10
-        if self.frame % time_and_headlights_step == 0:
-          idx = (self.frame // time_and_headlights_step) % 4
-          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-
-        speed_and_accelerometer_step = 2
-        if self.frame % speed_and_accelerometer_step == 0:
-          idx = (self.frame // speed_and_accelerometer_step) % 4
-          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
-
-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
-        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
-
-    else:
-      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
-      # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
-      self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
-
-      # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
-        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
-          self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
-
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
-      if self.frame % 10 == 0:
-        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
-    new_actuators.steerOutputCan = self.apply_steer_last
-    new_actuators.gas = self.apply_gas
-    new_actuators.brake = self.apply_brake
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
deleted file mode 100644
index ba44910d3c..0000000000
--- a/selfdrive/car/gm/carstate.py
+++ /dev/null
@@ -1,193 +0,0 @@
-import copy
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.numpy_fast import mean
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
-
-ButtonType = structs.CarState.ButtonEvent.Type
-TransmissionType = structs.CarParams.TransmissionType
-NetworkLocation = structs.CarParams.NetworkLocation
-
-STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
-
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
-    self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
-    self.cluster_min_speed = CV.KPH_TO_MS / 2.
-
-    self.loopback_lka_steering_cmd_updated = False
-    self.loopback_lka_steering_cmd_ts_nanos = 0
-    self.pt_lka_steering_cmd_counter = 0
-    self.cam_lka_steering_cmd_counter = 0
-    self.buttons_counter = 0
-
-    self.distance_button = 0
-
-  def update(self, pt_cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
-    ret = structs.CarState()
-
-    prev_cruise_buttons = self.cruise_buttons
-    prev_distance_button = self.distance_button
-    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
-    self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
-    # This is to avoid a fault where you engage while still moving backwards after shifting to D.
-    # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
-    self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
-
-    # Variables used for avoiding LKAS faults
-    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
-    if self.loopback_lka_steering_cmd_updated:
-      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
-      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
-
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
-      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
-      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
-      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
-    )
-    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
-    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
-
-    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
-      ret.gearShifter = self.parse_gear_shifter("T")
-    else:
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
-
-    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
-    else:
-      # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
-      # that the brake is being intermittently pressed without user interaction.
-      # To avoid a cruise fault we need to use a conservative brake position threshold
-      # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
-      ret.brakePressed = ret.brake >= 8
-
-    # Regen braking is braking
-    if self.CP.transmissionType == TransmissionType.direct:
-      ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
-
-    ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
-    ret.gasPressed = ret.gas > 1e-5
-
-    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
-    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
-    ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
-    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-
-    # 0 inactive, 1 active, 2 temporarily limited, 3 failed
-    self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
-    ret.steerFaultTemporary = self.lkas_status == 2
-    ret.steerFaultPermanent = self.lkas_status == 3
-
-    # 1 - open, 0 - closed
-    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
-
-    # 1 - latched
-    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-
-    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
-    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
-    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
-                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
-
-    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
-    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
-        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
-
-    if self.CP.enableBsm:
-      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
-
-    # Don't add event if transitioning from INIT, unless it's to an actual button
-    if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
-      ret.buttonEvents = [
-        *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
-                              unpressed_btn=CruiseButtons.UNPRESS),
-        *create_button_events(self.distance_button, prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
-      ]
-
-    return ret
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = []
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      messages += [
-        ("AEBCmd", 10),
-        ("ASCMLKASteeringCmd", 10),
-        ("ASCMActiveCruiseControlStatus", 25),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      ("BCMTurnSignals", 1),
-      ("ECMPRDNL2", 10),
-      ("PSCMStatus", 10),
-      ("ESPStatus", 10),
-      ("BCMDoorBeltStatus", 10),
-      ("BCMGeneralPlatformStatus", 10),
-      ("EBCMWheelSpdFront", 20),
-      ("EBCMWheelSpdRear", 20),
-      ("EBCMFrictionBrakeStatus", 20),
-      ("AcceleratorPedal2", 33),
-      ("ASCMSteeringButton", 33),
-      ("ECMEngineStatus", 100),
-      ("PSCMSteeringAngle", 100),
-      ("ECMAcceleratorPos", 80),
-    ]
-
-    if CP.enableBsm:
-      messages.append(("BCMBlindSpotMonitor", 10))
-
-    # Used to read back last counter sent to PT by camera
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      messages += [
-        ("ASCMLKASteeringCmd", 0),
-      ]
-
-    if CP.transmissionType == TransmissionType.direct:
-      messages.append(("EBCMRegenPaddle", 50))
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
-
-  @staticmethod
-  def get_loopback_can_parser(CP):
-    messages = [
-      ("ASCMLKASteeringCmd", 0),
-    ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
deleted file mode 100644
index 3752fbb8d3..0000000000
--- a/selfdrive/car/gm/fingerprints.py
+++ /dev/null
@@ -1,63 +0,0 @@
-# ruff: noqa: E501
-from openpilot.selfdrive.car.gm.values import CAR
-
-# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
-# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
-
-
-FINGERPRINTS = {
-  CAR.HOLDEN_ASTRA: [{
-    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
-  }],
-  CAR.CHEVROLET_VOLT: [{
-    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
-  },
-  {
-    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
-  },
-  {
-    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
-  }],
-  CAR.BUICK_LACROSSE: [{
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
-  }],
-  CAR.BUICK_REGAL: [{
-    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
-  }],
-  CAR.CADILLAC_ATS: [{
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
-  }],
-  CAR.CHEVROLET_MALIBU: [{
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
-  }],
-  CAR.GMC_ACADIA: [{
-    190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
-  },
-  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
-  }],
-  CAR.CADILLAC_ESCALADE: [{
-    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
-  }],
-  CAR.CADILLAC_ESCALADE_ESV: [{
-    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
-  }],
-  CAR.CADILLAC_ESCALADE_ESV_2019: [{
-    715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
-  }],
-  CAR.CHEVROLET_BOLT_EUV: [{
-    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
-  }],
-  CAR.CHEVROLET_SILVERADO: [{
-    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
-  }],
-  CAR.CHEVROLET_EQUINOX: [{
-    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
-  },
-  {
-    190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
-  }],
-}
-
-FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
-}
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
deleted file mode 100644
index 0b7ada3151..0000000000
--- a/selfdrive/car/gm/gmcan.py
+++ /dev/null
@@ -1,173 +0,0 @@
-from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.gm.values import CAR
-
-
-def create_buttons(packer, bus, idx, button):
-  values = {
-    "ACCButtons": button,
-    "RollingCounter": idx,
-    "ACCAlwaysOne": 1,
-    "DistanceButton": 0,
-  }
-
-  checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
-  checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
-  checksum -= int(values["ACCButtons"] - 1) << 4  # not correct if value is 0
-  checksum -= 2 * values["DistanceButton"]
-
-  values["SteeringButtonChecksum"] = checksum
-  return packer.make_can_msg("ASCMSteeringButton", bus, values)
-
-
-def create_pscm_status(packer, bus, pscm_status):
-  values = {s: pscm_status[s] for s in [
-    "HandsOffSWDetectionMode",
-    "HandsOffSWlDetectionStatus",
-    "LKATorqueDeliveredStatus",
-    "LKADriverAppldTrq",
-    "LKATorqueDelivered",
-    "LKATotalTorqueDelivered",
-    "RollingCounter",
-    "PSCMStatusChecksum",
-  ]}
-  checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
-  values["HandsOffSWlDetectionStatus"] = 1
-  values["PSCMStatusChecksum"] += checksum_mod
-  return packer.make_can_msg("PSCMStatus", bus, values)
-
-
-def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
-  values = {
-    "LKASteeringCmdActive": lkas_active,
-    "LKASteeringCmd": apply_steer,
-    "RollingCounter": idx,
-    "LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_steer & 0x7ff) - idx
-  }
-
-  return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
-
-
-def create_adas_keepalive(bus):
-  dat = b"\x00\x00\x00\x00\x00\x00\x00"
-  return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
-
-
-def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
-  values = {
-    "GasRegenCmdActive": enabled,
-    "RollingCounter": idx,
-    "GasRegenCmdActiveInv": 1 - enabled,
-    "GasRegenCmd": throttle,
-    "GasRegenFullStopActive": at_full_stop,
-    "GasRegenAlwaysOne": 1,
-    "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
-  }
-
-  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
-  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
-                               (((0xff - dat[2]) & 0xff) << 8) | \
-                               ((0x100 - dat[3] - idx) & 0xff)
-
-  return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
-
-
-def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
-  mode = 0x1
-
-  # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
-    mode = 0x9
-
-  if apply_brake > 0:
-    mode = 0xa
-    if at_full_stop:
-      mode = 0xd
-
-    # TODO: this is to have GM bringing the car to complete stop,
-    # but currently it conflicts with OP controls, so turned off. Not set by all cars
-    #elif near_stop:
-    #  mode = 0xb
-
-  brake = (0x1000 - apply_brake) & 0xfff
-  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
-
-  values = {
-    "RollingCounter": idx,
-    "FrictionBrakeMode": mode,
-    "FrictionBrakeChecksum": checksum,
-    "FrictionBrakeCmd": -apply_brake
-  }
-
-  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
-
-
-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
-  target_speed = min(target_speed_kph, 255)
-
-  values = {
-    "ACCAlwaysOne": 1,
-    "ACCResumeButton": 0,
-    "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
-    "ACCCmdActive": enabled,
-    "ACCAlwaysOne2": 1,
-    "ACCLeadCar": hud_control.leadVisible,
-    "FCWAlert": 0x3 if fcw else 0
-  }
-
-  return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
-
-
-def create_adas_time_status(bus, tt, idx):
-  dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
-         ((tt & 0xf) << 4) + (idx << 2)]
-  chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
-  chksum = chksum & 0xfff
-  dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
-  return CanData(0xa1, bytes(dat), bus)
-
-
-def create_adas_steering_status(bus, idx):
-  dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
-  chksum = 0x60 + sum(dat)
-  dat += [chksum >> 8, chksum & 0xff]
-  return CanData(0x306, bytes(dat), bus)
-
-
-def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
-  spd = int(speed_ms * 16) & 0xfff
-  accel = 0 & 0xfff
-  # 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
-  #stick = 0x08
-  near_range_cutoff = 0x27
-  near_range_mode = 1 if spd <= near_range_cutoff else 0
-  far_range_mode = 1 - near_range_mode
-  dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
-  chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
-  dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
-  return CanData(0x308, bytes(dat), bus)
-
-
-def create_adas_headlights_status(packer, bus):
-  values = {
-    "Always42": 0x42,
-    "Always4": 0x4,
-  }
-  return packer.make_can_msg("ASCMHeadlight", bus, values)
-
-
-def create_lka_icon_command(bus, active, critical, steer):
-  if active and steer == 1:
-    if critical:
-      dat = b"\x50\xc0\x14"
-    else:
-      dat = b"\x50\x40\x18"
-  elif active:
-    if critical:
-      dat = b"\x40\xc0\x14"
-    else:
-      dat = b"\x40\x40\x18"
-  else:
-    dat = b"\x00\x00\x00"
-  return CanData(0x104c006c, dat, bus)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
deleted file mode 100755
index 902ffe5e76..0000000000
--- a/selfdrive/car/gm/interface.py
+++ /dev/null
@@ -1,194 +0,0 @@
-#!/usr/bin/env python3
-import os
-from math import fabs, exp
-from panda import Panda
-
-from openpilot.selfdrive.car import get_safety_config, get_friction, structs
-from openpilot.selfdrive.car.common.basedir import BASEDIR
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
-
-TransmissionType = structs.CarParams.TransmissionType
-NetworkLocation = structs.CarParams.NetworkLocation
-
-NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
-}
-
-NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/neural_ff_weights.json')
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
-
-  # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
-  @staticmethod
-  def get_steer_feedforward_volt(desired_angle, v_ego):
-    desired_angle *= 0.02904609
-    sigmoid = desired_angle / (1 + fabs(desired_angle))
-    return 0.10006696 * sigmoid * (v_ego + 3.12485927)
-
-  def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
-      return self.get_steer_feedforward_volt
-    else:
-      return CarInterfaceBase.get_steer_feedforward_default
-
-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
-                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
-    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
-
-    def sig(val):
-      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
-      if val >= 0:
-        return 1 / (1 + exp(-val)) - 0.5
-      else:
-        z = exp(val)
-        return z / (1 + z) - 0.5
-
-    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
-    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
-    # This has big effect on the stability about 0 (noise when going straight)
-    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
-    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)  # type: ignore[call-overload]
-    assert non_linear_torque_params, "The params are not defined"
-    a, b, c, _ = non_linear_torque_params
-    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
-    return float(steer_torque) + friction
-
-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
-                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
-    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
-    inputs = list(latcontrol_inputs)
-    if gravity_adjusted:
-      inputs[0] += inputs[1]
-    return float(self.neural_ff_model.predict(inputs)) + friction
-
-  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
-      self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
-      return self.torque_from_lateral_accel_neural
-    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
-      return self.torque_from_lateral_accel_siglin
-    else:
-      return self.torque_from_lateral_accel_linear
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "gm"
-    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
-    ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
-
-    if candidate in EV_CAR:
-      ret.transmissionType = TransmissionType.direct
-    else:
-      ret.transmissionType = TransmissionType.automatic
-
-    ret.longitudinalTuning.kiBP = [5., 35.]
-
-    if candidate in CAMERA_ACC_CAR:
-      ret.experimentalLongitudinalAvailable = True
-      ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarUnavailable = True  # no radar
-      ret.pcmCruise = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
-      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
-      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
-
-      # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [2.0, 1.5]
-      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
-      ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-
-      if experimental_long:
-        ret.pcmCruise = False
-        ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-
-    else:  # ASCM, OBD-II harness
-      ret.openpilotLongitudinalControl = True
-      ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
-      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
-      # supports stop and go, but initial engage must (conservatively) be above 18mph
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
-
-      # Tuning
-      ret.longitudinalTuning.kiV = [2.4, 1.5]
-
-    # These cars have been put into dashcam only due to both a lack of users and test coverage.
-    # These cars likely still work fine. Once a user confirms each car works and a test route is
-    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
-                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
-
-    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
-    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
-    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-
-    ret.steerLimitTimer = 0.4
-    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
-
-    if candidate == CAR.CHEVROLET_VOLT:
-      ret.lateralTuning.pid.kpBP = [0., 40.]
-      ret.lateralTuning.pid.kpV = [0., 0.17]
-      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
-      ret.steerActuatorDelay = 0.2
-
-    elif candidate == CAR.GMC_ACADIA:
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.BUICK_LACROSSE:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.CADILLAC_ESCALADE:
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-
-      if candidate == CAR.CADILLAC_ESCALADE_ESV:
-        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
-        ret.lateralTuning.pid.kf = 0.000045
-      else:
-        ret.steerActuatorDelay = 0.2
-        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.CHEVROLET_BOLT_EUV:
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.CHEVROLET_SILVERADO:
-      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
-      # with foot on brake to allow engagement, but this platform only has that check in the camera.
-      # TODO: check if this is split by EV/ICE with more platforms in the future
-      if ret.openpilotLongitudinalControl:
-        ret.minEnableSpeed = -1.
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.CHEVROLET_EQUINOX:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.CHEVROLET_TRAILBLAZER:
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    return ret
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
deleted file mode 100755
index 9831e692c5..0000000000
--- a/selfdrive/car/gm/radar_interface.py
+++ /dev/null
@@ -1,101 +0,0 @@
-#!/usr/bin/env python3
-import math
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.gm.values import DBC, CanBus
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-RADAR_HEADER_MSG = 1120
-SLOT_1_MSG = RADAR_HEADER_MSG + 1
-NUM_SLOTS = 20
-
-# Actually it's 0x47f, but can parser only reports
-# messages that are present in DBC
-LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
-
-
-def create_radar_can_parser(car_fingerprint):
-  # C1A-ARS3-A by Continental
-  radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
-  signals = list(zip(['FLRRNumValidTargets',
-                      'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
-                      'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
-                      'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
-                     ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
-                     ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
-                     ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                     [RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
-
-  messages = list({(s[1], 14) for s in signals})
-
-  return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE)
-
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-
-    self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
-
-    self.trigger_msg = LAST_RADAR_MSG
-    self.updated_messages = set()
-    self.radar_ts = CP.radarTimeStep
-
-  def update(self, can_strings):
-    if self.rcp is None:
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    ret = structs.RadarData()
-    header = self.rcp.vl[RADAR_HEADER_MSG]
-    fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
-      header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
-      header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    if fault:
-      errors.append("fault")
-    ret.errors = errors
-
-    currentTargets = set()
-    num_targets = header['FLRRNumValidTargets']
-
-    # Not all radar messages describe targets,
-    # no need to monitor all of the self.rcp.msgs_upd
-    for ii in self.updated_messages:
-      if ii == RADAR_HEADER_MSG:
-        continue
-
-      if num_targets == 0:
-        break
-
-      cpt = self.rcp.vl[ii]
-      # Zero distance means it's an empty target slot
-      if cpt['TrkRange'] > 0.0:
-        targetId = cpt['TrkObjectID']
-        currentTargets.add(targetId)
-        if targetId not in self.pts:
-          self.pts[targetId] = structs.RadarData.RadarPoint()
-          self.pts[targetId].trackId = targetId
-        distance = cpt['TrkRange']
-        self.pts[targetId].dRel = distance  # from front of car
-        # From driver's pov, left is positive
-        self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
-        self.pts[targetId].vRel = cpt['TrkRangeRate']
-        self.pts[targetId].aRel = float('nan')
-        self.pts[targetId].yvRel = float('nan')
-
-    for oldTarget in list(self.pts.keys()):
-      if oldTarget not in currentTargets:
-        del self.pts[oldTarget]
-
-    ret.points = list(self.pts.values())
-    self.updated_messages.clear()
-    return ret
diff --git a/selfdrive/car/gm/tests/__init__.py b/selfdrive/car/gm/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py
deleted file mode 100644
index a0a4a94ffa..0000000000
--- a/selfdrive/car/gm/tests/test_gm.py
+++ /dev/null
@@ -1,20 +0,0 @@
-from parameterized import parameterized
-
-from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
-from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
-
-CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
-
-
-class TestGMFingerprint:
-  @parameterized.expand(FINGERPRINTS.items())
-  def test_can_fingerprints(self, car_model, fingerprints):
-    assert len(fingerprints) > 0
-
-    assert all(len(finger) for finger in fingerprints)
-
-    # The camera can sometimes be communicating on startup
-    if car_model in CAMERA_ACC_CAR:
-      for finger in fingerprints:
-        for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
-          assert finger.get(required_addr) == 8, required_addr
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
deleted file mode 100644
index ff669b3940..0000000000
--- a/selfdrive/car/gm/values.py
+++ /dev/null
@@ -1,234 +0,0 @@
-from dataclasses import dataclass, field
-
-from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = CarParams.Ecu
-
-
-class CarControllerParams:
-  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
-  STEER_STEP = 3  # Active control frames per command (~33hz)
-  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
-  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 15
-  STEER_DRIVER_ALLOWANCE = 65
-  STEER_DRIVER_MULTIPLIER = 4
-  STEER_DRIVER_FACTOR = 100
-  NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
-
-  # Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
-  ADAS_KEEPALIVE_STEP = 100
-  CAMERA_KEEPALIVE_STEP = 100
-
-  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
-  # perform the closed loop control, and might need some
-  # to apply some more braking if we're on a downhill slope.
-  # Our controller should still keep the 2 second average above
-  # -3.5 m/s^2 as per planner limits
-  ACCEL_MAX = 2.  # m/s^2
-  ACCEL_MIN = -4.  # m/s^2
-
-  def __init__(self, CP):
-    # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
-    self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
-
-    if CP.carFingerprint in CAMERA_ACC_CAR:
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
-      # Camera ACC vehicles have no regen while enabled.
-      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
-      max_regen_acceleration = 0.
-
-    else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
-      # ICE has much less engine braking force compared to regen in EVs,
-      # lower threshold removes some braking deadzone
-      max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
-
-    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
-
-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
-    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
-
-
-@dataclass
-class GMCarDocs(CarDocs):
-  package: str = "Adaptive Cruise Control (ACC)"
-
-  def init_make(self, CP: CarParams):
-    if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
-      self.car_parts = CarParts.common([CarHarness.gm])
-    else:
-      self.car_parts = CarParts.common([CarHarness.obd_ii])
-
-
-@dataclass(frozen=True, kw_only=True)
-class GMCarSpecs(CarSpecs):
-  tireStiffnessFactor: float = 0.444  # not optimized yet
-
-
-@dataclass
-class GMPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
-
-
-@dataclass
-class GMASCMPlatformConfig(GMPlatformConfig):
-  def init(self):
-    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
-    self.car_docs = []
-
-
-class CAR(Platforms):
-  HOLDEN_ASTRA = GMASCMPlatformConfig(
-    [GMCarDocs("Holden Astra 2017")],
-    GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
-  )
-  CHEVROLET_VOLT = GMASCMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
-    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
-  )
-  CADILLAC_ATS = GMASCMPlatformConfig(
-    [GMCarDocs("Cadillac ATS Premium Performance 2018")],
-    GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
-  )
-  CHEVROLET_MALIBU = GMASCMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu Premier 2017")],
-    GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
-  )
-  GMC_ACADIA = GMASCMPlatformConfig(
-    [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
-    GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
-  )
-  BUICK_LACROSSE = GMASCMPlatformConfig(
-    [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
-    GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
-  )
-  BUICK_REGAL = GMASCMPlatformConfig(
-    [GMCarDocs("Buick Regal Essence 2018")],
-    GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
-  )
-  CADILLAC_ESCALADE = GMASCMPlatformConfig(
-    [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
-    GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
-  )
-  CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
-    [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
-    GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
-  )
-  CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
-    [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
-    CADILLAC_ESCALADE_ESV.specs,
-  )
-  CHEVROLET_BOLT_EUV = GMPlatformConfig(
-    [
-      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
-    ],
-    GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
-  )
-  CHEVROLET_SILVERADO = GMPlatformConfig(
-    [
-      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
-    ],
-    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
-  )
-  CHEVROLET_EQUINOX = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Equinox 2019-22")],
-    GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
-  )
-  CHEVROLET_TRAILBLAZER = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
-    GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
-  )
-
-
-class CruiseButtons:
-  INIT = 0
-  UNPRESS = 1
-  RES_ACCEL = 2
-  DECEL_SET = 3
-  MAIN = 5
-  CANCEL = 6
-
-class AccState:
-  OFF = 0
-  ACTIVE = 1
-  FAULTED = 3
-  STANDSTILL = 4
-
-class CanBus:
-  POWERTRAIN = 0
-  OBSTACLE = 1
-  CAMERA = 2
-  CHASSIS = 2
-  LOOPBACK = 128
-  DROPPED = 192
-
-
-# In a Data Module, an identifier is a string used to recognize an object,
-# either by itself or together with the identifiers of parent objects.
-# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
-GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0'  # likely does not contain anything useful
-GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
-GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
-GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
-
-# Part number of XML data file that is used to configure ECU
-GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
-GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b'  # used to know if XML file is compatible with the ECU software/hardware
-
-# This DID is for identifying the part number that reflects the mix of hardware,
-# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
-# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
-GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
-GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
-GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
-GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
-GM_FW_RESPONSE = b'\x5a'
-
-GM_FW_REQUESTS = [
-  GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
-  GM_SOFTWARE_MODULE_1_REQUEST,
-  GM_SOFTWARE_MODULE_2_REQUEST,
-  GM_SOFTWARE_MODULE_3_REQUEST,
-  GM_XML_DATA_FILE_PART_NUMBER,
-  GM_XML_CONFIG_COMPAT_ID,
-  GM_END_MODEL_PART_NUMBER_REQUEST,
-  GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
-  GM_BASE_MODEL_PART_NUMBER_REQUEST,
-  GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
-]
-
-GM_RX_OFFSET = 0x400
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[request for req in GM_FW_REQUESTS for request in [
-    Request(
-      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
-      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
-      rx_offset=GM_RX_OFFSET,
-      bus=0,
-      logging=True,
-    ),
-  ]],
-  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
-)
-
-EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
-
-# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
-
-STEER_THRESHOLD = 1.0
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/honda/__init__.py b/selfdrive/car/honda/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
deleted file mode 100644
index b088f775ea..0000000000
--- a/selfdrive/car/honda/carcontroller.py
+++ /dev/null
@@ -1,254 +0,0 @@
-import copy
-from collections import namedtuple
-
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, structs
-from openpilot.selfdrive.car.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car.honda import hondacan
-from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-LongCtrlState = structs.CarControl.Actuators.LongControlState
-
-
-def compute_gb_honda_bosch(accel, speed):
-  # TODO returns 0s, is unused
-  return 0.0, 0.0
-
-
-def compute_gb_honda_nidec(accel, speed):
-  creep_brake = 0.0
-  creep_speed = 2.3
-  creep_brake_value = 0.15
-  if speed < creep_speed:
-    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
-  gb = float(accel) / 4.8 - creep_brake
-  return clip(gb, 0.0, 1.0), clip(-gb, 0.0, 1.0)
-
-
-def compute_gas_brake(accel, speed, fingerprint):
-  if fingerprint in HONDA_BOSCH:
-    return compute_gb_honda_bosch(accel, speed)
-  else:
-    return compute_gb_honda_nidec(accel, speed)
-
-
-# TODO not clear this does anything useful
-def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint):
-  # hyst params
-  brake_hyst_on = 0.02    # to activate brakes exceed this value
-  brake_hyst_off = 0.005  # to deactivate brakes below this value
-  brake_hyst_gap = 0.01   # don't change brake command for small oscillations within this value
-
-  # *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
-  if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
-    brake = 0.
-  braking = brake > 0.
-
-  # for small brake oscillations within brake_hyst_gap, don't change the brake command
-  if brake == 0.:
-    brake_steady = 0.
-  elif brake > brake_steady + brake_hyst_gap:
-    brake_steady = brake - brake_hyst_gap
-  elif brake < brake_steady - brake_hyst_gap:
-    brake_steady = brake + brake_hyst_gap
-  brake = brake_steady
-
-  return brake, braking, brake_steady
-
-
-def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
-  pump_on = False
-
-  # reset pump timer if:
-  # - there is an increment in brake request
-  # - we are applying steady state brakes and we haven't been running the pump
-  #   for more than 20s (to prevent pressure bleeding)
-  if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0):
-    last_pump_ts = ts
-
-  # once the pump is on, run it for at least 0.2s
-  if ts - last_pump_ts < 0.2 and apply_brake > 0:
-    pump_on = True
-
-  return pump_on, last_pump_ts
-
-
-def process_hud_alert(hud_alert):
-  # initialize to no alert
-  fcw_display = 0
-  steer_required = 0
-  acc_alert = 0
-
-  # priority is: FCW, steer required, all others
-  if hud_alert == VisualAlert.fcw:
-    fcw_display = VISUAL_HUD[hud_alert]
-  elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-    steer_required = VISUAL_HUD[hud_alert]
-  else:
-    acc_alert = VISUAL_HUD[hud_alert]
-
-  return fcw_display, steer_required, acc_alert
-
-
-HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise", "lead_visible",
-                      "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
-
-
-def rate_limit_steer(new_steer, last_steer):
-  # TODO just hardcoded ramp to min/max in 0.33s for all Honda
-  MAX_DELTA = 3 * DT_CTRL
-  return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.packer = CANPacker(dbc_name)
-    self.params = CarControllerParams(CP)
-    self.CAN = hondacan.CanBus(CP)
-
-    self.braking = False
-    self.brake_steady = 0.
-    self.brake_last = 0.
-    self.apply_brake_last = 0
-    self.last_pump_ts = 0.
-    self.stopping_counter = 0
-
-    self.accel = 0.0
-    self.speed = 0.0
-    self.gas = 0.0
-    self.brake = 0.0
-    self.last_steer = 0.0
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
-    hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
-    pcm_cancel_cmd = CC.cruiseControl.cancel
-
-    if CC.longActive:
-      accel = actuators.accel
-      gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
-    else:
-      accel = 0.0
-      gas, brake = 0.0, 0.0
-
-    # *** rate limit steer ***
-    limited_steer = rate_limit_steer(actuators.steer, self.last_steer)
-    self.last_steer = limited_steer
-
-    # *** apply brake hysteresis ***
-    pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
-                                                                           CS.out.vEgo, self.CP.carFingerprint)
-
-    # *** rate limit after the enable check ***
-    self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
-
-    # vehicle hud display, wait for one update from 10Hz 0x304 msg
-    fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert)
-
-    # **** process the car messages ****
-
-    # steer torque is converted back to CAN reference (positive when steering right)
-    apply_steer = int(interp(-limited_steer * self.params.STEER_MAX,
-                             self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
-
-    # Send CAN commands
-    can_sends = []
-
-    # tester present - w/ no response (keeps radar disabled)
-    if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
-      if self.frame % 10 == 0:
-        can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
-
-    # Send steering command.
-    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
-                                                      CS.CP.openpilotLongitudinalControl))
-
-    # wind brake from air resistance decel at high speed
-    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
-    # all of this is only relevant for HONDA NIDEC
-    max_accel = interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
-    # TODO this 1.44 is just to maintain previous behavior
-    pcm_speed_BP = [-wind_brake,
-                    -wind_brake * (3 / 4),
-                    0.0,
-                    0.5]
-    # The Honda ODYSSEY seems to have different PCM_ACCEL
-    # msgs, is it other cars too?
-    if not CC.longActive:
-      pcm_speed = 0.0
-      pcm_accel = int(0.0)
-    elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
-      pcm_speed_V = [0.0,
-                     clip(CS.out.vEgo - 3.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + 0.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
-      pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
-      pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
-    else:
-      pcm_speed_V = [0.0,
-                     clip(CS.out.vEgo - 2.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + 2.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
-      pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
-      pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
-
-    if not self.CP.openpilotLongitudinalControl:
-      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
-      # If using stock ACC, spam cancel command to kill gas when OP disengages.
-      if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
-      elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
-
-    else:
-      # Send gas and brake commands.
-      if self.frame % 2 == 0:
-        ts = self.frame * DT_CTRL
-
-        if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
-          self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
-
-          stopping = actuators.longControlState == LongCtrlState.stopping
-          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
-          can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        self.stopping_counter, self.CP.carFingerprint))
-        else:
-          apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
-          apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
-          pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
-
-          pcm_override = True
-          can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
-                                                         pcm_override, pcm_cancel_cmd, fcw_display,
-                                                         self.CP.carFingerprint, CS.stock_brake))
-          self.apply_brake_last = apply_brake
-          self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
-
-    # Send dashboard UI commands.
-    if self.frame % 10 == 0:
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
-                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
-
-      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
-        self.speed = pcm_speed
-        self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.speed = self.speed
-    new_actuators.accel = self.accel
-    new_actuators.gas = self.gas
-    new_actuators.brake = self.brake
-    new_actuators.steer = self.last_steer
-    new_actuators.steerOutputCan = apply_steer
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
deleted file mode 100644
index 7452630eb9..0000000000
--- a/selfdrive/car/honda/carstate.py
+++ /dev/null
@@ -1,307 +0,0 @@
-from collections import defaultdict
-
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.numpy_fast import interp
-from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
-from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
-                                                 HondaFlags, CruiseButtons, CruiseSettings
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-TransmissionType = structs.CarParams.TransmissionType
-ButtonType = structs.CarState.ButtonEvent.Type
-
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
-SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
-
-
-def get_can_messages(CP, gearbox_msg):
-  messages = [
-    ("ENGINE_DATA", 100),
-    ("WHEEL_SPEEDS", 50),
-    ("STEERING_SENSORS", 100),
-    ("SEATBELT_STATUS", 10),
-    ("CRUISE", 10),
-    ("POWERTRAIN_DATA", 100),
-    ("CAR_SPEED", 10),
-    ("VSA_STATUS", 50),
-    ("STEER_STATUS", 100),
-    ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
-  ]
-
-  if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
-    messages += [
-      ("SCM_FEEDBACK", 25),
-      ("SCM_BUTTONS", 50),
-    ]
-  else:
-    messages += [
-      ("SCM_FEEDBACK", 10),
-      ("SCM_BUTTONS", 25),
-    ]
-
-  if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-    messages.append((gearbox_msg, 50))
-  else:
-    messages.append((gearbox_msg, 100))
-
-  if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
-    messages.append(("BRAKE_MODULE", 50))
-
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
-    messages.append(("EPB_STATUS", 50))
-
-  if CP.carFingerprint in HONDA_BOSCH:
-    # these messages are on camera bus on radarless cars
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
-      messages += [
-        ("ACC_HUD", 10),
-        ("ACC_CONTROL", 50),
-      ]
-  else:  # Nidec signals
-    if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
-      messages.append(("CRUISE_PARAMS", 10))
-    else:
-      messages.append(("CRUISE_PARAMS", 50))
-
-  # TODO: clean this up
-  if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
-    pass
-  elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
-    pass
-  else:
-    messages.append(("DOORS_STATUS", 3))
-
-  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-    messages.append(("CRUISE_FAULT_STATUS", 50))
-  elif CP.openpilotLongitudinalControl:
-    messages.append(("STANDSTILL", 50))
-
-  return messages
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.gearbox_msg = "GEARBOX"
-    if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
-      self.gearbox_msg = "GEARBOX_15T"
-
-    self.main_on_sig_msg = "SCM_FEEDBACK"
-    if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
-      self.main_on_sig_msg = "SCM_BUTTONS"
-
-    self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
-    self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
-
-    self.brake_switch_prev = False
-    self.brake_switch_active = False
-    self.cruise_setting = 0
-    self.v_cruise_pcm_prev = 0
-
-    # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
-    # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
-    self.dash_speed_seen = False
-
-  def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
-    ret = structs.CarState()
-
-    # car params
-    v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
-    v_weight_bp = [1., 6.]   # smooth blending, below ~0.6m/s the smooth speed snaps to zero
-
-    # update prevs, update must run once per loop
-    prev_cruise_buttons = self.cruise_buttons
-    prev_cruise_setting = self.cruise_setting
-    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
-    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
-
-    # used for car hud message
-    self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
-
-    # ******************* parse out can *******************
-    # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
-    # panda checks if the signal is non-zero
-    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
-    # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
-      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
-      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
-    else:
-      ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
-                          cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
-
-    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
-    ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
-    # LOW_SPEED_LOCKOUT is not worth a warning
-    # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
-    ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
-
-    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
-    else:
-      # On some cars, these two signals are always 1, this flag is masking a bug in release
-      # FIXME: find and set the ACC faulted signals on more platforms
-      if self.CP.openpilotLongitudinalControl:
-        ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
-
-      # Log non-critical stock ACC/LKAS faults if Nidec (camera)
-      if self.CP.carFingerprint not in HONDA_BOSCH:
-        ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
-
-    ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
-
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
-    )
-    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0
-
-    # blend in transmission speed at low speed, since it has more low speed accuracy
-    v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
-    ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-
-    self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
-    if self.dash_speed_seen:
-      conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-      ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
-
-    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
-    ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
-
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
-      250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
-    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
-
-    # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
-      ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
-
-    gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
-
-    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-    ret.gasPressed = ret.gas > 1e-5
-
-    ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
-    ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)  # type: ignore[call-overload]
-
-    if self.CP.carFingerprint in HONDA_BOSCH:
-      # The PCM always manages its own cruise control state, but doesn't publish it
-      if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-        ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
-
-      if not self.CP.openpilotLongitudinalControl:
-        # ACC_HUD is on camera bus on radarless cars
-        acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
-        ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
-        ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
-
-        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
-        # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
-        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
-        self.v_cruise_pcm_prev = ret.cruiseState.speed
-    else:
-      ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
-
-    if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
-      ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
-    else:
-      # brake switch has shown some single time step noise, so only considered when
-      # switch is on for at least 2 consecutive CAN samples
-      # brake switch rises earlier than brake pressed but is never 1 when in park
-      brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
-      if len(brake_switch_vals):
-        brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
-        if len(brake_switch_vals) > 1:
-          self.brake_switch_prev = brake_switch_vals[-2] != 0
-        self.brake_switch_active = brake_switch and self.brake_switch_prev
-        self.brake_switch_prev = brake_switch
-      ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
-
-    ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
-    ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
-    ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
-
-    # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
-      if ret.brake > 0.1:
-        ret.brakePressed = True
-
-    if self.CP.carFingerprint in HONDA_BOSCH:
-      # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
-      if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
-        ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
-    else:
-      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
-
-    self.acc_hud = False
-    self.lkas_hud = False
-    if self.CP.carFingerprint not in HONDA_BOSCH:
-      ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
-      self.acc_hud = cp_cam.vl["ACC_HUD"]
-      self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
-    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      self.lkas_hud = cp_cam.vl["LKAS_HUD"]
-
-    if self.CP.enableBsm:
-      # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
-      # more info here: https://github.com/commaai/openpilot/pull/1867
-      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
-      ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
-
-    ret.buttonEvents = [
-      *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
-    ]
-
-    return ret
-
-  def get_can_parser(self, CP):
-    messages = get_can_messages(CP, self.gearbox_msg)
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      ("STEERING_CONTROL", 100),
-    ]
-
-    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      messages += [
-        ("ACC_HUD", 10),
-        ("LKAS_HUD", 10),
-      ]
-
-    elif CP.carFingerprint not in HONDA_BOSCH:
-      messages += [
-        ("ACC_HUD", 10),
-        ("LKAS_HUD", 10),
-        ("BRAKE_COMMAND", 50),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
-
-  @staticmethod
-  def get_body_can_parser(CP):
-    if CP.enableBsm:
-      messages = [
-        ("BSM_STATUS_LEFT", 3),
-        ("BSM_STATUS_RIGHT", 3),
-      ]
-      bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
-      return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
-    return None
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
deleted file mode 100644
index 9160031ab4..0000000000
--- a/selfdrive/car/honda/fingerprints.py
+++ /dev/null
@@ -1,899 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.honda.values import CAR
-
-Ecu = CarParams.Ecu
-
-# Modified FW can be identified by the second dash being replaced by a comma
-# For example: `b'39990-TVA,A150\x00\x00'`
-#
-# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models
-
-
-FW_VERSIONS = {
-  CAR.HONDA_ACCORD: {
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TVC-A910\x00\x00',
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-6A7-A220\x00\x00',
-      b'28101-6A7-A230\x00\x00',
-      b'28101-6A7-A320\x00\x00',
-      b'28101-6A7-A330\x00\x00',
-      b'28101-6A7-A410\x00\x00',
-      b'28101-6A7-A510\x00\x00',
-      b'28101-6A7-A610\x00\x00',
-      b'28101-6A7-A710\x00\x00',
-      b'28101-6A9-H140\x00\x00',
-      b'28101-6A9-H420\x00\x00',
-      b'28102-6B8-A560\x00\x00',
-      b'28102-6B8-A570\x00\x00',
-      b'28102-6B8-A700\x00\x00',
-      b'28102-6B8-A800\x00\x00',
-      b'28102-6B8-C560\x00\x00',
-      b'28102-6B8-C570\x00\x00',
-      b'28102-6B8-M520\x00\x00',
-      b'28102-6B8-R700\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TVA-A050\x00\x00',
-      b'46114-TVA-A060\x00\x00',
-      b'46114-TVA-A080\x00\x00',
-      b'46114-TVA-A120\x00\x00',
-      b'46114-TVA-A320\x00\x00',
-      b'46114-TVE-H550\x00\x00',
-      b'46114-TVE-H560\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TVA-B040\x00\x00',
-      b'57114-TVA-B050\x00\x00',
-      b'57114-TVA-B060\x00\x00',
-      b'57114-TVA-B530\x00\x00',
-      b'57114-TVA-C040\x00\x00',
-      b'57114-TVA-C050\x00\x00',
-      b'57114-TVA-C060\x00\x00',
-      b'57114-TVA-C530\x00\x00',
-      b'57114-TVA-E520\x00\x00',
-      b'57114-TVE-H250\x00\x00',
-      b'57114-TWA-A040\x00\x00',
-      b'57114-TWA-A050\x00\x00',
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-      b'57114-TWA-C510\x00\x00',
-      b'57114-TWB-H030\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBX-H120\x00\x00',
-      b'39990-TVA,A150\x00\x00',
-      b'39990-TVA-A140\x00\x00',
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-A340\x00\x00',
-      b'39990-TVA-X030\x00\x00',
-      b'39990-TVA-X040\x00\x00',
-      b'39990-TVE-H130\x00\x00',
-      b'39990-TWB-H120\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TBX-H230\x00\x00',
-      b'77959-TVA-A460\x00\x00',
-      b'77959-TVA-F330\x00\x00',
-      b'77959-TVA-H230\x00\x00',
-      b'77959-TVA-L420\x00\x00',
-      b'77959-TVA-X330\x00\x00',
-      b'77959-TWA-A440\x00\x00',
-      b'77959-TWA-L420\x00\x00',
-      b'77959-TWB-H220\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A010\x00\x00',
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TBX-H140\x00\x00',
-      b'36802-TVA-A150\x00\x00',
-      b'36802-TVA-A160\x00\x00',
-      b'36802-TVA-A170\x00\x00',
-      b'36802-TVA-A180\x00\x00',
-      b'36802-TVA-A330\x00\x00',
-      b'36802-TVC-A330\x00\x00',
-      b'36802-TVE-H070\x00\x00',
-      b'36802-TWA-A070\x00\x00',
-      b'36802-TWA-A080\x00\x00',
-      b'36802-TWA-A210\x00\x00',
-      b'36802-TWA-A330\x00\x00',
-      b'36802-TWB-H060\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TBX-H130\x00\x00',
-      b'36161-TVA-A060\x00\x00',
-      b'36161-TVA-A330\x00\x00',
-      b'36161-TVC-A330\x00\x00',
-      b'36161-TVE-H050\x00\x00',
-      b'36161-TWA-A070\x00\x00',
-      b'36161-TWA-A330\x00\x00',
-      b'36161-TWB-H040\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TVA-A010\x00\x00',
-      b'38897-TVA-A020\x00\x00',
-      b'38897-TVA-A230\x00\x00',
-      b'38897-TVA-A240\x00\x00',
-      b'38897-TWA-A120\x00\x00',
-      b'38897-TWD-J020\x00\x00',
-    ],
-  },
-  CAR.HONDA_CIVIC: {
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5CG-A040\x00\x00',
-      b'28101-5CG-A050\x00\x00',
-      b'28101-5CG-A070\x00\x00',
-      b'28101-5CG-A080\x00\x00',
-      b'28101-5CG-A320\x00\x00',
-      b'28101-5CG-A810\x00\x00',
-      b'28101-5CG-A820\x00\x00',
-      b'28101-5DJ-A040\x00\x00',
-      b'28101-5DJ-A060\x00\x00',
-      b'28101-5DJ-A510\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TBA-A540\x00\x00',
-      b'57114-TBA-A550\x00\x00',
-      b'57114-TBA-A560\x00\x00',
-      b'57114-TBA-A570\x00\x00',
-      b'57114-TEA-Q220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBA,A030\x00\x00',
-      b'39990-TBA-A030\x00\x00',
-      b'39990-TBG-A030\x00\x00',
-      b'39990-TEA-T020\x00\x00',
-      b'39990-TEG-A010\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TBA-A030\x00\x00',
-      b'77959-TBA-A040\x00\x00',
-      b'77959-TBG-A020\x00\x00',
-      b'77959-TBG-A030\x00\x00',
-      b'77959-TEA-Q820\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TBA-A020\x00\x00',
-      b'36161-TBA-A030\x00\x00',
-      b'36161-TBA-A040\x00\x00',
-      b'36161-TBC-A020\x00\x00',
-      b'36161-TBC-A030\x00\x00',
-      b'36161-TED-Q320\x00\x00',
-      b'36161-TEG-A010\x00\x00',
-      b'36161-TEG-A020\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TBA-A010\x00\x00',
-      b'38897-TBA-A020\x00\x00',
-    ],
-  },
-  CAR.HONDA_CIVIC_BOSCH: {
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5CG-A920\x00\x00',
-      b'28101-5CG-AB10\x00\x00',
-      b'28101-5CG-C110\x00\x00',
-      b'28101-5CG-C220\x00\x00',
-      b'28101-5CG-C320\x00\x00',
-      b'28101-5CG-G020\x00\x00',
-      b'28101-5CG-L020\x00\x00',
-      b'28101-5CK-A130\x00\x00',
-      b'28101-5CK-A140\x00\x00',
-      b'28101-5CK-A150\x00\x00',
-      b'28101-5CK-C130\x00\x00',
-      b'28101-5CK-C140\x00\x00',
-      b'28101-5CK-C150\x00\x00',
-      b'28101-5CK-G210\x00\x00',
-      b'28101-5CK-J710\x00\x00',
-      b'28101-5CK-Q610\x00\x00',
-      b'28101-5DJ-A610\x00\x00',
-      b'28101-5DJ-A710\x00\x00',
-      b'28101-5DV-E330\x00\x00',
-      b'28101-5DV-E610\x00\x00',
-      b'28101-5DV-E820\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TBG-A330\x00\x00',
-      b'57114-TBG-A340\x00\x00',
-      b'57114-TBG-A350\x00\x00',
-      b'57114-TGG-A340\x00\x00',
-      b'57114-TGG-C320\x00\x00',
-      b'57114-TGG-G320\x00\x00',
-      b'57114-TGG-L320\x00\x00',
-      b'57114-TGG-L330\x00\x00',
-      b'57114-TGH-L130\x00\x00',
-      b'57114-TGK-T320\x00\x00',
-      b'57114-TGL-G330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBA-C020\x00\x00',
-      b'39990-TBA-C120\x00\x00',
-      b'39990-TEA-T820\x00\x00',
-      b'39990-TEZ-T020\x00\x00',
-      b'39990-TGG,A020\x00\x00',
-      b'39990-TGG,A120\x00\x00',
-      b'39990-TGG-A020\x00\x00',
-      b'39990-TGG-A120\x00\x00',
-      b'39990-TGG-J510\x00\x00',
-      b'39990-TGH-J530\x00\x00',
-      b'39990-TGL-E130\x00\x00',
-      b'39990-TGN-E120\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TBA-A060\x00\x00',
-      b'77959-TBG-A050\x00\x00',
-      b'77959-TEA-G020\x00\x00',
-      b'77959-TGG-A020\x00\x00',
-      b'77959-TGG-A030\x00\x00',
-      b'77959-TGG-E010\x00\x00',
-      b'77959-TGG-G010\x00\x00',
-      b'77959-TGG-G110\x00\x00',
-      b'77959-TGG-J320\x00\x00',
-      b'77959-TGG-Z820\x00\x00',
-      b'77959-TGH-J110\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TBA-A150\x00\x00',
-      b'36802-TBA-A160\x00\x00',
-      b'36802-TFJ-G060\x00\x00',
-      b'36802-TGG-A050\x00\x00',
-      b'36802-TGG-A060\x00\x00',
-      b'36802-TGG-A070\x00\x00',
-      b'36802-TGG-A130\x00\x00',
-      b'36802-TGG-G040\x00\x00',
-      b'36802-TGG-G130\x00\x00',
-      b'36802-TGH-A140\x00\x00',
-      b'36802-TGK-Q120\x00\x00',
-      b'36802-TGL-G040\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TBA-A130\x00\x00',
-      b'36161-TBA-A140\x00\x00',
-      b'36161-TFJ-G070\x00\x00',
-      b'36161-TGG-A060\x00\x00',
-      b'36161-TGG-A080\x00\x00',
-      b'36161-TGG-A120\x00\x00',
-      b'36161-TGG-G050\x00\x00',
-      b'36161-TGG-G070\x00\x00',
-      b'36161-TGG-G130\x00\x00',
-      b'36161-TGG-G140\x00\x00',
-      b'36161-TGH-A140\x00\x00',
-      b'36161-TGK-Q120\x00\x00',
-      b'36161-TGL-G050\x00\x00',
-      b'36161-TGL-G070\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TBA-A020\x00\x00',
-      b'38897-TBA-A110\x00\x00',
-      b'38897-TGH-A010\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'39494-TGL-G030\x00\x00',
-    ],
-  },
-  CAR.HONDA_CIVIC_BOSCH_DIESEL: {
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-59Y-G220\x00\x00',
-      b'28101-59Y-G620\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TGN-E320\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TFK-G020\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TFK-G210\x00\x00',
-      b'77959-TGN-G220\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TFK-G130\x00\x00',
-      b'36802-TGN-G130\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TGN-E010\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TFK-G130\x00\x00',
-      b'36161-TGN-G130\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TBA-A020\x00\x00',
-    ],
-  },
-  CAR.HONDA_CRV: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T1W-A230\x00\x00',
-      b'57114-T1W-A240\x00\x00',
-      b'57114-TFF-A940\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T0A-A230\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T1W-A830\x00\x00',
-      b'36161-T1W-C830\x00\x00',
-      b'36161-T1X-A830\x00\x00',
-    ],
-  },
-  CAR.HONDA_CRV_5G: {
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5RG-A020\x00\x00',
-      b'28101-5RG-A030\x00\x00',
-      b'28101-5RG-A040\x00\x00',
-      b'28101-5RG-A120\x00\x00',
-      b'28101-5RG-A220\x00\x00',
-      b'28101-5RH-A020\x00\x00',
-      b'28101-5RH-A030\x00\x00',
-      b'28101-5RH-A040\x00\x00',
-      b'28101-5RH-A120\x00\x00',
-      b'28101-5RH-A220\x00\x00',
-      b'28101-5RL-Q010\x00\x00',
-      b'28101-5RM-F010\x00\x00',
-      b'28101-5RM-K010\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TLA-A040\x00\x00',
-      b'57114-TLA-A050\x00\x00',
-      b'57114-TLA-A060\x00\x00',
-      b'57114-TLB-A830\x00\x00',
-      b'57114-TMC-Z040\x00\x00',
-      b'57114-TMC-Z050\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TLA,A040\x00\x00',
-      b'39990-TLA-A040\x00\x00',
-      b'39990-TLA-A110\x00\x00',
-      b'39990-TLA-A220\x00\x00',
-      b'39990-TME-T030\x00\x00',
-      b'39990-TME-T120\x00\x00',
-      b'39990-TMT-T010\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TLA-A040\x00\x00',
-      b'46114-TLA-A050\x00\x00',
-      b'46114-TLA-A930\x00\x00',
-      b'46114-TMC-U020\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TLA-A010\x00\x00',
-      b'38897-TLA-A110\x00\x00',
-      b'38897-TNY-G010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TLA-A040\x00\x00',
-      b'36802-TLA-A050\x00\x00',
-      b'36802-TLA-A060\x00\x00',
-      b'36802-TLA-A070\x00\x00',
-      b'36802-TMC-Q040\x00\x00',
-      b'36802-TMC-Q070\x00\x00',
-      b'36802-TNY-A030\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TLA-A060\x00\x00',
-      b'36161-TLA-A070\x00\x00',
-      b'36161-TLA-A080\x00\x00',
-      b'36161-TMC-Q020\x00\x00',
-      b'36161-TMC-Q030\x00\x00',
-      b'36161-TMC-Q040\x00\x00',
-      b'36161-TNY-A020\x00\x00',
-      b'36161-TNY-A030\x00\x00',
-      b'36161-TNY-A040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TLA-A240\x00\x00',
-      b'77959-TLA-A250\x00\x00',
-      b'77959-TLA-A320\x00\x00',
-      b'77959-TLA-A410\x00\x00',
-      b'77959-TLA-A420\x00\x00',
-      b'77959-TLA-Q040\x00\x00',
-      b'77959-TLA-Z040\x00\x00',
-      b'77959-TMM-F040\x00\x00',
-    ],
-  },
-  CAR.HONDA_CRV_EU: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T1V-G920\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T1V-G520\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-T1V-G010\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5LH-E120\x00\x00',
-      b'28103-5LH-E100\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T1G-G940\x00\x00',
-    ],
-  },
-  CAR.HONDA_CRV_HYBRID: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TMB-H030\x00\x00',
-      b'57114-TPA-G020\x00\x00',
-      b'57114-TPG-A020\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TMA-H020\x00\x00',
-      b'39990-TPA-G030\x00\x00',
-      b'39990-TPG-A020\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TMA-H110\x00\x00',
-      b'38897-TPG-A110\x00\x00',
-      b'38897-TPG-A210\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TMB-H510\x00\x00',
-      b'54008-TMB-H610\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TMB-H040\x00\x00',
-      b'36161-TPA-E050\x00\x00',
-      b'36161-TPG-A030\x00\x00',
-      b'36161-TPG-A040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TMB-H040\x00\x00',
-      b'36802-TPA-E040\x00\x00',
-      b'36802-TPG-A020\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TLA-C320\x00\x00',
-      b'77959-TLA-C410\x00\x00',
-      b'77959-TLA-C420\x00\x00',
-      b'77959-TLA-G220\x00\x00',
-      b'77959-TLA-H240\x00\x00',
-    ],
-  },
-  CAR.HONDA_FIT: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T5R-L020\x00\x00',
-      b'57114-T5R-L220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T5R-C020\x00\x00',
-      b'39990-T5R-C030\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T5A-J010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T5R-A040\x00\x00',
-      b'36161-T5R-A240\x00\x00',
-      b'36161-T5R-A520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T5R-A230\x00\x00',
-    ],
-  },
-  CAR.HONDA_FREED: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TDK-J010\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TDK-J050\x00\x00',
-      b'39990-TDK-N020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TDK-J120\x00\x00',
-      b'57114-TDK-J330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TDK-J070\x00\x00',
-      b'36161-TDK-J080\x00\x00',
-      b'36161-TDK-J530\x00\x00',
-    ],
-  },
-  CAR.HONDA_ODYSSEY: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-THR-A010\x00\x00',
-      b'38897-THR-A020\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-THR-A020\x00\x00',
-      b'39990-THR-A030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-THR-A010\x00\x00',
-      b'77959-THR-A110\x00\x00',
-      b'77959-THR-X010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-THR-A020\x00\x00',
-      b'36161-THR-A030\x00\x00',
-      b'36161-THR-A110\x00\x00',
-      b'36161-THR-A720\x00\x00',
-      b'36161-THR-A730\x00\x00',
-      b'36161-THR-A810\x00\x00',
-      b'36161-THR-A910\x00\x00',
-      b'36161-THR-C010\x00\x00',
-      b'36161-THR-D110\x00\x00',
-      b'36161-THR-K020\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5NZ-A110\x00\x00',
-      b'28101-5NZ-A310\x00\x00',
-      b'28101-5NZ-C310\x00\x00',
-      b'28102-5MX-A001\x00\x00',
-      b'28102-5MX-A600\x00\x00',
-      b'28102-5MX-A610\x00\x00',
-      b'28102-5MX-A700\x00\x00',
-      b'28102-5MX-A710\x00\x00',
-      b'28102-5MX-A900\x00\x00',
-      b'28102-5MX-A910\x00\x00',
-      b'28102-5MX-C001\x00\x00',
-      b'28102-5MX-C610\x00\x00',
-      b'28102-5MX-C910\x00\x00',
-      b'28102-5MX-D001\x00\x00',
-      b'28102-5MX-D710\x00\x00',
-      b'28102-5MX-K610\x00\x00',
-      b'28103-5NZ-A100\x00\x00',
-      b'28103-5NZ-A300\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-THR-A040\x00\x00',
-      b'57114-THR-A110\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-THR-A020\x00\x00',
-    ],
-  },
-  CAR.HONDA_ODYSSEY_CHN: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T6D-H220\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T6A-J010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T6A-P040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T6A-P110\x00\x00',
-    ],
-  },
-  CAR.HONDA_PILOT: {
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TG7-A520\x00\x00',
-      b'54008-TG7-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5EY-A040\x00\x00',
-      b'28101-5EY-A050\x00\x00',
-      b'28101-5EY-A100\x00\x00',
-      b'28101-5EY-A430\x00\x00',
-      b'28101-5EY-A500\x00\x00',
-      b'28101-5EZ-A050\x00\x00',
-      b'28101-5EZ-A060\x00\x00',
-      b'28101-5EZ-A100\x00\x00',
-      b'28101-5EZ-A210\x00\x00',
-      b'28101-5EZ-A330\x00\x00',
-      b'28101-5EZ-A430\x00\x00',
-      b'28101-5EZ-A500\x00\x00',
-      b'28101-5EZ-A600\x00\x00',
-      b'28101-5EZ-A700\x00\x00',
-      b'28103-5EY-A110\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TG7-A030\x00\x00',
-      b'38897-TG7-A040\x00\x00',
-      b'38897-TG7-A110\x00\x00',
-      b'38897-TG7-A210\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TG7-A030\x00\x00',
-      b'39990-TG7-A040\x00\x00',
-      b'39990-TG7-A060\x00\x00',
-      b'39990-TG7-A070\x00\x00',
-      b'39990-TGS-A230\x00\x00',
-      b'39990-TGS-A320\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TG7-A310\x00\x00',
-      b'36161-TG7-A520\x00\x00',
-      b'36161-TG7-A630\x00\x00',
-      b'36161-TG7-A720\x00\x00',
-      b'36161-TG7-A820\x00\x00',
-      b'36161-TG7-A930\x00\x00',
-      b'36161-TG7-C520\x00\x00',
-      b'36161-TG7-D520\x00\x00',
-      b'36161-TG7-D630\x00\x00',
-      b'36161-TG7-Y630\x00\x00',
-      b'36161-TG8-A410\x00\x00',
-      b'36161-TG8-A520\x00\x00',
-      b'36161-TG8-A630\x00\x00',
-      b'36161-TG8-A720\x00\x00',
-      b'36161-TG8-A830\x00\x00',
-      b'36161-TGS-A030\x00\x00',
-      b'36161-TGS-A130\x00\x00',
-      b'36161-TGS-A220\x00\x00',
-      b'36161-TGS-A320\x00\x00',
-      b'36161-TGT-A030\x00\x00',
-      b'36161-TGT-A130\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TG7-A020\x00\x00',
-      b'77959-TG7-A110\x00\x00',
-      b'77959-TG7-A210\x00\x00',
-      b'77959-TG7-Y210\x00\x00',
-      b'77959-TGS-A010\x00\x00',
-      b'77959-TGS-A110\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TG7-A130\x00\x00',
-      b'57114-TG7-A140\x00\x00',
-      b'57114-TG7-A230\x00\x00',
-      b'57114-TG7-A240\x00\x00',
-      b'57114-TG7-A630\x00\x00',
-      b'57114-TG7-A730\x00\x00',
-      b'57114-TG8-A140\x00\x00',
-      b'57114-TG8-A230\x00\x00',
-      b'57114-TG8-A240\x00\x00',
-      b'57114-TG8-A630\x00\x00',
-      b'57114-TG8-A730\x00\x00',
-      b'57114-TGS-A530\x00\x00',
-      b'57114-TGT-A530\x00\x00',
-    ],
-  },
-  CAR.ACURA_RDX: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TX4-A220\x00\x00',
-      b'57114-TX5-A220\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TX4-A030\x00\x00',
-      b'36161-TX5-A030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TX4-B010\x00\x00',
-      b'77959-TX4-C010\x00\x00',
-      b'77959-TX4-C020\x00\x00',
-    ],
-  },
-  CAR.ACURA_RDX_3G: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TJB-A030\x00\x00',
-      b'57114-TJB-A040\x00\x00',
-      b'57114-TJB-A120\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TJB-A040\x00\x00',
-      b'36802-TJB-A050\x00\x00',
-      b'36802-TJB-A540\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TJB-A040\x00\x00',
-      b'36161-TJB-A530\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TJB-A520\x00\x00',
-      b'54008-TJB-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28102-5YK-A610\x00\x00',
-      b'28102-5YK-A620\x00\x00',
-      b'28102-5YK-A630\x00\x00',
-      b'28102-5YK-A700\x00\x00',
-      b'28102-5YK-A711\x00\x00',
-      b'28102-5YK-A800\x00\x00',
-      b'28102-5YL-A620\x00\x00',
-      b'28102-5YL-A700\x00\x00',
-      b'28102-5YL-A711\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TJB-A040\x00\x00',
-      b'77959-TJB-A120\x00\x00',
-      b'77959-TJB-A210\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TJB-A040\x00\x00',
-      b'46114-TJB-A050\x00\x00',
-      b'46114-TJB-A060\x00\x00',
-      b'46114-TJB-A120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TJB-A040\x00\x00',
-      b'38897-TJB-A110\x00\x00',
-      b'38897-TJB-A120\x00\x00',
-      b'38897-TJB-A220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TJB-A030\x00\x00',
-      b'39990-TJB-A040\x00\x00',
-      b'39990-TJB-A070\x00\x00',
-      b'39990-TJB-A130\x00\x00',
-    ],
-  },
-  CAR.HONDA_RIDGELINE: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T6Z-A020\x00\x00',
-      b'39990-T6Z-A030\x00\x00',
-      b'39990-T6Z-A050\x00\x00',
-      b'39990-T6Z-A110\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T6Z-A020\x00\x00',
-      b'36161-T6Z-A310\x00\x00',
-      b'36161-T6Z-A420\x00\x00',
-      b'36161-T6Z-A520\x00\x00',
-      b'36161-T6Z-A620\x00\x00',
-      b'36161-T6Z-A720\x00\x00',
-      b'36161-TJZ-A120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T6Z-A010\x00\x00',
-      b'38897-T6Z-A110\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T6Z-A020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T6Z-A120\x00\x00',
-      b'57114-T6Z-A130\x00\x00',
-      b'57114-T6Z-A520\x00\x00',
-      b'57114-T6Z-A610\x00\x00',
-      b'57114-TJZ-A520\x00\x00',
-    ],
-  },
-  CAR.HONDA_INSIGHT: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TXM-A040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TXM-A070\x00\x00',
-      b'36802-TXM-A080\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TXM-A050\x00\x00',
-      b'36161-TXM-A060\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TXM-A230\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TXM-A030\x00\x00',
-      b'57114-TXM-A040\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TXM-A020\x00\x00',
-    ],
-  },
-  CAR.HONDA_HRV: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T7A-A010\x00\x00',
-      b'38897-T7A-A110\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-THX-A020\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T7A-A040\x00\x00',
-      b'36161-T7A-A140\x00\x00',
-      b'36161-T7A-A240\x00\x00',
-      b'36161-T7A-C440\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T7A-A230\x00\x00',
-    ],
-  },
-  CAR.HONDA_HRV_3G: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-3M0-G110\x00\x00',
-      b'39990-3W0-A030\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-3M0-M110\x00\x00',
-      b'38897-3W1-A010\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-3M0-K840\x00\x00',
-      b'77959-3V0-A820\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'8S102-3M6-P030\x00\x00',
-      b'8S102-3W0-A060\x00\x00',
-      b'8S102-3W0-AB10\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-3M6-M010\x00\x00',
-      b'57114-3W0-A040\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-6EH-A010\x00\x00',
-      b'28101-6JC-M310\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-3W0-A020\x00\x00',
-    ],
-  },
-  CAR.ACURA_ILX: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TX6-A010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TV9-A140\x00\x00',
-      b'36161-TX6-A030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TX6-A230\x00\x00',
-      b'77959-TX6-C210\x00\x00',
-    ],
-  },
-  CAR.HONDA_E: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TYF-N030\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TYF-E140\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TYF-E010\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TYF-G430\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TYF-E030\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TYF-E020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TYF-E030\x00\x00',
-    ],
-  },
-  CAR.HONDA_CIVIC_2022: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T24-T120\x00\x00',
-      b'39990-T39-A130\x00\x00',
-      b'39990-T43-J020\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T20-A020\x00\x00',
-      b'38897-T20-A210\x00\x00',
-      b'38897-T20-A310\x00\x00',
-      b'38897-T20-A510\x00\x00',
-      b'38897-T21-A010\x00\x00',
-      b'38897-T24-Z120\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T20-A970\x00\x00',
-      b'77959-T20-A980\x00\x00',
-      b'77959-T20-M820\x00\x00',
-      b'77959-T47-A940\x00\x00',
-      b'77959-T47-A950\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T20-A060\x00\x00',
-      b'36161-T20-A070\x00\x00',
-      b'36161-T20-A080\x00\x00',
-      b'36161-T24-T070\x00\x00',
-      b'36161-T47-A050\x00\x00',
-      b'36161-T47-A070\x00\x00',
-      b'8S102-T20-AA10\x00\x00',
-      b'8S102-T47-AA10\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T20-AB40\x00\x00',
-      b'57114-T24-TB30\x00\x00',
-      b'57114-T43-JB30\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-65D-A020\x00\x00',
-      b'28101-65D-A120\x00\x00',
-      b'28101-65H-A020\x00\x00',
-      b'28101-65H-A120\x00\x00',
-      b'28101-65J-N010\x00\x00',
-    ],
-  },
-}
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
deleted file mode 100644
index 63ca8b43d1..0000000000
--- a/selfdrive/car/honda/hondacan.py
+++ /dev/null
@@ -1,211 +0,0 @@
-from openpilot.selfdrive.car import CanBusBase
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
-
-# CAN bus layout with relay
-# 0 = ACC-CAN - radar side
-# 1 = F-CAN B - powertrain
-# 2 = ACC-CAN - camera side
-# 3 = F-CAN A - OBDII port
-
-
-class CanBus(CanBusBase):
-  def __init__(self, CP=None, fingerprint=None) -> None:
-    # use fingerprint if specified
-    super().__init__(CP if fingerprint is None else None, fingerprint)
-
-    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
-      self._pt, self._radar = self.offset + 1, self.offset
-    else:
-      self._pt, self._radar = self.offset, self.offset + 1
-
-  @property
-  def pt(self) -> int:
-    return self._pt
-
-  @property
-  def radar(self) -> int:
-    return self._radar
-
-  @property
-  def camera(self) -> int:
-    return self.offset + 2
-
-
-def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
-  no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
-  if radar_disabled or no_radar:
-    # when radar is disabled, steering commands are sent directly to powertrain bus
-    return CAN.pt
-  # normally steering commands are sent to radar, which forwards them to powertrain bus
-  return 0
-
-
-def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
-  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
-
-
-def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
-  # TODO: do we loose pressure if we keep pump off for long?
-  brakelights = apply_brake > 0
-  brake_rq = apply_brake > 0
-  pcm_fault_cmd = False
-
-  values = {
-    "COMPUTER_BRAKE": apply_brake,
-    "BRAKE_PUMP_REQUEST": pump_on,
-    "CRUISE_OVERRIDE": pcm_override,
-    "CRUISE_FAULT_CMD": pcm_fault_cmd,
-    "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
-    "COMPUTER_BRAKE_REQUEST": brake_rq,
-    "SET_ME_1": 1,
-    "BRAKE_LIGHTS": brakelights,
-    "CHIME": stock_brake["CHIME"] if fcw else 0,  # send the chime for stock fcw
-    "FCW": fcw << 1,  # TODO: Why are there two bits for fcw?
-    "AEB_REQ_1": 0,
-    "AEB_REQ_2": 0,
-    "AEB_STATUS": 0,
-  }
-  return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
-
-
-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
-  commands = []
-  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
-
-  control_on = 5 if enabled else 0
-  gas_command = gas if active and accel > min_gas_accel else -30000
-  accel_command = accel if active else 0
-  braking = 1 if active and accel < min_gas_accel else 0
-  standstill = 1 if active and stopping_counter > 0 else 0
-  standstill_release = 1 if active and stopping_counter == 0 else 0
-
-  # common ACC_CONTROL values
-  acc_control_values = {
-    'ACCEL_COMMAND': accel_command,
-    'STANDSTILL': standstill,
-  }
-
-  if car_fingerprint in HONDA_BOSCH_RADARLESS:
-    acc_control_values.update({
-      "CONTROL_ON": enabled,
-      "IDLESTOP_ALLOW": stopping_counter > 200,  # allow idle stop after 4 seconds (50 Hz)
-    })
-  else:
-    acc_control_values.update({
-      # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
-      "CONTROL_ON": control_on,
-      "GAS_COMMAND": gas_command,  # used for gas
-      "BRAKE_LIGHTS": braking,
-      "BRAKE_REQUEST": braking,
-      "STANDSTILL_RELEASE": standstill_release,
-    })
-    acc_control_on_values = {
-      "SET_TO_3": 0x03,
-      "CONTROL_ON": enabled,
-      "SET_TO_FF": 0xff,
-      "SET_TO_75": 0x75,
-      "SET_TO_30": 0x30,
-    }
-    commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
-
-  commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
-  return commands
-
-
-def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
-  values = {
-    "STEER_TORQUE": apply_steer if lkas_active else 0,
-    "STEER_TORQUE_REQUEST": lkas_active,
-  }
-  bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values)
-
-
-def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
-  # non-active params
-  values = {
-    "SET_ME_X04": 0x04,
-    "SET_ME_X80": 0x80,
-    "SET_ME_X10": 0x10,
-  }
-  bus = get_lkas_cmd_bus(CAN, car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
-
-
-def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
-  commands = []
-  radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
-  bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
-
-  if CP.openpilotLongitudinalControl:
-    acc_hud_values = {
-      'CRUISE_SPEED': hud.v_cruise,
-      'ENABLE_MINI_CAR': 1 if enabled else 0,
-      # only moves the lead car without ACC_ON
-      'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4,  # wraps to 0 at 4 bars
-      'IMPERIAL_UNIT': int(not is_metric),
-      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
-      'SET_ME_X01_2': 1,
-    }
-
-    if CP.carFingerprint in HONDA_BOSCH:
-      acc_hud_values['ACC_ON'] = int(enabled)
-      acc_hud_values['FCM_OFF'] = 1
-      acc_hud_values['FCM_OFF_2'] = 1
-    else:
-      # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
-      acc_hud_values['ACC_ON'] = int(enabled)
-      acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
-      acc_hud_values['PCM_GAS'] = hud.pcm_accel
-      acc_hud_values['SET_ME_X01'] = 1
-      acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
-      acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
-      acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
-      acc_hud_values['ICONS'] = acc_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
-
-  lkas_hud_values = {
-    'SET_ME_X41': 0x41,
-    'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes_visible,
-    'BEEP': 0,
-  }
-
-  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-    lkas_hud_values['LANE_LINES'] = 3
-    lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
-    # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
-    lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
-
-  if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
-    lkas_hud_values['SET_ME_X48'] = 0x48
-
-  if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
-  else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
-
-  if radar_disabled:
-    radar_hud_values = {
-      'CMBS_OFF': 0x01,
-      'SET_TO_1': 0x01,
-    }
-    commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
-
-    if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
-
-  return commands
-
-
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
-  values = {
-    'CRUISE_BUTTONS': button_val,
-    'CRUISE_SETTING': 0,
-  }
-  # send buttons to camera on radarless cars
-  bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
-  return packer.make_can_msg("SCM_BUTTONS", bus, values)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
deleted file mode 100755
index 61443b8ada..0000000000
--- a/selfdrive/car/honda/interface.py
+++ /dev/null
@@ -1,215 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.numpy_fast import interp
-from openpilot.selfdrive.car.honda.hondacan import CanBus
-from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.disable_ecu import disable_ecu
-
-TransmissionType = structs.CarParams.TransmissionType
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    if CP.carFingerprint in HONDA_BOSCH:
-      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
-    else:
-      # NIDECs don't allow acceleration near cruise_speed,
-      # so limit limits of pid to prevent windup
-      ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
-      ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
-      return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "honda"
-
-    CAN = CanBus(ret, fingerprint)
-
-    if candidate in HONDA_BOSCH:
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
-      ret.radarUnavailable = True
-      # Disable the radar and let openpilot control longitudinal
-      # WARNING: THIS DISABLES AEB!
-      # If Bosch radarless, this blocks ACC messages from the camera
-      ret.experimentalLongitudinalAvailable = True
-      ret.openpilotLongitudinalControl = experimental_long
-      ret.pcmCruise = not ret.openpilotLongitudinalControl
-    else:
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
-      ret.openpilotLongitudinalControl = True
-
-      ret.pcmCruise = True
-
-    if candidate == CAR.HONDA_CRV_5G:
-      ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
-
-    # Detect Bosch cars with new HUD msgs
-    if any(0x33DA in f for f in fingerprint.values()):
-      ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
-
-    # Accord ICE 1.5T CVT has different gearbox message
-    if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
-      ret.transmissionType = TransmissionType.cvt
-
-    # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
-    # which improves controls quality as it removes the steering column torsion from feedback.
-    # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
-    # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
-    ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
-
-    if candidate in HONDA_BOSCH:
-      ret.longitudinalActuatorDelay = 0.5 # s
-      if candidate in HONDA_BOSCH_RADARLESS:
-        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
-    else:
-      # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kiBP = [0., 5., 35.]
-      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
-
-    eps_modified = False
-    for fw in car_fw:
-      if fw.ecu == "eps" and b"," in fw.fwVersion:
-        eps_modified = True
-
-    if candidate == CAR.HONDA_CIVIC:
-      if eps_modified:
-        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
-        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
-        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
-        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
-        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
-        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
-      else:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
-
-    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-
-    elif candidate == CAR.HONDA_ACCORD:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-
-      if eps_modified:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
-      else:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-
-    elif candidate == CAR.ACURA_ILX:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-
-    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.wheelSpeedFactor = 1.025
-
-    elif candidate == CAR.HONDA_CRV_5G:
-      if eps_modified:
-        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
-        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
-        # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
-      else:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
-      ret.wheelSpeedFactor = 1.025
-
-    elif candidate == CAR.HONDA_CRV_HYBRID:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-      ret.wheelSpeedFactor = 1.025
-
-    elif candidate == CAR.HONDA_FIT:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
-
-    elif candidate == CAR.HONDA_FREED:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
-
-    elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      if candidate == CAR.HONDA_HRV:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
-        ret.wheelSpeedFactor = 1.025
-      else:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
-
-    elif candidate == CAR.ACURA_RDX:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-
-    elif candidate == CAR.ACURA_RDX_3G:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
-
-    elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      if candidate == CAR.HONDA_ODYSSEY_CHN:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
-      else:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-
-    elif candidate == CAR.HONDA_PILOT:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
-
-    elif candidate == CAR.HONDA_RIDGELINE:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
-
-    elif candidate == CAR.HONDA_INSIGHT:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-
-    elif candidate == CAR.HONDA_E:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
-
-    else:
-      raise ValueError(f"unsupported car {candidate}")
-
-    # These cars use alternate user brake msg (0x1BE)
-    # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
-    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
-      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
-
-    if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
-
-    # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
-    if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
-
-    if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
-
-    if candidate in HONDA_BOSCH_RADARLESS:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
-
-    # min speed to enable ACC. if car can do stop and go, then set enabling speed
-    # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
-    # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
-    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
-
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.8
-
-    return ret
-
-  @staticmethod
-  def init(CP, can_recv, can_send):
-    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
deleted file mode 100755
index 8dd1ddd529..0000000000
--- a/selfdrive/car/honda/radar_interface.py
+++ /dev/null
@@ -1,84 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-from openpilot.selfdrive.car.honda.values import DBC
-
-
-def _create_nidec_can_parser(car_fingerprint):
-  radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
-  messages = [(m, 20) for m in radar_messages]
-  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
-
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.track_id = 0
-    self.radar_fault = False
-    self.radar_wrong_config = False
-    self.radar_off_can = CP.radarUnavailable
-    self.radar_ts = CP.radarTimeStep
-
-    self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
-
-    # Nidec
-    if self.radar_off_can:
-      self.rcp = None
-    else:
-      self.rcp = _create_nidec_can_parser(CP.carFingerprint)
-    self.trigger_msg = 0x445
-    self.updated_messages = set()
-
-  def update(self, can_strings):
-    # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
-    # radard at 20Hz and return no points
-    if self.radar_off_can:
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    rr = self._update(self.updated_messages)
-    self.updated_messages.clear()
-    return rr
-
-  def _update(self, updated_messages):
-    ret = structs.RadarData()
-
-    for ii in sorted(updated_messages):
-      cpt = self.rcp.vl[ii]
-      if ii == 0x400:
-        # check for radar faults
-        self.radar_fault = cpt['RADAR_STATE'] != 0x79
-        self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
-      elif cpt['LONG_DIST'] < 255:
-        if ii not in self.pts or cpt['NEW_TRACK']:
-          self.pts[ii] = structs.RadarData.RadarPoint()
-          self.pts[ii].trackId = self.track_id
-          self.track_id += 1
-        self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
-        self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
-        self.pts[ii].vRel = cpt['REL_SPEED']
-        self.pts[ii].aRel = float('nan')
-        self.pts[ii].yvRel = float('nan')
-        self.pts[ii].measured = True
-      else:
-        if ii in self.pts:
-          del self.pts[ii]
-
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    if self.radar_fault:
-      errors.append("fault")
-    if self.radar_wrong_config:
-      errors.append("wrongConfig")
-    ret.errors = errors
-
-    ret.points = list(self.pts.values())
-
-    return ret
diff --git a/selfdrive/car/honda/tests/__init__.py b/selfdrive/car/honda/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py
deleted file mode 100644
index b8ad7872b2..0000000000
--- a/selfdrive/car/honda/tests/test_honda.py
+++ /dev/null
@@ -1,14 +0,0 @@
-import re
-
-from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS
-
-HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
-
-
-class TestHondaFingerprint:
-  def test_fw_version_format(self):
-    # Asserts all FW versions follow an expected format
-    for fw_by_ecu in FW_VERSIONS.values():
-      for fws in fw_by_ecu.values():
-        for fw in fws:
-          assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
deleted file mode 100644
index f6357f6cb3..0000000000
--- a/selfdrive/car/honda/values.py
+++ /dev/null
@@ -1,330 +0,0 @@
-from dataclasses import dataclass
-from enum import Enum, IntFlag
-
-from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
-
-Ecu = structs.CarParams.Ecu
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-
-class CarControllerParams:
-  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
-  # perform the closed loop control, and might need some
-  # to apply some more braking if we're on a downhill slope.
-  # Our controller should still keep the 2 second average above
-  # -3.5 m/s^2 as per planner limits
-  NIDEC_ACCEL_MIN = -4.0  # m/s^2
-  NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
-
-  NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
-  NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
-
-  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
-  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
-
-  NIDEC_GAS_MAX = 198  # 0xc6
-  NIDEC_BRAKE_MAX = 1024 // 4
-
-  BOSCH_ACCEL_MIN = -3.5  # m/s^2
-  BOSCH_ACCEL_MAX = 2.0  # m/s^2
-
-  BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
-  BOSCH_GAS_LOOKUP_V = [0, 1600]
-
-  def __init__(self, CP):
-    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
-    # mirror of list (assuming first item is zero) for interp of signed request values
-    assert(CP.lateralParams.torqueBP[0] == 0)
-    assert(CP.lateralParams.torqueBP[0] == 0)
-    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
-    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
-
-
-class HondaFlags(IntFlag):
-  # Detected flags
-  # Bosch models with alternate set of LKAS_HUD messages
-  BOSCH_EXT_HUD = 1
-  BOSCH_ALT_BRAKE = 2
-
-  # Static flags
-  BOSCH = 4
-  BOSCH_RADARLESS = 8
-
-  NIDEC = 16
-  NIDEC_ALT_PCM_ACCEL = 32
-  NIDEC_ALT_SCM_MESSAGES = 64
-
-
-# Car button codes
-class CruiseButtons:
-  RES_ACCEL = 4
-  DECEL_SET = 3
-  CANCEL = 2
-  MAIN = 1
-
-
-class CruiseSettings:
-  DISTANCE = 3
-  LKAS = 1
-
-
-# See dbc files for info on values
-VISUAL_HUD = {
-  VisualAlert.none: 0,
-  VisualAlert.fcw: 1,
-  VisualAlert.steerRequired: 1,
-  VisualAlert.ldw: 1,
-  VisualAlert.brakePressed: 10,
-  VisualAlert.wrongGear: 6,
-  VisualAlert.seatbeltUnbuckled: 5,
-  VisualAlert.speedTooHigh: 8
-}
-
-
-@dataclass
-class HondaCarDocs(CarDocs):
-  package: str = "Honda Sensing"
-
-  def init_make(self, CP: structs.CarParams):
-    if CP.flags & HondaFlags.BOSCH:
-      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
-    else:
-      self.car_parts = CarParts.common([CarHarness.nidec])
-
-
-class Footnote(Enum):
-  CIVIC_DIESEL = CarFootnote(
-    "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
-    Column.FSR_STEERING)
-
-
-class HondaBoschPlatformConfig(PlatformConfig):
-  def init(self):
-    self.flags |= HondaFlags.BOSCH
-
-
-class HondaNidecPlatformConfig(PlatformConfig):
-  def init(self):
-    self.flags |= HondaFlags.NIDEC
-
-
-class CAR(Platforms):
-  # Bosch Cars
-  HONDA_ACCORD = HondaBoschPlatformConfig(
-    [
-      HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
-      HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-      HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-    ],
-    # steerRatio: 11.82 is spec end-to-end
-    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
-    dbc_dict('honda_accord_2018_can_generated', None),
-  )
-  HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
-    [
-      HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
-                   footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-      HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
-    ],
-    CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
-    dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
-  )
-  HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
-    [],  # don't show in docs
-    HONDA_CIVIC_BOSCH.specs,
-    dbc_dict('honda_accord_2018_can_generated', None),
-  )
-  HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
-    [
-      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-    ],
-    HONDA_CIVIC_BOSCH.specs,
-    dbc_dict('honda_civic_ex_2022_can_generated', None),
-    flags=HondaFlags.BOSCH_RADARLESS,
-  )
-  HONDA_CRV_5G = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
-    # steerRatio: 12.3 is spec end-to-end
-    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
-    dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
-    flags=HondaFlags.BOSCH_ALT_BRAKE,
-  )
-  HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
-    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
-    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
-    dbc_dict('honda_accord_2018_can_generated', None),
-  )
-  HONDA_HRV_3G = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda HR-V 2023", "All")],
-    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
-    dbc_dict('honda_civic_ex_2022_can_generated', None),
-    flags=HondaFlags.BOSCH_RADARLESS,
-  )
-  ACURA_RDX_3G = HondaBoschPlatformConfig(
-    [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
-    dbc_dict('acura_rdx_2020_can_generated', None),
-    flags=HondaFlags.BOSCH_ALT_BRAKE,
-  )
-  HONDA_INSIGHT = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
-    dbc_dict('honda_insight_ex_2019_can_generated', None),
-  )
-  HONDA_E = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
-    dbc_dict('acura_rdx_2020_can_generated', None),
-  )
-
-  # Nidec Cars
-  ACURA_ILX = HondaNidecPlatformConfig(
-    [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
-    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_CRV = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
-    dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_CRV_EU = HondaNidecPlatformConfig(
-    [],  # Euro version of CRV Touring, don't show in docs
-    HONDA_CRV.specs,
-    dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_FIT = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
-    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_FREED = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
-    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_HRV = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
-    HONDA_HRV_3G.specs,
-    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_ODYSSEY = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda Odyssey 2018-20")],
-    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
-    dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
-  )
-  HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
-    [],  # Chinese version of Odyssey, don't show in docs
-    HONDA_ODYSSEY.specs,
-    dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  ACURA_RDX = HondaNidecPlatformConfig(
-    [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
-    dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_PILOT = HondaNidecPlatformConfig(
-    [
-      HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-      HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
-    ],
-    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
-    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_RIDGELINE = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
-    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
-  )
-  HONDA_CIVIC = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
-    CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
-    dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  )
-
-
-HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xF112)
-HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(0xF112)
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    # Currently used to fingerprint
-    Request(
-      [StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.UDS_VERSION_RESPONSE],
-      bus=1,
-    ),
-
-    # Data collection requests:
-    # Log manufacturer-specific identifier for current ECUs
-    Request(
-      [HONDA_ALT_VERSION_REQUEST],
-      [HONDA_ALT_VERSION_RESPONSE],
-      bus=1,
-      logging=True,
-    ),
-    # Nidec PT bus
-    Request(
-      [StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-    ),
-    # Bosch PT bus
-    Request(
-      [StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.UDS_VERSION_RESPONSE],
-      bus=1,
-      obd_multiplexing=False,
-    ),
-  ],
-  # We lose these ECUs without the comma power on these cars.
-  # Note that we still attempt to match with them when they are present
-  # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
-  non_essential_ecus={
-    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
-    Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
-              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
-  },
-  extra_ecus=[
-    (Ecu.combinationMeter, 0x18da60f1, None),
-    (Ecu.programmedFuelInjection, 0x18da10f1, None),
-    # The only other ECU on PT bus accessible by camera on radarless Civic
-    # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
-    # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
-    # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
-    # (Ecu.unknown, 0x18DAB3F1, None),
-  ],
-)
-
-STEER_THRESHOLD = {
-  # default is 1200, overrides go here
-  CAR.ACURA_RDX: 400,
-  CAR.HONDA_CRV_EU: 400,
-}
-
-HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
-HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
-HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
-HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
-
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/hyundai/__init__.py b/selfdrive/car/hyundai/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
deleted file mode 100644
index 059c7dd849..0000000000
--- a/selfdrive/car/hyundai/carcontroller.py
+++ /dev/null
@@ -1,207 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.numpy_fast import clip
-from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from openpilot.selfdrive.car.hyundai.carstate import CarState
-from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-LongCtrlState = structs.CarControl.Actuators.LongControlState
-
-# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
-# All slightly below EPS thresholds to avoid fault
-MAX_ANGLE = 85
-MAX_ANGLE_FRAMES = 89
-MAX_ANGLE_CONSECUTIVE_FRAMES = 2
-
-
-def process_hud_alert(enabled, fingerprint, hud_control):
-  sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
-
-  # initialize to no line visible
-  # TODO: this is not accurate for all cars
-  sys_state = 1
-  if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning:  # HUD alert only display when LKAS status is active
-    sys_state = 3 if enabled or sys_warning else 4
-  elif hud_control.leftLaneVisible:
-    sys_state = 5
-  elif hud_control.rightLaneVisible:
-    sys_state = 6
-
-  # initialize to no warnings
-  left_lane_warning = 0
-  right_lane_warning = 0
-  if hud_control.leftLaneDepart:
-    left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
-  if hud_control.rightLaneDepart:
-    right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
-
-  return sys_warning, sys_state, left_lane_warning, right_lane_warning
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.CAN = CanBus(CP)
-    self.params = CarControllerParams(CP)
-    self.packer = CANPacker(dbc_name)
-    self.angle_limit_counter = 0
-
-    self.accel_last = 0
-    self.apply_steer_last = 0
-    self.car_fingerprint = CP.carFingerprint
-    self.last_button_frame = 0
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-
-    # steering torque
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-    apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-
-    # >90 degree steering fault prevention
-    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
-                                                                       self.angle_limit_counter, MAX_ANGLE_FRAMES,
-                                                                       MAX_ANGLE_CONSECUTIVE_FRAMES)
-
-    if not CC.latActive:
-      apply_steer = 0
-
-    # Hold torque with induced temporary fault when cutting the actuation bit
-    torque_fault = CC.latActive and not apply_steer_req
-
-    self.apply_steer_last = apply_steer
-
-    # accel + longitudinal
-    accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-    stopping = actuators.longControlState == LongCtrlState.stopping
-    set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
-
-    # HUD messages
-    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
-                                                                                      hud_control)
-
-    can_sends = []
-
-    # *** common hyundai stuff ***
-
-    # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
-      # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, 0
-      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, self.CAN.ECAN
-      can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
-
-      # for blinkers
-      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
-
-    # CAN-FD platforms
-    if self.CP.carFingerprint in CANFD_CAR:
-      hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
-      hda2_long = hda2 and self.CP.openpilotLongitudinalControl
-
-      # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
-
-      # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
-      if self.frame % 5 == 0 and hda2:
-        can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
-                                                          self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
-
-      # LFA and HDA icons
-      if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
-
-      # blinkers
-      if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
-
-      if self.CP.openpilotLongitudinalControl:
-        if hda2:
-          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-        if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units, hud_control))
-          self.accel_last = accel
-      else:
-        # button presses
-        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
-    else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
-                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
-                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                left_lane_warning, right_lane_warning))
-
-      if not self.CP.openpilotLongitudinalControl:
-        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
-
-      if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
-        # TODO: unclear if this is needed
-        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
-        use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca))
-
-      # 20 Hz LFA MFA message
-      if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
-        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
-
-      # 5 Hz ACC options
-      if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
-
-      # 2 Hz front radar options
-      if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.steer = apply_steer / self.params.STEER_MAX
-    new_actuators.steerOutputCan = apply_steer
-    new_actuators.accel = accel
-
-    self.frame += 1
-    return new_actuators, can_sends
-
-  def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):
-    can_sends = []
-    if use_clu11:
-      if CC.cruiseControl.cancel:
-        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-      elif CC.cruiseControl.resume:
-        # send resume at a max freq of 10Hz
-        if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
-          # send 25 messages at a time to increases the likelihood of resume being accepted
-          can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
-          if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
-            self.last_button_frame = self.frame
-    else:
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-        # cruise cancel
-        if CC.cruiseControl.cancel:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
-            self.last_button_frame = self.frame
-          else:
-            for _ in range(20):
-              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
-            self.last_button_frame = self.frame
-
-        # cruise standstill resume
-        elif CC.cruiseControl.resume:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            # TODO: resume for alt button cars
-            pass
-          else:
-            for _ in range(20):
-              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
-            self.last_button_frame = self.frame
-
-    return can_sends
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
deleted file mode 100644
index 4d716aac80..0000000000
--- a/selfdrive/car/hyundai/carstate.py
+++ /dev/null
@@ -1,380 +0,0 @@
-from collections import deque
-import copy
-import math
-
-from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
-                                                   CANFD_CAR, Buttons, CarControllerParams
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-ButtonType = structs.CarState.ButtonEvent.Type
-
-PREV_BUTTON_SAMPLES = 8
-CLUSTER_SAMPLE_RATE = 20  # frames
-STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
-
-BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
-                Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-
-    self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
-    self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
-
-    self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
-                          "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
-                          "GEAR_SHIFTER"
-    if CP.carFingerprint in CANFD_CAR:
-      self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
-      self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
-      self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
-    else:  # preferred and elect gear methods use same definition
-      self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
-
-    self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
-                                 "ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \
-                                 "ACCELERATOR_BRAKE_ALT"
-    self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
-                                 "CRUISE_BUTTONS"
-    self.is_metric = False
-    self.buttons_counter = 0
-
-    self.cruise_info = {}
-
-    # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
-    self.cluster_speed = 0
-    self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
-
-    self.params = CarControllerParams(CP)
-
-  def update(self, cp, cp_cam, *_) -> structs.CarState:
-    if self.CP.carFingerprint in CANFD_CAR:
-      return self.update_canfd(cp, cp_cam)
-
-    ret = structs.CarState()
-    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
-    self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
-    speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-
-    ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
-                        cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
-
-    ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
-
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
-      cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
-      cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
-      cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
-    )
-    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
-
-    self.cluster_speed_counter += 1
-    if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
-      self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
-      self.cluster_speed_counter = 0
-
-      # Mimic how dash converts to imperial.
-      # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
-      # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
-      if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
-        self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
-
-    ret.vEgoCluster = self.cluster_speed * speed_conv
-
-    ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
-    ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
-    ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
-      50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
-    ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
-    ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
-    ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
-
-    # cruise state
-    if self.CP.openpilotLongitudinalControl:
-      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
-      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
-      ret.cruiseState.standstill = False
-      ret.cruiseState.nonAdaptive = False
-    else:
-      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
-      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
-      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
-      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
-
-    # TODO: Find brake pressure
-    ret.brake = 0
-    ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2  # 2 includes regen braking by user on HEV/EV
-    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
-    ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
-    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
-    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
-    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
-
-    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      if self.CP.flags & HyundaiFlags.HYBRID:
-        ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
-      else:
-        ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
-      ret.gasPressed = ret.gas > 0
-    else:
-      ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
-      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
-
-    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
-    # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
-      gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
-      gear = cp.vl["TCU12"]["CUR_GR"]
-    else:
-      gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
-
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
-
-    if not self.CP.openpilotLongitudinalControl:
-      aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
-      aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
-      aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
-      scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1  # sometimes only SCC system shows an FCW
-      aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
-      ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
-      ret.stockAeb = aeb_warning and aeb_braking
-
-    if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
-      ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
-
-    # save the entire LKAS11 and CLU11
-    self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
-    self.clu11 = copy.copy(cp.vl["CLU11"])
-    self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    prev_cruise_buttons = self.cruise_buttons[-1]
-    self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
-    self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
-
-    if self.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
-
-    return ret
-
-  def update_canfd(self, cp, cp_cam) -> structs.CarState:
-    ret = structs.CarState()
-
-    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
-    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-
-    if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
-      offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023.
-      ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
-      ret.gasPressed = ret.gas > 1e-5
-    else:
-      ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
-
-    ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
-
-    ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
-    ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
-
-    gear = cp.vl[self.gear_msg_canfd]["GEAR"]
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
-
-    # TODO: figure out positions
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
-    )
-    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
-
-    ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
-    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
-    ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
-    ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
-    ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
-
-    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
-    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
-      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
-                                                                      cp.vl["BLINKERS"][right_blinker_sig])
-    if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
-      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
-
-    # cruise state
-    # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
-    ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
-    if self.CP.openpilotLongitudinalControl:
-      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
-      ret.cruiseState.standstill = False
-    else:
-      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
-      ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
-      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
-      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
-      self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
-
-    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
-    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
-    # The car will brake, but does not respect positive acceleration commands in this mode
-    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
-    if self.CP.flags & HyundaiFlags.EV:
-      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
-
-    prev_cruise_buttons = self.cruise_buttons[-1]
-    self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
-    self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
-    self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
-    ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
-
-    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-      self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
-                                          else cp_cam.vl["CAM_0x2a4"])
-
-    if self.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
-
-    return ret
-
-  def get_can_parser(self, CP):
-    if CP.carFingerprint in CANFD_CAR:
-      return self.get_can_parser_canfd(CP)
-
-    messages = [
-      # address, frequency
-      ("MDPS12", 50),
-      ("TCS11", 100),
-      ("TCS13", 50),
-      ("TCS15", 10),
-      ("CLU11", 50),
-      ("CLU15", 5),
-      ("ESP12", 100),
-      ("CGW1", 10),
-      ("CGW2", 5),
-      ("CGW4", 5),
-      ("WHL_SPD11", 50),
-      ("SAS11", 100),
-    ]
-
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
-      messages += [
-        ("SCC11", 50),
-        ("SCC12", 50),
-      ]
-      if CP.flags & HyundaiFlags.USE_FCA.value:
-        messages.append(("FCA11", 50))
-
-    if CP.enableBsm:
-      messages.append(("LCA11", 50))
-
-    if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      messages.append(("E_EMS11", 50))
-    else:
-      messages += [
-        ("EMS12", 100),
-        ("EMS16", 100),
-      ]
-
-    if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      messages.append(("ELECT_GEAR", 20))
-    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
-      pass
-    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
-      messages.append(("TCU12", 100))
-    else:
-      messages.append(("LVR12", 100))
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    if CP.carFingerprint in CANFD_CAR:
-      return CarState.get_cam_can_parser_canfd(CP)
-
-    messages = [
-      ("LKAS11", 100)
-    ]
-
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
-      messages += [
-        ("SCC11", 50),
-        ("SCC12", 50),
-      ]
-
-      if CP.flags & HyundaiFlags.USE_FCA.value:
-        messages.append(("FCA11", 50))
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
-
-  def get_can_parser_canfd(self, CP):
-    messages = [
-      (self.gear_msg_canfd, 100),
-      (self.accelerator_msg_canfd, 100),
-      ("WHEEL_SPEEDS", 100),
-      ("STEERING_SENSORS", 100),
-      ("MDPS", 100),
-      ("TCS", 50),
-      ("CRUISE_BUTTONS_ALT", 50),
-      ("BLINKERS", 4),
-      ("DOORS_SEATBELTS", 4),
-    ]
-
-    if CP.flags & HyundaiFlags.EV:
-      messages += [
-        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
-      ]
-
-    if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
-      messages += [
-        ("CRUISE_BUTTONS", 50)
-      ]
-
-    if CP.enableBsm:
-      messages += [
-        ("BLINDSPOTS_REAR_CORNERS", 20),
-      ]
-
-    if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
-      messages += [
-        ("SCC_CONTROL", 50),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
-
-  @staticmethod
-  def get_cam_can_parser_canfd(CP):
-    messages = []
-    if CP.flags & HyundaiFlags.CANFD_HDA2:
-      block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
-      messages += [(block_lfa_msg, 20)]
-    elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-      messages += [
-        ("SCC_CONTROL", 50),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
deleted file mode 100644
index 22172a2a1f..0000000000
--- a/selfdrive/car/hyundai/fingerprints.py
+++ /dev/null
@@ -1,1142 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.hyundai.values import CAR
-
-Ecu = CarParams.Ecu
-
-# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
-# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
-
-
-FW_VERSIONS = {
-  CAR.HYUNDAI_AZERA_6TH_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
-    ],
-  },
-  CAR.HYUNDAI_AZERA_HEV_6TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
-      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.01 99211-G8000 181109',
-      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
-      b'\xf1\x00IG  MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
-      b'\xf1\x00IG  MDPS C 1.00 1.02 56310M9350\x00 4IH8C102',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
-      b'\xf1\x00IGhe SCC FHCUP      1.00 1.01 99110-M9000         ',
-      b'\xf1\x00IGhe SCC FHCUP      1.00 1.02 99110-M9000         ',
-    ],
-  },
-  CAR.HYUNDAI_GENESIS: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DH LKAS 1.1 -150210',
-      b'\xf1\x00DH LKAS 1.4 -140110',
-      b'\xf1\x00DH LKAS 1.5 -140425',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
-      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.05 56310/G2501 4AEHC105',
-      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
-      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
-      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_PHEV_2019: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
-      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
-      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2551 4AEHC107',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEP MFC  AT AUS RHD 1.00 1.00 95740-G2400 180222',
-      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_PHEV: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
-      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
-      b'\xf1\x00AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2210 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
-      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_EV_2020: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7100         ',
-      b'\xf1\x00AEev SCC FHCUP      1.00 1.01 99110-G7100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7310 4APEC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7510 4APEC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7560 4APEC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2600 190730',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2700 201027',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
-      b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_EV_LTD: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7000         ',
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.02 56310G7300\x00 4AEEC102',
-      b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G7300 4AEEC103',
-      b'\xf1\x00AE  MDPS C 1.00 1.03 56310G7300\x00 4AEEC103',
-      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7301 4AEEC104',
-      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7501 4AEEC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2300 170703',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
-      b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_HEV_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
-      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
-    ],
-  },
-  CAR.HYUNDAI_SONATA: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
-      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
-      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
-      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.02 99110-L1000         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
-      b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
-      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
-      b'\xf1\x00DN ESC \x06 107"\x08\x07 58910-L0100',
-      b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
-      b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
-      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
-      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
-      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
-      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
-      b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.03 99211-L0000 210603',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
-    ],
-  },
-  CAR.HYUNDAI_SONATA_LF: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610',
-      b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
-      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
-    ],
-  },
-  CAR.HYUNDAI_TUCSON: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
-      b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
-      b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
-    ],
-  },
-  CAR.HYUNDAI_SANTA_FE: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
-      b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
-      b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
-      b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600',
-      b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600',
-      b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650',
-      b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
-      b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
-      b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
-      b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
-      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
-      b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
-      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
-      b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
-    ],
-  },
-  CAR.HYUNDAI_SANTA_FE_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S1500         ',
-      b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x00TM__ SCC FHCUP      1.00 1.01 99110-S1500         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
-      b'\xf1\x00TM ESC \x01 104"\x10\x07 58910-S2DA0',
-      b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
-      b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
-      b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
-      b'\xf1\x00TM ESC \x03 102!\x04\x03 58910-S2DA0',
-      b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
-      b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
-      b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0',
-      b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
-      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
-      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
-      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
-      b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
-    ],
-  },
-  CAR.HYUNDAI_SANTA_FE_HEV_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
-      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310GA000\x00 4TSHA100',
-      b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
-      b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
-      b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
-      b'\xf1\x00TMH MFC  AT KOR LHD 1.00 1.06 99211-S1500 220727',
-      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
-      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.05 99211-S1500 220126',
-      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
-    ],
-  },
-  CAR.HYUNDAI_SANTA_FE_PHEV_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TMhe SCC F-CUP      1.00 1.00 99110-CL500         ',
-      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
-      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
-      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.05 99211-S1500 220126',
-      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
-    ],
-  },
-  CAR.HYUNDAI_CUSTIN_1ST_GEN: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
-    ],
-  },
-  CAR.KIA_STINGER: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
-      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5220 4C2VL104',
-      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
-      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5220 4C2VL106',
-      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5420 4C4VL106',
-      b'\xf1\x00CK  MDPS R 1.00 1.07 57700-J5220 4C2VL107',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
-    ],
-  },
-  CAR.KIA_STINGER_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
-      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
-      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
-      b'\xf1\x00CK__ SCC FHCUP      1.00 1.01 99110-J5100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5520 4C4VL503',
-      b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
-      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 99211-J5000 201209',
-    ],
-  },
-  CAR.HYUNDAI_PALISADE: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.03 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
-      b'\xf1\x00ON__ FCA FHCUP      1.00 1.00 99110-S9110         ',
-      b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
-      b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
-      b'\xf1\x00ON__ FCA FHCUP      1.00 1.03 99110-S9100         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x01 104 \x10\x15 58910-S8350',
-      b'\xf1\x00LX ESC \x01 104 \x10\x16 58910-S8360',
-      b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
-      b'\xf1\x00LX ESC \x0b 101\x19\x03  58910-S8360',
-      b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
-      b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
-      b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
-      b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
-      b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
-      b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
-      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
-      b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
-      b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-XX000 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
-      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8420 4LXDC104',
-      b'\xf1\x00LX2 MDPS R 1.00 1.02 56370-S8300 9318',
-      b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
-      b'\xf1\x00ON  MDPS C 1.00 1.01 56340-S9000 9201',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00LX2 MFC  AT KOR LHD 1.00 1.08 99211-S8100 200903',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 200422',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
-      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
-      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
-      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
-    ],
-  },
-  CAR.HYUNDAI_VELOSTER: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
-      b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JS  LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33',
-      b'\xf1\x00JS  LKAS AT USA LHD 1.00 1.02 95740-J3000 K32',
-    ],
-  },
-  CAR.GENESIS_G70: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
-    ],
-  },
-  CAR.GENESIS_G70_2020: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9220 4I2VL106',
-      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
-      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9420 4I4VL107',
-      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
-      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9420 4I4VL108',
-      b'\xf1\x00IK  MDPS R 1.00 5.09 57700-G9520 4I4VL509',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
-      b'\xf1\x00IK__ SCC FHCUP      1.00 1.00 99110-G9300         ',
-      b'\xf1\x00IK__ SCC FHCUP      1.00 1.02 96400-G9000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IK  MFC  AT KOR LHD 1.00 1.01 95740-G9000 170920',
-      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
-      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.04 99211-G9000 220401',
-    ],
-  },
-  CAR.GENESIS_G80: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DH__ SCC F-CU-      1.00 1.01 96400-B1110         ',
-      b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
-      b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
-      b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DH  LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014',
-      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
-      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.04 95895-B1500 181213',
-    ],
-  },
-  CAR.GENESIS_G90: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         ',
-      b'\xf1\x00HI__ SCC FHCUP      1.00 1.02 99110-D2100         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
-      b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
-      b'\xf1\x00HI  MFC  AT USA LHD 1.00 1.03 99211-D2000 190831',
-    ],
-  },
-  CAR.HYUNDAI_KONA: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
-    ],
-  },
-  CAR.KIA_CEED: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CD__ SCC F-CUP      1.00 1.02 99110-J7000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350',
-    ],
-  },
-  CAR.KIA_FORTE: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
-      b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
-      b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
-      b'\xf1\x00BDm MDPS C A.01 1.01 56310M7800\x00 4BPMC101',
-      b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
-      b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00BDPE_SCC FHCUPC     1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
-    ],
-  },
-  CAR.KIA_K5_2021: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
-      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
-      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
-      b'\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.05 99210-L3000 211222',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
-      b'\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
-      b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200',
-      b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
-      b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
-      b'\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
-      b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
-    ],
-  },
-  CAR.KIA_K5_HEV_2020: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.01 99210-L2000 191022',
-      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
-      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
-    ],
-  },
-  CAR.HYUNDAI_KONA_EV: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
-      b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
-      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
-      b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
-      b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
-      b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
-      b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
-      b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310-XX000 4OEDC104',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4100         ',
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.01 99110-K4000         ',
-      b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
-    ],
-  },
-  CAR.HYUNDAI_KONA_EV_2022: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
-      b'\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
-      b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
-      b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
-      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
-      b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
-      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
-      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
-      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
-    ],
-  },
-  CAR.HYUNDAI_KONA_EV_2ND_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
-    ],
-  },
-  CAR.KIA_NIRO_EV: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4600         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
-      b'\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4600         ',
-      b'\xf1\x00DEev SCC FHCUP      1.00 1.03 96400-Q4000         ',
-      b'\xf1\x00DEev SCC FNCUP      1.00 1.00 99110-Q4600         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
-      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
-      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
-      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
-      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
-      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.02 95740-Q4000 180705',
-      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
-      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
-      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
-      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
-    ],
-  },
-  CAR.KIA_NIRO_EV_2ND_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
-      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
-    ],
-  },
-  CAR.KIA_NIRO_PHEV: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
-      b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
-      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
-      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
-    ],
-  },
-  CAR.KIA_NIRO_PHEV_2022: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.06 99211-G5000 201028',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DEhe SCC F-CUP      1.00 1.00 99110-G5600         ',
-      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
-    ],
-  },
-  CAR.KIA_NIRO_HEV_2021: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DEH MFC  AT KOR LHD 1.00 1.04 99211-G5000 190516',
-      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
-      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.07 99211-G5000 201221',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
-      b'\xf1\x00DEhe SCC FHCUP      1.00 1.01 99110-G5000         ',
-    ],
-  },
-  CAR.KIA_SELTOS: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450',
-      b'\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200          ',
-      b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200          ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.04 99210-Q5000 191114',
-      b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.05 99210-Q5000 201012',
-    ],
-  },
-  CAR.KIA_OPTIMA_G4: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
-      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
-      b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20',
-    ],
-  },
-  CAR.KIA_OPTIMA_G4_FL: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260",
-      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
-      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
-    ],
-  },
-  CAR.KIA_OPTIMA_H: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JFhe SCC FNCUP      1.00 1.00 96400-A8000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
-    ],
-  },
-  CAR.KIA_OPTIMA_H_G4_FL: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
-    ],
-  },
-  CAR.HYUNDAI_ELANTRA: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
-      b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
-      b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AD__ SCC H-CUP      1.00 1.00 99110-F2100         ',
-      b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
-    ],
-  },
-  CAR.HYUNDAI_ELANTRA_GT_I30: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
-      b'\xf1\x00PD  LKAS AT USA LHD 1.00 1.02 95740-G3000 A51',
-      b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
-      b'\xf1\x00PD  MDPS C 1.00 1.03 56310/G3300 4PDDC103',
-      b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
-      b'\xf1\x00PD ESC \x0b 103\x17\x110 58920-G3350',
-      b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
-      b'\xf1\x00PD__ SCC F-CUP      1.01 1.00 96400-G3100         ',
-      b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
-    ],
-  },
-  CAR.HYUNDAI_ELANTRA_2021: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106',
-      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
-      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
-      b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.02 99210-AB000 220111',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
-      b'\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
-      b'\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
-    ],
-  },
-  CAR.HYUNDAI_ELANTRA_HEV_2021: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.09 99210-AA000 221108',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
-      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
-      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY050\x00 4CNHC103',
-      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
-      b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
-    ],
-  },
-  CAR.HYUNDAI_KONA_HEV: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00OShe SCC FNCUP      1.00 1.01 99110-CM000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.00 56310CM030\x00 4OHDC100',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
-    ],
-  },
-  CAR.HYUNDAI_SONATA_HYBRID: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x00DNhe SCC FHCUP      1.00 1.00 99110-L5000         ',
-      b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
-      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.03 99211-L1000 190705',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
-    ],
-  },
-  CAR.KIA_SORENTO: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00UMP LKAS AT KOR LHD 1.00 1.00 95740-C5550 S30',
-      b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00',
-      b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00UM ESC \x02 12 \x18\x05\x05 58910-C6300',
-      b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330',
-      b'\xf1\x00UM ESC \x13 12 \x17\x07\x05 58910-C5320',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C5500         ',
-      b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C6500         ',
-    ],
-  },
-  CAR.KIA_EV6: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
-      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
-      b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.00 99210-CV100 220630',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.05 99210-CV000 211027',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV200 230510',
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_5: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
-      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
-      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-    ],
-  },
-  CAR.HYUNDAI_IONIQ_6: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.04 99211-KL000 221213',
-      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
-      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.04 99211-KL000 221213',
-      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
-    ],
-  },
-  CAR.HYUNDAI_TUCSON_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
-      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
-      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
-      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
-      b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
-      b'\xf1\x00NX4__               1.00 1.02 99110-N9000         ',
-      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
-    ],
-  },
-  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW020 14Z',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
-      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
-    ],
-  },
-  CAR.KIA_SPORTAGE_5TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
-      b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
-      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
-      b'\xf1\x00NQ5__               1.00 1.03 99110-CH000         ',
-      b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
-      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
-      b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
-    ],
-  },
-  CAR.GENESIS_GV70_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR200 220125',
-      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR300 220125',
-      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR200         ',
-      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR300         ',
-      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
-    ],
-  },
-  CAR.GENESIS_GV60_EV_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
-      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
-      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
-    ],
-  },
-  CAR.KIA_SORENTO_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.00 99210-R5100 221019',
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
-      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.00 99110-R5000         ',
-      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
-      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
-    ],
-  },
-  CAR.KIA_SORENTO_HEV_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
-      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
-      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.10 99210-P2000 210406',
-      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQhe SCC FHCUP      1.00 1.04 99110-P4000         ',
-      b'\xf1\x00MQhe SCC FHCUP      1.00 1.06 99110-P4000         ',
-      b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
-    ],
-  },
-  CAR.KIA_NIRO_HEV_2ND_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
-      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
-    ],
-  },
-  CAR.GENESIS_GV80: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JX1 MFC  AT USA LHD 1.00 1.02 99211-T6110 220513',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
-    ],
-  },
-  CAR.KIA_CARNIVAL_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00KA4 MFC  AT EUR LHD 1.00 1.06 99210-R0000 220221',
-      b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.01 99210-R0100 230710',
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
-      b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00KA4_ SCC F-CUP      1.00 1.03 99110-R0000         ',
-      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
-      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
-      b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
-    ],
-  },
-  CAR.KIA_K8_HEV_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
-      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.04 99211-L8000 230207',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
-    ],
-  },
-  CAR.HYUNDAI_STARIA_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
-    ],
-  },
-}
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
deleted file mode 100644
index d2002e23e0..0000000000
--- a/selfdrive/car/hyundai/hyundaican.py
+++ /dev/null
@@ -1,213 +0,0 @@
-import crcmod
-from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags
-
-hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
-
-def create_lkas11(packer, frame, CP, apply_steer, steer_req,
-                  torque_fault, lkas11, sys_warning, sys_state, enabled,
-                  left_lane, right_lane,
-                  left_lane_depart, right_lane_depart):
-  values = {s: lkas11[s] for s in [
-    "CF_Lkas_LdwsActivemode",
-    "CF_Lkas_LdwsSysState",
-    "CF_Lkas_SysWarning",
-    "CF_Lkas_LdwsLHWarning",
-    "CF_Lkas_LdwsRHWarning",
-    "CF_Lkas_HbaLamp",
-    "CF_Lkas_FcwBasReq",
-    "CF_Lkas_HbaSysState",
-    "CF_Lkas_FcwOpt",
-    "CF_Lkas_HbaOpt",
-    "CF_Lkas_FcwSysState",
-    "CF_Lkas_FcwCollisionWarning",
-    "CF_Lkas_FusionState",
-    "CF_Lkas_FcwOpt_USM",
-    "CF_Lkas_LdwsOpt_USM",
-  ]}
-  values["CF_Lkas_LdwsSysState"] = sys_state
-  values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
-  values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
-  values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
-  values["CR_Lkas_StrToqReq"] = apply_steer
-  values["CF_Lkas_ActToi"] = steer_req
-  values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
-  values["CF_Lkas_MsgCount"] = frame % 0x10
-
-  if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
-                           CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
-                           CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
-                           CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
-                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
-    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
-    values["CF_Lkas_LdwsOpt_USM"] = 2
-
-    # FcwOpt_USM 5 = Orange blinking car + lanes
-    # FcwOpt_USM 4 = Orange car + lanes
-    # FcwOpt_USM 3 = Green blinking car + lanes
-    # FcwOpt_USM 2 = Green car + lanes
-    # FcwOpt_USM 1 = White car + lanes
-    # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
-
-    # SysWarning 4 = keep hands on wheel
-    # SysWarning 5 = keep hands on wheel (red)
-    # SysWarning 6 = keep hands on wheel (red) + beep
-    # Note: the warning is hidden while the blinkers are on
-    values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
-
-  # Likely cars lacking the ability to show individual lane lines in the dash
-  elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
-    # SysWarning 4 = keep hands on wheel + beep
-    values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
-
-    # SysState 0 = no icons
-    # SysState 1-2 = white car + lanes
-    # SysState 3 = green car + lanes, green steering wheel
-    # SysState 4 = green car + lanes
-    values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1
-    values["CF_Lkas_LdwsOpt_USM"] = 2  # non-2 changes above SysState definition
-
-    # these have no effect
-    values["CF_Lkas_LdwsActivemode"] = 0
-    values["CF_Lkas_FcwOpt_USM"] = 0
-
-  elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
-    # This field is actually LdwsActivemode
-    # Genesis and Optima fault when forwarding while engaged
-    values["CF_Lkas_LdwsActivemode"] = 2
-
-  dat = packer.make_can_msg("LKAS11", 0, values)[1]
-
-  if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
-    # CRC Checksum as seen on 2019 Hyundai Santa Fe
-    dat = dat[:6] + dat[7:8]
-    checksum = hyundai_checksum(dat)
-  elif CP.flags & HyundaiFlags.CHECKSUM_6B:
-    # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
-    checksum = sum(dat[:6]) % 256
-  else:
-    # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
-    checksum = (sum(dat[:6]) + dat[7]) % 256
-
-  values["CF_Lkas_Chksum"] = checksum
-
-  return packer.make_can_msg("LKAS11", 0, values)
-
-
-def create_clu11(packer, frame, clu11, button, CP):
-  values = {s: clu11[s] for s in [
-    "CF_Clu_CruiseSwState",
-    "CF_Clu_CruiseSwMain",
-    "CF_Clu_SldMainSW",
-    "CF_Clu_ParityBit1",
-    "CF_Clu_VanzDecimal",
-    "CF_Clu_Vanz",
-    "CF_Clu_SPEED_UNIT",
-    "CF_Clu_DetentOut",
-    "CF_Clu_RheostatLevel",
-    "CF_Clu_CluInfo",
-    "CF_Clu_AmpInfo",
-    "CF_Clu_AliveCnt1",
-  ]}
-  values["CF_Clu_CruiseSwState"] = button
-  values["CF_Clu_AliveCnt1"] = frame % 0x10
-  # send buttons to camera on camera-scc based cars
-  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
-  return packer.make_can_msg("CLU11", bus, values)
-
-
-def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
-  values = {
-    "LFA_Icon_State": 2 if enabled else 0,
-    "HDA_Active": 1 if hda_set_speed else 0,
-    "HDA_Icon_State": 2 if hda_set_speed else 0,
-    "HDA_VSetReq": hda_set_speed,
-  }
-  return packer.make_can_msg("LFAHDA_MFC", 0, values)
-
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
-  commands = []
-
-  scc11_values = {
-    "MainMode_ACC": 1,
-    "TauGapSet": hud_control.leadDistanceBars,
-    "VSetDis": set_speed if enabled else 0,
-    "AliveCounterACC": idx % 0x10,
-    "ObjValid": 1, # close lead makes controls tighter
-    "ACC_ObjStatus": 1, # close lead makes controls tighter
-    "ACC_ObjLatPos": 0,
-    "ACC_ObjRelSpd": 0,
-    "ACC_ObjDist": 1, # close lead makes controls tighter
-    }
-  commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
-
-  scc12_values = {
-    "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
-    "StopReq": 1 if stopping else 0,
-    "aReqRaw": accel,
-    "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
-    "CR_VSM_Alive": idx % 0xF,
-  }
-
-  # show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
-  # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
-  if not use_fca:
-    scc12_values["CF_VSM_ConfMode"] = 1
-    scc12_values["AEB_Status"] = 1  # AEB disabled
-
-  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[1]
-  scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
-
-  commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
-
-  scc14_values = {
-    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
-    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
-    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
-  }
-  commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
-
-  # Only send FCA11 on cars where it exists on the bus
-  if use_fca:
-    # note that some vehicles most likely have an alternate checksum/counter definition
-    # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-    fca11_values = {
-      "CR_FCA_Alive": idx % 0xF,
-      "PAINT1_Status": 1,
-      "FCA_DrvSetStatus": 1,
-      "FCA_Status": 1,  # AEB disabled
-    }
-    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[1]
-    fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
-    commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
-
-  return commands
-
-def create_acc_opt(packer):
-  commands = []
-
-  scc13_values = {
-    "SCCDrvModeRValue": 2,
-    "SCC_Equip": 1,
-    "Lead_Veh_Dep_Alert_USM": 2,
-  }
-  commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
-
-  # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
-
-  return commands
-
-def create_frt_radar_opt(packer):
-  frt_radar11_values = {
-    "CF_FCA_Equip_Front_Radar": 1,
-  }
-  return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
deleted file mode 100644
index 10c3095b9d..0000000000
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ /dev/null
@@ -1,223 +0,0 @@
-from openpilot.selfdrive.car import CanBusBase
-from openpilot.selfdrive.car.common.numpy_fast import clip
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
-
-
-class CanBus(CanBusBase):
-  def __init__(self, CP, hda2=None, fingerprint=None) -> None:
-    super().__init__(CP, fingerprint)
-
-    if hda2 is None:
-      assert CP is not None
-      hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
-
-    # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
-    # have a different harness than the HDA1 and non-HDA variants in order to split
-    # a different bus, since the steering is done by different ECUs.
-    self._a, self._e = 1, 0
-    if hda2:
-      self._a, self._e = 0, 1
-
-    self._a += self.offset
-    self._e += self.offset
-    self._cam = 2 + self.offset
-
-  @property
-  def ECAN(self):
-    return self._e
-
-  @property
-  def ACAN(self):
-    return self._a
-
-  @property
-  def CAM(self):
-    return self._cam
-
-
-def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
-
-  ret = []
-
-  values = {
-    "LKA_MODE": 2,
-    "LKA_ICON": 2 if enabled else 1,
-    "TORQUE_REQUEST": apply_steer,
-    "LKA_ASSIST": 0,
-    "STEER_REQ": 1 if lat_active else 0,
-    "STEER_MODE": 0,
-    "HAS_LANE_SAFETY": 0,  # hide LKAS settings
-    "NEW_SIGNAL_1": 0,
-    "NEW_SIGNAL_2": 0,
-  }
-
-  if CP.flags & HyundaiFlags.CANFD_HDA2:
-    hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
-    if CP.openpilotLongitudinalControl:
-      ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
-    ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
-  else:
-    ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
-
-  return ret
-
-def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
-  suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
-  msg_bytes = 32 if hda2_alt_steering else 24
-
-  values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
-  values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
-  values["SET_ME_0"] = 0
-  values["SET_ME_0_2"] = 0
-  values["LEFT_LANE_LINE"] = 0
-  values["RIGHT_LANE_LINE"] = 0
-  return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
-
-def create_buttons(packer, CP, CAN, cnt, btn):
-  values = {
-    "COUNTER": cnt,
-    "SET_ME_1": 1,
-    "CRUISE_BUTTONS": btn,
-  }
-
-  bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
-
-def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
-  # TODO: why do we copy different values here?
-  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
-    values = {s: cruise_info_copy[s] for s in [
-      "COUNTER",
-      "CHECKSUM",
-      "NEW_SIGNAL_1",
-      "MainMode_ACC",
-      "ACCMode",
-      "ZEROS_9",
-      "CRUISE_STANDSTILL",
-      "ZEROS_5",
-      "DISTANCE_SETTING",
-      "VSetDis",
-    ]}
-  else:
-    values = {s: cruise_info_copy[s] for s in [
-      "COUNTER",
-      "CHECKSUM",
-      "ACCMode",
-      "VSetDis",
-      "CRUISE_STANDSTILL",
-    ]}
-  values.update({
-    "ACCMode": 4,
-    "aReqRaw": 0.0,
-    "aReqValue": 0.0,
-  })
-  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
-
-def create_lfahda_cluster(packer, CAN, enabled):
-  values = {
-    "HDA_ICON": 1 if enabled else 0,
-    "LFA_ICON": 2 if enabled else 0,
-  }
-  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
-
-
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
-  jerk = 5
-  jn = jerk / 50
-  if not enabled or gas_override:
-    a_val, a_raw = 0, 0
-  else:
-    a_raw = accel
-    a_val = clip(accel, accel_last - jn, accel_last + jn)
-
-  values = {
-    "ACCMode": 0 if not enabled else (2 if gas_override else 1),
-    "MainMode_ACC": 1,
-    "StopReq": 1 if stopping else 0,
-    "aReqValue": a_val,
-    "aReqRaw": a_raw,
-    "VSetDis": set_speed,
-    "JerkLowerLimit": jerk if enabled else 1,
-    "JerkUpperLimit": 3.0,
-
-    "ACC_ObjDist": 1,
-    "ObjValid": 0,
-    "OBJ_STATUS": 2,
-    "SET_ME_2": 0x4,
-    "SET_ME_3": 0x3,
-    "SET_ME_TMP_64": 0x64,
-    "DISTANCE_SETTING": hud_control.leadDistanceBars,
-  }
-
-  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
-
-
-def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
-  ret = []
-
-  values = {
-  }
-  ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
-
-  blink = 0
-  if left_blink:
-    blink = 3
-  elif right_blink:
-    blink = 4
-  values = {
-    "BLINKER_CONTROL": blink,
-  }
-  ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
-
-  return ret
-
-
-def create_adrv_messages(packer, CAN, frame):
-  # messages needed to car happy after disabling
-  # the ADAS Driving ECU to do longitudinal control
-
-  ret = []
-
-  values = {
-  }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
-
-  if frame % 2 == 0:
-    values = {
-      'AEB_SETTING': 0x1,  # show AEB disabled icon
-      'SET_ME_2': 0x2,
-      'SET_ME_FF': 0xff,
-      'SET_ME_FC': 0xfc,
-      'SET_ME_9': 0x9,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
-
-  if frame % 5 == 0:
-    values = {
-      'SET_ME_1C': 0x1c,
-      'SET_ME_FF': 0xff,
-      'SET_ME_TMP_F': 0xf,
-      'SET_ME_TMP_F_2': 0xf,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
-
-    values = {
-      'SET_ME_E1': 0xe1,
-      'SET_ME_3A': 0x3a,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
-
-  if frame % 20 == 0:
-    values = {
-      'SET_ME_15': 0x15,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
-
-  if frame % 100 == 0:
-    values = {
-      'SET_ME_22': 0x22,
-      'SET_ME_41': 0x41,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
-
-  return ret
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
deleted file mode 100644
index 4530704ed2..0000000000
--- a/selfdrive/car/hyundai/interface.py
+++ /dev/null
@@ -1,147 +0,0 @@
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
-                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
-                                                   UNSUPPORTED_LONGITUDINAL_CAR, Buttons
-from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.disable_ecu import disable_ecu
-
-Ecu = structs.CarParams.Ecu
-
-ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "hyundai"
-    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
-
-    # These cars have been put into dashcam only due to both a lack of users and test coverage.
-    # These cars likely still work fine. Once a user confirms each car works and a test route is
-    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
-
-    hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
-    CAN = CanBus(None, hda2, fingerprint)
-
-    if candidate in CANFD_CAR:
-      # detect if car is hybrid
-      if 0x105 in fingerprint[CAN.ECAN]:
-        ret.flags |= HyundaiFlags.HYBRID.value
-      elif candidate in EV_CAR:
-        ret.flags |= HyundaiFlags.EV.value
-
-      # detect HDA2 with ADAS Driving ECU
-      if hda2:
-        ret.flags |= HyundaiFlags.CANFD_HDA2.value
-        if 0x110 in fingerprint[CAN.CAM]:
-          ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
-      else:
-        # non-HDA2
-        if 0x1cf not in fingerprint[CAN.ECAN]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
-        # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
-        if 0x130 not in fingerprint[CAN.ECAN]:
-          if 0x40 not in fingerprint[CAN.ECAN]:
-            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
-          else:
-            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
-        if candidate not in CANFD_RADAR_SCC_CAR:
-          ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
-    else:
-      # TODO: detect EV and hybrid
-      if candidate in HYBRID_CAR:
-        ret.flags |= HyundaiFlags.HYBRID.value
-      elif candidate in EV_CAR:
-        ret.flags |= HyundaiFlags.EV.value
-
-      # Send LFA message on cars with HDA
-      if 0x485 in fingerprint[2]:
-        ret.flags |= HyundaiFlags.SEND_LFA.value
-
-      # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-      if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
-        ret.flags |= HyundaiFlags.USE_FCA.value
-
-    ret.steerActuatorDelay = 0.1  # Default delay
-    ret.steerLimitTimer = 0.4
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    if candidate == CAR.KIA_OPTIMA_G4_FL:
-      ret.steerActuatorDelay = 0.2
-
-    # *** longitudinal control ***
-    if candidate in CANFD_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
-    else:
-      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
-    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
-    ret.pcmCruise = not ret.openpilotLongitudinalControl
-
-    ret.stoppingControl = True
-    ret.startingState = True
-    ret.vEgoStarting = 0.1
-    ret.startAccel = 1.0
-    ret.longitudinalActuatorDelay = 0.5
-
-    # *** feature detection ***
-    if candidate in CANFD_CAR:
-      ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
-    else:
-      ret.enableBsm = 0x58b in fingerprint[0]
-
-    # *** panda safety config ***
-    if candidate in CANFD_CAR:
-      cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
-      if CAN.ECAN >= 4:
-        cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
-      ret.safetyConfigs = cfgs
-
-      if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
-      if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
-      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-    else:
-      if candidate in LEGACY_SAFETY_MODE_CAR:
-        # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
-      else:
-        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
-
-      if candidate in CAMERA_SCC_CAR:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-
-    if ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-    if ret.flags & HyundaiFlags.HYBRID:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
-    elif ret.flags & HyundaiFlags.EV:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
-
-    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
-      ret.flags |= HyundaiFlags.ALT_LIMITS.value
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
-
-    ret.centerToFront = ret.wheelbase * 0.4
-
-    return ret
-
-  @staticmethod
-  def init(CP, can_recv, can_send):
-    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
-      addr, bus = 0x7d0, 0
-      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, CanBus(CP).ECAN
-      disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
-
-    # for blinkers
-    if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
deleted file mode 100644
index 1a5915f298..0000000000
--- a/selfdrive/car/hyundai/radar_interface.py
+++ /dev/null
@@ -1,79 +0,0 @@
-import math
-
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-from openpilot.selfdrive.car.hyundai.values import DBC
-
-RADAR_START_ADDR = 0x500
-RADAR_MSG_COUNT = 32
-
-# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
-
-def get_radar_can_parser(CP):
-  if DBC[CP.carFingerprint]['radar'] is None:
-    return None
-
-  messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
-  return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1)
-
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.updated_messages = set()
-    self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
-    self.track_id = 0
-
-    self.radar_off_can = CP.radarUnavailable
-    self.rcp = get_radar_can_parser(CP)
-
-  def update(self, can_strings):
-    if self.radar_off_can or (self.rcp is None):
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    rr = self._update(self.updated_messages)
-    self.updated_messages.clear()
-
-    return rr
-
-  def _update(self, updated_messages):
-    ret = structs.RadarData()
-    if self.rcp is None:
-      return ret
-
-    errors = []
-
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    ret.errors = errors
-
-    for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
-      msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
-
-      if addr not in self.pts:
-        self.pts[addr] = structs.RadarData.RadarPoint()
-        self.pts[addr].trackId = self.track_id
-        self.track_id += 1
-
-      valid = msg['STATE'] in (3, 4)
-      if valid:
-        azimuth = math.radians(msg['AZIMUTH'])
-        self.pts[addr].measured = True
-        self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
-        self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
-        self.pts[addr].vRel = msg['REL_SPEED']
-        self.pts[addr].aRel = msg['REL_ACCEL']
-        self.pts[addr].yvRel = float('nan')
-
-      else:
-        del self.pts[addr]
-
-    ret.points = list(self.pts.values())
-    return ret
diff --git a/selfdrive/car/hyundai/tests/__init__.py b/selfdrive/car/hyundai/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py
deleted file mode 100755
index d719f73e37..0000000000
--- a/selfdrive/car/hyundai/tests/print_platform_codes.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes
-from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
-
-Ecu = CarParams.Ecu
-
-if __name__ == "__main__":
-  for car_model, ecus in FW_VERSIONS.items():
-    print()
-    print(car_model)
-    for ecu in sorted(ecus):
-      if ecu[0] not in PLATFORM_CODE_ECUS:
-        continue
-
-      platform_codes = get_platform_codes(ecus[ecu])
-      codes = {code for code, _ in platform_codes}
-      dates = {date for _, date in platform_codes if date is not None}
-      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
-      print(f'    Codes: {codes}')
-      print(f'    Dates: {dates}')
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
deleted file mode 100644
index 3c008e3ebb..0000000000
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ /dev/null
@@ -1,235 +0,0 @@
-from hypothesis import settings, given, strategies as st
-
-import pytest
-
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.fw_versions import build_fw_dict
-from openpilot.selfdrive.car.hyundai.interface import CarInterface
-from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         HyundaiFlags, get_platform_codes
-from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
-
-Ecu = CarParams.Ecu
-
-# Some platforms have date codes in a different format we don't yet parse (or are missing).
-# For now, assert list of expected missing date cars
-NO_DATES_PLATFORMS = {
-  # CAN FD
-  CAR.KIA_SPORTAGE_5TH_GEN,
-  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
-  CAR.HYUNDAI_TUCSON_4TH_GEN,
-  # CAN
-  CAR.HYUNDAI_ELANTRA,
-  CAR.HYUNDAI_ELANTRA_GT_I30,
-  CAR.KIA_CEED,
-  CAR.KIA_FORTE,
-  CAR.KIA_OPTIMA_G4,
-  CAR.KIA_OPTIMA_G4_FL,
-  CAR.KIA_SORENTO,
-  CAR.HYUNDAI_KONA,
-  CAR.HYUNDAI_KONA_EV,
-  CAR.HYUNDAI_KONA_EV_2022,
-  CAR.HYUNDAI_KONA_HEV,
-  CAR.HYUNDAI_SONATA_LF,
-  CAR.HYUNDAI_VELOSTER,
-}
-
-CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
-
-
-class TestHyundaiFingerprint:
-  def test_feature_detection(self):
-    # HDA2
-    for has_adas in (True, False):
-      car_fw = [CarParams.CarFw(ecu=Ecu.adas if has_adas else Ecu.fwdCamera)]
-      CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), car_fw, False, False)
-      assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == has_adas
-
-    # radar available
-    for radar in (True, False):
-      fingerprint = gen_empty_fingerprint()
-      if radar:
-        fingerprint[1][RADAR_START_ADDR] = 8
-      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, car_fw, False, False)
-      assert CP.radarUnavailable != radar
-
-  def test_can_features(self):
-    # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
-    assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()
-
-    # Test CAN FD car not in CAN feature lists
-    can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
-    for car_model in CANFD_CAR:
-      assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list"
-
-  def test_hybrid_ev_sets(self):
-    assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV"
-    assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported"
-
-  def test_canfd_ecu_whitelist(self):
-    # Asserts only expected Ecus can exist in database for CAN-FD cars
-    for car_model in CANFD_CAR:
-      ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
-      ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
-      ecu_strings = ", ".join([f"Ecu.{ecu}" for ecu in ecus_not_in_whitelist])
-      assert len(ecus_not_in_whitelist) == 0, \
-                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"
-
-  def test_blacklisted_parts(self, subtests):
-    # Asserts no ECUs known to be shared across platforms exist in the database.
-    # Tucson having Santa Cruz camera and EPS for example
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
-          pytest.skip("Skip checking Santa Cruz for its parts")
-
-        for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
-          if b"-" not in code:
-            continue
-          part = code.split(b"-")[1]
-          assert not part.startswith(b'CW'), "Car has bad part number"
-
-  def test_correct_ecu_response_database(self, subtests):
-    """
-    Assert standard responses for certain ECUs, since they can
-    respond to multiple queries with different data
-    """
-    expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for ecu, fws in ecus.items():
-          assert all(fw.startswith(expected_fw_prefix) for fw in fws), \
-                          f"FW from unexpected request in database: {(ecu, fws)}"
-
-  @settings(max_examples=100)
-  @given(data=st.data())
-  def test_platform_codes_fuzzy_fw(self, data):
-    """Ensure function doesn't raise an exception"""
-    fw_strategy = st.lists(st.binary())
-    fws = data.draw(fw_strategy)
-    get_platform_codes(fws)
-
-  def test_expected_platform_codes(self, subtests):
-    # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for ecu, fws in ecus.items():
-          if ecu[0] not in PLATFORM_CODE_ECUS:
-            continue
-
-          # Third and fourth character are usually EV/hybrid identifiers
-          codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
-          if car_model == CAR.HYUNDAI_PALISADE:
-            assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}"
-          elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
-            assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}"
-          else:
-            assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}"
-
-  # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
-  # fingerprint in the absence of full FW matches:
-  def test_platform_code_ecus_available(self, subtests):
-    # TODO: add queries for these non-CAN FD cars to get EPS
-    no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
-
-    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for platform_code_ecu in PLATFORM_CODE_ECUS:
-          if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
-            continue
-          if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
-            continue
-          assert platform_code_ecu in [e[0] for e in ecus]
-
-  def test_fw_format(self, subtests):
-    # Asserts:
-    # - every supported ECU FW version returns one platform code
-    # - every supported ECU FW version has a part number
-    # - expected parsing of ECU FW dates
-
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for ecu, fws in ecus.items():
-          if ecu[0] not in PLATFORM_CODE_ECUS:
-            continue
-
-          codes = set()
-          for fw in fws:
-            result = get_platform_codes([fw])
-            assert 1 == len(result), f"Unable to parse FW: {fw}"
-            codes |= result
-
-          if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
-            assert all(date is None for _, date in codes)
-          else:
-            assert all(date is not None for _, date in codes)
-
-          if car_model == CAR.HYUNDAI_GENESIS:
-            pytest.skip("No part numbers for car model")
-
-          # Hyundai places the ECU part number in their FW versions, assert all parsable
-          # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
-          assert all(b"-" in code for code, _ in codes), \
-                          f"FW does not have part number: {fw}"
-
-  def test_platform_codes_spot_check(self):
-    # Asserts basic platform code parsing behavior for a few cases
-    results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
-    assert results == {(b"DH", b"150210")}
-
-    # Some cameras and all radars do not have dates
-    results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
-    assert results == {(b"AEhe-G2000", None)}
-
-    results = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
-    assert results == {(b"CV1-CV000", None)}
-
-    results = get_platform_codes([
-      b"\xf1\x00DH LKAS 1.1 -150210",
-      b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ",
-      b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ",
-    ])
-    assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}
-
-    results = get_platform_codes([
-      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 220222",
-      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 211103",
-      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 190405",
-      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 190720",
-    ])
-    assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
-                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}
-
-  def test_fuzzy_excluded_platforms(self):
-    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
-    # This list can be shrunk as we combine platforms and detect features
-    excluded_platforms = {
-      CAR.GENESIS_G70,            # shared platform code, part number, and date
-      CAR.GENESIS_G70_2020,
-    }
-    excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST  # shared platform codes
-    excluded_platforms |= NO_DATES_PLATFORMS  # date codes are required to match
-
-    platforms_with_shared_codes = set()
-    for platform, fw_by_addr in FW_VERSIONS.items():
-      car_fw = []
-      for ecu, fw_versions in fw_by_addr.items():
-        ecu_name, addr, sub_addr = ecu
-        for fw in fw_versions:
-          car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
-                                        subAddress=0 if sub_addr is None else sub_addr))
-
-      CP = CarParams(carFw=car_fw)
-      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
-      if len(matches) == 1:
-        assert list(matches)[0] == platform
-      else:
-        platforms_with_shared_codes.add(platform)
-
-    assert platforms_with_shared_codes == excluded_platforms
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
deleted file mode 100644
index 25267d7e9b..0000000000
--- a/selfdrive/car/hyundai/values.py
+++ /dev/null
@@ -1,752 +0,0 @@
-import re
-from dataclasses import dataclass, field
-from enum import Enum, IntFlag
-
-from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
-
-Ecu = CarParams.Ecu
-
-
-class CarControllerParams:
-  ACCEL_MIN = -3.5 # m/s
-  ACCEL_MAX = 2.0 # m/s
-
-  def __init__(self, CP):
-    self.STEER_DELTA_UP = 3
-    self.STEER_DELTA_DOWN = 7
-    self.STEER_DRIVER_ALLOWANCE = 50
-    self.STEER_DRIVER_MULTIPLIER = 2
-    self.STEER_DRIVER_FACTOR = 1
-    self.STEER_THRESHOLD = 150
-    self.STEER_STEP = 1  # 100 Hz
-
-    if CP.carFingerprint in CANFD_CAR:
-      self.STEER_MAX = 270
-      self.STEER_DRIVER_ALLOWANCE = 250
-      self.STEER_DRIVER_MULTIPLIER = 2
-      self.STEER_THRESHOLD = 250
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
-
-    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
-    # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
-                               CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
-      self.STEER_MAX = 255
-
-    # these cars have significantly more torque than most HKG; limit to 70% of max
-    elif CP.flags & HyundaiFlags.ALT_LIMITS:
-      self.STEER_MAX = 270
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
-
-    # Default for most HKG
-    else:
-      self.STEER_MAX = 384
-
-
-class HyundaiFlags(IntFlag):
-  # Dynamic Flags
-  CANFD_HDA2 = 1
-  CANFD_ALT_BUTTONS = 2
-  CANFD_ALT_GEARS = 2 ** 2
-  CANFD_CAMERA_SCC = 2 ** 3
-
-  ALT_LIMITS = 2 ** 4
-  ENABLE_BLINKERS = 2 ** 5
-  CANFD_ALT_GEARS_2 = 2 ** 6
-  SEND_LFA = 2 ** 7
-  USE_FCA = 2 ** 8
-  CANFD_HDA2_ALT_STEERING = 2 ** 9
-
-  # these cars use a different gas signal
-  HYBRID = 2 ** 10
-  EV = 2 ** 11
-
-  # Static flags
-
-  # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
-  # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
-  MANDO_RADAR = 2 ** 12
-  CANFD = 2 ** 13
-
-  # The radar does SCC on these cars when HDA I, rather than the camera
-  RADAR_SCC = 2 ** 14
-  CAMERA_SCC = 2 ** 15
-  CHECKSUM_CRC8 = 2 ** 16
-  CHECKSUM_6B = 2 ** 17
-
-  # these cars require a special panda safety mode due to missing counters and checksums in the messages
-  LEGACY = 2 ** 18
-
-  # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
-  UNSUPPORTED_LONGITUDINAL = 2 ** 19
-
-  CANFD_NO_RADAR_DISABLE = 2 ** 20
-
-  CLUSTER_GEARS = 2 ** 21
-  TCU_GEARS = 2 ** 22
-
-  MIN_STEER_32_MPH = 2 ** 23
-
-
-class Footnote(Enum):
-  CANFD = CarFootnote(
-    "Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
-    "comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
-    Column.MODEL, shop_footnote=False)
-
-
-@dataclass
-class HyundaiCarDocs(CarDocs):
-  package: str = "Smart Cruise Control (SCC)"
-
-  def init_make(self, CP: CarParams):
-    if CP.flags & HyundaiFlags.CANFD:
-      self.footnotes.insert(0, Footnote.CANFD)
-
-
-@dataclass
-class HyundaiPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None))
-
-  def init(self):
-    if self.flags & HyundaiFlags.MANDO_RADAR:
-      self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')
-
-    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
-      self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
-
-
-@dataclass
-class HyundaiCanFDPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))
-
-  def init(self):
-    self.flags |= HyundaiFlags.CANFD
-
-
-class CAR(Platforms):
-  # Hyundai
-  HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
-  )
-  HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-    ],
-    CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
-    flags=HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
-    [
-      # TODO: 2017-18 could be Hyundai G
-      HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
-      HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
-    ],
-    # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
-    CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-    ],
-    HYUNDAI_ELANTRA.specs,
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
-    flags=HyundaiFlags.CHECKSUM_CRC8,
-  )
-  HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
-                    car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_GENESIS = HyundaiPlatformConfig(
-    [
-      # TODO: check 2015 packages
-      HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-      HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-    ],
-    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
-    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
-  )
-  HYUNDAI_IONIQ = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],  # TODO: confirm 2020-21 harness,
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
-  )
-  HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV,
-  )
-  HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_KONA = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
-    CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CLUSTER_GEARS,
-  )
-  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV,
-  )
-  HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
-    CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
-  )
-  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
-    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
-  )
-  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
-    CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
-                    car_parts=CarParts.common([CarHarness.hyundai_d]))],
-    CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
-  )
-  HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                    car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8,
-  )
-  HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_SONATA = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
-  )
-  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
-    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
-
-    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
-  )
-  HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
-  )
-  HYUNDAI_TUCSON = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    ],
-    CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.TCU_GEARS,
-  )
-  HYUNDAI_PALISADE = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
-    ],
-    CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
-  )
-  HYUNDAI_VELOSTER = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
-    CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
-  )
-  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    HYUNDAI_SONATA.specs,
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
-  )
-  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
-    ],
-    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
-    flags=HyundaiFlags.EV,
-  )
-  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
-    HYUNDAI_IONIQ_5.specs,
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
-  )
-  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-    ],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
-  )
-  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
-    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
-    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
-  )
-  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
-    flags=HyundaiFlags.CHECKSUM_CRC8,
-  )
-
-  # Kia
-  KIA_FORTE = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
-      HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])),
-    ],
-    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
-  )
-  KIA_K5_2021 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
-    flags=HyundaiFlags.CHECKSUM_CRC8,
-  )
-  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    KIA_K5_2021.specs,
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
-  )
-  KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
-    # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
-    CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
-  )
-  KIA_NIRO_EV = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
-      HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-    ],
-    CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
-  )
-  KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    KIA_NIRO_EV.specs,
-    flags=HyundaiFlags.EV,
-  )
-  KIA_NIRO_PHEV = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
-    ],
-    KIA_NIRO_EV.specs,
-    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
-    ],
-    KIA_NIRO_EV.specs,
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
-  )
-  KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
-    ],
-    KIA_NIRO_EV.specs,
-    flags=HyundaiFlags.HYBRID,
-  )
-  KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    KIA_NIRO_EV.specs,
-  )
-  KIA_OPTIMA_G4 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
-                    car_parts=CarParts.common([CarHarness.hyundai_b]))],  # TODO: may support 2016, 2018
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
-  )
-  KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
-  )
-  # TODO: may support adjacent years. may have a non-zero minimum steering speed
-  KIA_OPTIMA_H = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
-  )
-  KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
-  )
-  KIA_SELTOS = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
-    flags=HyundaiFlags.CHECKSUM_CRC8,
-  )
-  KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-    ],
-    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
-  )
-  KIA_SORENTO = HyundaiPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                     car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
-    ],
-    CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
-    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
-  )
-  KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
-    flags=HyundaiFlags.RADAR_SCC,
-  )
-  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    ],
-    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
-    flags=HyundaiFlags.RADAR_SCC,
-  )
-  KIA_STINGER = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
-                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
-  )
-  KIA_STINGER_2022 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    KIA_STINGER.specs,
-  )
-  KIA_CEED = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
-    CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.LEGACY,
-  )
-  KIA_EV6 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
-      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
-    ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
-    flags=HyundaiFlags.EV,
-  )
-  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
-    ],
-    CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
-    flags=HyundaiFlags.RADAR_SCC,
-  )
-
-  # Genesis
-  GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-    ],
-    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
-    flags=HyundaiFlags.EV,
-  )
-  GENESIS_G70 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
-    CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
-    flags=HyundaiFlags.LEGACY,
-  )
-  GENESIS_G70_2020 = HyundaiPlatformConfig(
-    [
-      # TODO: 2021 MY harness is unknown
-      HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
-      # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
-      HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    ],
-    GENESIS_G70.specs,
-    flags=HyundaiFlags.MANDO_RADAR,
-  )
-  GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
-    [
-      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
-    ],
-    CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
-    flags=HyundaiFlags.RADAR_SCC,
-  )
-  GENESIS_G80 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
-    flags=HyundaiFlags.LEGACY,
-  )
-  GENESIS_G90 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
-  )
-  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
-    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
-    flags=HyundaiFlags.RADAR_SCC,
-  )
-
-
-class Buttons:
-  NONE = 0
-  RES_ACCEL = 1
-  SET_DECEL = 2
-  GAP_DIST = 3
-  CANCEL = 4  # on newer models, this is a pause/resume button
-
-
-def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
-  # Returns unique, platform-specific identification codes for a set of versions
-  codes = set()  # (code-Optional[part], date)
-  for fw in fw_versions:
-    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
-    part_match = PART_NUMBER_FW_PATTERN.search(fw)
-    date_match = DATE_FW_PATTERN.search(fw)
-    if code_match is not None:
-      code: bytes = code_match.group()
-      part = part_match.group() if part_match else None
-      date = date_match.group() if date_match else None
-      if part is not None:
-        # part number starts with generic ECU part type, add what is specific to platform
-        code += b"-" + part[-5:]
-
-      codes.add((code, date))
-  return codes
-
-
-def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
-  # Non-electric CAN FD platforms often do not have platform code specifiers needed
-  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
-  # electric or specify electric in the platform code.
-  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
-  candidates: set[str] = set()
-
-  for candidate, fws in offline_fw_versions.items():
-    # Keep track of ECUs which pass all checks (platform codes, within date range)
-    valid_found_ecus = set()
-    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
-    for ecu, expected_versions in fws.items():
-      addr = ecu[1:]
-      # Only check ECUs expected to have platform codes
-      if ecu[0] not in PLATFORM_CODE_ECUS:
-        continue
-
-      # Expected platform codes & dates
-      codes = get_platform_codes(expected_versions)
-      expected_platform_codes = {code for code, _ in codes}
-      expected_dates = {date for _, date in codes if date is not None}
-
-      # Found platform codes & dates
-      codes = get_platform_codes(live_fw_versions.get(addr, set()))
-      found_platform_codes = {code for code, _ in codes}
-      found_dates = {date for _, date in codes if date is not None}
-
-      # Check platform code + part number matches for any found versions
-      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
-        break
-
-      if ecu[0] in DATE_FW_ECUS:
-        # If ECU can have a FW date, require it to exist
-        # (this excludes candidates in the database without dates)
-        if not len(expected_dates) or not len(found_dates):
-          break
-
-        # Check any date within range in the database, format is %y%m%d
-        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
-          break
-
-      valid_found_ecus.add(addr)
-
-    # If all live ECUs pass all checks for candidate, add it as a match
-    if valid_expected_ecus.issubset(valid_found_ecus):
-      candidates.add(candidate)
-
-  return candidates - fuzzy_platform_blacklist
-
-
-HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf100)  # Long description
-
-HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf110)  # Alt long description
-
-HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
-
-HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
-
-# Regex patterns for parsing platform code, FW date, and part number from FW versions
-PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
-                                      b')[A-Z]{2}[A-Za-z0-9]{0,2})')
-DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
-PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
-
-# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
-CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
-                         # TODO: the hybrid variant is not out yet
-                         CAR.KIA_CARNIVAL_4TH_GEN}
-
-# List of ECUs expected to have platform codes, camera and radar should exist on all cars
-# TODO: use abs, it has the platform code and part number on many platforms
-PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
-# So far we've only seen dates in fwdCamera
-# TODO: there are date codes in the ABS firmware versions in hex
-DATE_FW_ECUS = [Ecu.fwdCamera]
-
-# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
-# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    # TODO: add back whitelists
-    # CAN queries (OBD-II port)
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-    ),
-
-    # CAN & CAN-FD queries (from camera)
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      bus=0,
-      auxiliary=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      bus=1,
-      auxiliary=True,
-      obd_multiplexing=False,
-    ),
-
-    # CAN & CAN FD query to understand the three digit date code
-    # HDA2 cars usually use 6 digit date codes, so skip bus 1
-    Request(
-      [HYUNDAI_ECU_MANUFACTURING_DATE],
-      [HYUNDAI_VERSION_RESPONSE],
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-
-    # CAN-FD alt request logging queries for hvac and parkingAdas
-    Request(
-      [HYUNDAI_VERSION_REQUEST_ALT],
-      [HYUNDAI_VERSION_RESPONSE],
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_ALT],
-      [HYUNDAI_VERSION_RESPONSE],
-      bus=1,
-      auxiliary=True,
-      logging=True,
-      obd_multiplexing=False,
-    ),
-  ],
-  # We lose these ECUs without the comma power on these cars.
-  # Note that we still attempt to match with them when they are present
-  non_essential_ecus={
-    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
-              CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
-              CAR.KIA_CEED, CAR.KIA_SELTOS],
-  },
-  extra_ecus=[
-    (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms
-    (Ecu.parkingAdas, 0x7b1, None),       # ADAS Parking ECU (may exist on all platforms)
-    (Ecu.hvac, 0x7b3, None),              # HVAC Control Assembly
-    (Ecu.cornerRadar, 0x7b7, None),
-    (Ecu.combinationMeter, 0x7c6, None),  # CAN FD Instrument cluster
-  ],
-  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
-  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
-)
-
-CHECKSUM = {
-  "crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
-  "6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
-}
-
-CAN_GEARS = {
-  # which message has the gear. hybrid and EV use ELECT_GEAR
-  "use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
-  "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
-}
-
-CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
-CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
-
-# These CAN FD cars do not accept communication control to disable the ADAS ECU,
-# responds with 0x7F2822 - 'conditions not correct'
-CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
-
-# The camera does SCC on these cars, rather than the radar
-CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
-
-HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
-
-EV_CAR = CAR.with_flags(HyundaiFlags.EV)
-
-LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
-
-UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
deleted file mode 100644
index b918302a4a..0000000000
--- a/selfdrive/car/interfaces.py
+++ /dev/null
@@ -1,451 +0,0 @@
-import json
-import os
-import numpy as np
-import tomllib
-from abc import abstractmethod, ABC
-from enum import StrEnum
-from typing import Any, NamedTuple
-from collections.abc import Callable
-from functools import cache
-
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.common.basedir import BASEDIR
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.selfdrive.car.common.numpy_fast import clip
-from openpilot.selfdrive.car.values import PLATFORMS
-
-GearShifter = structs.CarState.GearShifter
-
-V_CRUISE_MAX = 145
-MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
-ACCEL_MAX = 2.0
-ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.3
-
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/params.toml')
-TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'torque_data/override.toml')
-TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'torque_data/substitute.toml')
-
-GEAR_SHIFTER_MAP: dict[str, GearShifter] = {
-  'P': GearShifter.park, 'PARK': GearShifter.park,
-  'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
-  'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
-  'E': GearShifter.eco, 'ECO': GearShifter.eco,
-  'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
-  'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
-  'S': GearShifter.sport, 'SPORT': GearShifter.sport,
-  'L': GearShifter.low, 'LOW': GearShifter.low,
-  'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
-}
-
-
-class LatControlInputs(NamedTuple):
-  lateral_acceleration: float
-  roll_compensation: float
-  vego: float
-  aego: float
-
-
-TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, structs.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
-
-
-@cache
-def get_torque_params():
-  with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
-    sub = tomllib.load(f)
-  with open(TORQUE_PARAMS_PATH, 'rb') as f:
-    params = tomllib.load(f)
-  with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
-    override = tomllib.load(f)
-
-  torque_params = {}
-  for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}:
-    if sum([candidate in x for x in [sub, params, override]]) > 1:
-      raise RuntimeError(f'{candidate} is defined twice in torque config')
-
-    sub_candidate = sub.get(candidate, candidate)
-
-    if sub_candidate in override:
-      out = override[sub_candidate]
-    elif sub_candidate in params:
-      out = params[sub_candidate]
-    else:
-      raise NotImplementedError(f"Did not find torque params for {sub_candidate}")
-
-    torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])}
-    if candidate in sub:
-      torque_params[candidate] = torque_params[sub_candidate]
-
-  return torque_params
-
-# generic car and radar interfaces
-
-class CarInterfaceBase(ABC):
-  def __init__(self, CP: structs.CarParams, CarController, CarState):
-    self.CP = CP
-
-    self.frame = 0
-    self.v_ego_cluster_seen = False
-
-    self.CS: CarStateBase = CarState(CP)
-    self.cp = self.CS.get_can_parser(CP)
-    self.cp_cam = self.CS.get_cam_can_parser(CP)
-    self.cp_adas = self.CS.get_adas_can_parser(CP)
-    self.cp_body = self.CS.get_body_can_parser(CP)
-    self.cp_loopback = self.CS.get_loopback_can_parser(CP)
-    self.can_parsers = (self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback)
-
-    dbc_name = "" if self.cp is None else self.cp.dbc_name
-    self.CC: CarControllerBase = CarController(dbc_name, CP)
-
-  def apply(self, c: structs.CarControl, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
-    return self.CC.update(c, self.CS, now_nanos)
-
-  @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return ACCEL_MIN, ACCEL_MAX
-
-  @classmethod
-  def get_non_essential_params(cls, candidate: str) -> structs.CarParams:
-    """
-    Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
-    """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
-
-  @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
-                 experimental_long: bool, docs: bool) -> structs.CarParams:
-    ret = CarInterfaceBase.get_std_params(candidate)
-
-    platform = PLATFORMS[candidate]
-    ret.mass = platform.config.specs.mass
-    ret.wheelbase = platform.config.specs.wheelbase
-    ret.steerRatio = platform.config.specs.steerRatio
-    ret.centerToFront = ret.wheelbase * platform.config.specs.centerToFrontRatio
-    ret.minEnableSpeed = platform.config.specs.minEnableSpeed
-    ret.minSteerSpeed = platform.config.specs.minSteerSpeed
-    ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
-    ret.flags |= int(platform.config.flags)
-
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
-
-    # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
-    if not ret.notCar:
-      ret.mass = ret.mass + STD_CARGO_KG
-
-    # Set params dependent on values set by the car interface
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
-
-    return ret
-
-  @staticmethod
-  @abstractmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[structs.CarParams.CarFw], experimental_long: bool, docs: bool) -> structs.CarParams:
-    raise NotImplementedError
-
-  @staticmethod
-  def init(CP: structs.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
-    pass
-
-  @staticmethod
-  def get_steer_feedforward_default(desired_angle, v_ego):
-    # Proportional to realigning tire momentum: lateral acceleration.
-    return desired_angle * (v_ego**2)
-
-  def get_steer_feedforward_function(self):
-    return self.get_steer_feedforward_default
-
-  def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
-                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
-    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
-    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
-    return (latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)) + friction
-
-  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    return self.torque_from_lateral_accel_linear
-
-  # returns a set of default params to avoid repetition in car specific params
-  @staticmethod
-  def get_std_params(candidate: str) -> structs.CarParams:
-    ret = structs.CarParams()
-    ret.carFingerprint = candidate
-
-    # Car docs fields
-    ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED']
-    ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
-
-    # standard ALC params
-    ret.tireStiffnessFactor = 1.0
-    ret.steerControlType = structs.CarParams.SteerControlType.torque
-    ret.minSteerSpeed = 0.
-    ret.wheelSpeedFactor = 1.0
-
-    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
-    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
-    ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
-    ret.openpilotLongitudinalControl = False
-    ret.stopAccel = -2.0
-    ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
-    ret.vEgoStopping = 0.5
-    ret.vEgoStarting = 0.5
-    ret.stoppingControl = True
-    ret.longitudinalTuning.kf = 1.
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.]
-    # TODO estimate car specific lag, use .15s for now
-    ret.longitudinalActuatorDelay = 0.15
-    ret.steerLimitTimer = 1.0
-    return ret
-
-  @staticmethod
-  def configure_torque_tune(candidate: str, tune: structs.CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
-    params = get_torque_params()[candidate]
-
-    tune.init('torque')
-    tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 1.0
-    tune.torque.kf = 1.0
-    tune.torque.ki = 0.1
-    tune.torque.friction = params['FRICTION']
-    tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
-    tune.torque.latAccelOffset = 0.0
-    tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
-
-  def _update(self) -> structs.CarState:
-    return self.CS.update(*self.can_parsers)
-
-  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarState:
-    # parse can
-    for cp in self.can_parsers:
-      if cp is not None:
-        cp.update_strings(can_packets)
-
-    # get CarState
-    ret = self._update()
-
-    ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
-    ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
-
-    if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
-      ret.vEgoCluster = ret.vEgo
-    else:
-      self.v_ego_cluster_seen = True
-
-    # Many cars apply hysteresis to the ego dash speed
-    ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
-    if abs(ret.vEgo) < self.CS.cluster_min_speed:
-      ret.vEgoCluster = 0.0
-
-    if ret.cruiseState.speedCluster == 0:
-      ret.cruiseState.speedCluster = ret.cruiseState.speed
-
-    # save for next iteration
-    self.CS.out = ret
-
-    return ret
-
-
-class RadarInterfaceBase(ABC):
-  def __init__(self, CP: structs.CarParams):
-    self.CP = CP
-    self.rcp = None
-    self.pts: dict[int, structs.RadarData.RadarPoint] = {}
-    self.delay = 0
-    self.radar_ts = CP.radarTimeStep
-    self.frame = 0
-
-  def update(self, can_strings) -> structs.RadarData | None:
-    self.frame += 1
-    if (self.frame % int(100 * self.radar_ts)) == 0:
-      return structs.RadarData()
-    return None
-
-
-class CarStateBase(ABC):
-  def __init__(self, CP: structs.CarParams):
-    self.CP = CP
-    self.car_fingerprint = CP.carFingerprint
-    self.out = structs.CarState()
-
-    self.cruise_buttons = 0
-    self.left_blinker_cnt = 0
-    self.right_blinker_cnt = 0
-    self.steering_pressed_cnt = 0
-    self.left_blinker_prev = False
-    self.right_blinker_prev = False
-    self.cluster_speed_hyst_gap = 0.0
-    self.cluster_min_speed = 0.0  # min speed before dropping to 0
-
-    Q = [[0.0, 0.0], [0.0, 100.0]]
-    R = 0.3
-    A = [[1.0, DT_CTRL], [0.0, 1.0]]
-    C = [[1.0, 0.0]]
-    x0=[[0.0], [0.0]]
-    K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
-    self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
-
-  @abstractmethod
-  def update(self, cp, cp_cam, cp_adas, cp_body, cp_loopback) -> structs.CarState:
-    pass
-
-  def update_speed_kf(self, v_ego_raw):
-    if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.set_x([[v_ego_raw], [0.0]])
-
-    v_ego_x = self.v_ego_kf.update(v_ego_raw)
-    return float(v_ego_x[0]), float(v_ego_x[1])
-
-  def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
-    factor = unit * self.CP.wheelSpeedFactor
-
-    wheelSpeeds = structs.CarState.WheelSpeeds()
-    wheelSpeeds.fl = fl * factor
-    wheelSpeeds.fr = fr * factor
-    wheelSpeeds.rl = rl * factor
-    wheelSpeeds.rr = rr * factor
-    return wheelSpeeds
-
-  def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
-    """Update blinkers from lights. Enable output when light was seen within the last `blinker_time`
-    iterations"""
-    # TODO: Handle case when switching direction. Now both blinkers can be on at the same time
-    self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
-    self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
-    return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
-
-  def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
-    """Applies filtering on steering pressed for noisy driver torque signals."""
-    self.steering_pressed_cnt += 1 if steering_pressed else -1
-    self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
-    return self.steering_pressed_cnt > steering_pressed_min_count
-
-  def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
-    """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
-    or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
-    is forced to the other side. On a rising edge of the stalk the timeout is reset."""
-
-    if left_blinker_stalk:
-      self.right_blinker_cnt = 0
-      if not self.left_blinker_prev:
-        self.left_blinker_cnt = blinker_time
-
-    if right_blinker_stalk:
-      self.left_blinker_cnt = 0
-      if not self.right_blinker_prev:
-        self.right_blinker_cnt = blinker_time
-
-    self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0)
-    self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0)
-
-    self.left_blinker_prev = left_blinker_stalk
-    self.right_blinker_prev = right_blinker_stalk
-
-    return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
-
-  @staticmethod
-  def parse_gear_shifter(gear: str | None) -> GearShifter:
-    if gear is None:
-      return GearShifter.unknown
-    return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown)
-
-  @staticmethod
-  def get_can_parser(CP):
-    return None
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    return None
-
-  @staticmethod
-  def get_adas_can_parser(CP):
-    return None
-
-  @staticmethod
-  def get_body_can_parser(CP):
-    return None
-
-  @staticmethod
-  def get_loopback_can_parser(CP):
-    return None
-
-
-class CarControllerBase(ABC):
-  def __init__(self, dbc_name: str, CP: structs.CarParams):
-    self.CP = CP
-    self.frame = 0
-
-  @abstractmethod
-  def update(self, CC: structs.CarControl, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
-    pass
-
-
-INTERFACE_ATTR_FILE = {
-  "FINGERPRINTS": "fingerprints",
-  "FW_VERSIONS": "fingerprints",
-}
-
-# interface-specific helpers
-
-def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]:
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car models or brand names
-  # - values are attr values from all car folders
-  result = {}
-  for car_folder in sorted([x[0] for x in os.walk(BASEDIR)]):
-    try:
-      brand_name = car_folder.split('/')[-1]
-      brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr])
-      if hasattr(brand_values, attr) or not ignore_none:
-        attr_data = getattr(brand_values, attr, None)
-      else:
-        continue
-
-      if combine_brands:
-        if isinstance(attr_data, dict):
-          for f, v in attr_data.items():
-            result[f] = v
-      else:
-        result[brand_name] = attr_data
-    except (ImportError, OSError):
-      pass
-
-  return result
-
-
-class NanoFFModel:
-  def __init__(self, weights_loc: str, platform: str):
-    self.weights_loc = weights_loc
-    self.platform = platform
-    self.load_weights(platform)
-
-  def load_weights(self, platform: str):
-    with open(self.weights_loc) as fob:
-      self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()}
-
-  def relu(self, x: np.ndarray):
-    return np.maximum(0.0, x)
-
-  def forward(self, x: np.ndarray):
-    assert x.ndim == 1
-    x = (x - self.weights['input_norm_mat'][:, 0]) / (self.weights['input_norm_mat'][:, 1] - self.weights['input_norm_mat'][:, 0])
-    x = self.relu(np.dot(x, self.weights['w_1']) + self.weights['b_1'])
-    x = self.relu(np.dot(x, self.weights['w_2']) + self.weights['b_2'])
-    x = self.relu(np.dot(x, self.weights['w_3']) + self.weights['b_3'])
-    x = np.dot(x, self.weights['w_4']) + self.weights['b_4']
-    return x
-
-  def predict(self, x: list[float], do_sample: bool = False):
-    x = self.forward(np.array(x))
-    if do_sample:
-      pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature'])
-    else:
-      pred = x[0]
-    pred = pred * (self.weights['output_norm_mat'][1] - self.weights['output_norm_mat'][0]) + self.weights['output_norm_mat'][0]
-    return pred
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
deleted file mode 100644
index 8ec0a340e3..0000000000
--- a/selfdrive/car/isotp_parallel_query.py
+++ /dev/null
@@ -1,172 +0,0 @@
-import time
-from collections import defaultdict
-from functools import partial
-
-from openpilot.selfdrive.car import carlog
-from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from openpilot.selfdrive.car.fw_query_definitions import AddrType
-from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
-
-
-class IsoTpParallelQuery:
-  def __init__(self, can_send: CanSendCallable, can_recv: CanRecvCallable, bus: int, addrs: list[int] | list[AddrType],
-               request: list[bytes], response: list[bytes], response_offset: int = 0x8,
-               functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
-    self.can_send = can_send
-    self.can_recv = can_recv
-    self.bus = bus
-    self.request = request
-    self.response = response
-    self.functional_addrs = functional_addrs or []
-    self.debug = debug
-    self.response_pending_timeout = response_pending_timeout
-
-    real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs]
-    for tx_addr, _ in real_addrs:
-      assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
-
-    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[CanData]] = defaultdict(list)
-
-  def rx(self) -> None:
-    """Drain can socket and sort messages into buffers based on address"""
-    can_packets = self.can_recv(wait_for_one=True)
-
-    for packet in can_packets:
-      for msg in packet:
-        if msg.src == self.bus and msg.address in self.msg_addrs.values():
-          self.msg_buffer[msg.address].append(CanData(msg.address, msg.dat, msg.src))
-
-  def _can_tx(self, tx_addr: int, dat: bytes, bus: int):
-    """Helper function to send single message"""
-    msg = CanData(tx_addr, dat, bus)
-    self.can_send([msg])
-
-  def _can_rx(self, addr, sub_addr=None):
-    """Helper function to retrieve message with specified address and subadress from buffer"""
-    keep_msgs = []
-
-    if sub_addr is None:
-      msgs = self.msg_buffer[addr]
-    else:
-      # Filter based on subadress
-      msgs = []
-      for m in self.msg_buffer[addr]:
-        first_byte = m[1][0]
-        if first_byte == sub_addr:
-          msgs.append(m)
-        else:
-          keep_msgs.append(m)
-
-    self.msg_buffer[addr] = keep_msgs
-    return msgs
-
-  def _drain_rx(self) -> None:
-    self.can_recv()
-    self.msg_buffer = defaultdict(list)
-
-  def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
-    can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
-                           self.bus, sub_addr=sub_addr, debug=self.debug)
-
-    max_len = 8 if sub_addr is None else 7
-    # uses iso-tp frame separation time of 10 ms
-    # TODO: use single_frame_mode so ECUs can send as fast as they want,
-    # as well as reduces chances we process messages from previous queries
-    return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len)
-
-  def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]:
-    self._drain_rx()
-
-    # Create message objects
-    msgs = {}
-    request_counter = {}
-    request_done = {}
-    for tx_addr, rx_addr in self.msg_addrs.items():
-      msgs[tx_addr] = self._create_isotp_msg(*tx_addr, rx_addr)
-      request_counter[tx_addr] = 0
-      request_done[tx_addr] = False
-
-    # Send first request to functional addrs, subsequent responses are handled on physical addrs
-    if len(self.functional_addrs):
-      for addr in self.functional_addrs:
-        self._create_isotp_msg(addr, None, -1).send(self.request[0])
-
-    # Send first frame (single or first) to all addresses and receive asynchronously in the loop below.
-    # If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames
-    for msg in msgs.values():
-      msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
-
-    results = {}
-    start_time = time.monotonic()
-    addrs_responded = set()  # track addresses that have ever sent a valid iso-tp frame for timeout logging
-    response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
-    while True:
-      self.rx()
-
-      for tx_addr, msg in msgs.items():
-        try:
-          dat, rx_in_progress = msg.recv()
-        except Exception:
-          carlog.exception(f"Error processing UDS response: {tx_addr}")
-          request_done[tx_addr] = True
-          continue
-
-        # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
-        if rx_in_progress:
-          addrs_responded.add(tx_addr)
-          response_timeouts[tx_addr] = time.monotonic() + timeout
-
-        if dat is None:
-          continue
-
-        # Log unexpected empty responses
-        if len(dat) == 0:
-          carlog.error(f"iso-tp query empty response: {tx_addr}")
-          request_done[tx_addr] = True
-          continue
-
-        counter = request_counter[tx_addr]
-        expected_response = self.response[counter]
-        response_valid = dat.startswith(expected_response)
-
-        if response_valid:
-          if counter + 1 < len(self.request):
-            response_timeouts[tx_addr] = time.monotonic() + timeout
-            msg.send(self.request[counter + 1])
-            request_counter[tx_addr] += 1
-          else:
-            results[tx_addr] = dat[len(expected_response):]
-            request_done[tx_addr] = True
-        else:
-          error_code = dat[2] if len(dat) > 2 else -1
-          if error_code == 0x78:
-            response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
-            carlog.error(f"iso-tp query response pending: {tx_addr}")
-          else:
-            request_done[tx_addr] = True
-            carlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
-
-      # Mark request done if address timed out
-      cur_time = time.monotonic()
-      for tx_addr in response_timeouts:
-        if cur_time - response_timeouts[tx_addr] > 0:
-          if not request_done[tx_addr]:
-            if request_counter[tx_addr] > 0:
-              carlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
-            elif tx_addr in addrs_responded:
-              carlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
-            # TODO: handle functional addresses
-            # else:
-            #   carlog.error(f"iso-tp query timeout with no response: {tx_addr}")
-          request_done[tx_addr] = True
-
-      # Break if all requests are done (finished or timed out)
-      if all(request_done.values()):
-        break
-
-      if cur_time - start_time > total_timeout:
-        carlog.error("iso-tp query timeout while receiving data")
-        break
-
-    return results
diff --git a/selfdrive/car/mazda/__init__.py b/selfdrive/car/mazda/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
deleted file mode 100644
index db52c07dea..0000000000
--- a/selfdrive/car/mazda/carcontroller.py
+++ /dev/null
@@ -1,65 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, structs
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.mazda import mazdacan
-from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.apply_steer_last = 0
-    self.packer = CANPacker(dbc_name)
-    self.brake_counter = 0
-
-  def update(self, CC, CS, now_nanos):
-    can_sends = []
-
-    apply_steer = 0
-
-    if CC.latActive:
-      # calculate steer and also set limits due to driver torque
-      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                     CS.out.steeringTorque, CarControllerParams)
-
-    if CC.cruiseControl.cancel:
-      # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
-      # a race condition with the stock system, where the second cancel from openpilot
-      # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
-      # read 3 messages and most likely sync state before we attempt cancel.
-      self.brake_counter = self.brake_counter + 1
-      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
-        # Cancel Stock ACC if it's enabled while OP is disengaged
-        # Send at a rate of 10hz until we sync with stock ACC state
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
-    else:
-      self.brake_counter = 0
-      if CC.cruiseControl.resume and self.frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button when planner wants car to move
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
-
-    self.apply_steer_last = apply_steer
-
-    # send HUD alerts
-    if self.frame % 50 == 0:
-      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
-      # TODO: find a way to silence audible warnings so we can add more hud alerts
-      steer_required = steer_required and CS.lkas_allowed_speed
-      can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
-
-    # send steering command
-    can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
-                                                      self.frame, apply_steer, CS.cam_lkas))
-
-    new_actuators = copy.copy(CC.actuators)
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
-    new_actuators.steerOutputCan = apply_steer
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
deleted file mode 100644
index c3b3394734..0000000000
--- a/selfdrive/car/mazda/carstate.py
+++ /dev/null
@@ -1,158 +0,0 @@
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
-
-ButtonType = structs.CarState.ButtonEvent.Type
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR"]["GEAR"]
-
-    self.crz_btns_counter = 0
-    self.acc_active_last = False
-    self.low_speed_alert = False
-    self.lkas_allowed_speed = False
-    self.lkas_disabled = False
-
-    self.distance_button = 0
-
-  def update(self, cp, cp_cam, *_) -> structs.CarState:
-
-    ret = structs.CarState()
-
-    prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
-
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["FL"],
-      cp.vl["WHEEL_SPEEDS"]["FR"],
-      cp.vl["WHEEL_SPEEDS"]["RL"],
-      cp.vl["WHEEL_SPEEDS"]["RR"],
-    )
-    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-
-    # Match panda speed reading
-    speed_kph = cp.vl["ENGINE_DATA"]["SPEED"]
-    ret.standstill = speed_kph <= .1
-
-    can_gear = int(cp.vl["GEAR"]["GEAR"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-
-    ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
-    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
-    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
-                                                                      cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
-
-    ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
-    ret.steeringTorque = cp.vl["STEER_TORQUE"]["STEER_TORQUE_SENSOR"]
-    ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
-
-    ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"]
-    ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"]
-
-    # TODO: this should be from 0 - 1.
-    ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1
-    ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]
-
-    ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0
-    ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"],
-                        cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]])
-
-    # TODO: this should be from 0 - 1.
-    ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"]
-    ret.gasPressed = ret.gas > 0
-
-    # Either due to low speed or hands off
-    lkas_blocked = cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1
-
-    if self.CP.minSteerSpeed > 0:
-      # LKAS is enabled at 52kph going up and disabled at 45kph going down
-      # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes
-      if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked:
-        self.lkas_allowed_speed = True
-      elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
-        self.lkas_allowed_speed = False
-    else:
-      self.lkas_allowed_speed = True
-
-    # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
-    #       it should be used for carState.cruiseState.nonAdaptive instead
-    ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
-    ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
-    ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1
-    ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
-
-    if ret.cruiseState.enabled:
-      if not self.lkas_allowed_speed and self.acc_active_last:
-        self.low_speed_alert = True
-      else:
-        self.low_speed_alert = False
-
-    # Check if LKAS is disabled due to lack of driver torque when all other states indicate
-    # it should be enabled (steer lockout). Don't warn until we actually get lkas active
-    # and lose it again, i.e, after initial lkas activation
-    ret.steerFaultTemporary = self.lkas_allowed_speed and lkas_blocked
-
-    self.acc_active_last = ret.cruiseState.enabled
-
-    self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
-
-    # camera signals
-    self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
-    self.cam_lkas = cp_cam.vl["CAM_LKAS"]
-    self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
-    ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
-
-    # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("BLINK_INFO", 10),
-      ("STEER", 67),
-      ("STEER_RATE", 83),
-      ("STEER_TORQUE", 83),
-      ("WHEEL_SPEEDS", 100),
-    ]
-
-    if CP.flags & MazdaFlags.GEN1:
-      messages += [
-        ("ENGINE_DATA", 100),
-        ("CRZ_CTRL", 50),
-        ("CRZ_EVENTS", 50),
-        ("CRZ_BTNS", 10),
-        ("PEDALS", 50),
-        ("BRAKE", 50),
-        ("SEATBELT", 10),
-        ("DOORS", 10),
-        ("GEAR", 20),
-        ("BSM", 10),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = []
-
-    if CP.flags & MazdaFlags.GEN1:
-      messages += [
-        # sig_address, frequency
-        ("CAM_LANEINFO", 2),
-        ("CAM_LKAS", 16),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
deleted file mode 100644
index 41c1e7fb62..0000000000
--- a/selfdrive/car/mazda/fingerprints.py
+++ /dev/null
@@ -1,266 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.mazda.values import CAR
-
-Ecu = CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.MAZDA_CX5_2022: {
-    (Ecu.eps, 0x730, None): [
-      b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MAZDA_CX5: {
-    (Ecu.eps, 0x730, None): [
-      b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MAZDA_CX9: {
-    (Ecu.eps, 0x730, None): [
-      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MAZDA_3: {
-    (Ecu.eps, 0x730, None): [
-      b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MAZDA_6: {
-    (Ecu.eps, 0x730, None): [
-      b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GFBC-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GDDM-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MAZDA_CX9_2021: {
-    (Ecu.eps, 0x730, None): [
-      b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-}
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
deleted file mode 100755
index 3da5e8e1b0..0000000000
--- a/selfdrive/car/mazda/interface.py
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env python3
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-
-
-class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "mazda"
-    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
-    ret.radarUnavailable = True
-
-    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
-
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.8
-
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    if candidate not in (CAR.MAZDA_CX5_2022,):
-      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
-
-    ret.centerToFront = ret.wheelbase * 0.41
-
-    return ret
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
deleted file mode 100644
index 74f6af04c5..0000000000
--- a/selfdrive/car/mazda/mazdacan.py
+++ /dev/null
@@ -1,128 +0,0 @@
-from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
-
-
-def create_steering_control(packer, CP, frame, apply_steer, lkas):
-
-  tmp = apply_steer + 2048
-
-  lo = tmp & 0xFF
-  hi = tmp >> 8
-
-  # copy values from camera
-  b1 = int(lkas["BIT_1"])
-  er1 = int(lkas["ERR_BIT_1"])
-  lnv = 0
-  ldw = 0
-  er2 = int(lkas["ERR_BIT_2"])
-
-  # Some older models do have these, newer models don't.
-  # Either way, they all work just fine if set to zero.
-  steering_angle = 0
-  b2 = 0
-
-  tmp = steering_angle + 2048
-  ahi = tmp >> 10
-  amd = (tmp & 0x3FF) >> 2
-  amd = (amd >> 4) | (( amd & 0xF) << 4)
-  alo = (tmp & 0x3) << 2
-
-  ctr = frame % 16
-  # bytes:     [    1  ] [ 2 ] [             3               ]  [           4         ]
-  csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
-
-  # bytes      [ 5 ] [ 6 ] [    7   ]
-  csum = csum - ahi - amd - alo - b2
-
-  if ahi == 1:
-    csum = csum + 15
-
-  if csum < 0:
-    if csum < -256:
-      csum = csum + 512
-    else:
-      csum = csum + 256
-
-  csum = csum % 256
-
-  values = {}
-  if CP.flags & MazdaFlags.GEN1:
-    values = {
-      "LKAS_REQUEST": apply_steer,
-      "CTR": ctr,
-      "ERR_BIT_1": er1,
-      "LINE_NOT_VISIBLE" : lnv,
-      "LDW": ldw,
-      "BIT_1": b1,
-      "ERR_BIT_2": er2,
-      "STEERING_ANGLE": steering_angle,
-      "ANGLE_ENABLED": b2,
-      "CHKSUM": csum
-    }
-
-  return packer.make_can_msg("CAM_LKAS", 0, values)
-
-
-def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool):
-  values = {s: cam_msg[s] for s in [
-    "LINE_VISIBLE",
-    "LINE_NOT_VISIBLE",
-    "LANE_LINES",
-    "BIT1",
-    "BIT2",
-    "BIT3",
-    "NO_ERR_BIT",
-    "S1",
-    "S1_HBEAM",
-  ]}
-  values.update({
-    # TODO: what's the difference between all these? do we need to send all?
-    "HANDS_WARN_3_BITS": 0b111 if steer_required else 0,
-    "HANDS_ON_STEER_WARN": steer_required,
-    "HANDS_ON_STEER_WARN_2": steer_required,
-
-    # TODO: right lane works, left doesn't
-    # TODO: need to do something about L/R
-    "LDW_WARN_LL": 0,
-    "LDW_WARN_RL": 0,
-  })
-  return packer.make_can_msg("CAM_LANEINFO", 0, values)
-
-
-def create_button_cmd(packer, CP, counter, button):
-
-  can = int(button == Buttons.CANCEL)
-  res = int(button == Buttons.RESUME)
-
-  if CP.flags & MazdaFlags.GEN1:
-    values = {
-      "CAN_OFF": can,
-      "CAN_OFF_INV": (can + 1) % 2,
-
-      "SET_P": 0,
-      "SET_P_INV": 1,
-
-      "RES": res,
-      "RES_INV": (res + 1) % 2,
-
-      "SET_M": 0,
-      "SET_M_INV": 1,
-
-      "DISTANCE_LESS": 0,
-      "DISTANCE_LESS_INV": 1,
-
-      "DISTANCE_MORE": 0,
-      "DISTANCE_MORE_INV": 1,
-
-      "MODE_X": 0,
-      "MODE_X_INV": 1,
-
-      "MODE_Y": 0,
-      "MODE_Y_INV": 1,
-
-      "BIT1": 1,
-      "BIT2": 1,
-      "BIT3": 1,
-      "CTR": (counter + 1) % 16,
-    }
-
-    return packer.make_can_msg("CRZ_BTNS", 0, values)
diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py
deleted file mode 100755
index b461fcd5f8..0000000000
--- a/selfdrive/car/mazda/radar_interface.py
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/usr/bin/env python3
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
deleted file mode 100644
index 3f71a4db32..0000000000
--- a/selfdrive/car/mazda/values.py
+++ /dev/null
@@ -1,104 +0,0 @@
-from dataclasses import dataclass, field
-from enum import IntFlag
-
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = CarParams.Ecu
-
-
-# Steer torque limits
-
-class CarControllerParams:
-  STEER_MAX = 800                # theoretical max_steer 2047
-  STEER_DELTA_UP = 10             # torque increase per refresh
-  STEER_DELTA_DOWN = 25           # torque decrease per refresh
-  STEER_DRIVER_ALLOWANCE = 15     # allowed driver torque before start limiting
-  STEER_DRIVER_MULTIPLIER = 1     # weight driver torque
-  STEER_DRIVER_FACTOR = 1         # from dbc
-  STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
-  STEER_STEP = 1  # 100 Hz
-
-  def __init__(self, CP):
-    pass
-
-
-@dataclass
-class MazdaCarDocs(CarDocs):
-  package: str = "All"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
-
-
-@dataclass(frozen=True, kw_only=True)
-class MazdaCarSpecs(CarSpecs):
-  tireStiffnessFactor: float = 0.7  # not optimized yet
-
-
-class MazdaFlags(IntFlag):
-  # Static flags
-  # Gen 1 hardware: same CAN messages and same camera
-  GEN1 = 1
-
-
-@dataclass
-class MazdaPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None))
-  flags: int = MazdaFlags.GEN1
-
-
-class CAR(Platforms):
-  MAZDA_CX5 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda CX-5 2017-21")],
-    MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
-  )
-  MAZDA_CX9 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda CX-9 2016-20")],
-    MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
-  )
-  MAZDA_3 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda 3 2017-18")],
-    MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
-  )
-  MAZDA_6 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda 6 2017-20")],
-    MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
-  )
-  MAZDA_CX9_2021 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
-    MAZDA_CX9.specs
-  )
-  MAZDA_CX5_2022 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda CX-5 2022-24")],
-    MAZDA_CX5.specs,
-  )
-
-
-class LKAS_LIMITS:
-  STEER_THRESHOLD = 15
-  DISABLE_SPEED = 45    # kph
-  ENABLE_SPEED = 52     # kph
-
-
-class Buttons:
-  NONE = 0
-  SET_PLUS = 1
-  SET_MINUS = 2
-  RESUME = 3
-  CANCEL = 4
-
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
-    Request(
-      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      bus=0,
-    ),
-  ],
-)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/mock/__init__.py b/selfdrive/car/mock/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py
deleted file mode 100644
index cd1d67747e..0000000000
--- a/selfdrive/car/mock/carcontroller.py
+++ /dev/null
@@ -1,6 +0,0 @@
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-
-class CarController(CarControllerBase):
-  def update(self, CC, CS, now_nanos):
-    return CC.actuators, []
diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py
deleted file mode 100644
index 4fbebf5a4f..0000000000
--- a/selfdrive/car/mock/carstate.py
+++ /dev/null
@@ -1,7 +0,0 @@
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-
-class CarState(CarStateBase):
-  def update(self, *_) -> structs.CarState:
-    return structs.CarState()
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
deleted file mode 100755
index d33cc7d164..0000000000
--- a/selfdrive/car/mock/interface.py
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env python3
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-
-# mocked car interface for dashcam mode
-class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "mock"
-    ret.mass = 1700.
-    ret.wheelbase = 2.70
-    ret.centerToFront = ret.wheelbase * 0.5
-    ret.steerRatio = 13.
-    ret.dashcamOnly = True
-    return ret
diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py
deleted file mode 100644
index e654bd61fd..0000000000
--- a/selfdrive/car/mock/radar_interface.py
+++ /dev/null
@@ -1,4 +0,0 @@
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
deleted file mode 100644
index f98aac2ee3..0000000000
--- a/selfdrive/car/mock/values.py
+++ /dev/null
@@ -1,9 +0,0 @@
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
-
-
-class CAR(Platforms):
-  MOCK = PlatformConfig(
-    [],
-    CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
-    {}
-  )
diff --git a/selfdrive/car/nissan/__init__.py b/selfdrive/car/nissan/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
deleted file mode 100644
index e0e0389866..0000000000
--- a/selfdrive/car/nissan/carcontroller.py
+++ /dev/null
@@ -1,81 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.nissan import nissancan
-from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.car_fingerprint = CP.carFingerprint
-
-    self.lkas_max_torque = 0
-    self.apply_angle_last = 0
-
-    self.packer = CANPacker(dbc_name)
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-    pcm_cancel_cmd = CC.cruiseControl.cancel
-
-    can_sends = []
-
-    ### STEER ###
-    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
-
-    if CC.latActive:
-      # windup slower
-      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
-
-      # Max torque from driver before EPS will give up and not apply torque
-      if not bool(CS.out.steeringPressed):
-        self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
-      else:
-        # Scale max torque based on how much torque the driver is applying to the wheel
-        self.lkas_max_torque = max(
-          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
-          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
-          # Start scaling torque at STEER_THRESHOLD
-          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
-        )
-
-    else:
-      apply_angle = CS.out.steeringAngleDeg
-      self.lkas_max_torque = 0
-
-    self.apply_angle_last = apply_angle
-
-    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
-
-    # TODO: Find better way to cancel!
-    # For some reason spamming the cancel button is unreliable on the Leaf
-    # We now cancel by making propilot think the seatbelt is unlatched,
-    # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
-      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
-
-    can_sends.append(nissancan.create_steering_control(
-      self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
-
-    # Below are the HUD messages. We copy the stock message and modify
-    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
-      if self.frame % 2 == 0:
-        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-
-      if self.frame % 50 == 0:
-        can_sends.append(nissancan.create_lkas_hud_info_msg(
-          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
-        ))
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.steeringAngleDeg = apply_angle
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
deleted file mode 100644
index 1298315942..0000000000
--- a/selfdrive/car/nissan/carstate.py
+++ /dev/null
@@ -1,201 +0,0 @@
-import copy
-from collections import deque
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
-
-ButtonType = structs.CarState.ButtonEvent.Type
-
-TORQUE_SAMPLES = 12
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-
-    self.lkas_hud_msg = {}
-    self.lkas_hud_info_msg = {}
-
-    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
-    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
-
-    self.distance_button = 0
-
-  def update(self, cp, cp_cam, cp_adas, *_) -> structs.CarState:
-    ret = structs.CarState()
-
-    prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
-
-    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
-      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
-    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
-      ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
-
-    ret.gasPressed = bool(ret.gas > 3)
-
-    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
-      ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
-    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
-      ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
-
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"],
-    )
-    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
-
-    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
-    else:
-      ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
-
-    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
-      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
-      ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
-    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
-      if self.CP.carFingerprint == CAR.NISSAN_LEAF:
-        ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
-      elif self.CP.carFingerprint == CAR.NISSAN_LEAF_IC:
-        ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
-      ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
-    elif self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
-      ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
-
-    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
-    else:
-      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
-
-    if speed != 255:
-      if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
-        conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
-      else:
-        conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = speed * conversion
-      ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
-
-    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
-    else:
-      ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
-
-    self.steeringTorqueSamples.append(ret.steeringTorque)
-    # Filtering driver torque to prevent steeringPressed false positives
-    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
-
-    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
-
-    ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
-    ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])
-
-    ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"],
-                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"],
-                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
-                        cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
-
-    ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
-
-    can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-
-    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
-    else:
-      self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
-
-    self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
-
-    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
-      self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
-
-    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
-      self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
-      self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
-
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("STEER_ANGLE_SENSOR", 100),
-      ("WHEEL_SPEEDS_REAR", 50),
-      ("WHEEL_SPEEDS_FRONT", 50),
-      ("ESP", 25),
-      ("GEARBOX", 25),
-      ("DOORS_LIGHTS", 10),
-      ("LIGHTS", 10),
-    ]
-
-    if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
-      messages += [
-        ("GAS_PEDAL", 100),
-        ("CRUISE_THROTTLE", 50),
-        ("HUD", 25),
-      ]
-
-    elif CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
-      messages += [
-        ("BRAKE_PEDAL", 100),
-        ("CRUISE_THROTTLE", 50),
-        ("CANCEL_MSG", 50),
-        ("HUD_SETTINGS", 25),
-        ("SEATBELT", 10),
-      ]
-
-    if CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      messages += [
-        ("CRUISE_STATE", 10),
-        ("LKAS_SETTINGS", 10),
-        ("PROPILOT_HUD", 50),
-      ]
-      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
-
-    messages.append(("STEER_TORQUE_SENSOR", 100))
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-  @staticmethod
-  def get_adas_can_parser(CP):
-    # this function generates lists for signal, messages and initial values
-
-    if CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      messages = [
-        ("LKAS", 100),
-        ("PRO_PILOT", 100),
-      ]
-    else:
-      messages = [
-        ("PROPILOT_HUD_INFO_MSG", 2),
-        ("LKAS_SETTINGS", 10),
-        ("CRUISE_STATE", 50),
-        ("PROPILOT_HUD", 50),
-        ("LKAS", 100),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = []
-
-    if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
-      messages.append(("PRO_PILOT", 100))
-    elif CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      messages.append(("STEER_TORQUE_SENSOR", 100))
-      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py
deleted file mode 100644
index 0ba4140fb7..0000000000
--- a/selfdrive/car/nissan/fingerprints.py
+++ /dev/null
@@ -1,119 +0,0 @@
-# ruff: noqa: E501
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.nissan.values import CAR
-
-Ecu = CarParams.Ecu
-
-FINGERPRINTS = {
-  CAR.NISSAN_XTRAIL: [{
-    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
-  },
-  {
-    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
-  CAR.NISSAN_LEAF: [{
-    2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
-  },
-  {
-    2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
-  }],
-  CAR.NISSAN_LEAF_IC: [{
-    2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
-  }],
-  CAR.NISSAN_ROGUE: [{
-    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.NISSAN_ALTIMA: [{
-    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-}
-
-FW_VERSIONS = {
-  CAR.NISSAN_ALTIMA: {
-    (Ecu.fwdCamera, 0x707, None): [
-      b'284N86CA1D',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'237109HE2B',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U29HE0A',
-    ],
-  },
-  CAR.NISSAN_LEAF: {
-    (Ecu.abs, 0x740, None): [
-      b'476605SA1C',
-      b'476605SA7D',
-      b'476605SC2D',
-      b'476606WK7B',
-      b'476606WK9B',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'5SA2A\x99A\x05\x02N123F\x15b\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SA2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SN2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.fwdCamera, 0x707, None): [
-      b'5SA0ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
-      b'5SA2ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
-      b'6WK2ADB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
-      b'6WK2BDB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
-      b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U25SA3C',
-      b'284U25SP0C',
-      b'284U25SP1C',
-      b'284U26WK0A',
-      b'284U26WK0C',
-    ],
-  },
-  CAR.NISSAN_LEAF_IC: {
-    (Ecu.fwdCamera, 0x707, None): [
-      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
-      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
-      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
-    ],
-    (Ecu.abs, 0x740, None): [
-      b'476605SD2E',
-      b'476605SH1D',
-      b'476605SK2A',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U25SF0C',
-      b'284U25SH3A',
-      b'284U25SK2D',
-    ],
-  },
-  CAR.NISSAN_XTRAIL: {
-    (Ecu.fwdCamera, 0x707, None): [
-      b'284N86FR2A',
-    ],
-    (Ecu.abs, 0x740, None): [
-      b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
-      b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.combinationMeter, 0x743, None): [
-      b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U26FR0E',
-    ],
-  },
-}
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
deleted file mode 100644
index 4a9b31dacf..0000000000
--- a/selfdrive/car/nissan/interface.py
+++ /dev/null
@@ -1,26 +0,0 @@
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.nissan.values import CAR
-
-
-class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "nissan"
-    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
-    ret.autoResumeSng = False
-
-    ret.steerLimitTimer = 1.0
-
-    ret.steerActuatorDelay = 0.1
-
-    ret.steerControlType = structs.CarParams.SteerControlType.angle
-    ret.radarUnavailable = True
-
-    if candidate == CAR.NISSAN_ALTIMA:
-      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
-
-    return ret
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
deleted file mode 100644
index 28fb01d7e3..0000000000
--- a/selfdrive/car/nissan/nissancan.py
+++ /dev/null
@@ -1,154 +0,0 @@
-import crcmod
-from openpilot.selfdrive.car.nissan.values import CAR
-
-# TODO: add this checksum to the CANPacker
-nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
-
-
-def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
-  values = {
-    "COUNTER": frame % 0x10,
-    "DESIRED_ANGLE": apply_steer,
-    "SET_0x80_2": 0x80,
-    "SET_0x80": 0x80,
-    "MAX_TORQUE": lkas_max_torque if steer_on else 0,
-    "LKA_ACTIVE": steer_on,
-  }
-
-  dat = packer.make_can_msg("LKAS", 0, values)[1]
-
-  values["CHECKSUM"] = nissan_checksum(dat[:7])
-  return packer.make_can_msg("LKAS", 0, values)
-
-
-def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
-  values = {s: cruise_throttle_msg[s] for s in [
-    "COUNTER",
-    "PROPILOT_BUTTON",
-    "CANCEL_BUTTON",
-    "GAS_PEDAL_INVERTED",
-    "SET_BUTTON",
-    "RES_BUTTON",
-    "FOLLOW_DISTANCE_BUTTON",
-    "NO_BUTTON_PRESSED",
-    "GAS_PEDAL",
-    "USER_BRAKE_PRESSED",
-    "NEW_SIGNAL_2",
-    "GAS_PRESSED_INVERTED",
-    "unsure1",
-    "unsure2",
-    "unsure3",
-  ]}
-  can_bus = 1 if car_fingerprint == CAR.NISSAN_ALTIMA else 2
-
-  values["CANCEL_BUTTON"] = 1
-  values["NO_BUTTON_PRESSED"] = 0
-  values["PROPILOT_BUTTON"] = 0
-  values["SET_BUTTON"] = 0
-  values["RES_BUTTON"] = 0
-  values["FOLLOW_DISTANCE_BUTTON"] = 0
-
-  return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
-
-
-def create_cancel_msg(packer, cancel_msg, cruise_cancel):
-  values = {s: cancel_msg[s] for s in [
-    "CANCEL_SEATBELT",
-    "NEW_SIGNAL_1",
-    "NEW_SIGNAL_2",
-    "NEW_SIGNAL_3",
-  ]}
-
-  if cruise_cancel:
-    values["CANCEL_SEATBELT"] = 1
-
-  return packer.make_can_msg("CANCEL_MSG", 2, values)
-
-
-def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
-  values = {s: lkas_hud_msg[s] for s in [
-    "LARGE_WARNING_FLASHING",
-    "SIDE_RADAR_ERROR_FLASHING1",
-    "SIDE_RADAR_ERROR_FLASHING2",
-    "LEAD_CAR",
-    "LEAD_CAR_ERROR",
-    "FRONT_RADAR_ERROR",
-    "FRONT_RADAR_ERROR_FLASHING",
-    "SIDE_RADAR_ERROR_FLASHING3",
-    "LKAS_ERROR_FLASHING",
-    "SAFETY_SHIELD_ACTIVE",
-    "RIGHT_LANE_GREEN_FLASH",
-    "LEFT_LANE_GREEN_FLASH",
-    "FOLLOW_DISTANCE",
-    "AUDIBLE_TONE",
-    "SPEED_SET_ICON",
-    "SMALL_STEERING_WHEEL_ICON",
-    "unknown59",
-    "unknown55",
-    "unknown26",
-    "unknown28",
-    "unknown31",
-    "SET_SPEED",
-    "unknown43",
-    "unknown08",
-    "unknown05",
-    "unknown02",
-  ]}
-
-  values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
-  values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
-
-  values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
-  values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
-  values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
-
-  return packer.make_can_msg("PROPILOT_HUD", 0, values)
-
-
-def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
-  values = {s: lkas_hud_info_msg[s] for s in [
-    "NA_HIGH_ACCEL_TEMP",
-    "SIDE_RADAR_NA_HIGH_CABIN_TEMP",
-    "SIDE_RADAR_MALFUNCTION",
-    "LKAS_MALFUNCTION",
-    "FRONT_RADAR_MALFUNCTION",
-    "SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
-    "NA_POOR_ROAD_CONDITIONS",
-    "CURRENTLY_UNAVAILABLE",
-    "SAFETY_SHIELD_OFF",
-    "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
-    "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
-    "SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
-    "WARNING_DO_NOT_ENTER",
-    "SIDE_IMPACT_SYSTEM_OFF",
-    "SIDE_IMPACT_MALFUNCTION",
-    "FRONT_COLLISION_MALFUNCTION",
-    "SIDE_RADAR_MALFUNCTION2",
-    "LKAS_MALFUNCTION2",
-    "FRONT_RADAR_MALFUNCTION2",
-    "PROPILOT_NA_MSGS",
-    "BOTTOM_MSG",
-    "HANDS_ON_WHEEL_WARNING",
-    "WARNING_STEP_ON_BRAKE_NOW",
-    "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
-    "PROPILOT_NA_HIGH_CABIN_TEMP",
-    "WARNING_PROPILOT_MALFUNCTION",
-    "ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
-    "ACC_NA_FRONT_CAMERA_IMPARED",
-    "unknown07",
-    "unknown10",
-    "unknown15",
-    "unknown23",
-    "unknown19",
-    "unknown31",
-    "unknown32",
-    "unknown46",
-    "unknown61",
-    "unknown55",
-    "unknown50",
-  ]}
-
-  if steer_hud_alert:
-    values["HANDS_ON_WHEEL_WARNING"] = 1
-
-  return packer.make_can_msg("PROPILOT_HUD_INFO_MSG", 0, values)
diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py
deleted file mode 100644
index e654bd61fd..0000000000
--- a/selfdrive/car/nissan/radar_interface.py
+++ /dev/null
@@ -1,4 +0,0 @@
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
deleted file mode 100644
index e50ffbd94b..0000000000
--- a/selfdrive/car/nissan/values.py
+++ /dev/null
@@ -1,107 +0,0 @@
-from dataclasses import dataclass, field
-
-from panda.python import uds
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = CarParams.Ecu
-
-
-class CarControllerParams:
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
-  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
-  STEER_THRESHOLD = 1.0
-
-  def __init__(self, CP):
-    pass
-
-
-@dataclass
-class NissanCarDocs(CarDocs):
-  package: str = "ProPILOT Assist"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
-
-
-@dataclass(frozen=True)
-class NissanCarSpecs(CarSpecs):
-  centerToFrontRatio: float = 0.44
-  steerRatio: float = 17.
-
-
-@dataclass
-class NissanPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
-
-
-class CAR(Platforms):
-  NISSAN_XTRAIL = NissanPlatformConfig(
-    [NissanCarDocs("Nissan X-Trail 2017")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705)
-  )
-  NISSAN_LEAF = NissanPlatformConfig(
-    [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705),
-    dbc_dict('nissan_leaf_2018_generated', None),
-  )
-  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
-  # Currently the only known difference between them is the inverted seatbelt signal.
-  NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[])
-  NISSAN_ROGUE = NissanPlatformConfig(
-    [NissanCarDocs("Nissan Rogue 2018-20")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705)
-  )
-  NISSAN_ALTIMA = NissanPlatformConfig(
-    [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
-    NissanCarSpecs(mass=1492, wheelbase=2.824)
-  )
-
-
-DBC = CAR.create_dbc_map()
-
-# Default diagnostic session
-NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
-NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
-
-# Manufacturer specific
-NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda])
-NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda])
-
-NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
-NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
-
-NISSAN_RX_OFFSET = 0x20
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[request for bus, logging in ((0, False), (1, True)) for request in [
-    Request(
-      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
-      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-      bus=bus,
-      logging=logging,
-    ),
-    Request(
-      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
-      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-      rx_offset=NISSAN_RX_OFFSET,
-      bus=bus,
-      logging=logging,
-    ),
-    # Rogue's engine solely responds to this
-    Request(
-      [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
-      [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
-      bus=bus,
-      logging=logging,
-    ),
-    Request(
-      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      rx_offset=NISSAN_RX_OFFSET,
-      bus=bus,
-      logging=logging,
-    ),
-  ]],
-)
diff --git a/selfdrive/car/structs.py b/selfdrive/car/structs.py
deleted file mode 100644
index c375468353..0000000000
--- a/selfdrive/car/structs.py
+++ /dev/null
@@ -1,499 +0,0 @@
-from dataclasses import dataclass as _dataclass, field, is_dataclass
-from enum import Enum, StrEnum as _StrEnum, auto
-from typing import dataclass_transform, get_origin
-
-AUTO_OBJ = object()
-
-
-def auto_field():
-  return AUTO_OBJ
-
-
-@dataclass_transform()
-def auto_dataclass(cls=None, /, **kwargs):
-  cls_annotations = cls.__dict__.get('__annotations__', {})
-  for name, typ in cls_annotations.items():
-    current_value = getattr(cls, name)
-    if current_value is AUTO_OBJ:
-      origin_typ = get_origin(typ) or typ
-      if isinstance(origin_typ, str):
-        raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.")
-      elif origin_typ in (int, float, str, bytes, list, tuple, bool) or is_dataclass(origin_typ):
-        setattr(cls, name, field(default_factory=origin_typ))
-      elif issubclass(origin_typ, Enum):  # first enum is the default
-        setattr(cls, name, field(default=next(iter(origin_typ))))
-      else:
-        raise TypeError(f"Unsupported type for auto_field: {origin_typ}")
-
-  # TODO: use slots, this prevents accidentally setting attributes that don't exist
-  return _dataclass(cls, **kwargs)
-
-
-class StrEnum(_StrEnum):
-  @staticmethod
-  def _generate_next_value_(name, *args):
-    # auto() defaults to name.lower()
-    return name
-
-
-@auto_dataclass
-class CarState:
-  # CAN health
-  canValid: bool = auto_field()  # invalid counter/checksums
-  canTimeout: bool = auto_field()  # CAN bus dropped out
-  canErrorCounter: int = auto_field()
-
-  # car speed
-  vEgo: float = auto_field()  # best estimate of speed
-  aEgo: float = auto_field()  # best estimate of acceleration
-  vEgoRaw: float = auto_field()  # unfiltered speed from CAN sensors
-  vEgoCluster: float = auto_field()  # best estimate of speed shown on car's instrument cluster, used for UI
-
-  yawRate: float = auto_field()  # best estimate of yaw rate
-  standstill: bool = auto_field()
-  wheelSpeeds: 'CarState.WheelSpeeds' = field(default_factory=lambda: CarState.WheelSpeeds())
-
-  # gas pedal, 0.0-1.0
-  gas: float = auto_field()  # this is user pedal only
-  gasPressed: bool = auto_field()  # this is user pedal only
-
-  engineRpm: float = auto_field()
-
-  # brake pedal, 0.0-1.0
-  brake: float = auto_field()  # this is user pedal only
-  brakePressed: bool = auto_field()  # this is user pedal only
-  regenBraking: bool = auto_field()  # this is user pedal only
-  parkingBrake: bool = auto_field()
-  brakeHoldActive: bool = auto_field()
-
-  # steering wheel
-  steeringAngleDeg: float = auto_field()
-  steeringAngleOffsetDeg: float = auto_field()  # Offset betweens sensors in case there multiple
-  steeringRateDeg: float = auto_field()
-  steeringTorque: float = auto_field()  # TODO: standardize units
-  steeringTorqueEps: float = auto_field()  # TODO: standardize units
-  steeringPressed: bool = auto_field()  # if the user is using the steering wheel
-  steerFaultTemporary: bool = auto_field()  # temporary EPS fault
-  steerFaultPermanent: bool = auto_field()  # permanent EPS fault
-  stockAeb: bool = auto_field()
-  stockFcw: bool = auto_field()
-  espDisabled: bool = auto_field()
-  accFaulted: bool = auto_field()
-  carFaultedNonCritical: bool = auto_field()  # some ECU is faulted, but car remains controllable
-  espActive: bool = auto_field()
-  vehicleSensorsInvalid: bool = auto_field()  # invalid steering angle readings, etc.
-
-  # cruise state
-  cruiseState: 'CarState.CruiseState' = field(default_factory=lambda: CarState.CruiseState())
-
-  # gear
-  gearShifter: 'CarState.GearShifter' = field(default_factory=lambda: CarState.GearShifter.unknown)
-
-  # button presses
-  buttonEvents: list['CarState.ButtonEvent'] = auto_field()
-  leftBlinker: bool = auto_field()
-  rightBlinker: bool = auto_field()
-  genericToggle: bool = auto_field()
-
-  # lock info
-  doorOpen: bool = auto_field()
-  seatbeltUnlatched: bool = auto_field()
-
-  # clutch (manual transmission only)
-  clutchPressed: bool = auto_field()
-
-  # blindspot sensors
-  leftBlindspot: bool = auto_field()  # Is there something blocking the left lane change
-  rightBlindspot: bool = auto_field()  # Is there something blocking the right lane change
-
-  fuelGauge: float = auto_field()  # battery or fuel tank level from 0.0 to 1.0
-  charging: bool = auto_field()
-
-  # process meta
-  cumLagMs: float = auto_field()
-
-  @auto_dataclass
-  class WheelSpeeds:
-    # optional wheel speeds
-    fl: float = auto_field()
-    fr: float = auto_field()
-    rl: float = auto_field()
-    rr: float = auto_field()
-
-  @auto_dataclass
-  class CruiseState:
-    enabled: bool = auto_field()
-    speed: float = auto_field()
-    speedCluster: float = auto_field()  # Set speed as shown on instrument cluster
-    available: bool = auto_field()
-    speedOffset: float = auto_field()
-    standstill: bool = auto_field()
-    nonAdaptive: bool = auto_field()
-
-  class GearShifter(StrEnum):
-    unknown = auto()
-    park = auto()
-    drive = auto()
-    neutral = auto()
-    reverse = auto()
-    sport = auto()
-    low = auto()
-    brake = auto()
-    eco = auto()
-    manumatic = auto()
-
-  # send on change
-  @auto_dataclass
-  class ButtonEvent:
-    pressed: bool = auto_field()
-    type: 'CarState.ButtonEvent.Type' = field(default_factory=lambda: CarState.ButtonEvent.Type.unknown)
-
-    class Type(StrEnum):
-      unknown = auto()
-      leftBlinker = auto()
-      rightBlinker = auto()
-      accelCruise = auto()
-      decelCruise = auto()
-      cancel = auto()
-      altButton1 = auto()
-      altButton2 = auto()
-      altButton3 = auto()
-      setCruise = auto()
-      resumeCruise = auto()
-      gapAdjustCruise = auto()
-
-
-@auto_dataclass
-class RadarData:
-  errors: list['Error'] = auto_field()
-  points: list['RadarPoint'] = auto_field()
-
-  class Error(StrEnum):
-    canError = auto()
-    fault = auto()
-    wrongConfig = auto()
-
-  @auto_dataclass
-  class RadarPoint:
-    trackId: int = auto_field()  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel: float = auto_field()  # m from the front bumper of the car
-    yRel: float = auto_field()  # m
-    vRel: float = auto_field()  # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel: float = auto_field()  # m/s^2
-    yvRel: float = auto_field()  # m/s
-
-    # some radars flag measurements VS estimates
-    measured: bool = auto_field()
-
-
-@auto_dataclass
-class CarControl:
-  # must be true for any actuator commands to work
-  enabled: bool = auto_field()
-  latActive: bool = auto_field()
-  longActive: bool = auto_field()
-
-  # Actuator commands as computed by controlsd
-  actuators: 'CarControl.Actuators' = field(default_factory=lambda: CarControl.Actuators())
-
-  leftBlinker: bool = auto_field()
-  rightBlinker: bool = auto_field()
-
-  orientationNED: list[float] = auto_field()
-  angularVelocity: list[float] = auto_field()
-
-  cruiseControl: 'CarControl.CruiseControl' = field(default_factory=lambda: CarControl.CruiseControl())
-  hudControl: 'CarControl.HUDControl' = field(default_factory=lambda: CarControl.HUDControl())
-
-  @auto_dataclass
-  class Actuators:
-    # range from 0.0 - 1.0
-    gas: float = auto_field()
-    brake: float = auto_field()
-    # range from -1.0 - 1.0
-    steer: float = auto_field()
-    # value sent over can to the car
-    steerOutputCan: float = auto_field()
-    steeringAngleDeg: float = auto_field()
-
-    curvature: float = auto_field()
-
-    speed: float = auto_field()  # m/s
-    accel: float = auto_field()  # m/s^2
-    longControlState: 'CarControl.Actuators.LongControlState' = field(default_factory=lambda: CarControl.Actuators.LongControlState.off)
-
-    class LongControlState(StrEnum):
-      off = auto()
-      pid = auto()
-      stopping = auto()
-      starting = auto()
-
-  @auto_dataclass
-  class CruiseControl:
-    cancel: bool = auto_field()
-    resume: bool = auto_field()
-    override: bool = auto_field()
-
-  @auto_dataclass
-  class HUDControl:
-    speedVisible: bool = auto_field()
-    setSpeed: float = auto_field()
-    lanesVisible: bool = auto_field()
-    leadVisible: bool = auto_field()
-    visualAlert: 'CarControl.HUDControl.VisualAlert' = field(default_factory=lambda: CarControl.HUDControl.VisualAlert.none)
-    audibleAlert: 'CarControl.HUDControl.AudibleAlert' = field(default_factory=lambda: CarControl.HUDControl.AudibleAlert.none)
-    rightLaneVisible: bool = auto_field()
-    leftLaneVisible: bool = auto_field()
-    rightLaneDepart: bool = auto_field()
-    leftLaneDepart: bool = auto_field()
-    leadDistanceBars: int = auto_field()  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
-
-    class VisualAlert(StrEnum):
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none = auto()
-      fcw = auto()
-      steerRequired = auto()
-      brakePressed = auto()
-      wrongGear = auto()
-      seatbeltUnbuckled = auto()
-      speedTooHigh = auto()
-      ldw = auto()
-
-    class AudibleAlert(StrEnum):
-      none = auto()
-
-      engage = auto()
-      disengage = auto()
-      refuse = auto()
-
-      warningSoft = auto()
-      warningImmediate = auto()
-
-      prompt = auto()
-      promptRepeat = auto()
-      promptDistracted = auto()
-
-
-@auto_dataclass
-class CarParams:
-  carName: str = auto_field()
-  carFingerprint: str = auto_field()
-  fuzzyFingerprint: bool = auto_field()
-
-  notCar: bool = auto_field()  # flag for non-car robotics platforms
-
-  pcmCruise: bool = auto_field()  # is openpilot's state tied to the PCM's cruise state?
-  enableDsu: bool = auto_field()  # driving support unit
-  enableBsm: bool = auto_field()  # blind spot monitoring
-  flags: int = auto_field()  # flags for car specific quirks
-  experimentalLongitudinalAvailable: bool = auto_field()
-
-  minEnableSpeed: float = auto_field()
-  minSteerSpeed: float = auto_field()
-  safetyConfigs: list['CarParams.SafetyConfig'] = auto_field()
-  alternativeExperience: int = auto_field()  # panda flag for features like no disengage on gas
-
-  maxLateralAccel: float = auto_field()
-  autoResumeSng: bool = auto_field()  # describes whether car can resume from a stop automatically
-
-  mass: float = auto_field()  # [kg] curb weight: all fluids no cargo
-  wheelbase: float = auto_field()  # [m] distance from rear axle to front axle
-  centerToFront: float = auto_field()  # [m] distance from center of mass to front axle
-  steerRatio: float = auto_field()  # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear: float = auto_field()  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
-
-  rotationalInertia: float = auto_field()  # [kg*m2] body rotational inertia
-  tireStiffnessFactor: float = auto_field()  # scaling factor used in calculating tireStiffness[Front,Rear]
-  tireStiffnessFront: float = auto_field()  # [N/rad] front tire coeff of stiff
-  tireStiffnessRear: float = auto_field()  # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning: 'CarParams.LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
-  lateralParams: 'CarParams.LateralParams' = field(default_factory=lambda: CarParams.LateralParams())
-  lateralTuning: 'CarParams.LateralTuning' = field(default_factory=lambda: CarParams.LateralTuning())
-
-  @auto_dataclass
-  class LateralTuning:
-    def init(self, which: str):
-      self.which = CarParams.LateralTuning.Which(which)
-
-    class Which(StrEnum):
-      pid = auto()
-      torque = auto()
-
-      def __call__(self):
-        return self.value
-
-    which: 'CarParams.LateralTuning.Which' = field(default_factory=lambda: CarParams.LateralTuning.Which.pid)
-
-    pid: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
-    torque: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning())
-
-  @auto_dataclass
-  class SafetyConfig:
-    safetyModel: 'CarParams.SafetyModel' = field(default_factory=lambda: CarParams.SafetyModel.silent)
-    safetyParam: int = auto_field()
-
-  @auto_dataclass
-  class LateralParams:
-    torqueBP: list[int] = auto_field()
-    torqueV: list[int] = auto_field()
-
-  @auto_dataclass
-  class LateralPIDTuning:
-    kpBP: list[float] = auto_field()
-    kpV: list[float] = auto_field()
-    kiBP: list[float] = auto_field()
-    kiV: list[float] = auto_field()
-    kf: float = auto_field()
-
-  @auto_dataclass
-  class LateralTorqueTuning:
-    useSteeringAngle: bool = auto_field()
-    kp: float = auto_field()
-    ki: float = auto_field()
-    friction: float = auto_field()
-    kf: float = auto_field()
-    steeringAngleDeadzoneDeg: float = auto_field()
-    latAccelFactor: float = auto_field()
-    latAccelOffset: float = auto_field()
-
-  steerLimitAlert: bool = auto_field()
-  steerLimitTimer: float = auto_field()  # time before steerLimitAlert is issued
-
-  vEgoStopping: float = auto_field()  # Speed at which the car goes into stopping state
-  vEgoStarting: float = auto_field()  # Speed at which the car goes into starting state
-  stoppingControl: bool = auto_field()  # Does the car allow full control even at lows speeds when stopping
-  steerControlType: 'CarParams.SteerControlType' = field(default_factory=lambda: CarParams.SteerControlType.torque)
-  radarUnavailable: bool = auto_field()  # True when radar objects aren't visible on CAN or aren't parsed out
-  stopAccel: float = auto_field()  # Required acceleration to keep vehicle stationary
-  stoppingDecelRate: float = auto_field()  # m/s^2/s while trying to stop
-  startAccel: float = auto_field()  # Required acceleration to get car moving
-  startingState: bool = auto_field()  # Does this car make use of special starting state
-
-  steerActuatorDelay: float = auto_field()  # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay: float = auto_field()  # Gas/Brake actuator delay in seconds
-  openpilotLongitudinalControl: bool = auto_field()  # is openpilot doing the longitudinal control?
-  carVin: str = auto_field()  # VIN number queried during fingerprinting
-  dashcamOnly: bool = auto_field()
-  passive: bool = auto_field()  # is openpilot in control?
-  transmissionType: 'CarParams.TransmissionType' = field(default_factory=lambda: CarParams.TransmissionType.unknown)
-  carFw: list['CarParams.CarFw'] = auto_field()
-
-  radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
-  fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can)
-  # Where Panda/C2 is integrated into the car's CAN network
-  networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera)
-
-  wheelSpeedFactor: float = auto_field()  # Multiplier on wheels speeds to computer actual speeds
-
-  @auto_dataclass
-  class LongitudinalPIDTuning:
-    kpBP: list[float] = auto_field()
-    kpV: list[float] = auto_field()
-    kiBP: list[float] = auto_field()
-    kiV: list[float] = auto_field()
-    kf: float = auto_field()
-
-  class SafetyModel(StrEnum):
-    silent = auto()
-    hondaNidec = auto()
-    toyota = auto()
-    elm327 = auto()
-    gm = auto()
-    hondaBoschGiraffe = auto()
-    ford = auto()
-    cadillac = auto()
-    hyundai = auto()
-    chrysler = auto()
-    tesla = auto()
-    subaru = auto()
-    gmPassive = auto()
-    mazda = auto()
-    nissan = auto()
-    volkswagen = auto()
-    toyotaIpas = auto()
-    allOutput = auto()
-    gmAscm = auto()
-    noOutput = auto()  # like silent but without silent CAN TXs
-    hondaBosch = auto()
-    volkswagenPq = auto()
-    subaruPreglobal = auto()  # pre-Global platform
-    hyundaiLegacy = auto()
-    hyundaiCommunity = auto()
-    volkswagenMlb = auto()
-    hongqi = auto()
-    body = auto()
-    hyundaiCanfd = auto()
-    volkswagenMqbEvo = auto()
-    chryslerCusw = auto()
-    psa = auto()
-
-  class SteerControlType(StrEnum):
-    torque = auto()
-    angle = auto()
-
-  class TransmissionType(StrEnum):
-    unknown = auto()
-    automatic = auto()  # Traditional auto, including DSG
-    manual = auto()  # True "stick shift" only
-    direct = auto()  # Electric vehicle or other direct drive
-    cvt = auto()
-
-  @auto_dataclass
-  class CarFw:
-    ecu: 'CarParams.Ecu' = field(default_factory=lambda: CarParams.Ecu.unknown)
-    fwVersion: bytes = auto_field()
-    address: int = auto_field()
-    subAddress: int = auto_field()
-    responseAddress: int = auto_field()
-    request: list[bytes] = auto_field()
-    brand: str = auto_field()
-    bus: int = auto_field()
-    logging: bool = auto_field()
-    obdMultiplexing: bool = auto_field()
-
-  class Ecu(StrEnum):
-    eps = auto()
-    abs = auto()
-    fwdRadar = auto()
-    fwdCamera = auto()
-    engine = auto()
-    unknown = auto()
-    transmission = auto()  # Transmission Control Module
-    hybrid = auto()  # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
-    srs = auto()  # airbag
-    gateway = auto()  # can gateway
-    hud = auto()  # heads up display
-    combinationMeter = auto()  # instrument cluster
-    electricBrakeBooster = auto()
-    shiftByWire = auto()
-    adas = auto()
-    cornerRadar = auto()
-    hvac = auto()
-    parkingAdas = auto()  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
-    epb = auto()  # electronic parking brake
-    telematics = auto()
-    body = auto()  # body control module
-
-    # Toyota only
-    dsu = auto()
-
-    # Honda only
-    vsa = auto()  # Vehicle Stability Assist
-    programmedFuelInjection = auto()
-
-    debug = auto()
-
-  class FingerprintSource(StrEnum):
-    can = auto()
-    fw = auto()
-    fixed = auto()
-
-  class NetworkLocation(StrEnum):
-    fwdCamera = auto()  # Standard/default integration at LKAS camera
-    gateway = auto()    # Integration at vehicle's CAN gateway
diff --git a/selfdrive/car/subaru/__init__.py b/selfdrive/car/subaru/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
deleted file mode 100644
index 2b8de77cb1..0000000000
--- a/selfdrive/car/subaru/carcontroller.py
+++ /dev/null
@@ -1,144 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
-from openpilot.selfdrive.car.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
-
-# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
-# involves the total steering angle change rather than rate, but these limits work well for now
-MAX_STEER_RATE = 25  # deg/s
-MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.apply_steer_last = 0
-
-    self.cruise_button_prev = 0
-    self.steer_rate_counter = 0
-
-    self.p = CarControllerParams(CP)
-    self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-    pcm_cancel_cmd = CC.cruiseControl.cancel
-
-    can_sends = []
-
-    # *** steering ***
-    if (self.frame % self.p.STEER_STEP) == 0:
-      apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
-
-      # limits due to driver torque
-
-      new_steer = int(round(apply_steer))
-      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
-
-      if not CC.latActive:
-        apply_steer = 0
-
-      if self.CP.flags & SubaruFlags.PREGLOBAL:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
-      else:
-        apply_steer_req = CC.latActive
-
-        if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED:
-          # Steering rate fault prevention
-          self.steer_rate_counter, apply_steer_req = \
-            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
-                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
-
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
-
-      self.apply_steer_last = apply_steer
-
-    # *** longitudinal ***
-
-    if CC.longActive:
-      apply_throttle = int(round(interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V)))
-      apply_rpm = int(round(interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V)))
-      apply_brake = int(round(interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V)))
-
-      # limit min and max values
-      cruise_throttle = clip(apply_throttle, CarControllerParams.THROTTLE_MIN, CarControllerParams.THROTTLE_MAX)
-      cruise_rpm = clip(apply_rpm, CarControllerParams.RPM_MIN, CarControllerParams.RPM_MAX)
-      cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX)
-    else:
-      cruise_throttle = CarControllerParams.THROTTLE_INACTIVE
-      cruise_rpm = CarControllerParams.RPM_MIN
-      cruise_brake = CarControllerParams.BRAKE_MIN
-
-    # *** alerts and pcm cancel ***
-    if self.CP.flags & SubaruFlags.PREGLOBAL:
-      if self.frame % 5 == 0:
-        # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
-        # disengage ACC when OP is disengaged
-        if pcm_cancel_cmd:
-          cruise_button = 1
-        # turn main on if off and past start-up state
-        elif not CS.out.cruiseState.available and CS.ready:
-          cruise_button = 1
-        else:
-          cruise_button = CS.cruise_button
-
-        # unstick previous mocked button press
-        if cruise_button == 1 and self.cruise_button_prev == 1:
-          cruise_button = 0
-        self.cruise_button_prev = cruise_button
-
-        can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
-
-    else:
-      if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
-                                                        self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible))
-
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
-                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-
-        if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
-
-      if self.CP.openpilotLongitudinalControl:
-        if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
-                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
-
-          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg,
-                                                     self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake))
-
-          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
-                                                        self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
-      else:
-        if pcm_cancel_cmd:
-          if not (self.CP.flags & SubaruFlags.HYBRID):
-            bus = CanBus.alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else CanBus.main
-            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
-
-      if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
-        # Tester present (keeps eyesight disabled)
-        if self.frame % 100 == 0:
-          can_sends.append(make_tester_present_msg(GLOBAL_ES_ADDR, CanBus.camera, suppress_response=True))
-
-        # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
-        if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_highbeamassist(self.packer))
-
-        if self.frame % 10 == 0:
-          can_sends.append(subarucan.create_es_static_1(self.packer))
-
-        if self.frame % 2 == 0:
-          can_sends.append(subarucan.create_es_static_2(self.packer))
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
-    new_actuators.steerOutputCan = self.apply_steer_last
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
deleted file mode 100644
index cabf2c5c56..0000000000
--- a/selfdrive/car/subaru/carstate.py
+++ /dev/null
@@ -1,228 +0,0 @@
-import copy
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
-from openpilot.selfdrive.car import CanSignalRateCalculator
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["Transmission"]["Gear"]
-
-    self.angle_rate_calulator = CanSignalRateCalculator(50)
-
-  def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
-    ret = structs.CarState()
-
-    throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
-    ret.gas = throttle_msg["Throttle_Pedal"] / 255.
-
-    ret.gasPressed = ret.gas > 1e-5
-    if self.CP.flags & SubaruFlags.PREGLOBAL:
-      ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
-    else:
-      cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-      ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
-
-    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
-    if not (self.CP.flags & SubaruFlags.HYBRID):
-      eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
-
-      # if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
-      if self.CP.openpilotLongitudinalControl:
-        ret.carFaultedNonCritical = eyesight_fault
-      else:
-        ret.accFaulted = eyesight_fault
-
-    cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp_wheels.vl["Wheel_Speeds"]["FL"],
-      cp_wheels.vl["Wheel_Speeds"]["FR"],
-      cp_wheels.vl["Wheel_Speeds"]["RL"],
-      cp_wheels.vl["Wheel_Speeds"]["RR"],
-    )
-    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw == 0
-
-    # continuous blinker signals for assisted lane change
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
-                                                                      cp.vl["Dashlights"]["RIGHT_BLINKER"])
-
-    if self.CP.enableBsm:
-      ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
-      ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
-
-    cp_transmission = cp_body if self.CP.flags & SubaruFlags.HYBRID else cp
-    can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-
-    ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
-
-    if not (self.CP.flags & SubaruFlags.PREGLOBAL):
-      # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
-
-    ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
-    ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
-
-    steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
-    ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
-
-    cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-    if self.CP.flags & SubaruFlags.HYBRID:
-      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
-      ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
-    else:
-      ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
-      ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
-    ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
-
-    if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
-       (not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["UNITS"] == 1):
-      ret.cruiseState.speed *= CV.MPH_TO_KPH
-
-    ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
-    ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
-                        cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
-                        cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
-                        cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
-    ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
-
-    if self.CP.flags & SubaruFlags.PREGLOBAL:
-      self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
-      self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
-    else:
-      ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
-      ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
-      ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
-      ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
-                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
-
-      self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
-      cp_es_brake = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
-      self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
-      cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
-
-      # TODO: Hybrid cars don't have ES_Distance, need a replacement
-      if not (self.CP.flags & SubaruFlags.HYBRID):
-        # 8 is known AEB, there are a few other values related to AEB we ignore
-        ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
-                       (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
-
-        self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
-        self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
-
-    if not (self.CP.flags & SubaruFlags.HYBRID):
-      self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
-
-    self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
-    if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-      self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
-
-    return ret
-
-  @staticmethod
-  def get_common_global_body_messages(CP):
-    messages = [
-      ("Wheel_Speeds", 50),
-      ("Brake_Status", 50),
-    ]
-
-    if not (CP.flags & SubaruFlags.HYBRID):
-      messages.append(("CruiseControl", 20))
-
-    return messages
-
-  @staticmethod
-  def get_common_global_es_messages(CP):
-    messages = [
-      ("ES_Brake", 20),
-    ]
-
-    if not (CP.flags & SubaruFlags.HYBRID):
-      messages += [
-        ("ES_Distance", 20),
-        ("ES_Status", 20)
-      ]
-
-    return messages
-
-  @staticmethod
-  def get_common_preglobal_body_messages():
-    messages = [
-      ("CruiseControl", 50),
-      ("Wheel_Speeds", 50),
-      ("Dash_State2", 1),
-    ]
-
-    return messages
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("Dashlights", 10),
-      ("Steering_Torque", 50),
-      ("BodyInfo", 1),
-      ("Brake_Pedal", 50),
-    ]
-
-    if not (CP.flags & SubaruFlags.HYBRID):
-      messages += [
-        ("Throttle", 100),
-        ("Transmission", 100)
-      ]
-
-    if CP.enableBsm:
-      messages.append(("BSD_RCTA", 17))
-
-    if not (CP.flags & SubaruFlags.PREGLOBAL):
-      if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
-        messages += CarState.get_common_global_body_messages(CP)
-    else:
-      messages += CarState.get_common_preglobal_body_messages()
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    if CP.flags & SubaruFlags.PREGLOBAL:
-      messages = [
-        ("ES_DashStatus", 20),
-        ("ES_Distance", 20),
-      ]
-    else:
-      messages = [
-        ("ES_DashStatus", 10),
-        ("ES_LKAS_State", 10),
-      ]
-
-      if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
-        messages += CarState.get_common_global_es_messages(CP)
-
-      if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-        messages.append(("ES_Infotainment", 10))
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera)
-
-  @staticmethod
-  def get_body_can_parser(CP):
-    messages = []
-
-    if CP.flags & SubaruFlags.GLOBAL_GEN2:
-      messages += CarState.get_common_global_body_messages(CP)
-      messages += CarState.get_common_global_es_messages(CP)
-
-    if CP.flags & SubaruFlags.HYBRID:
-      messages += [
-        ("Throttle_Hybrid", 40),
-        ("Transmission", 100)
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
deleted file mode 100644
index 340844e561..0000000000
--- a/selfdrive/car/subaru/fingerprints.py
+++ /dev/null
@@ -1,563 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.subaru.values import CAR
-
-Ecu = CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.SUBARU_ASCENT: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa5 \x19\x02\x00',
-      b'\xa5 !\x02\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x05\xc0\xd0\x00',
-      b'\x85\xc0\xd0\x00',
-      b'\x95\xc0\xd0\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00d\xb9\x00\x00\x00\x00',
-      b'\x00\x00d\xb9\x1f@ \x10',
-      b'\x00\x00e@\x00\x00\x00\x00',
-      b'\x00\x00e@\x1f@ $',
-      b"\x00\x00e~\x1f@ '",
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xbb,\xa0t\x07',
-      b'\xd1,\xa0q\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x00>\xf0\x00\x00',
-      b'\x00\xfe\xf7\x00\x00',
-      b'\x01\xfe\xf7\x00\x00',
-      b'\x01\xfe\xf9\x00\x00',
-      b'\x01\xfe\xfa\x00\x00',
-    ],
-  },
-  CAR.SUBARU_ASCENT_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa5 #\x03\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'%\xc0\xd0\x11',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x05!\x08\x1dK\x05!\x08\x01/',
-    ],
-    (Ecu.engine, 0x7a2, None): [
-      b'\xe5,\xa0P\x07',
-    ],
-    (Ecu.transmission, 0x7a3, None): [
-      b'\x04\xfe\xf3\x00\x00',
-    ],
-  },
-  CAR.SUBARU_LEGACY: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa1  \x02\x01',
-      b'\xa1  \x02\x02',
-      b'\xa1  \x03\x03',
-      b'\xa1  \x04\x01',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x9b\xc0\x11\x00',
-      b'\x9b\xc0\x11\x02',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
-      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xde"a0\x07',
-      b'\xde,\xa0@\x07',
-      b'\xe2"aq\x07',
-      b'\xe2,\xa0@\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xa5\xf6\x05@\x00',
-      b'\xa5\xfe\xc7@\x00',
-      b'\xa7\xf6\x04@\x00',
-      b'\xa7\xfe\xc4@\x00',
-    ],
-  },
-  CAR.SUBARU_IMPREZA: {
-    (Ecu.abs, 0x7b0, None): [
-      b'z\x84\x19\x90\x00',
-      b'z\x94\x08\x90\x00',
-      b'z\x94\x08\x90\x01',
-      b'z\x94\x0c\x90\x00',
-      b'z\x94\x0c\x90\x01',
-      b'z\x94.\x90\x00',
-      b'z\x94?\x90\x00',
-      b'z\x9c\x19\x80\x01',
-      b'\xa2 \x185\x00',
-      b'\xa2 \x193\x00',
-      b'\xa2 \x194\x00',
-      b'\xa2 \x19`\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'z\xc0\x00\x00',
-      b'z\xc0\x04\x00',
-      b'z\xc0\x08\x00',
-      b'z\xc0\n\x00',
-      b'z\xc0\x0c\x00',
-      b'\x8a\xc0\x00\x00',
-      b'\x8a\xc0\x10\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00c\xf4\x00\x00\x00\x00',
-      b'\x00\x00c\xf4\x1f@ \x07',
-      b'\x00\x00d)\x00\x00\x00\x00',
-      b'\x00\x00d)\x1f@ \x07',
-      b'\x00\x00dd\x00\x00\x00\x00',
-      b'\x00\x00dd\x1f@ \x0e',
-      b'\x00\x00d\xb5\x1f@ \x0e',
-      b'\x00\x00d\xdc\x00\x00\x00\x00',
-      b'\x00\x00d\xdc\x1f@ \x0e',
-      b'\x00\x00e\x02\x1f@ \x14',
-      b'\x00\x00e\x1c\x00\x00\x00\x00',
-      b'\x00\x00e\x1c\x1f@ \x14',
-      b'\x00\x00e+\x00\x00\x00\x00',
-      b'\x00\x00e+\x1f@ \x14',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xaa\x00Bu\x07',
-      b'\xaa\x01bt\x07',
-      b'\xaa!`u\x07',
-      b'\xaa!au\x07',
-      b'\xaa!av\x07',
-      b'\xaa!aw\x07',
-      b'\xaa!dq\x07',
-      b'\xaa!ds\x07',
-      b'\xaa!dt\x07',
-      b'\xaaafs\x07',
-      b'\xbe!as\x07',
-      b'\xbe!at\x07',
-      b'\xbeacr\x07',
-      b'\xc5!`r\x07',
-      b'\xc5!`s\x07',
-      b'\xc5!ap\x07',
-      b'\xc5!ar\x07',
-      b'\xc5!as\x07',
-      b'\xc5!dr\x07',
-      b'\xc5!ds\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xe3\xd0\x081\x00',
-      b'\xe3\xd5\x161\x00',
-      b'\xe3\xe5F1\x00',
-      b'\xe3\xf5\x06\x00\x00',
-      b'\xe3\xf5\x07\x00\x00',
-      b'\xe3\xf5C\x00\x00',
-      b'\xe3\xf5F\x00\x00',
-      b'\xe3\xf5G\x00\x00',
-      b'\xe4\xe5\x021\x00',
-      b'\xe4\xe5\x061\x00',
-      b'\xe4\xf5\x02\x00\x00',
-      b'\xe4\xf5\x07\x00\x00',
-      b'\xe5\xf5\x04\x00\x00',
-      b'\xe5\xf5$\x00\x00',
-      b'\xe5\xf5B\x00\x00',
-    ],
-  },
-  CAR.SUBARU_IMPREZA_2020: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa2 \x193\x00',
-      b'\xa2 \x194\x00',
-      b'\xa2  `\x00',
-      b'\xa2 !3\x00',
-      b'\xa2 !6\x00',
-      b'\xa2 !`\x00',
-      b'\xa2 !i\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\n\xc0\x04\x00',
-      b'\n\xc0\x04\x01',
-      b'\x9a\xc0\x00\x00',
-      b'\x9a\xc0\x04\x00',
-      b'\x9a\xc0\n\x01',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00eb\x1f@ "',
-      b'\x00\x00eq\x00\x00\x00\x00',
-      b'\x00\x00eq\x1f@ "',
-      b'\x00\x00e\x8f\x00\x00\x00\x00',
-      b'\x00\x00e\x8f\x1f@ )',
-      b'\x00\x00e\x92\x00\x00\x00\x00',
-      b'\x00\x00e\xa4\x00\x00\x00\x00',
-      b'\x00\x00e\xa4\x1f@ (',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xca!`0\x07',
-      b'\xca!`p\x07',
-      b'\xca!ap\x07',
-      b'\xca!f@\x07',
-      b'\xca!fp\x07',
-      b'\xcaacp\x07',
-      b'\xcc!`p\x07',
-      b'\xcc!fp\x07',
-      b'\xcc"f0\x07',
-      b'\xe6!`@\x07',
-      b'\xe6!fp\x07',
-      b'\xe6"f0\x07',
-      b'\xe6"fp\x07',
-      b'\xf3"f@\x07',
-      b'\xf3"fp\x07',
-      b'\xf3"fr\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xe6\x15\x042\x00',
-      b'\xe6\xf5\x04\x00\x00',
-      b'\xe6\xf5$\x00\x00',
-      b'\xe6\xf5D0\x00',
-      b'\xe7\xf5\x04\x00\x00',
-      b'\xe7\xf5D0\x00',
-      b'\xe7\xf6B0\x00',
-      b'\xe9\xf5"\x00\x00',
-      b'\xe9\xf5B0\x00',
-      b'\xe9\xf6B0\x00',
-      b'\xe9\xf6F0\x00',
-    ],
-  },
-  CAR.SUBARU_CROSSTREK_HYBRID: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa2 \x19e\x01',
-      b'\xa2 !e\x01',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\n\xc2\x01\x00',
-      b'\x9a\xc2\x01\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00el\x1f@ #',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xd7!`@\x07',
-      b'\xd7!`p\x07',
-      b'\xf4!`0\x07',
-    ],
-  },
-  CAR.SUBARU_FORESTER: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa3 \x18\x14\x00',
-      b'\xa3 \x18&\x00',
-      b'\xa3 \x19\x14\x00',
-      b'\xa3 \x19&\x00',
-      b'\xa3 \x19h\x00',
-      b'\xa3  \x14\x00',
-      b'\xa3  \x14\x01',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x8d\xc0\x00\x00',
-      b'\x8d\xc0\x04\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00e!\x00\x00\x00\x00',
-      b'\x00\x00e!\x1f@ \x11',
-      b'\x00\x00e^\x00\x00\x00\x00',
-      b'\x00\x00e^\x1f@ !',
-      b'\x00\x00e`\x00\x00\x00\x00',
-      b'\x00\x00e`\x1f@  ',
-      b'\x00\x00e\x97\x00\x00\x00\x00',
-      b'\x00\x00e\x97\x1f@ 0',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xb6"`A\x07',
-      b'\xb6\xa2`A\x07',
-      b'\xcb"`@\x07',
-      b'\xcb"`p\x07',
-      b'\xcf"`0\x07',
-      b'\xcf"`p\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x1a\xe6B1\x00',
-      b'\x1a\xe6F1\x00',
-      b'\x1a\xf6B0\x00',
-      b'\x1a\xf6B`\x00',
-      b'\x1a\xf6F`\x00',
-      b'\x1a\xf6b0\x00',
-      b'\x1a\xf6b`\x00',
-      b'\x1a\xf6f`\x00',
-    ],
-  },
-  CAR.SUBARU_FORESTER_HYBRID: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa3 \x19T\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x8d\xc2\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00eY\x1f@ !',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xd2\xa1`r\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x1b\xa7@a\x00',
-    ],
-  },
-  CAR.SUBARU_FORESTER_PREGLOBAL: {
-    (Ecu.abs, 0x7b0, None): [
-      b'm\x97\x14@',
-      b'}\x97\x14@',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'm\xc0\x10\x00',
-      b'}\xc0\x10\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00c\xe9\x00\x00\x00\x00',
-      b'\x00\x00c\xe9\x1f@ \x03',
-      b'\x00\x00d5\x1f@ \t',
-      b'\x00\x00d\xd3\x1f@ \t',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xa7"@0\x07',
-      b'\xa7"@p\x07',
-      b'\xa7)\xa0q\x07',
-      b'\xba"@@\x07',
-      b'\xba"@p\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x1a\xf6F`\x00',
-      b'\xda\xf2`p\x00',
-      b'\xda\xf2`\x80\x00',
-      b'\xda\xfd\xe0\x80\x00',
-      b'\xdc\xf2@`\x00',
-      b'\xdc\xf2``\x00',
-      b'\xdc\xf2`\x80\x00',
-      b'\xdc\xf2`\x81\x00',
-    ],
-  },
-  CAR.SUBARU_LEGACY_PREGLOBAL: {
-    (Ecu.abs, 0x7b0, None): [
-      b'[\x97D\x00',
-      b'[\xba\xc4\x03',
-      b'k\x97D\x00',
-      b'k\x9aD\x00',
-      b'{\x97D\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'K\xb0\x00\x01',
-      b'[\xb0\x00\x01',
-      b'k\xb0\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00c\x94\x1f@\x10\x08',
-      b'\x00\x00c\xb7\x1f@\x10\x16',
-      b'\x00\x00c\xec\x1f@ \x04',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xa0"@q\x07',
-      b'\xa0+@p\x07',
-      b'\xab*@r\x07',
-      b'\xab+@p\x07',
-      b'\xb4"@0\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xbd\xf2\x00`\x00',
-      b'\xbe\xf2\x00p\x00',
-      b'\xbe\xfb\xc0p\x00',
-      b'\xbf\xf2\x00\x80\x00',
-      b'\xbf\xfb\xc0\x80\x00',
-    ],
-  },
-  CAR.SUBARU_OUTBACK_PREGLOBAL: {
-    (Ecu.abs, 0x7b0, None): [
-      b'[\xba\xac\x03',
-      b'[\xf7\xac\x00',
-      b'[\xf7\xac\x03',
-      b'[\xf7\xbc\x03',
-      b'k\x97\xac\x00',
-      b'k\x9a\xac\x00',
-      b'{\x97\xac\x00',
-      b'{\x9a\xac\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'K\xb0\x00\x00',
-      b'K\xb0\x00\x02',
-      b'[\xb0\x00\x00',
-      b'k\xb0\x00\x00',
-      b'{\xb0\x00\x01',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00c\x90\x1f@\x10\x0e',
-      b'\x00\x00c\x94\x00\x00\x00\x00',
-      b'\x00\x00c\x94\x1f@\x10\x08',
-      b'\x00\x00c\xb7\x1f@\x10\x16',
-      b'\x00\x00c\xd1\x1f@\x10\x17',
-      b'\x00\x00c\xec\x1f@ \x04',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xa0"@\x80\x07',
-      b'\xa0*@q\x07',
-      b'\xa0*@u\x07',
-      b'\xa0+@@\x07',
-      b'\xa0bAq\x07',
-      b'\xab"@@\x07',
-      b'\xab"@s\x07',
-      b'\xab*@@\x07',
-      b'\xab+@@\x07',
-      b'\xb4"@0\x07',
-      b'\xb4"@p\x07',
-      b'\xb4"@r\x07',
-      b'\xb4+@p\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xbd\xf2@`\x00',
-      b'\xbd\xf2@\x81\x00',
-      b'\xbd\xfb\xe0\x80\x00',
-      b'\xbe\xf2@p\x00',
-      b'\xbe\xf2@\x80\x00',
-      b'\xbe\xfb\xe0p\x00',
-      b'\xbf\xe2@\x80\x00',
-      b'\xbf\xf2@\x80\x00',
-      b'\xbf\xfb\xe0b\x00',
-    ],
-  },
-  CAR.SUBARU_OUTBACK_PREGLOBAL_2018: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x8b\x97\xac\x00',
-      b'\x8b\x97\xbc\x00',
-      b'\x8b\x99\xac\x00',
-      b'\x8b\x9a\xac\x00',
-      b'\x9b\x97\xac\x00',
-      b'\x9b\x97\xbe\x10',
-      b'\x9b\x9a\xac\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'{\xb0\x00\x00',
-      b'{\xb0\x00\x01',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00df\x1f@ \n',
-      b'\x00\x00d\x95\x00\x00\x00\x00',
-      b'\x00\x00d\x95\x1f@ \x0f',
-      b'\x00\x00d\xfe\x00\x00\x00\x00',
-      b'\x00\x00d\xfe\x1f@ \x15',
-      b'\x00\x00e\x19\x1f@ \x15',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xb5"@P\x07',
-      b'\xb5"@p\x07',
-      b'\xb5+@@\x07',
-      b'\xb5b@1\x07',
-      b'\xb5q\xe0@\x07',
-      b'\xc4"@0\x07',
-      b'\xc4+@0\x07',
-      b'\xc4b@p\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xbb\xf2@`\x00',
-      b'\xbb\xfb\xe0`\x00',
-      b'\xbc\xaf\xe0`\x00',
-      b'\xbc\xe2@\x80\x00',
-      b'\xbc\xf2@\x80\x00',
-      b'\xbc\xf2@\x81\x00',
-      b'\xbc\xfb\xe0`\x00',
-      b'\xbc\xfb\xe0\x80\x00',
-    ],
-  },
-  CAR.SUBARU_OUTBACK: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa1  \x06\x00',
-      b'\xa1  \x06\x01',
-      b'\xa1  \x06\x02',
-      b'\xa1  \x07\x00',
-      b'\xa1  \x07\x02',
-      b'\xa1  \x07\x03',
-      b'\xa1  \x08\x00',
-      b'\xa1  \x08\x01',
-      b'\xa1  \x08\x02',
-      b'\xa1 "\t\x00',
-      b'\xa1 "\t\x01',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x1b\xc0\x10\x00',
-      b'\x9b\xc0\x10\x00',
-      b'\x9b\xc0\x10\x02',
-      b'\x9b\xc0 \x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
-      b'\x00\x00eJ\x00\x1f@ \x19\x00',
-      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
-      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
-      b'\x00\x00e\x9a\x00\x1f@ 1\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xbc"`@\x07',
-      b'\xbc"`q\x07',
-      b'\xbc,\xa0q\x07',
-      b'\xbc,\xa0u\x07',
-      b'\xde"`0\x07',
-      b'\xde,\xa0@\x07',
-      b'\xe2"`0\x07',
-      b'\xe2"`p\x07',
-      b'\xe2"`q\x07',
-      b'\xe3,\xa0@\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xa5\xf6D@\x00',
-      b'\xa5\xfe\xf6@\x00',
-      b'\xa5\xfe\xf7@\x00',
-      b'\xa5\xfe\xf8@\x00',
-      b'\xa7\x8e\xf40\x00',
-      b'\xa7\xf6D@\x00',
-      b'\xa7\xfe\xf4@\x00',
-    ],
-  },
-  CAR.SUBARU_FORESTER_2022: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa3 !v\x00',
-      b'\xa3 !x\x00',
-      b'\xa3 "v\x00',
-      b'\xa3 "x\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'-\xc0\x040',
-      b'-\xc0%0',
-      b'=\xc0%\x02',
-      b'=\xc04\x02',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x04!\x01\x1eD\x07!\x00\x04,',
-      b'\x04!\x08\x01.\x07!\x08\x022',
-      b'\r!\x08\x017\n!\x08\x003',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xd5"`0\x07',
-      b'\xd5"a0\x07',
-      b'\xf1"`q\x07',
-      b'\xf1"aq\x07',
-      b'\xfa"ap\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x1d\x86B0\x00',
-      b'\x1d\xf6B0\x00',
-      b'\x1e\x86B0\x00',
-      b'\x1e\x86F0\x00',
-      b'\x1e\xf6D0\x00',
-    ],
-  },
-  CAR.SUBARU_OUTBACK_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa1 #\x14\x00',
-      b'\xa1 #\x17\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'+\xc0\x10\x11\x00',
-      b'+\xc0\x12\x11\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\t!\x08\x046\x05!\x08\x01/',
-    ],
-    (Ecu.engine, 0x7a2, None): [
-      b'\xed,\xa0q\x07',
-      b'\xed,\xa2q\x07',
-    ],
-    (Ecu.transmission, 0x7a3, None): [
-      b'\xa8\x8e\xf41\x00',
-      b'\xa8\xfe\xf41\x00',
-    ],
-  },
-}
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
deleted file mode 100644
index d392edc60b..0000000000
--- a/selfdrive/car/subaru/interface.py
+++ /dev/null
@@ -1,101 +0,0 @@
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.disable_ecu import disable_ecu
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
-
-
-class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "subaru"
-    ret.radarUnavailable = True
-    # for HYBRID CARS to be upstreamed, we need:
-    # - replacement for ES_Distance so we can cancel the cruise control
-    # - to find the Cruise_Activated bit from the car
-    # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
-    ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
-    ret.autoResumeSng = False
-
-    # Detect infotainment message sent from the camera
-    if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
-      ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
-
-    if ret.flags & SubaruFlags.PREGLOBAL:
-      ret.enableBsm = 0x25c in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaruPreglobal)]
-    else:
-      ret.enableBsm = 0x228 in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
-      if ret.flags & SubaruFlags.GLOBAL_GEN2:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
-
-    ret.steerLimitTimer = 0.4
-    ret.steerActuatorDelay = 0.1
-
-    if ret.flags & SubaruFlags.LKAS_ANGLE:
-      ret.steerControlType = structs.CarParams.SteerControlType.angle
-    else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
-      ret.steerActuatorDelay = 0.3  # end-to-end angle controller
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00003
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
-
-    elif candidate == CAR.SUBARU_IMPREZA:
-      ret.steerActuatorDelay = 0.4  # end-to-end angle controller
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
-
-    elif candidate == CAR.SUBARU_IMPREZA_2020:
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
-
-    elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
-      ret.steerActuatorDelay = 0.1
-
-    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.000038
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
-
-    elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
-      ret.steerActuatorDelay = 0.1
-
-    elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
-      ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
-
-    elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
-      ret.steerActuatorDelay = 0.15
-
-    elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL:
-      pass
-    else:
-      raise ValueError(f"unknown car: {candidate}")
-
-    ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
-                                                              SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
-    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
-
-    if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
-      ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
-
-    if ret.openpilotLongitudinalControl:
-      ret.stoppingControl = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
-
-    return ret
-
-  @staticmethod
-  def init(CP, can_recv, can_send):
-    if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
-      disable_ecu(can_recv, can_send, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py
deleted file mode 100644
index e654bd61fd..0000000000
--- a/selfdrive/car/subaru/radar_interface.py
+++ /dev/null
@@ -1,4 +0,0 @@
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
deleted file mode 100644
index fd6644c22c..0000000000
--- a/selfdrive/car/subaru/subarucan.py
+++ /dev/null
@@ -1,321 +0,0 @@
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.subaru.values import CanBus
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-
-def create_steering_control(packer, apply_steer, steer_req):
-  values = {
-    "LKAS_Output": apply_steer,
-    "LKAS_Request": steer_req,
-    "SET_1": 1
-  }
-  return packer.make_can_msg("ES_LKAS", 0, values)
-
-
-def create_steering_control_angle(packer, apply_steer, steer_req):
-  values = {
-    "LKAS_Output": apply_steer,
-    "LKAS_Request": steer_req,
-    "SET_3": 3
-  }
-  return packer.make_can_msg("ES_LKAS_ANGLE", 0, values)
-
-
-def create_steering_status(packer):
-  return packer.make_can_msg("ES_LKAS_State", 0, {})
-
-def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
-  values = {s: es_distance_msg[s] for s in [
-    "CHECKSUM",
-    "Signal1",
-    "Cruise_Fault",
-    "Cruise_Throttle",
-    "Signal2",
-    "Car_Follow",
-    "Low_Speed_Follow",
-    "Cruise_Soft_Disable",
-    "Signal7",
-    "Cruise_Brake_Active",
-    "Distance_Swap",
-    "Cruise_EPB",
-    "Signal4",
-    "Close_Distance",
-    "Signal5",
-    "Cruise_Cancel",
-    "Cruise_Set",
-    "Cruise_Resume",
-    "Signal6",
-  ]}
-
-  values["COUNTER"] = frame % 0x10
-
-  if long_enabled:
-    values["Cruise_Throttle"] = cruise_throttle
-
-    # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long
-    values["Cruise_Soft_Disable"] = 0
-    values["Cruise_Fault"] = 0
-
-    values["Cruise_Brake_Active"] = brake_cmd
-
-  if pcm_cancel_cmd:
-    values["Cruise_Cancel"] = 1
-    values["Cruise_Throttle"] = 1818 # inactive throttle
-
-  return packer.make_can_msg("ES_Distance", bus, values)
-
-
-def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
-  values = {s: es_lkas_state_msg[s] for s in [
-    "CHECKSUM",
-    "LKAS_Alert_Msg",
-    "Signal1",
-    "LKAS_ACTIVE",
-    "LKAS_Dash_State",
-    "Signal2",
-    "Backward_Speed_Limit_Menu",
-    "LKAS_Left_Line_Enable",
-    "LKAS_Left_Line_Light_Blink",
-    "LKAS_Right_Line_Enable",
-    "LKAS_Right_Line_Light_Blink",
-    "LKAS_Left_Line_Visible",
-    "LKAS_Right_Line_Visible",
-    "LKAS_Alert",
-    "Signal3",
-  ]}
-
-  values["COUNTER"] = frame % 0x10
-
-  # Filter the stock LKAS "Keep hands on wheel" alert
-  if values["LKAS_Alert_Msg"] == 1:
-    values["LKAS_Alert_Msg"] = 0
-
-  # Filter the stock LKAS sending an audible alert when it turns off LKAS
-  if values["LKAS_Alert"] == 27:
-    values["LKAS_Alert"] = 0
-
-  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models)
-  if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7:
-    values["LKAS_Alert"] = 0
-
-  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models)
-  if values["LKAS_Alert"] == 30:
-    values["LKAS_Alert"] = 0
-
-  # Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models)
-  if values["LKAS_Alert_Msg"] == 7:
-    values["LKAS_Alert_Msg"] = 0
-
-  # Show Keep hands on wheel alert for openpilot steerRequired alert
-  if visual_alert == VisualAlert.steerRequired:
-    values["LKAS_Alert_Msg"] = 1
-
-  # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
-  if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
-    if left_lane_depart:
-      values["LKAS_Alert"] = 12  # Left lane departure dash alert
-    elif right_lane_depart:
-      values["LKAS_Alert"] = 11  # Right lane departure dash alert
-
-  if enabled:
-    values["LKAS_ACTIVE"] = 1  # Show LKAS lane lines
-    values["LKAS_Dash_State"] = 2  # Green enabled indicator
-  else:
-    values["LKAS_Dash_State"] = 0  # LKAS Not enabled
-
-  values["LKAS_Left_Line_Visible"] = int(left_line)
-  values["LKAS_Right_Line_Visible"] = int(right_line)
-
-  return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
-
-def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
-  values = {s: dashstatus_msg[s] for s in [
-    "CHECKSUM",
-    "PCB_Off",
-    "LDW_Off",
-    "Signal1",
-    "Cruise_State_Msg",
-    "LKAS_State_Msg",
-    "Signal2",
-    "Cruise_Soft_Disable",
-    "Cruise_Status_Msg",
-    "Signal3",
-    "Cruise_Distance",
-    "Signal4",
-    "Conventional_Cruise",
-    "Signal5",
-    "Cruise_Disengaged",
-    "Cruise_Activated",
-    "Signal6",
-    "Cruise_Set_Speed",
-    "Cruise_Fault",
-    "Cruise_On",
-    "Display_Own_Car",
-    "Brake_Lights",
-    "Car_Follow",
-    "Signal7",
-    "Far_Distance",
-    "Cruise_State",
-  ]}
-
-  values["COUNTER"] = frame % 0x10
-
-  if long_enabled:
-    values["Cruise_State"] = 0
-    values["Cruise_Activated"] = enabled
-    values["Cruise_Disengaged"] = 0
-    values["Car_Follow"] = int(lead_visible)
-
-    values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
-    values["LDW_Off"] = 0
-    values["Cruise_Fault"] = 0
-
-  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
-  if values["LKAS_State_Msg"] in (2, 3):
-    values["LKAS_State_Msg"] = 0
-
-  return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
-
-def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value):
-  values = {s: es_brake_msg[s] for s in [
-    "CHECKSUM",
-    "Signal1",
-    "Brake_Pressure",
-    "AEB_Status",
-    "Cruise_Brake_Lights",
-    "Cruise_Brake_Fault",
-    "Cruise_Brake_Active",
-    "Cruise_Activated",
-    "Signal3",
-  ]}
-
-  values["COUNTER"] = frame % 0x10
-
-  if long_enabled:
-    values["Cruise_Brake_Fault"] = 0
-    values["Cruise_Activated"] = long_active
-
-    values["Brake_Pressure"] = brake_value
-
-    values["Cruise_Brake_Active"] = brake_value > 0
-    values["Cruise_Brake_Lights"] = brake_value >= 70
-
-  return packer.make_can_msg("ES_Brake", CanBus.main, values)
-
-def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
-  values = {s: es_status_msg[s] for s in [
-    "CHECKSUM",
-    "Signal1",
-    "Cruise_Fault",
-    "Cruise_RPM",
-    "Cruise_Activated",
-    "Brake_Lights",
-    "Cruise_Hold",
-    "Signal3",
-  ]}
-
-  values["COUNTER"] = frame % 0x10
-
-  if long_enabled:
-    values["Cruise_RPM"] = cruise_rpm
-    values["Cruise_Fault"] = 0
-
-    values["Cruise_Activated"] = long_active
-
-  return packer.make_can_msg("ES_Status", CanBus.main, values)
-
-
-def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
-  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
-  values = {s: es_infotainment_msg[s] for s in [
-    "CHECKSUM",
-    "LKAS_State_Infotainment",
-    "LKAS_Blue_Lines",
-    "Signal1",
-    "Signal2",
-  ]}
-
-  values["COUNTER"] = frame % 0x10
-
-  if values["LKAS_State_Infotainment"] in (3, 4):
-    values["LKAS_State_Infotainment"] = 0
-
-  # Show Keep hands on wheel alert for openpilot steerRequired alert
-  if visual_alert == VisualAlert.steerRequired:
-    values["LKAS_State_Infotainment"] = 3
-
-  # Show Obstacle Detected for fcw
-  if visual_alert == VisualAlert.fcw:
-    values["LKAS_State_Infotainment"] = 2
-
-  return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
-
-
-def create_es_highbeamassist(packer):
-  values = {
-    "HBA_Available": False,
-  }
-
-  return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
-
-
-def create_es_static_1(packer):
-  values = {
-    "SET_3": 3,
-  }
-
-  return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
-
-
-def create_es_static_2(packer):
-  values = {
-    "SET_3": 3,
-  }
-
-  return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
-
-
-# *** Subaru Pre-global ***
-
-def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
-  dat = packer.make_can_msg(addr, 0, values)[1]
-  return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256
-
-
-def create_preglobal_steering_control(packer, frame, apply_steer, steer_req):
-  values = {
-    "COUNTER": frame % 0x08,
-    "LKAS_Command": apply_steer,
-    "LKAS_Active": steer_req,
-  }
-  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
-
-  return packer.make_can_msg("ES_LKAS", CanBus.main, values)
-
-
-def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
-  values = {s: es_distance_msg[s] for s in [
-    "Cruise_Throttle",
-    "Signal1",
-    "Car_Follow",
-    "Signal2",
-    "Cruise_Brake_Active",
-    "Distance_Swap",
-    "Standstill",
-    "Signal3",
-    "Close_Distance",
-    "Signal4",
-    "Standstill_2",
-    "Cruise_Fault",
-    "Signal5",
-    "COUNTER",
-    "Signal6",
-    "Cruise_Button",
-    "Signal7",
-  ]}
-
-  values["Cruise_Button"] = cruise_button
-  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
-
-  return packer.make_can_msg("ES_Distance", CanBus.main, values)
diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py
deleted file mode 100644
index f81c392679..0000000000
--- a/selfdrive/car/subaru/tests/test_subaru.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS
-
-
-class TestSubaruFingerprint:
-  def test_fw_version_format(self):
-    for platform, fws_per_ecu in FW_VERSIONS.items():
-      for (ecu, _, _), fws in fws_per_ecu.items():
-        fw_size = len(fws[0])
-        for fw in fws:
-          assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}"
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
deleted file mode 100644
index 655627159d..0000000000
--- a/selfdrive/car/subaru/values.py
+++ /dev/null
@@ -1,275 +0,0 @@
-from dataclasses import dataclass, field
-from enum import Enum, IntFlag
-
-from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
-
-Ecu = CarParams.Ecu
-
-
-class CarControllerParams:
-  def __init__(self, CP):
-    self.STEER_STEP = 2                # how often we update the steer cmd
-    self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
-    self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
-    self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 1       # from dbc
-
-    if CP.flags & SubaruFlags.GLOBAL_GEN2:
-      self.STEER_MAX = 1000
-      self.STEER_DELTA_UP = 40
-      self.STEER_DELTA_DOWN = 40
-    elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
-      self.STEER_MAX = 1439
-    else:
-      self.STEER_MAX = 2047
-
-  THROTTLE_MIN = 808
-  THROTTLE_MAX = 3400
-
-  THROTTLE_INACTIVE     = 1818   # corresponds to zero acceleration
-  THROTTLE_ENGINE_BRAKE = 808    # while braking, eyesight sets throttle to this, probably for engine braking
-
-  BRAKE_MIN = 0
-  BRAKE_MAX = 600                # about -3.5m/s2 from testing
-
-  RPM_MIN = 0
-  RPM_MAX = 3600
-
-  RPM_INACTIVE = 600             # a good base rpm for zero acceleration
-
-  THROTTLE_LOOKUP_BP = [0, 2]
-  THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
-
-  RPM_LOOKUP_BP = [0, 2]
-  RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
-
-  BRAKE_LOOKUP_BP = [-3.5, 0]
-  BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
-
-
-class SubaruFlags(IntFlag):
-  # Detected flags
-  SEND_INFOTAINMENT = 1
-  DISABLE_EYESIGHT = 2
-
-  # Static flags
-  GLOBAL_GEN2 = 4
-
-  # Cars that temporarily fault when steering angle rate is greater than some threshold.
-  # Appears to be all torque-based cars produced around 2019 - present
-  STEER_RATE_LIMITED = 8
-  PREGLOBAL = 16
-  HYBRID = 32
-  LKAS_ANGLE = 64
-
-
-GLOBAL_ES_ADDR = 0x787
-GEN2_ES_BUTTONS_DID = b'\x11\x30'
-
-
-class CanBus:
-  main = 0
-  alt = 1
-  camera = 2
-
-
-class Footnote(Enum):
-  GLOBAL = CarFootnote(
-    "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
-    Column.PACKAGE)
-  EXP_LONG = CarFootnote(
-    "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.",
-    Column.LONGITUDINAL)
-
-
-@dataclass
-class SubaruCarDocs(CarDocs):
-  package: str = "EyeSight Driver Assistance"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
-  footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
-
-  def init_make(self, CP: CarParams):
-    self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
-
-    if CP.experimentalLongitudinalAvailable:
-      self.footnotes.append(Footnote.EXP_LONG)
-
-
-@dataclass
-class SubaruPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
-
-  def init(self):
-    if self.flags & SubaruFlags.HYBRID:
-      self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None)
-
-
-@dataclass
-class SubaruGen2PlatformConfig(SubaruPlatformConfig):
-  def init(self):
-    super().init()
-    self.flags |= SubaruFlags.GLOBAL_GEN2
-    if not (self.flags & SubaruFlags.LKAS_ANGLE):
-      self.flags |= SubaruFlags.STEER_RATE_LIMITED
-
-
-class CAR(Platforms):
-  # Global platform
-  SUBARU_ASCENT = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
-    CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
-  )
-  SUBARU_OUTBACK = SubaruGen2PlatformConfig(
-    [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
-  )
-  SUBARU_LEGACY = SubaruGen2PlatformConfig(
-    [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
-    SUBARU_OUTBACK.specs,
-  )
-  SUBARU_IMPREZA = SubaruPlatformConfig(
-    [
-      SubaruCarDocs("Subaru Impreza 2017-19"),
-      SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
-      SubaruCarDocs("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
-    ],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
-  )
-  SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
-    [
-      SubaruCarDocs("Subaru Impreza 2020-22"),
-      SubaruCarDocs("Subaru Crosstrek 2020-23"),
-      SubaruCarDocs("Subaru XV 2020-21"),
-    ],
-    CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
-    flags=SubaruFlags.STEER_RATE_LIMITED,
-  )
-  # TODO: is there an XV and Impreza too?
-  SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
-    CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
-    flags=SubaruFlags.HYBRID,
-  )
-  SUBARU_FORESTER = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Forester 2019-21", "All")],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
-    flags=SubaruFlags.STEER_RATE_LIMITED,
-  )
-  SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Forester Hybrid 2020")],
-    SUBARU_FORESTER.specs,
-    flags=SubaruFlags.HYBRID,
-  )
-  # Pre-global
-  SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Forester 2017-18")],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
-    dbc_dict('subaru_forester_2017_generated', None),
-    flags=SubaruFlags.PREGLOBAL,
-  )
-  SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Legacy 2015-18")],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
-    dbc_dict('subaru_outback_2015_generated', None),
-    flags=SubaruFlags.PREGLOBAL,
-  )
-  SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Outback 2015-17")],
-    SUBARU_FORESTER_PREGLOBAL.specs,
-    dbc_dict('subaru_outback_2015_generated', None),
-    flags=SubaruFlags.PREGLOBAL,
-  )
-  SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Outback 2018-19")],
-    SUBARU_FORESTER_PREGLOBAL.specs,
-    dbc_dict('subaru_outback_2019_generated', None),
-    flags=SubaruFlags.PREGLOBAL,
-  )
-  # Angle LKAS
-  SUBARU_FORESTER_2022 = SubaruPlatformConfig(
-    [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
-    SUBARU_FORESTER.specs,
-    flags=SubaruFlags.LKAS_ANGLE,
-  )
-  SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig(
-    [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
-    SUBARU_OUTBACK.specs,
-    flags=SubaruFlags.LKAS_ANGLE,
-  )
-  SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig(
-    [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
-    SUBARU_ASCENT.specs,
-    flags=SubaruFlags.LKAS_ANGLE,
-  )
-
-
-SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-
-# The EyeSight ECU takes 10s to respond to SUBARU_VERSION_REQUEST properly,
-# log this alternate manufacturer-specific query
-SUBARU_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf100)
-SUBARU_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(0xf100)
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
-      logging=True,
-    ),
-    # Non-OBD requests
-    # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
-    # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
-    Request(
-      [SUBARU_VERSION_REQUEST],
-      [SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
-      bus=0,
-    ),
-    Request(
-      [SUBARU_ALT_VERSION_REQUEST],
-      [SUBARU_ALT_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
-      bus=0,
-      logging=True,
-    ),
-    Request(
-      [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
-      [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
-      bus=0,
-      logging=True,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
-      bus=0,
-    ),
-    # GEN2 powertrain bus query
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
-      bus=1,
-      obd_multiplexing=False,
-    ),
-  ],
-  # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
-  non_essential_ecus={
-    Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
-  }
-)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index aecf75358f..fcd55fa86d 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -1,18 +1,18 @@
 #!/usr/bin/env python3
 from typing import NamedTuple
 
-from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
-from openpilot.selfdrive.car.gm.values import CAR as GM
-from openpilot.selfdrive.car.ford.values import CAR as FORD
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
-from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
-from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
-from openpilot.selfdrive.car.body.values import CAR as COMMA
+from opendbc.car.chrysler.values import CAR as CHRYSLER
+from opendbc.car.gm.values import CAR as GM
+from opendbc.car.ford.values import CAR as FORD
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.mazda.values import CAR as MAZDA
+from opendbc.car.subaru.values import CAR as SUBARU
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.values import Platform
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
+from opendbc.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
deleted file mode 100644
index e28b2fe3b4..0000000000
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from parameterized import parameterized
-
-from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
-from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
-
-
-class TestCanFingerprint:
-  @parameterized.expand(list(FINGERPRINTS.items()))
-  def test_can_fingerprint(self, car_model, fingerprints):
-    """Tests online fingerprinting function on offline fingerprints"""
-
-    for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
-      can = [CanData(address=address, dat=b'\x00' * length, src=src)
-             for address, length in fingerprint.items() for src in (0, 1)]
-
-      fingerprint_iter = iter([can])
-      car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])])  # noqa: B023
-
-      assert car_fingerprint == car_model
-      assert finger[0] == fingerprint
-      assert finger[1] == fingerprint
-      assert finger[2] == {}
-
-  def test_timing(self, subtests):
-    # just pick any CAN fingerprinting car
-    car_model = "CHEVROLET_BOLT_EUV"
-    fingerprint = FINGERPRINTS[car_model][0]
-
-    cases = []
-
-    # case 1 - one match, make sure we keep going for 100 frames
-    can = [CanData(address=address, dat=b'\x00' * length, src=src)
-           for address, length in fingerprint.items() for src in (0, 1)]
-    cases.append((FRAME_FINGERPRINT, car_model, can))
-
-    # case 2 - no matches, make sure we keep going for 100 frames
-    can = [CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
-    cases.append((FRAME_FINGERPRINT, None, can))
-
-    # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
-    can = [CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
-    cases.append((FRAME_FINGERPRINT * 2, None, can))
-
-    for expected_frames, car_model, can in cases:
-      with subtests.test(expected_frames=expected_frames, car_model=car_model):
-        frames = 0
-
-        def can_recv(**kwargs):
-          nonlocal frames
-          frames += 1
-          return [can]  # noqa: B023
-
-        car_fingerprint, _ = can_fingerprint(can_recv)
-        assert car_fingerprint == car_model
-        assert frames == expected_frames + 2  # TODO: fix extra frames
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 249fb24a7a..5a321efb16 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,14 +6,14 @@ import importlib
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from opendbc.car import DT_CTRL, gen_empty_fingerprint
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.structs import CarParams
+from opendbc.car.fingerprints import all_known_cars
+from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
+from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.fingerprints import all_known_cars
-from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -123,7 +123,7 @@ class TestCarInterfaces:
       LatControlTorque(car_params_capnp, car_interface)
 
     # Test radar interface
-    RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
+    RadarInterface = importlib.import_module(f'opendbc.car.{car_params.carName}.radar_interface').RadarInterface
     radar_interface = RadarInterface(car_params)
     assert radar_interface
 
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 52d8976517..a203b2feff 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,12 +1,10 @@
-from collections import defaultdict
-import pytest
-import re
+import os
 
-from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.docs import get_all_car_docs
-from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.values import PLATFORMS
+from openpilot.common.basedir import BASEDIR
+from opendbc.car.docs import generate_cars_md, get_all_car_docs
+from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
+from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
+from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
 
 
 class TestCarDocs:
@@ -14,61 +12,15 @@ class TestCarDocs:
   def setup_class(cls):
     cls.all_cars = get_all_car_docs()
 
-  def test_duplicate_years(self, subtests):
-    make_model_years = defaultdict(list)
-    for car in self.all_cars:
-      with subtests.test(car_docs_name=car.name):
-        make_model = (car.make, car.model)
-        for year in car.year_list:
-          assert year not in make_model_years[make_model], f"{car.name}: Duplicate model year"
-          make_model_years[make_model].append(year)
+  def test_generator(self):
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
+    with open(CARS_MD_OUT) as f:
+      current_cars_md = f.read()
 
-  def test_missing_car_docs(self, subtests):
-    all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
-    for platform in sorted(interfaces.keys()):
-      with subtests.test(platform=platform):
-        assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry"
+    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
 
-  def test_naming_conventions(self, subtests):
-    # Asserts market-standard car naming conventions by brand
-    for car in self.all_cars:
-      with subtests.test(car=car.name):
-        tokens = car.model.lower().split(" ")
-        if car.car_name == "hyundai":
-          assert "phev" not in tokens, "Use `Plug-in Hybrid`"
-          assert "hev" not in tokens, "Use `Hybrid`"
-          if "plug-in hybrid" in car.model.lower():
-            assert "Plug-in Hybrid" in car.model, "Use correct capitalization"
-          if car.make != "Kia":
-            assert "ev" not in tokens, "Use `Electric`"
-        elif car.car_name == "toyota":
-          if "rav4" in tokens:
-            assert "RAV4" in car.model, "Use correct capitalization"
-
-  def test_torque_star(self, subtests):
-    # Asserts brand-specific assumptions around steering torque star
-    for car in self.all_cars:
-      with subtests.test(car=car.name):
-        # honda sanity check, it's the definition of a no torque star
-        if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
-          assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star"
-        elif car.car_name in ("toyota", "hyundai"):
-          assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star"
-
-  def test_year_format(self, subtests):
-    for car in self.all_cars:
-      with subtests.test(car=car.name):
-        assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}"
-
-  def test_harnesses(self, subtests):
-    for car in self.all_cars:
-      with subtests.test(car=car.name):
-        if car.name == "comma body":
-          pytest.skip()
-
-        car_part_type = [p.part_type for p in car.car_parts.all_parts()]
-        car_parts = list(car.car_parts.all_parts())
-        assert len(car_parts) > 0, f"Need to specify car parts: {car.name}"
-        assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}"
-        assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}"
-        assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}"
+  def test_docs_diff(self):
+    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
+    dump_car_docs(dump_path)
+    print_car_docs_diff(dump_path)
+    os.remove(dump_path)
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
deleted file mode 100644
index c859287cbd..0000000000
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ /dev/null
@@ -1,323 +0,0 @@
-import pytest
-import random
-import time
-from collections import defaultdict
-from parameterized import parameterized
-
-from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
-from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
-                                                match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_fw_versions_ordered, get_present_ecus
-from openpilot.selfdrive.car.vin import get_vin
-
-CarFw = CarParams.CarFw
-Ecu = CarParams.Ecu
-
-
-class TestFwFingerprint:
-  def assertFingerprints(self, candidates, expected):
-    candidates = list(candidates)
-    assert len(candidates) == 1, f"got more than one candidate: {candidates}"
-    assert candidates[0] == expected
-
-  @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
-  def test_exact_match(self, brand, car_model, ecus, test_non_essential):
-    config = FW_QUERY_CONFIGS[brand]
-    CP = CarParams()
-    for _ in range(100):
-      fw = []
-      for ecu, fw_versions in ecus.items():
-        # Assume non-essential ECUs apply to all cars, so we catch cases where Car A with
-        # missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs
-        if ecu[0] in config.non_essential_ecus and test_non_essential:
-          continue
-
-        ecu_name, addr, sub_addr = ecu
-        fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(fw_versions), brand=brand,
-                        address=addr, subAddress=0 if sub_addr is None else sub_addr))
-      CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_fuzzy=False)
-      if not test_non_essential:
-        self.assertFingerprints(matches, car_model)
-      else:
-        # if we're removing ECUs we expect some match loss, but it shouldn't mismatch
-        if len(matches) != 0:
-          self.assertFingerprints(matches, car_model)
-
-  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_custom_fuzzy_match(self, brand, car_model, ecus):
-    # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
-    config = FW_QUERY_CONFIGS[brand]
-    if config.match_fw_to_car_fuzzy is None:
-      pytest.skip("Brand does not implement custom fuzzy fingerprinting function")
-
-    CP = CarParams()
-    for _ in range(5):
-      fw = []
-      for ecu, fw_versions in ecus.items():
-        ecu_name, addr, sub_addr = ecu
-        fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(fw_versions), brand=brand,
-                        address=addr, subAddress=0 if sub_addr is None else sub_addr))
-      CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
-      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, VERSIONS[brand])
-
-      # If both have matches, they must agree
-      if len(matches) == 1 and len(brand_matches) == 1:
-        assert matches == brand_matches
-
-  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
-    # Asserts that fuzzy matching does not count matching FW, but ECU address keys
-    valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
-    if not len(valid_ecus):
-      pytest.skip("Car model has no compatible ECUs for fuzzy matching")
-
-    fw = []
-    for ecu in valid_ecus:
-      ecu_name, addr, sub_addr = ecu
-      for _ in range(5):
-        # Add multiple FW versions to simulate ECU returning to multiple queries in a brand
-        fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(ecus[ecu]), brand=brand,
-                        address=addr, subAddress=0 if sub_addr is None else sub_addr))
-      CP = CarParams(carFw=fw)
-      _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
-
-      # Assert no match if there are not enough unique ECUs
-      unique_ecus = {(f.address, f.subAddress) for f in fw}
-      if len(unique_ecus) < 2:
-        assert len(matches) == 0, car_model
-      # There won't always be a match due to shared FW, but if there is it should be correct
-      elif len(matches):
-        self.assertFingerprints(matches, car_model)
-
-  def test_fw_version_lists(self, subtests):
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for ecu, ecu_fw in ecus.items():
-          with subtests.test((ecu[0].value, ecu[1], ecu[2])):
-            duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-            assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ecu[0]}, {duplicates}'
-            assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ecu[0]}'
-
-  def test_all_addrs_map_to_one_ecu(self):
-    for brand, cars in VERSIONS.items():
-      addr_to_ecu = defaultdict(set)
-      for ecus in cars.values():
-        for ecu_type, addr, sub_addr in ecus.keys():
-          addr_to_ecu[(addr, sub_addr)].add(ecu_type)
-          ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
-          ecu_strings = ", ".join([f'Ecu.{ecu}' for ecu in ecus_for_addr])
-          assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})"
-
-  def test_data_collection_ecus(self, subtests):
-    # Asserts no extra ECUs are in the fingerprinting database
-    for brand, config in FW_QUERY_CONFIGS.items():
-      for car_model, ecus in VERSIONS[brand].items():
-        bad_ecus = set(ecus).intersection(config.extra_ecus)
-        with subtests.test(car_model=car_model.value):
-          assert not len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}'
-
-  def test_blacklisted_ecus(self, subtests):
-    blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        CP = interfaces[car_model][0].get_non_essential_params(car_model)
-        if CP.carName == 'subaru':
-          for ecu in ecus.keys():
-            assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ecu[0]}, {hex(ecu[1])})'
-
-        elif CP.carName == "chrysler":
-          # Some HD trucks have a combined TCM and ECM
-          if CP.carFingerprint.startswith("RAM_HD"):
-            for ecu in ecus.keys():
-              assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ecu[0]}, {hex(ecu[1])})"
-
-  def test_non_essential_ecus(self, subtests):
-    for brand, config in FW_QUERY_CONFIGS.items():
-      with subtests.test(brand):
-        # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
-        unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS)
-        assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \
-                                                                f"{', '.join([f'Ecu.{ecu}' for ecu in unnecessary_non_essential_ecus])}"
-
-  def test_missing_versions_and_configs(self, subtests):
-    brand_versions = set(VERSIONS.keys())
-    brand_configs = set(FW_QUERY_CONFIGS.keys())
-    if len(brand_configs - brand_versions):
-      with subtests.test():
-        pytest.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
-
-    if len(brand_versions - brand_configs):
-      with subtests.test():
-        pytest.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
-
-    # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval
-    for brand, config in FW_QUERY_CONFIGS.items():
-      assert len(config.get_all_ecus({}, include_extra_ecus=False)) == 0
-      assert config.get_all_ecus({}) == set(config.extra_ecus)
-      assert len(config.get_all_ecus(VERSIONS[brand])) > 0
-
-  def test_fw_request_ecu_whitelist(self, subtests):
-    for brand, config in FW_QUERY_CONFIGS.items():
-      with subtests.test(brand=brand):
-        whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
-        brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
-        brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
-
-        # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
-        ecus_not_whitelisted = brand_ecus - whitelisted_ecus
-
-        ecu_strings = ", ".join([f'Ecu.{ecu}' for ecu in ecus_not_whitelisted])
-        assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \
-                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}'
-
-  def test_fw_requests(self, subtests):
-    # Asserts equal length request and response lists
-    for brand, config in FW_QUERY_CONFIGS.items():
-      with subtests.test(brand=brand):
-        for request_obj in config.requests:
-          assert len(request_obj.request) == len(request_obj.response)
-
-          # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
-          assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), \
-                           f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}"
-
-  def test_brand_ecu_matches(self):
-    empty_response = {brand: set() for brand in FW_QUERY_CONFIGS}
-    assert get_brand_ecu_matches(set()) == empty_response
-
-    # we ignore bus
-    expected_response = empty_response | {'toyota': {(0x750, 0xf)}}
-    assert get_brand_ecu_matches({(0x758, 0xf, 99)}) == expected_response
-
-
-class TestFwFingerprintTiming:
-  N: int = 5
-  TOL: float = 0.05
-
-  # for patched functions
-  current_obd_multiplexing: bool
-  total_time: float
-
-  @staticmethod
-  def fake_can_send(msgs):
-    pass
-
-  @staticmethod
-  def fake_can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
-    return ([[CanData(random.randint(0x600, 0x800), b'\x00' * 8, 0)]]
-            if random.uniform(0, 1) > 0.5 else [])
-
-  def fake_set_obd_multiplexing(self, obd_multiplexing):
-    """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
-    if obd_multiplexing != self.current_obd_multiplexing:
-      self.current_obd_multiplexing = obd_multiplexing
-      self.total_time += 0.1 / 2
-
-  def fake_get_data(self, timeout):
-    self.total_time += timeout
-    return {}
-
-  def _benchmark_brand(self, brand, num_pandas, mocker):
-    self.total_time = 0
-    mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
-    for _ in range(self.N):
-      # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
-      self.current_obd_multiplexing = True
-
-      t = time.perf_counter()
-      get_fw_versions(self.fake_can_recv, self.fake_can_send, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
-      self.total_time += time.perf_counter() - t
-
-    return self.total_time / self.N
-
-  def _assert_timing(self, avg_time, ref_time):
-    assert avg_time < ref_time + self.TOL
-    assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs."
-
-  def test_startup_timing(self, subtests, mocker):
-    # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_times = {'worst': 1.4, 'best': 0.7}  # best assumes we go through all queries to get a match
-    present_ecu_ref_time = 0.45
-
-    def fake_get_ecu_addrs(*_, timeout):
-      self.total_time += timeout
-      return set()
-
-    self.total_time = 0.0
-    mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
-    for _ in range(self.N):
-      self.current_obd_multiplexing = True
-      get_present_ecus(self.fake_can_recv, self.fake_can_send, self.fake_set_obd_multiplexing, num_pandas=2)
-    self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
-    print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
-
-    for name, args in (('worst', {}), ('best', {'retry': 1})):
-      with subtests.test(name=name):
-        self.total_time = 0.0
-        mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
-        for _ in range(self.N):
-          get_vin(self.fake_can_recv, self.fake_can_send, (0, 1), **args)
-        self._assert_timing(self.total_time / self.N, vin_ref_times[name])
-        print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
-
-  def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 6.9, 2: 7.5}
-    brand_ref_times = {
-      1: {
-        'gm': 1.0,
-        'body': 0.1,
-        'chrysler': 0.3,
-        'ford': 1.5,
-        'honda': 0.45,
-        'hyundai': 0.65,
-        'mazda': 0.1,
-        'nissan': 0.8,
-        'subaru': 0.65,
-        'toyota': 0.7,
-        'volkswagen': 0.65,
-      },
-      2: {
-        'ford': 1.6,
-        'hyundai': 1.15,
-      }
-    }
-
-    total_times = {1: 0.0, 2: 0.0}
-    for num_pandas in (1, 2):
-      for brand, config in FW_QUERY_CONFIGS.items():
-        with subtests.test(brand=brand, num_pandas=num_pandas):
-          avg_time = self._benchmark_brand(brand, num_pandas, mocker)
-          total_times[num_pandas] += avg_time
-          avg_time = round(avg_time, 2)
-
-          ref_time = brand_ref_times[num_pandas].get(brand)
-          if ref_time is None:
-            # ref time should be same as 1 panda if no aux queries
-            ref_time = brand_ref_times[num_pandas - 1][brand]
-
-          self._assert_timing(avg_time, ref_time)
-          print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
-
-    for num_pandas in (1, 2):
-      with subtests.test(brand='all_brands', num_pandas=num_pandas):
-        total_time = round(total_times[num_pandas], 2)
-        self._assert_timing(total_time, total_ref_time[num_pandas])
-        print(f'all brands, total FW query time={total_time} seconds')
-
-  def test_get_fw_versions(self, subtests, mocker):
-    # some coverage on IsoTpParallelQuery and panda UDS library
-    # TODO: replace this with full fingerprint simulation testing
-    # https://github.com/commaai/panda/pull/1329
-
-    def fake_carlog_exception(*args, **kwargs):
-      raise
-
-    mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
-    get_fw_versions_ordered(self.fake_can_recv, self.fake_can_send, lambda obd: None, '0' * 17, set())
-    for brand in FW_QUERY_CONFIGS.keys():
-      with subtests.test(brand=brand):
-        get_fw_versions(self.fake_can_recv, self.fake_can_send, lambda obd: None, brand)
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 24eac01fcd..87c7a5e256 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,10 +5,10 @@ from parameterized import parameterized_class
 import pytest
 import sys
 
-from openpilot.selfdrive.car import DT_CTRL
-from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.fingerprints import all_known_cars
-from openpilot.selfdrive.car.interfaces import get_torque_params
+from opendbc.car import DT_CTRL
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.fingerprints import all_known_cars
+from opendbc.car.interfaces import get_torque_params
 
 CAR_MODELS = all_known_cars()
 
@@ -41,7 +41,7 @@ class TestLateralLimits:
     if CP.notCar:
       pytest.skip()
 
-    CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
+    CarControllerParams = importlib.import_module(f'opendbc.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
     cls.torque_params = get_torque_params()[cls.car_model]
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index eecb6c1ba9..dfb1712ab4 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -14,13 +14,12 @@ from parameterized import parameterized_class
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
-from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from opendbc.car.fingerprints import all_known_cars, MIGRATION
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.values import Platform
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.card import Car, convert_to_capnp
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
@@ -233,7 +232,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
+    RadarInterface = importlib.import_module(f'opendbc.car.{self.CP.carName}.radar_interface').RadarInterface
     RI = RadarInterface(self.CP)
     assert RI
 
diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py
deleted file mode 100644
index 31e4be4fe6..0000000000
--- a/selfdrive/car/tests/test_platform_configs.py
+++ /dev/null
@@ -1,17 +0,0 @@
-from openpilot.selfdrive.car.values import PLATFORMS
-
-
-class TestPlatformConfigs:
-  def test_configs(self, subtests):
-
-    for name, platform in PLATFORMS.items():
-      with subtests.test(platform=str(platform)):
-        assert platform.config._frozen
-
-        if platform != "MOCK":
-          assert "pt" in platform.config.dbc_dict
-        assert len(platform.config.platform_str) > 0
-
-        assert name == platform.config.platform_str
-
-        assert platform.config.specs is not None
diff --git a/selfdrive/car/torque_data/neural_ff_weights.json b/selfdrive/car/torque_data/neural_ff_weights.json
deleted file mode 100644
index 251b66efb0..0000000000
--- a/selfdrive/car/torque_data/neural_ff_weights.json
+++ /dev/null
@@ -1 +0,0 @@
-{"CHEVROLET_BOLT_EUV": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 0.04300367832183838, -0.13856294751167297, -0.058136988431215286], [-0.006249868310987949, 0.08809533715248108, -0.040690965950489044, 0.02359287068247795, -0.00766348373144865, 0.24816390872001648, -0.17360293865203857, -0.03676899895071983, -0.17564819753170013, 0.18998438119888306, -0.050583917647600174, -0.006488069426268339, 0.10649101436138153, -0.024557121098041534, -0.103276826441288, 0.18448011577129364]], "b_1": [0.2935388386249542, 0.10967712104320526, -0.014007942751049995, 0.211833655834198, 0.33605605363845825, 0.37722209095954895, -0.16615016758441925, 0.3134673535823822, 0.06695777177810669, 0.3425212800502777, 0.3769673705101013, 0.23186539113521576, 0.5770409107208252, -0.05929069593548775, 0.01839117519557476, 0.03828774020075798], "w_2": [[-0.06261160969734192, 0.010185074992477894, -0.06083013117313385, -0.04531499370932579, -0.08979734033346176, 0.3432150185108185, -0.019801849499344826, 0.3010321259498596], [0.19698476791381836, -0.009238275699317455, 0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
deleted file mode 100644
index a4fc2a479f..0000000000
--- a/selfdrive/car/torque_data/override.toml
+++ /dev/null
@@ -1,72 +0,0 @@
-legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-### angle control
-# Nissan appears to have torque
-"NISSAN_XTRAIL" = [nan, 1.5, nan]
-"NISSAN_ALTIMA" = [nan, 1.5, nan]
-"NISSAN_LEAF_IC" = [nan, 1.5, nan]
-"NISSAN_LEAF" = [nan, 1.5, nan]
-"NISSAN_ROGUE" = [nan, 1.5, nan]
-
-# New subarus angle based controllers
-"SUBARU_FORESTER_2022" = [nan, 3.0, nan]
-"SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
-"SUBARU_ASCENT_2023" = [nan, 3.0, nan]
-
-# Toyota LTA also has torque
-"TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
-
-# Guess
-"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
-"FORD_ESCAPE_MK4" = [nan, 1.5, nan]
-"FORD_EXPLORER_MK6" = [nan, 1.5, nan]
-"FORD_F_150_MK14" = [nan, 1.5, nan]
-"FORD_FOCUS_MK4" = [nan, 1.5, nan]
-"FORD_MAVERICK_MK1" = [nan, 1.5, nan]
-"FORD_F_150_LIGHTNING_MK1" = [nan, 1.5, nan]
-"FORD_MUSTANG_MACH_E_MK1" = [nan, 1.5, nan]
-"FORD_RANGER_MK2" = [nan, 1.5, nan]
-###
-
-# No steering wheel
-"COMMA_BODY" = [nan, 1000, nan]
-
-# Totally new cars
-"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
-"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
-"SUBARU_OUTBACK" = [2.0, 1.5, 0.2]
-"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
-"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
-"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
-"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
-"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
-"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
-"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
-"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
-"HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
-"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
-"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
-"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
-"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
-"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
-"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]
-"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
-"GENESIS_GV80" = [2.5, 2.5, 0.1]
-"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
-"GMC_ACADIA" = [1.6, 1.6, 0.2]
-"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
-"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
-"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
-"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
-"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
-"LEXUS_GS_F" = [2.5, 2.5, 0.08]
-"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
-
-# Dashcam or fallback configured as ideal car
-"MOCK" = [10.0, 10, 0.0]
-
-# Manually checked
-"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
-"HONDA_HRV_3G" = [2.5, 1.2, 0.2]
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
deleted file mode 100644
index 4bb8d45c53..0000000000
--- a/selfdrive/car/torque_data/params.toml
+++ /dev/null
@@ -1,81 +0,0 @@
-legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-"ACURA_ILX" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
-"ACURA_RDX" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
-"ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
-"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
-"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
-"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
-"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
-"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
-"CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
-"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-"HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
-"HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
-"HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
-"HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
-"HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
-"HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
-"HONDA_FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
-"HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
-"HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
-"HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
-"HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
-"HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
-"HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]
-"HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171]
-"HYUNDAI_IONIQ_5" = [3.172929, 2.713050, 0.096019]
-"HYUNDAI_IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
-"HYUNDAI_IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
-"HYUNDAI_IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-"HYUNDAI_KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
-"HYUNDAI_PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
-"HYUNDAI_SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
-"HYUNDAI_SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
-"HYUNDAI_SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
-"HYUNDAI_SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
-"HYUNDAI_SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
-"HYUNDAI_SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
-"HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
-"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
-"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
-"KIA_EV6" = [3.2, 2.093457, 0.005]
-"KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
-"KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
-"KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
-"KIA_STINGER" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
-"LEXUS_ES_TSS2" = [2.0357564999999997, 1.999082295195227, 0.101533]
-"LEXUS_NX" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
-"LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-"LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
-"LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-"MAZDA_CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
-"SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
-"SUBARU_FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
-"SUBARU_IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
-"SUBARU_IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
-"TOYOTA_AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
-"TOYOTA_AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
-"TOYOTA_AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
-"TOYOTA_CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
-"TOYOTA_CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
-"TOYOTA_CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
-"TOYOTA_CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436]
-"TOYOTA_COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-"TOYOTA_COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-"TOYOTA_HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
-"TOYOTA_HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-"TOYOTA_MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-"TOYOTA_PRIUS" = [1.60, 1.5023147650693636, 0.151515]
-"TOYOTA_PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968]
-"TOYOTA_RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-"TOYOTA_RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
-"TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-"TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
-"TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
-"VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
-"VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
-"VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
-"VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
-"VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
-"VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
deleted file mode 100644
index 8724a08010..0000000000
--- a/selfdrive/car/torque_data/substitute.toml
+++ /dev/null
@@ -1,83 +0,0 @@
-legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-"MAZDA_3" = "MAZDA_CX9_2021"
-"MAZDA_6" = "MAZDA_CX9_2021"
-"MAZDA_CX5" = "MAZDA_CX9_2021"
-"MAZDA_CX5_2022" = "MAZDA_CX9_2021"
-"MAZDA_CX9" = "MAZDA_CX9_2021"
-
-"DODGE_DURANGO" = "CHRYSLER_PACIFICA_2020"
-
-"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
-"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
-"LEXUS_IS" = "LEXUS_NX"
-"LEXUS_CTH" = "LEXUS_NX"
-"LEXUS_ES" = "TOYOTA_CAMRY"
-"LEXUS_RC" = "LEXUS_NX_TSS2"
-"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
-
-"KIA_OPTIMA_G4" = "HYUNDAI_SONATA"
-"KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA"
-"KIA_OPTIMA_H" = "HYUNDAI_SONATA"
-"KIA_OPTIMA_H_G4_FL" = "HYUNDAI_SONATA"
-"KIA_FORTE" = "HYUNDAI_SONATA"
-"KIA_CEED" = "HYUNDAI_SONATA"
-"KIA_SELTOS" = "HYUNDAI_SONATA"
-"KIA_NIRO_PHEV" = "KIA_NIRO_EV"
-"KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV"
-"KIA_NIRO_HEV_2021" = "KIA_NIRO_EV"
-"HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF"
-"HYUNDAI_KONA" = "HYUNDAI_KONA_EV"
-"HYUNDAI_KONA_HEV" = "HYUNDAI_KONA_EV"
-"HYUNDAI_KONA_EV_2022" = "HYUNDAI_KONA_EV"
-"HYUNDAI_IONIQ" = "HYUNDAI_IONIQ_PHEV_2019"
-"HYUNDAI_IONIQ_HEV_2022" = "HYUNDAI_IONIQ_PHEV_2019"
-"HYUNDAI_IONIQ_EV_2020" = "HYUNDAI_IONIQ_PHEV_2019"
-"HYUNDAI_ELANTRA" = "HYUNDAI_SONATA_LF"
-"HYUNDAI_ELANTRA_GT_I30" = "HYUNDAI_SONATA_LF"
-"HYUNDAI_ELANTRA_HEV_2021" = "HYUNDAI_SONATA"
-"HYUNDAI_TUCSON" = "HYUNDAI_SANTA_FE"
-"HYUNDAI_SANTA_FE_2022" = "HYUNDAI_SANTA_FE_HEV_2022"
-"KIA_K5_HEV_2020" = "KIA_K5_2021"
-"KIA_STINGER_2022" = "KIA_STINGER"
-"GENESIS_G90" = "GENESIS_G70"
-"GENESIS_G80" = "GENESIS_G70"
-"GENESIS_G70_2020" = "HYUNDAI_SONATA"
-
-"HONDA_FREED" = "HONDA_ODYSSEY"
-"HONDA_CRV_EU" = "HONDA_CRV"
-"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
-"HONDA_E" = "HONDA_CIVIC_BOSCH"
-"HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
-
-"BUICK_LACROSSE" = "CHEVROLET_VOLT"
-"BUICK_REGAL" = "CHEVROLET_VOLT"
-"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
-"CADILLAC_ATS" = "CHEVROLET_VOLT"
-"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
-"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
-
-"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
-"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
-"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"
-"SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3"
-"SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3"
-"VOLKSWAGEN_CRAFTER_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
-"VOLKSWAGEN_TROC_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
-"VOLKSWAGEN_TCROSS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
-"VOLKSWAGEN_TOURAN_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
-"VOLKSWAGEN_TRANSPORTER_T61" = "VOLKSWAGEN_TIGUAN_MK2"
-"AUDI_Q2_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
-"VOLKSWAGEN_TAOS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
-"VOLKSWAGEN_POLO_MK6" = "VOLKSWAGEN_GOLF_MK7"
-"SEAT_ATECA_MK1" = "VOLKSWAGEN_GOLF_MK7"
-
-"SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020"
-"SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020"
-"SUBARU_LEGACY" = "SUBARU_OUTBACK"
-
-# Old subarus don't have much data guessing it's like low torque impreza"
-"SUBARU_OUTBACK_PREGLOBAL_2018" = "SUBARU_IMPREZA"
-"SUBARU_OUTBACK_PREGLOBAL" = "SUBARU_IMPREZA"
-"SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA"
-"SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
-"SUBARU_ASCENT" = "SUBARU_FORESTER"
diff --git a/selfdrive/car/toyota/__init__.py b/selfdrive/car/toyota/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
deleted file mode 100644
index aaaf072de7..0000000000
--- a/selfdrive/car/toyota/carcontroller.py
+++ /dev/null
@@ -1,179 +0,0 @@
-import copy
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg, structs
-from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.common.numpy_fast import clip
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.toyota import toyotacan
-from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
-                                        CarControllerParams, ToyotaFlags, \
-                                        UNSUPPORTED_DSU_CAR
-from opendbc.can.packer import CANPacker
-
-SteerControlType = structs.CarParams.SteerControlType
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-# LKA limits
-# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
-MAX_STEER_RATE = 100  # deg/s
-MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
-
-# EPS allows user torque above threshold for 50 frames before permanently faulting
-MAX_USER_TORQUE = 500
-
-# LTA limits
-# EPS ignores commands above this angle and causes PCS to fault
-MAX_LTA_ANGLE = 94.9461  # deg
-MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.params = CarControllerParams(self.CP)
-    self.last_steer = 0
-    self.last_angle = 0
-    self.alert_active = False
-    self.last_standstill = False
-    self.standstill_req = False
-    self.steer_rate_counter = 0
-    self.distance_button = 0
-
-    self.packer = CANPacker(dbc_name)
-    self.gas = 0
-    self.accel = 0
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-    pcm_cancel_cmd = CC.cruiseControl.cancel
-    lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
-
-    # *** control msgs ***
-    can_sends = []
-
-    # *** steer torque ***
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
-
-    # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
-                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
-
-    if not lat_active:
-      apply_steer = 0
-
-    # *** steer angle ***
-    if self.CP.steerControlType == SteerControlType.angle:
-      # If using LTA control, disable LKA and set steering angle command
-      apply_steer = 0
-      apply_steer_req = False
-      if self.frame % 2 == 0:
-        # EPS uses the torque sensor angle to control with, offset to compensate
-        apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
-
-        # Angular rate limit based on speed
-        apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgoRaw, self.params)
-
-        if not lat_active:
-          apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
-
-        self.last_angle = clip(apply_angle, -MAX_LTA_ANGLE, MAX_LTA_ANGLE)
-
-    self.last_steer = apply_steer
-
-    # toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2;
-    # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
-    # on consecutive messages
-    can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req))
-
-    # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier
-    if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
-      lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
-      # cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above
-      # the threshold, to limit max lateral acceleration and for driver torque blending respectively.
-      full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
-                               abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE)
-
-      # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec
-      torque_wind_down = 100 if lta_active and full_torque_condition else 0
-      can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle,
-                                                          lta_active, self.frame // 2, torque_wind_down))
-
-    # *** gas and brake ***
-    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
-
-    # on entering standstill, send standstill request
-    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
-      self.standstill_req = True
-    if CS.pcm_acc_status != 8:
-      # pcm entered standstill or it's disabled
-      self.standstill_req = False
-
-    self.last_standstill = CS.out.standstill
-
-    # handle UI messages
-    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
-
-    # we can spam can to cancel the system even if we are using lat only control
-    if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
-      lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
-
-      # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
-      if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
-        desired_distance = 4 - hud_control.leadDistanceBars
-        if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
-          self.distance_button = not self.distance_button
-        else:
-          self.distance_button = 0
-
-      # Lexus IS uses a different cancellation message
-      if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
-        can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
-      elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
-                                                        self.distance_button))
-        self.accel = pcm_accel_cmd
-      else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
-
-    # *** hud ui ***
-    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
-      # ui mesg is at 1Hz but we send asap if:
-      # - there is something to display
-      # - there is something to stop displaying
-      send_ui = False
-      if ((fcw_alert or steer_alert) and not self.alert_active) or \
-         (not (fcw_alert or steer_alert) and self.alert_active):
-        send_ui = True
-        self.alert_active = not self.alert_active
-      elif pcm_cancel_cmd:
-        # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
-        send_ui = True
-
-      if self.frame % 20 == 0 or send_ui:
-        can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
-                                                     hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
-
-      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
-        can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
-
-    # *** static msgs ***
-    for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
-      if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
-        can_sends.append(CanData(addr, vl, bus))
-
-    # keep radar disabled
-    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.steer = apply_steer / self.params.STEER_MAX
-    new_actuators.steerOutputCan = apply_steer
-    new_actuators.steeringAngleDeg = self.last_angle
-    new_actuators.accel = self.accel
-    new_actuators.gas = self.gas
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
deleted file mode 100644
index 924388eab8..0000000000
--- a/selfdrive/car/toyota/carstate.py
+++ /dev/null
@@ -1,240 +0,0 @@
-import copy
-
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL, create_button_events, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.car.common.numpy_fast import mean
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
-                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
-
-ButtonType = structs.CarState.ButtonEvent.Type
-SteerControlType = structs.CarParams.SteerControlType
-
-# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
-# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
-# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
-#     if using the other control command, goes directly to 3 after 1.5 seconds
-# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
-#     and is a catch-all for LKA
-TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
-# - lka/lta msg drop out: 3 (recoverable)
-# - prolonged high driver torque: 17 (permanent)
-PERM_STEER_FAULTS = (3, 17)
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
-    self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100.
-    self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
-    self.cluster_min_speed = CV.KPH_TO_MS / 2.
-
-    # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
-    # the signal is zeroed to where the steering angle is at start.
-    # Need to apply an offset as soon as the steering angle measurements are both received
-    self.accurate_steer_angle_seen = False
-    self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
-
-    self.distance_button = 0
-
-    self.pcm_follow_distance = 0
-
-    self.low_speed_lockout = False
-    self.acc_type = 1
-    self.lkas_hud = {}
-
-  def update(self, cp, cp_cam, *_) -> structs.CarState:
-    ret = structs.CarState()
-
-    ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
-                        cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0
-    ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1
-
-    ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
-    ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
-
-    ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
-
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
-    )
-    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
-
-    ret.standstill = abs(ret.vEgoRaw) < 1e-3
-
-    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
-    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
-    torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
-
-    # On some cars, the angle measurement is non-zero while initializing
-    if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
-      self.accurate_steer_angle_seen = True
-
-    if self.accurate_steer_angle_seen:
-      # Offset seems to be invalid for large steering angles and high angle rates
-      if abs(ret.steeringAngleDeg) < 90 and abs(ret.steeringRateDeg) < 100 and cp.can_valid:
-        self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
-
-      if self.angle_offset.initialized:
-        ret.steeringAngleOffsetDeg = self.angle_offset.x
-        ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
-
-    can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-    ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
-    ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
-
-    if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
-      ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
-
-    ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
-    # we could use the override bit from dbc, but it's triggered at too high torque values
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-
-    # Check EPS LKA/LTA fault status
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
-    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS
-
-    if self.CP.steerControlType == SteerControlType.angle:
-      ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
-      ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
-
-      # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
-      # the more accurate angle sensor signal is initialized
-      ret.vehicleSensorsInvalid = not self.accurate_steer_angle_seen
-
-    if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
-      # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
-      ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
-      ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
-      cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
-    else:
-      ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0
-      ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
-      ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
-      cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
-
-    # UI_SET_SPEED is always non-zero when main is on, hide until first enable
-    if ret.cruiseState.speed != 0:
-      is_metric = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"] in (1, 2)
-      conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
-      ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
-
-    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
-
-    if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
-      ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
-
-    # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
-    # these cars are identified by an ACC_TYPE value of 2.
-    # TODO: it is possible to avoid the lockout and gain stop and go if you
-    # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
-    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \
-       (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
-
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
-    if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
-      # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
-      ret.cruiseState.standstill = self.pcm_acc_status == 7
-    ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
-    ret.cruiseState.nonAdaptive = self.pcm_acc_status in (1, 2, 3, 4, 5, 6)
-
-    ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
-    ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
-
-    if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
-
-    if self.CP.enableBsm:
-      ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
-      ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
-
-    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
-      self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
-
-    if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
-      self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
-
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      # distance button is wired to the ACC module (camera or radar)
-      prev_distance_button = self.distance_button
-      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
-
-      ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      ("GEAR_PACKET", 1),
-      ("LIGHT_STALK", 1),
-      ("BLINKERS_STATE", 0.15),
-      ("BODY_CONTROL_STATE", 3),
-      ("BODY_CONTROL_STATE_2", 2),
-      ("ESP_CONTROL", 3),
-      ("EPS_STATUS", 25),
-      ("BRAKE_MODULE", 40),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_SM", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-    ]
-
-    if CP.carFingerprint != CAR.TOYOTA_MIRAI:
-      messages.append(("ENGINE_RPM", 42))
-
-    if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
-      messages.append(("DSU_CRUISE", 5))
-      messages.append(("PCM_CRUISE_ALT", 1))
-    else:
-      messages.append(("PCM_CRUISE_2", 33))
-
-    if CP.enableBsm:
-      messages.append(("BSM", 1))
-
-    if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      messages += [
-        ("PCS_HUD", 1),
-        ("ACC_CONTROL", 33),
-      ]
-
-    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      messages += [
-        ("PRE_COLLISION", 33),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = []
-
-    if CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
-      messages += [
-        ("LKAS_HUD", 1),
-      ]
-
-    if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      messages += [
-        ("PRE_COLLISION", 33),
-        ("ACC_CONTROL", 33),
-        ("PCS_HUD", 1),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
deleted file mode 100644
index 6a0bbbdf94..0000000000
--- a/selfdrive/car/toyota/fingerprints.py
+++ /dev/null
@@ -1,1697 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.toyota.values import CAR
-
-Ecu = CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.TOYOTA_AVALON: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152607060\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510701300\x00\x00\x00\x00',
-      b'881510705100\x00\x00\x00\x00',
-      b'881510705200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41051\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0701100\x00\x00\x00\x00',
-      b'8646F0703000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_AVALON_2019: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152607110\x00\x00\x00\x00\x00\x00',
-      b'F152607140\x00\x00\x00\x00\x00\x00',
-      b'F152607171\x00\x00\x00\x00\x00\x00',
-      b'F152607180\x00\x00\x00\x00\x00\x00',
-      b'F152641040\x00\x00\x00\x00\x00\x00',
-      b'F152641050\x00\x00\x00\x00\x00\x00',
-      b'F152641060\x00\x00\x00\x00\x00\x00',
-      b'F152641061\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510703200\x00\x00\x00\x00',
-      b'881510704200\x00\x00\x00\x00',
-      b'881514107100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B07010\x00\x00\x00\x00\x00\x00',
-      b'8965B41070\x00\x00\x00\x00\x00\x00',
-      b'8965B41080\x00\x00\x00\x00\x00\x00',
-      b'8965B41090\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630725100\x00\x00\x00\x00',
-      b'\x01896630725200\x00\x00\x00\x00',
-      b'\x01896630725300\x00\x00\x00\x00',
-      b'\x01896630725400\x00\x00\x00\x00',
-      b'\x01896630735100\x00\x00\x00\x00',
-      b'\x01896630738000\x00\x00\x00\x00',
-      b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x02896630734000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0702100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_AVALON_TSS2: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152607240\x00\x00\x00\x00\x00\x00',
-      b'\x01F152607250\x00\x00\x00\x00\x00\x00',
-      b'\x01F152607280\x00\x00\x00\x00\x00\x00',
-      b'F152641080\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41110\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x01896630742000\x00\x00\x00\x00',
-      b'\x01896630743000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_CAMRY: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306L3100\x00\x00\x00\x00',
-      b'\x018966306L4200\x00\x00\x00\x00',
-      b'\x018966306L5200\x00\x00\x00\x00',
-      b'\x018966306L9000\x00\x00\x00\x00',
-      b'\x018966306P8000\x00\x00\x00\x00',
-      b'\x018966306Q3100\x00\x00\x00\x00',
-      b'\x018966306Q4000\x00\x00\x00\x00',
-      b'\x018966306Q4100\x00\x00\x00\x00',
-      b'\x018966306Q4200\x00\x00\x00\x00',
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x018966333N1100\x00\x00\x00\x00',
-      b'\x018966333N4300\x00\x00\x00\x00',
-      b'\x018966333P3100\x00\x00\x00\x00',
-      b'\x018966333P3200\x00\x00\x00\x00',
-      b'\x018966333P4200\x00\x00\x00\x00',
-      b'\x018966333P4300\x00\x00\x00\x00',
-      b'\x018966333P4400\x00\x00\x00\x00',
-      b'\x018966333P4500\x00\x00\x00\x00',
-      b'\x018966333P4700\x00\x00\x00\x00',
-      b'\x018966333P4900\x00\x00\x00\x00',
-      b'\x018966333Q6000\x00\x00\x00\x00',
-      b'\x018966333Q6200\x00\x00\x00\x00',
-      b'\x018966333Q6300\x00\x00\x00\x00',
-      b'\x018966333Q6500\x00\x00\x00\x00',
-      b'\x018966333Q9200\x00\x00\x00\x00',
-      b'\x018966333W6000\x00\x00\x00\x00',
-      b'\x018966333X0000\x00\x00\x00\x00',
-      b'\x018966333X4000\x00\x00\x00\x00',
-      b'\x01896633T16000\x00\x00\x00\x00',
-      b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0601200    ',
-      b'8821F0601300    ',
-      b'8821F0601400    ',
-      b'8821F0601500    ',
-      b'8821F0602000    ',
-      b'8821F0603300    ',
-      b'8821F0603400    ',
-      b'8821F0604000    ',
-      b'8821F0604100    ',
-      b'8821F0604200    ',
-      b'8821F0605200    ',
-      b'8821F0606200    ',
-      b'8821F0607200    ',
-      b'8821F0608000    ',
-      b'8821F0608200    ',
-      b'8821F0608300    ',
-      b'8821F0609000    ',
-      b'8821F0609100    ',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152606210\x00\x00\x00\x00\x00\x00',
-      b'F152606230\x00\x00\x00\x00\x00\x00',
-      b'F152606260\x00\x00\x00\x00\x00\x00',
-      b'F152606270\x00\x00\x00\x00\x00\x00',
-      b'F152606290\x00\x00\x00\x00\x00\x00',
-      b'F152606410\x00\x00\x00\x00\x00\x00',
-      b'F152633214\x00\x00\x00\x00\x00\x00',
-      b'F152633540\x00\x00\x00\x00\x00\x00',
-      b'F152633660\x00\x00\x00\x00\x00\x00',
-      b'F152633712\x00\x00\x00\x00\x00\x00',
-      b'F152633713\x00\x00\x00\x00\x00\x00',
-      b'F152633A10\x00\x00\x00\x00\x00\x00',
-      b'F152633A20\x00\x00\x00\x00\x00\x00',
-      b'F152633B51\x00\x00\x00\x00\x00\x00',
-      b'F152633B60\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33540\x00\x00\x00\x00\x00\x00',
-      b'8965B33542\x00\x00\x00\x00\x00\x00',
-      b'8965B33550\x00\x00\x00\x00\x00\x00',
-      b'8965B33551\x00\x00\x00\x00\x00\x00',
-      b'8965B33580\x00\x00\x00\x00\x00\x00',
-      b'8965B33581\x00\x00\x00\x00\x00\x00',
-      b'8965B33611\x00\x00\x00\x00\x00\x00',
-      b'8965B33621\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F0601200    ',
-      b'8821F0601300    ',
-      b'8821F0601400    ',
-      b'8821F0601500    ',
-      b'8821F0602000    ',
-      b'8821F0603300    ',
-      b'8821F0603400    ',
-      b'8821F0604000    ',
-      b'8821F0604100    ',
-      b'8821F0604200    ',
-      b'8821F0605200    ',
-      b'8821F0606200    ',
-      b'8821F0607200    ',
-      b'8821F0608000    ',
-      b'8821F0608200    ',
-      b'8821F0608300    ',
-      b'8821F0609000    ',
-      b'8821F0609100    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0601200    ',
-      b'8646F0601300    ',
-      b'8646F0601400    ',
-      b'8646F0603400    ',
-      b'8646F0603500    ',
-      b'8646F0604000    ',
-      b'8646F0604100    ',
-      b'8646F0605000    ',
-      b'8646F0606000    ',
-      b'8646F0606100    ',
-      b'8646F0607000    ',
-      b'8646F0607100    ',
-    ],
-  },
-  CAR.TOYOTA_CAMRY_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33630\x00\x00\x00\x00\x00\x00',
-      b'8965B33640\x00\x00\x00\x00\x00\x00',
-      b'8965B33650\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152606370\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606390\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606400\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
-      b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
-      b'F152633310\x00\x00\x00\x00\x00\x00',
-      b'F152633D00\x00\x00\x00\x00\x00\x00',
-      b'F152633D60\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306Q5000\x00\x00\x00\x00',
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x018966306Q7000\x00\x00\x00\x00',
-      b'\x018966306Q9000\x00\x00\x00\x00',
-      b'\x018966306R3000\x00\x00\x00\x00',
-      b'\x018966306R8000\x00\x00\x00\x00',
-      b'\x018966306T0000\x00\x00\x00\x00',
-      b'\x018966306T3100\x00\x00\x00\x00',
-      b'\x018966306T3200\x00\x00\x00\x00',
-      b'\x018966306T4000\x00\x00\x00\x00',
-      b'\x018966306T4100\x00\x00\x00\x00',
-      b'\x018966306V1000\x00\x00\x00\x00',
-      b'\x018966333Z1000\x00\x00\x00\x00',
-      b'\x01896633T20000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_CHR: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896631017100\x00\x00\x00\x00',
-      b'\x01896631017200\x00\x00\x00\x00',
-      b'\x01896631021100\x00\x00\x00\x00',
-      b'\x0189663F413100\x00\x00\x00\x00',
-      b'\x0189663F414100\x00\x00\x00\x00',
-      b'\x0189663F438000\x00\x00\x00\x00',
-      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0W01000    ',
-      b'8821F0W01100    ',
-      b'8821FF401600    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405000    ',
-      b'8821FF405100    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610012\x00\x00\x00\x00\x00\x00',
-      b'F152610013\x00\x00\x00\x00\x00\x00',
-      b'F152610014\x00\x00\x00\x00\x00\x00',
-      b'F152610020\x00\x00\x00\x00\x00\x00',
-      b'F152610040\x00\x00\x00\x00\x00\x00',
-      b'F152610153\x00\x00\x00\x00\x00\x00',
-      b'F152610190\x00\x00\x00\x00\x00\x00',
-      b'F152610200\x00\x00\x00\x00\x00\x00',
-      b'F152610210\x00\x00\x00\x00\x00\x00',
-      b'F152610220\x00\x00\x00\x00\x00\x00',
-      b'F152610230\x00\x00\x00\x00\x00\x00',
-      b'F1526F4034\x00\x00\x00\x00\x00\x00',
-      b'F1526F4044\x00\x00\x00\x00\x00\x00',
-      b'F1526F4073\x00\x00\x00\x00\x00\x00',
-      b'F1526F4121\x00\x00\x00\x00\x00\x00',
-      b'F1526F4122\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10011\x00\x00\x00\x00\x00\x00',
-      b'8965B10020\x00\x00\x00\x00\x00\x00',
-      b'8965B10040\x00\x00\x00\x00\x00\x00',
-      b'8965B10050\x00\x00\x00\x00\x00\x00',
-      b'8965B10070\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x0331036000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
-      b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F0W01000    ',
-      b'8821F0W01100    ',
-      b'8821FF401600    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405000    ',
-      b'8821FF405100    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646FF401700    ',
-      b'8646FF401800    ',
-      b'8646FF402100    ',
-      b'8646FF404000    ',
-      b'8646FF406000    ',
-      b'8646FF407000    ',
-      b'8646FF407100    ',
-    ],
-  },
-  CAR.TOYOTA_CHR_TSS2: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610041\x00\x00\x00\x00\x00\x00',
-      b'F152610260\x00\x00\x00\x00\x00\x00',
-      b'F1526F4270\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10091\x00\x00\x00\x00\x00\x00',
-      b'8965B10092\x00\x00\x00\x00\x00\x00',
-      b'8965B10110\x00\x00\x00\x00\x00\x00',
-      b'8965B10111\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x0189663F438000\x00\x00\x00\x00',
-      b'\x0189663F459000\x00\x00\x00\x00',
-      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821FF410200\x00\x00\x00\x00',
-      b'\x018821FF410300\x00\x00\x00\x00',
-      b'\x018821FF410400\x00\x00\x00\x00',
-      b'\x018821FF410500\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
-      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
-      b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_COROLLA: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC2200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC2300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0330ZC1200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510201100\x00\x00\x00\x00',
-      b'881510201200\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152602190\x00\x00\x00\x00\x00\x00',
-      b'F152602191\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B02181\x00\x00\x00\x00\x00\x00',
-      b'8965B02191\x00\x00\x00\x00\x00\x00',
-      b'8965B48150\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0201101\x00\x00\x00\x00',
-      b'8646F0201200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_COROLLA_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630A22000\x00\x00\x00\x00',
-      b'\x01896630ZG2000\x00\x00\x00\x00',
-      b'\x01896630ZG5000\x00\x00\x00\x00',
-      b'\x01896630ZG5100\x00\x00\x00\x00',
-      b'\x01896630ZG5200\x00\x00\x00\x00',
-      b'\x01896630ZG5300\x00\x00\x00\x00',
-      b'\x01896630ZJ1000\x00\x00\x00\x00',
-      b'\x01896630ZP1000\x00\x00\x00\x00',
-      b'\x01896630ZP2000\x00\x00\x00\x00',
-      b'\x01896630ZQ5000\x00\x00\x00\x00',
-      b'\x01896630ZU8000\x00\x00\x00\x00',
-      b'\x01896630ZU9000\x00\x00\x00\x00',
-      b'\x01896630ZX4000\x00\x00\x00\x00',
-      b'\x01896630ZX7100\x00\x00\x00\x00',
-      b'\x018966312L8000\x00\x00\x00\x00',
-      b'\x018966312M0000\x00\x00\x00\x00',
-      b'\x018966312M9000\x00\x00\x00\x00',
-      b'\x018966312P9000\x00\x00\x00\x00',
-      b'\x018966312P9100\x00\x00\x00\x00',
-      b'\x018966312P9200\x00\x00\x00\x00',
-      b'\x018966312P9300\x00\x00\x00\x00',
-      b'\x018966312Q2300\x00\x00\x00\x00',
-      b'\x018966312Q8000\x00\x00\x00\x00',
-      b'\x018966312R0000\x00\x00\x00\x00',
-      b'\x018966312R0100\x00\x00\x00\x00',
-      b'\x018966312R0200\x00\x00\x00\x00',
-      b'\x018966312R1000\x00\x00\x00\x00',
-      b'\x018966312R1100\x00\x00\x00\x00',
-      b'\x018966312R3100\x00\x00\x00\x00',
-      b'\x018966312S5000\x00\x00\x00\x00',
-      b'\x018966312S7000\x00\x00\x00\x00',
-      b'\x018966312W3000\x00\x00\x00\x00',
-      b'\x018966312W9000\x00\x00\x00\x00',
-      b'\x01896637621000\x00\x00\x00\x00',
-      b'\x01896637623000\x00\x00\x00\x00',
-      b'\x01896637624000\x00\x00\x00\x00',
-      b'\x01896637626000\x00\x00\x00\x00',
-      b'\x01896637639000\x00\x00\x00\x00',
-      b'\x01896637643000\x00\x00\x00\x00',
-      b'\x01896637644000\x00\x00\x00\x00',
-      b'\x01896637648000\x00\x00\x00\x00',
-      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230A11000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZN4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZN5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x03312K7000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x018965B12350\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12470\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12500\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12530\x00\x00\x00\x00\x00\x00',
-      b'\x018965B1254000\x00\x00\x00\x00',
-      b'\x018965B1255000\x00\x00\x00\x00',
-      b'\x018965B1256000\x00\x00\x00\x00',
-      b'\x018965B1270000\x00\x00\x00\x00',
-      b'8965B12361\x00\x00\x00\x00\x00\x00',
-      b'8965B12451\x00\x00\x00\x00\x00\x00',
-      b'8965B16011\x00\x00\x00\x00\x00\x00',
-      b'8965B16101\x00\x00\x00\x00\x00\x00',
-      b'8965B16170\x00\x00\x00\x00\x00\x00',
-      b'8965B76012\x00\x00\x00\x00\x00\x00',
-      b'8965B76050\x00\x00\x00\x00\x00\x00',
-      b'8965B76091\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152602280\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602281\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602470\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602560\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602590\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602650\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612641\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612651\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612862\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B10\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B51\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B62\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B70\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
-      b'\x01F152676250\x00\x00\x00\x00\x00\x00',
-      b'F152612590\x00\x00\x00\x00\x00\x00',
-      b'F152612691\x00\x00\x00\x00\x00\x00',
-      b'F152612692\x00\x00\x00\x00\x00\x00',
-      b'F152612700\x00\x00\x00\x00\x00\x00',
-      b'F152612710\x00\x00\x00\x00\x00\x00',
-      b'F152612790\x00\x00\x00\x00\x00\x00',
-      b'F152612800\x00\x00\x00\x00\x00\x00',
-      b'F152612820\x00\x00\x00\x00\x00\x00',
-      b'F152612840\x00\x00\x00\x00\x00\x00',
-      b'F152612842\x00\x00\x00\x00\x00\x00',
-      b'F152612890\x00\x00\x00\x00\x00\x00',
-      b'F152612A00\x00\x00\x00\x00\x00\x00',
-      b'F152612A10\x00\x00\x00\x00\x00\x00',
-      b'F152612D00\x00\x00\x00\x00\x00\x00',
-      b'F152616011\x00\x00\x00\x00\x00\x00',
-      b'F152616030\x00\x00\x00\x00\x00\x00',
-      b'F152616060\x00\x00\x00\x00\x00\x00',
-      b'F152642540\x00\x00\x00\x00\x00\x00',
-      b'F152676293\x00\x00\x00\x00\x00\x00',
-      b'F152676303\x00\x00\x00\x00\x00\x00',
-      b'F152676304\x00\x00\x00\x00\x00\x00',
-      b'F152676371\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1206000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F7603300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_HIGHLANDER: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630E09000\x00\x00\x00\x00',
-      b'\x01896630E43000\x00\x00\x00\x00',
-      b'\x01896630E43100\x00\x00\x00\x00',
-      b'\x01896630E43200\x00\x00\x00\x00',
-      b'\x01896630E44200\x00\x00\x00\x00',
-      b'\x01896630E44400\x00\x00\x00\x00',
-      b'\x01896630E45000\x00\x00\x00\x00',
-      b'\x01896630E45100\x00\x00\x00\x00',
-      b'\x01896630E45200\x00\x00\x00\x00',
-      b'\x01896630E46000\x00\x00\x00\x00',
-      b'\x01896630E46200\x00\x00\x00\x00',
-      b'\x01896630E74000\x00\x00\x00\x00',
-      b'\x01896630E75000\x00\x00\x00\x00',
-      b'\x01896630E76000\x00\x00\x00\x00',
-      b'\x01896630E77000\x00\x00\x00\x00',
-      b'\x01896630E83000\x00\x00\x00\x00',
-      b'\x01896630E84000\x00\x00\x00\x00',
-      b'\x01896630E85000\x00\x00\x00\x00',
-      b'\x01896630E86000\x00\x00\x00\x00',
-      b'\x01896630E88000\x00\x00\x00\x00',
-      b'\x01896630EA0000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230E51000\x00\x00\x00\x00\x00\x00\x00\x0050E17000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48140\x00\x00\x00\x00\x00\x00',
-      b'8965B48150\x00\x00\x00\x00\x00\x00',
-      b'8965B48160\x00\x00\x00\x00\x00\x00',
-      b'8965B48210\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F15260E011\x00\x00\x00\x00\x00\x00',
-      b'F152648541\x00\x00\x00\x00\x00\x00',
-      b'F152648542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510E01100\x00\x00\x00\x00',
-      b'881510E01200\x00\x00\x00\x00',
-      b'881510E02100\x00\x00\x00\x00',
-      b'881510E02200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0E01200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_HIGHLANDER_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48241\x00\x00\x00\x00\x00\x00',
-      b'8965B48310\x00\x00\x00\x00\x00\x00',
-      b'8965B48320\x00\x00\x00\x00\x00\x00',
-      b'8965B48400\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E05300\x00\x00\x00\x00',
-      b'\x01F15260E061\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
-      b'\x01F15264872300\x00\x00\x00\x00',
-      b'\x01F15264872400\x00\x00\x00\x00',
-      b'\x01F15264872500\x00\x00\x00\x00',
-      b'\x01F15264872600\x00\x00\x00\x00',
-      b'\x01F15264872700\x00\x00\x00\x00',
-      b'\x01F15264873500\x00\x00\x00\x00',
-      b'\x01F152648C6300\x00\x00\x00\x00',
-      b'\x01F152648J4000\x00\x00\x00\x00',
-      b'\x01F152648J5000\x00\x00\x00\x00',
-      b'\x01F152648J6000\x00\x00\x00\x00',
-      b'\x01F152648J7000\x00\x00\x00\x00',
-      b'\x01F152648L5000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630E62100\x00\x00\x00\x00',
-      b'\x01896630E62200\x00\x00\x00\x00',
-      b'\x01896630E64100\x00\x00\x00\x00',
-      b'\x01896630E64200\x00\x00\x00\x00',
-      b'\x01896630E64400\x00\x00\x00\x00',
-      b'\x01896630E67000\x00\x00\x00\x00',
-      b'\x01896630EA1000\x00\x00\x00\x00',
-      b'\x01896630EB1000\x00\x00\x00\x00',
-      b'\x01896630EB1100\x00\x00\x00\x00',
-      b'\x01896630EB1200\x00\x00\x00\x00',
-      b'\x01896630EB1300\x00\x00\x00\x00',
-      b'\x01896630EB2000\x00\x00\x00\x00',
-      b'\x01896630EB2100\x00\x00\x00\x00',
-      b'\x01896630EB2200\x00\x00\x00\x00',
-      b'\x01896630EC4000\x00\x00\x00\x00',
-      b'\x01896630ED9000\x00\x00\x00\x00',
-      b'\x01896630ED9100\x00\x00\x00\x00',
-      b'\x01896630EE1000\x00\x00\x00\x00',
-      b'\x01896630EE1100\x00\x00\x00\x00',
-      b'\x01896630EE4000\x00\x00\x00\x00',
-      b'\x01896630EE4100\x00\x00\x00\x00',
-      b'\x01896630EE5000\x00\x00\x00\x00',
-      b'\x01896630EE6000\x00\x00\x00\x00',
-      b'\x01896630EE7000\x00\x00\x00\x00',
-      b'\x01896630EF8000\x00\x00\x00\x00',
-      b'\x01896630EG3000\x00\x00\x00\x00',
-      b'\x01896630EG5000\x00\x00\x00\x00',
-      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_IS: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966353M7000\x00\x00\x00\x00',
-      b'\x018966353M7100\x00\x00\x00\x00',
-      b'\x018966353Q2000\x00\x00\x00\x00',
-      b'\x018966353Q2100\x00\x00\x00\x00',
-      b'\x018966353Q2300\x00\x00\x00\x00',
-      b'\x018966353Q4000\x00\x00\x00\x00',
-      b'\x018966353R1100\x00\x00\x00\x00',
-      b'\x018966353R7100\x00\x00\x00\x00',
-      b'\x018966353R8000\x00\x00\x00\x00',
-      b'\x018966353R8100\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152653300\x00\x00\x00\x00\x00\x00',
-      b'F152653301\x00\x00\x00\x00\x00\x00',
-      b'F152653310\x00\x00\x00\x00\x00\x00',
-      b'F152653330\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881515306200\x00\x00\x00\x00',
-      b'881515306400\x00\x00\x00\x00',
-      b'881515306500\x00\x00\x00\x00',
-      b'881515307400\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B53270\x00\x00\x00\x00\x00\x00',
-      b'8965B53271\x00\x00\x00\x00\x00\x00',
-      b'8965B53280\x00\x00\x00\x00\x00\x00',
-      b'8965B53281\x00\x00\x00\x00\x00\x00',
-      b'8965B53311\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F5301101\x00\x00\x00\x00',
-      b'8646F5301200\x00\x00\x00\x00',
-      b'8646F5301300\x00\x00\x00\x00',
-      b'8646F5301400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_IS_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966353S1000\x00\x00\x00\x00',
-      b'\x018966353S2000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02353U0000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15265337200\x00\x00\x00\x00',
-      b'\x01F15265342000\x00\x00\x00\x00',
-      b'\x01F15265343000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B53450\x00\x00\x00\x00\x00\x00',
-      b'8965B53800\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_PRIUS: {
-    (Ecu.engine, 0x700, None): [
-      b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634762100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634765100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634770100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00',
-      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634760100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634760300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703001\x00\x00\x00\x00',
-      b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
-      b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
-      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
-      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
-      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-      b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
-      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
-      b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B47021\x00\x00\x00\x00\x00\x00',
-      b'8965B47022\x00\x00\x00\x00\x00\x00',
-      b'8965B47023\x00\x00\x00\x00\x00\x00',
-      b'8965B47050\x00\x00\x00\x00\x00\x00',
-      b'8965B47060\x00\x00\x00\x00\x00\x00',
-      b'8965B47070\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152647290\x00\x00\x00\x00\x00\x00',
-      b'F152647300\x00\x00\x00\x00\x00\x00',
-      b'F152647310\x00\x00\x00\x00\x00\x00',
-      b'F152647414\x00\x00\x00\x00\x00\x00',
-      b'F152647415\x00\x00\x00\x00\x00\x00',
-      b'F152647416\x00\x00\x00\x00\x00\x00',
-      b'F152647417\x00\x00\x00\x00\x00\x00',
-      b'F152647470\x00\x00\x00\x00\x00\x00',
-      b'F152647490\x00\x00\x00\x00\x00\x00',
-      b'F152647682\x00\x00\x00\x00\x00\x00',
-      b'F152647683\x00\x00\x00\x00\x00\x00',
-      b'F152647684\x00\x00\x00\x00\x00\x00',
-      b'F152647862\x00\x00\x00\x00\x00\x00',
-      b'F152647863\x00\x00\x00\x00\x00\x00',
-      b'F152647864\x00\x00\x00\x00\x00\x00',
-      b'F152647865\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514702300\x00\x00\x00\x00',
-      b'881514702400\x00\x00\x00\x00',
-      b'881514703100\x00\x00\x00\x00',
-      b'881514704100\x00\x00\x00\x00',
-      b'881514706000\x00\x00\x00\x00',
-      b'881514706100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4701300\x00\x00\x00\x00',
-      b'8646F4702001\x00\x00\x00\x00',
-      b'8646F4702100\x00\x00\x00\x00',
-      b'8646F4702200\x00\x00\x00\x00',
-      b'8646F4705000\x00\x00\x00\x00',
-      b'8646F4705200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_PRIUS_V: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152647280\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514705100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4703300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_RAV4: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q1200\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42063\x00\x00\x00\x00\x00\x00',
-      b'8965B42073\x00\x00\x00\x00\x00\x00',
-      b'8965B42082\x00\x00\x00\x00\x00\x00',
-      b'8965B42083\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F15260R102\x00\x00\x00\x00\x00\x00',
-      b'F15260R103\x00\x00\x00\x00\x00\x00',
-      b'F152642492\x00\x00\x00\x00\x00\x00',
-      b'F152642493\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514201200\x00\x00\x00\x00',
-      b'881514201300\x00\x00\x00\x00',
-      b'881514201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4201100\x00\x00\x00\x00',
-      b'8646F4201200\x00\x00\x00\x00',
-      b'8646F4202001\x00\x00\x00\x00',
-      b'8646F4202100\x00\x00\x00\x00',
-      b'8646F4204000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_RAV4H: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42102\x00\x00\x00\x00\x00\x00',
-      b'8965B42103\x00\x00\x00\x00\x00\x00',
-      b'8965B42112\x00\x00\x00\x00\x00\x00',
-      b'8965B42162\x00\x00\x00\x00\x00\x00',
-      b'8965B42163\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152642090\x00\x00\x00\x00\x00\x00',
-      b'F152642110\x00\x00\x00\x00\x00\x00',
-      b'F152642120\x00\x00\x00\x00\x00\x00',
-      b'F152642400\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514202200\x00\x00\x00\x00',
-      b'881514202300\x00\x00\x00\x00',
-      b'881514202400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4201100\x00\x00\x00\x00',
-      b'8646F4201200\x00\x00\x00\x00',
-      b'8646F4202001\x00\x00\x00\x00',
-      b'8646F4202100\x00\x00\x00\x00',
-      b'8646F4204000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_RAV4_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630R58000\x00\x00\x00\x00',
-      b'\x01896630R58100\x00\x00\x00\x00',
-      b'\x018966342E2000\x00\x00\x00\x00',
-      b'\x018966342M5000\x00\x00\x00\x00',
-      b'\x018966342M8000\x00\x00\x00\x00',
-      b'\x018966342S9000\x00\x00\x00\x00',
-      b'\x018966342T1000\x00\x00\x00\x00',
-      b'\x018966342T6000\x00\x00\x00\x00',
-      b'\x018966342T9000\x00\x00\x00\x00',
-      b'\x018966342U4000\x00\x00\x00\x00',
-      b'\x018966342U4100\x00\x00\x00\x00',
-      b'\x018966342U5100\x00\x00\x00\x00',
-      b'\x018966342V0000\x00\x00\x00\x00',
-      b'\x018966342V3000\x00\x00\x00\x00',
-      b'\x018966342V3100\x00\x00\x00\x00',
-      b'\x018966342V3200\x00\x00\x00\x00',
-      b'\x018966342W5000\x00\x00\x00\x00',
-      b'\x018966342W7000\x00\x00\x00\x00',
-      b'\x018966342W8000\x00\x00\x00\x00',
-      b'\x018966342X5000\x00\x00\x00\x00',
-      b'\x018966342X6000\x00\x00\x00\x00',
-      b'\x01896634A05000\x00\x00\x00\x00',
-      b'\x01896634A15000\x00\x00\x00\x00',
-      b'\x01896634A19000\x00\x00\x00\x00',
-      b'\x01896634A19100\x00\x00\x00\x00',
-      b'\x01896634A20000\x00\x00\x00\x00',
-      b'\x01896634A20100\x00\x00\x00\x00',
-      b'\x01896634A22000\x00\x00\x00\x00',
-      b'\x01896634A22100\x00\x00\x00\x00',
-      b'\x01896634A25000\x00\x00\x00\x00',
-      b'\x01896634A30000\x00\x00\x00\x00',
-      b'\x01896634A44000\x00\x00\x00\x00',
-      b'\x01896634A45000\x00\x00\x00\x00',
-      b'\x01896634A46000\x00\x00\x00\x00',
-      b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
-      b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF0R01000\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
-      b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642711\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642750\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642751\x00\x00\x00\x00\x00\x00',
-      b'F152642290\x00\x00\x00\x00\x00\x00',
-      b'F152642291\x00\x00\x00\x00\x00\x00',
-      b'F152642322\x00\x00\x00\x00\x00\x00',
-      b'F152642330\x00\x00\x00\x00\x00\x00',
-      b'F152642331\x00\x00\x00\x00\x00\x00',
-      b'F152642520\x00\x00\x00\x00\x00\x00',
-      b'F152642521\x00\x00\x00\x00\x00\x00',
-      b'F152642531\x00\x00\x00\x00\x00\x00',
-      b'F152642532\x00\x00\x00\x00\x00\x00',
-      b'F152642540\x00\x00\x00\x00\x00\x00',
-      b'F152642541\x00\x00\x00\x00\x00\x00',
-      b'F152642542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
-      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
-      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
-      b'8965B42170\x00\x00\x00\x00\x00\x00',
-      b'8965B42171\x00\x00\x00\x00\x00\x00',
-      b'8965B42180\x00\x00\x00\x00\x00\x00',
-      b'8965B42181\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_RAV4_TSS2_2022: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
-      b'\x01F15264283100\x00\x00\x00\x00',
-      b'\x01F15264283200\x00\x00\x00\x00',
-      b'\x01F15264286100\x00\x00\x00\x00',
-      b'\x01F15264286200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
-      b'8965B42172\x00\x00\x00\x00\x00\x00',
-      b'8965B42182\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634A02001\x00\x00\x00\x00',
-      b'\x01896634A03000\x00\x00\x00\x00',
-      b'\x01896634A08000\x00\x00\x00\x00',
-      b'\x01896634A61000\x00\x00\x00\x00',
-      b'\x01896634A62000\x00\x00\x00\x00',
-      b'\x01896634A62100\x00\x00\x00\x00',
-      b'\x01896634A63000\x00\x00\x00\x00',
-      b'\x01896634A88000\x00\x00\x00\x00',
-      b'\x01896634A89000\x00\x00\x00\x00',
-      b'\x01896634A89100\x00\x00\x00\x00',
-      b'\x01896634AA0000\x00\x00\x00\x00',
-      b'\x01896634AA0100\x00\x00\x00\x00',
-      b'\x01896634AA1000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F0R01100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_RAV4_TSS2_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R440\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R50000\x00\x00\x00\x00',
-      b'\x01F15260R51000\x00\x00\x00\x00',
-      b'\x01F15264283200\x00\x00\x00\x00',
-      b'\x01F15264283300\x00\x00\x00\x00',
-      b'\x01F152642F1000\x00\x00\x00\x00',
-      b'\x01F152642F8000\x00\x00\x00\x00',
-      b'\x01F152642F8100\x00\x00\x00\x00',
-      b'\x01F152642F9000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
-      b'8965B42371\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634A61000\x00\x00\x00\x00',
-      b'\x01896634A88100\x00\x00\x00\x00',
-      b'\x01896634A89100\x00\x00\x00\x00',
-      b'\x01896634AE1001\x00\x00\x00\x00',
-      b'\x01896634AF0000\x00\x00\x00\x00',
-      b'\x01896634AJ2000\x00\x00\x00\x00',
-      b'\x01896634AJ3000\x00\x00\x00\x00',
-      b'\x01896634AL5000\x00\x00\x00\x00',
-      b'\x01896634AL6000\x00\x00\x00\x00',
-      b'\x01896634AL8000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F0R03100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
-      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
-      b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_SIENNA: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630832100\x00\x00\x00\x00',
-      b'\x01896630832200\x00\x00\x00\x00',
-      b'\x01896630838000\x00\x00\x00\x00',
-      b'\x01896630838100\x00\x00\x00\x00',
-      b'\x01896630842000\x00\x00\x00\x00',
-      b'\x01896630843000\x00\x00\x00\x00',
-      b'\x01896630851000\x00\x00\x00\x00',
-      b'\x01896630851100\x00\x00\x00\x00',
-      b'\x01896630851200\x00\x00\x00\x00',
-      b'\x01896630852000\x00\x00\x00\x00',
-      b'\x01896630852100\x00\x00\x00\x00',
-      b'\x01896630859000\x00\x00\x00\x00',
-      b'\x01896630860000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B45070\x00\x00\x00\x00\x00\x00',
-      b'8965B45080\x00\x00\x00\x00\x00\x00',
-      b'8965B45082\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152608130\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510801100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702200\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0801100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_CTH: {
-    (Ecu.dsu, 0x791, None): [
-      b'881517601100\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152676144\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F7601100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ES_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306U6000\x00\x00\x00\x00',
-      b'\x018966333T5000\x00\x00\x00\x00',
-      b'\x018966333T5100\x00\x00\x00\x00',
-      b'\x018966333X6000\x00\x00\x00\x00',
-      b'\x01896633T07000\x00\x00\x00\x00',
-      b'\x01896633T38000\x00\x00\x00\x00',
-      b'\x01896633T58000\x00\x00\x00\x00',
-      b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
-      b'\x02896633T10000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152606281\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606340\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606461\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260646200\x00\x00\x00\x00',
-      b'F152633423\x00\x00\x00\x00\x00\x00',
-      b'F152633680\x00\x00\x00\x00\x00\x00',
-      b'F152633681\x00\x00\x00\x00\x00\x00',
-      b'F152633F50\x00\x00\x00\x00\x00\x00',
-      b'F152633F51\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33252\x00\x00\x00\x00\x00\x00',
-      b'8965B33590\x00\x00\x00\x00\x00\x00',
-      b'8965B33690\x00\x00\x00\x00\x00\x00',
-      b'8965B33721\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ES: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333M4100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152606202\x00\x00\x00\x00\x00\x00',
-      b'F152633171\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513309400\x00\x00\x00\x00',
-      b'881513309500\x00\x00\x00\x00',
-      b'881513310400\x00\x00\x00\x00',
-      b'881513310500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33502\x00\x00\x00\x00\x00\x00',
-      b'8965B33512\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3302001\x00\x00\x00\x00',
-      b'8646F3302100\x00\x00\x00\x00',
-      b'8646F3302200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_GS_F: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152630700\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513016200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B30551\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3002100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_NX: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896637850000\x00\x00\x00\x00',
-      b'\x01896637851000\x00\x00\x00\x00',
-      b'\x01896637852000\x00\x00\x00\x00',
-      b'\x01896637854000\x00\x00\x00\x00',
-      b'\x01896637873000\x00\x00\x00\x00',
-      b'\x01896637878000\x00\x00\x00\x00',
-      b'\x01896637878100\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152678130\x00\x00\x00\x00\x00\x00',
-      b'F152678140\x00\x00\x00\x00\x00\x00',
-      b'F152678160\x00\x00\x00\x00\x00\x00',
-      b'F152678170\x00\x00\x00\x00\x00\x00',
-      b'F152678171\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881517803100\x00\x00\x00\x00',
-      b'881517803300\x00\x00\x00\x00',
-      b'881517804100\x00\x00\x00\x00',
-      b'881517804300\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78060\x00\x00\x00\x00\x00\x00',
-      b'8965B78080\x00\x00\x00\x00\x00\x00',
-      b'8965B78100\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F7801100\x00\x00\x00\x00',
-      b'8646F7801300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_NX_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966378B2000\x00\x00\x00\x00',
-      b'\x018966378B2100\x00\x00\x00\x00',
-      b'\x018966378B3000\x00\x00\x00\x00',
-      b'\x018966378B3100\x00\x00\x00\x00',
-      b'\x018966378B4100\x00\x00\x00\x00',
-      b'\x018966378G2000\x00\x00\x00\x00',
-      b'\x018966378G3000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237881000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
-      b'F152678200\x00\x00\x00\x00\x00\x00',
-      b'F152678210\x00\x00\x00\x00\x00\x00',
-      b'F152678211\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78110\x00\x00\x00\x00\x00\x00',
-      b'8965B78120\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_LC_TSS2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0131130000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152611390\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B11091\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F1104200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RC: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896632461100\x00\x00\x00\x00',
-      b'\x01896632478100\x00\x00\x00\x00',
-      b'\x01896632478200\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152624150\x00\x00\x00\x00\x00\x00',
-      b'F152624221\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881512404100\x00\x00\x00\x00',
-      b'881512407000\x00\x00\x00\x00',
-      b'881512409100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B24081\x00\x00\x00\x00\x00\x00',
-      b'8965B24240\x00\x00\x00\x00\x00\x00',
-      b'8965B24320\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F2401100\x00\x00\x00\x00',
-      b'8646F2401200\x00\x00\x00\x00',
-      b'8646F2402200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RX: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630E36100\x00\x00\x00\x00',
-      b'\x01896630E36200\x00\x00\x00\x00',
-      b'\x01896630E36300\x00\x00\x00\x00',
-      b'\x01896630E37100\x00\x00\x00\x00',
-      b'\x01896630E37200\x00\x00\x00\x00',
-      b'\x01896630E37300\x00\x00\x00\x00',
-      b'\x01896630E41000\x00\x00\x00\x00',
-      b'\x01896630E41100\x00\x00\x00\x00',
-      b'\x01896630E41200\x00\x00\x00\x00',
-      b'\x01896630E41500\x00\x00\x00\x00',
-      b'\x01896630EA3100\x00\x00\x00\x00',
-      b'\x01896630EA3300\x00\x00\x00\x00',
-      b'\x01896630EA3400\x00\x00\x00\x00',
-      b'\x01896630EA4100\x00\x00\x00\x00',
-      b'\x01896630EA4200\x00\x00\x00\x00',
-      b'\x01896630EA4300\x00\x00\x00\x00',
-      b'\x01896630EA4400\x00\x00\x00\x00',
-      b'\x01896630EA6300\x00\x00\x00\x00',
-      b'\x018966348R1300\x00\x00\x00\x00',
-      b'\x018966348R8500\x00\x00\x00\x00',
-      b'\x018966348R9300\x00\x00\x00\x00',
-      b'\x018966348W1300\x00\x00\x00\x00',
-      b'\x018966348W2300\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348T1000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648361\x00\x00\x00\x00\x00\x00',
-      b'F152648472\x00\x00\x00\x00\x00\x00',
-      b'F152648473\x00\x00\x00\x00\x00\x00',
-      b'F152648474\x00\x00\x00\x00\x00\x00',
-      b'F152648492\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-      b'F152648494\x00\x00\x00\x00\x00\x00',
-      b'F152648501\x00\x00\x00\x00\x00\x00',
-      b'F152648502\x00\x00\x00\x00\x00\x00',
-      b'F152648504\x00\x00\x00\x00\x00\x00',
-      b'F152648630\x00\x00\x00\x00\x00\x00',
-      b'F152648740\x00\x00\x00\x00\x00\x00',
-      b'F152648A30\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514810300\x00\x00\x00\x00',
-      b'881514810500\x00\x00\x00\x00',
-      b'881514810700\x00\x00\x00\x00',
-      b'881514811300\x00\x00\x00\x00',
-      b'881514811500\x00\x00\x00\x00',
-      b'881514811700\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B0E011\x00\x00\x00\x00\x00\x00',
-      b'8965B0E012\x00\x00\x00\x00\x00\x00',
-      b'8965B48102\x00\x00\x00\x00\x00\x00',
-      b'8965B48111\x00\x00\x00\x00\x00\x00',
-      b'8965B48112\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701000\x00\x00\x00\x00',
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4801100\x00\x00\x00\x00',
-      b'8646F4801200\x00\x00\x00\x00',
-      b'8646F4802001\x00\x00\x00\x00',
-      b'8646F4802100\x00\x00\x00\x00',
-      b'8646F4802200\x00\x00\x00\x00',
-      b'8646F4809000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RX_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630EA9000\x00\x00\x00\x00',
-      b'\x01896630EB0000\x00\x00\x00\x00',
-      b'\x01896630EC9000\x00\x00\x00\x00',
-      b'\x01896630EC9100\x00\x00\x00\x00',
-      b'\x01896630ED0000\x00\x00\x00\x00',
-      b'\x01896630ED0100\x00\x00\x00\x00',
-      b'\x01896630ED5000\x00\x00\x00\x00',
-      b'\x01896630ED6000\x00\x00\x00\x00',
-      b'\x018966348R9200\x00\x00\x00\x00',
-      b'\x018966348T8000\x00\x00\x00\x00',
-      b'\x018966348W5100\x00\x00\x00\x00',
-      b'\x018966348W9000\x00\x00\x00\x00',
-      b'\x018966348X0000\x00\x00\x00\x00',
-      b'\x01896634D11000\x00\x00\x00\x00',
-      b'\x01896634D12000\x00\x00\x00\x00',
-      b'\x01896634D12100\x00\x00\x00\x00',
-      b'\x01896634D43000\x00\x00\x00\x00',
-      b'\x01896634D44000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
-      b'\x01F152648781\x00\x00\x00\x00\x00\x00',
-      b'\x01F152648801\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-      b'F152648811\x00\x00\x00\x00\x00\x00',
-      b'F152648831\x00\x00\x00\x00\x00\x00',
-      b'F152648891\x00\x00\x00\x00\x00\x00',
-      b'F152648C80\x00\x00\x00\x00\x00\x00',
-      b'F152648D00\x00\x00\x00\x00\x00\x00',
-      b'F152648D60\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48261\x00\x00\x00\x00\x00\x00',
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_PRIUS_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
-      b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
-      b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
-      b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152647500\x00\x00\x00\x00\x00\x00',
-      b'F152647510\x00\x00\x00\x00\x00\x00',
-      b'F152647520\x00\x00\x00\x00\x00\x00',
-      b'F152647521\x00\x00\x00\x00\x00\x00',
-      b'F152647531\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B47070\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_MIRAI: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\x01898A36203000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15266203200\x00\x00\x00\x00',
-      b'\x01F15266203500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.TOYOTA_ALPHARD_TSS2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B58040\x00\x00\x00\x00\x00\x00',
-      b'8965B58052\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152658320\x00\x00\x00\x00\x00\x00',
-      b'F152658341\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-}
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
deleted file mode 100644
index 39586a8de8..0000000000
--- a/selfdrive/car/toyota/interface.py
+++ /dev/null
@@ -1,142 +0,0 @@
-from panda import Panda
-from panda.python import uds
-from openpilot.selfdrive.car import structs, get_safety_config
-from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
-                                                  MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
-from openpilot.selfdrive.car.disable_ecu import disable_ecu
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-SteerControlType = structs.CarParams.SteerControlType
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "toyota"
-    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)]
-    ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
-
-    # BRAKE_MODULE is on a different address for these cars
-    if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
-
-    if candidate in ANGLE_CONTROL_CAR:
-      ret.steerControlType = SteerControlType.angle
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
-
-      # LTA control can be more delayed and winds up more often
-      ret.steerActuatorDelay = 0.18
-      ret.steerLimitTimer = 0.8
-    else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-      ret.steerLimitTimer = 0.4
-
-    ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
-
-    stop_and_go = candidate in TSS2_CAR
-
-    # In TSS2 cars, the camera does long control
-    found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
-
-    if candidate == CAR.TOYOTA_PRIUS:
-      stop_and_go = True
-      # Only give steer angle deadzone to for bad angle sensor prius
-      for fw in car_fw:
-        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
-          ret.steerActuatorDelay = 0.25
-          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
-
-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
-      stop_and_go = True
-      ret.wheelSpeedFactor = 1.035
-
-    elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2):
-      # starting from 2019, all Avalon variants have stop and go
-      # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
-      stop_and_go = candidate != CAR.TOYOTA_AVALON
-
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kiBP = [0.0]
-      ret.lateralTuning.pid.kpBP = [0.0]
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.1]
-      ret.lateralTuning.pid.kf = 0.00007818594
-
-      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-      for fw in car_fw:
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          ret.lateralTuning.pid.kpV = [0.15]
-          ret.lateralTuning.pid.kiV = [0.05]
-          ret.lateralTuning.pid.kf = 0.00004
-          break
-
-    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
-      # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
-      stop_and_go = True
-
-    # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
-    #  For now, don't list stop and go functionality in the docs
-    if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
-      stop_and_go = stop_and_go or (ret.enableDsu and not docs)
-
-    ret.centerToFront = ret.wheelbase * 0.44
-
-    # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
-    # Detect flipped signals and enable for C-HR and others
-    ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
-
-    # No radar dbc for cars without DSU which are not TSS 2.0
-    # TODO: make an adas dbc file for dsu-less models
-    ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
-
-    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
-    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = candidate in RADAR_ACC_CAR
-
-      # Disabling radar is only supported on TSS2 radar-ACC cars
-      if experimental_long and candidate in RADAR_ACC_CAR:
-        ret.flags |= ToyotaFlags.DISABLE_RADAR.value
-
-    # openpilot longitudinal enabled by default:
-    #  - cars w/ DSU disconnected
-    #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
-    # openpilot longitudinal behind experimental long toggle:
-    #  - TSS2 radar ACC cars (disables radar)
-    ret.openpilotLongitudinalControl = ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
-    ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
-
-    if not ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
-
-    # min speed to enable ACC. if car can do stop and go, then set enabling speed
-    # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
-
-    tune = ret.longitudinalTuning
-    if candidate in TSS2_CAR:
-      tune.kpV = [0.0]
-      tune.kiV = [0.5]
-      ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-    else:
-      tune.kiBP = [0., 5., 35.]
-      tune.kiV = [3.6, 2.4, 1.5]
-
-    return ret
-
-  @staticmethod
-  def init(CP, can_recv, can_send):
-    # disable radar if alpha longitudinal toggled on radar-ACC car
-    if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
deleted file mode 100755
index 162b8a891d..0000000000
--- a/selfdrive/car/toyota/radar_interface.py
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.structs import RadarData
-from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-
-def _create_radar_can_parser(car_fingerprint):
-  if car_fingerprint in TSS2_CAR:
-    RADAR_A_MSGS = list(range(0x180, 0x190))
-    RADAR_B_MSGS = list(range(0x190, 0x1a0))
-  else:
-    RADAR_A_MSGS = list(range(0x210, 0x220))
-    RADAR_B_MSGS = list(range(0x220, 0x230))
-
-  msg_a_n = len(RADAR_A_MSGS)
-  msg_b_n = len(RADAR_B_MSGS)
-  messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True))
-
-  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.track_id = 0
-    self.radar_ts = CP.radarTimeStep
-
-    if CP.carFingerprint in TSS2_CAR:
-      self.RADAR_A_MSGS = list(range(0x180, 0x190))
-      self.RADAR_B_MSGS = list(range(0x190, 0x1a0))
-    else:
-      self.RADAR_A_MSGS = list(range(0x210, 0x220))
-      self.RADAR_B_MSGS = list(range(0x220, 0x230))
-
-    self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS}
-
-    self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint)
-    self.trigger_msg = self.RADAR_B_MSGS[-1]
-    self.updated_messages = set()
-
-  def update(self, can_strings):
-    if self.rcp is None:
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    rr = self._update(self.updated_messages)
-    self.updated_messages.clear()
-
-    return rr
-
-  def _update(self, updated_messages):
-    ret = RadarData()
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    ret.errors = errors
-
-    for ii in sorted(updated_messages):
-      if ii in self.RADAR_A_MSGS:
-        cpt = self.rcp.vl[ii]
-
-        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
-          self.valid_cnt[ii] = 0    # reset counter
-        if cpt['VALID'] and cpt['LONG_DIST'] < 255:
-          self.valid_cnt[ii] += 1
-        else:
-          self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
-
-        score = self.rcp.vl[ii+16]['SCORE']
-        # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
-
-        # radar point only valid if it's a valid measurement and score is above 50
-        if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0):
-          if ii not in self.pts or cpt['NEW_TRACK']:
-            self.pts[ii] = RadarData.RadarPoint()
-            self.pts[ii].trackId = self.track_id
-            self.track_id += 1
-          self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
-          self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
-          self.pts[ii].vRel = cpt['REL_SPEED']
-          self.pts[ii].aRel = float('nan')
-          self.pts[ii].yvRel = float('nan')
-          self.pts[ii].measured = bool(cpt['VALID'])
-        else:
-          if ii in self.pts:
-            del self.pts[ii]
-
-    ret.points = list(self.pts.values())
-    return ret
diff --git a/selfdrive/car/toyota/tests/__init__.py b/selfdrive/car/toyota/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py
deleted file mode 100755
index 495a9f7242..0000000000
--- a/selfdrive/car/toyota/tests/print_platform_codes.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python3
-from collections import defaultdict
-from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes
-from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
-
-if __name__ == "__main__":
-  parts_for_ecu: dict = defaultdict(set)
-  cars_for_code: dict = defaultdict(lambda: defaultdict(set))
-  for car_model, ecus in FW_VERSIONS.items():
-    print()
-    print(car_model)
-    for ecu in sorted(ecus):
-      if ecu[0] not in PLATFORM_CODE_ECUS:
-        continue
-
-      platform_codes = get_platform_codes(ecus[ecu])
-      parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1}
-      for code in platform_codes:
-        cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model}
-      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
-      print(f'    Codes: {platform_codes}')
-
-  print('\nECU parts:')
-  for ecu, parts in parts_for_ecu.items():
-    print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
-
-  print('\nCar models vs. platform codes (no major versions):')
-  for ecu, codes in cars_for_code.items():
-    print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
-    for code, cars in codes.items():
-      print(f'    {code!r}: {sorted(cars)}')
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
deleted file mode 100644
index 6648e56cef..0000000000
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ /dev/null
@@ -1,166 +0,0 @@
-from hypothesis import given, settings, strategies as st
-
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.fw_versions import build_fw_dict
-from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
-from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, \
-                                                  FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
-                                                  get_platform_codes
-
-Ecu = CarParams.Ecu
-
-
-def check_fw_version(fw_version: bytes) -> bool:
-  # TODO: just use the FW patterns, need to support all chunks
-  return b'?' not in fw_version and b'!' not in fw_version
-
-
-class TestToyotaInterfaces:
-  def test_car_sets(self):
-    assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0
-    assert len(RADAR_ACC_CAR - TSS2_CAR) == 0
-
-  def test_lta_platforms(self):
-    # At this time, only RAV4 2023 is expected to use LTA/angle control
-    assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
-
-  def test_tss2_dbc(self):
-    # We make some assumptions about TSS2 platforms,
-    # like looking up certain signals only in this DBC
-    for car_model, dbc in DBC.items():
-      if car_model in TSS2_CAR:
-        assert dbc["pt"] == "toyota_nodsu_pt_generated"
-
-  def test_essential_ecus(self, subtests):
-    # Asserts standard ECUs exist for each platform
-    common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        present_ecus = {ecu[0] for ecu in ecus}
-        missing_ecus = common_ecus - present_ecus
-        assert len(missing_ecus) == 0
-
-        # Some exceptions for other common ECUs
-        if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,):
-          assert Ecu.abs in present_ecus
-
-        if car_model not in (CAR.TOYOTA_MIRAI,):
-          assert Ecu.engine in present_ecus
-
-        if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH):
-          assert Ecu.eps in present_ecus
-
-
-class TestToyotaFingerprint:
-  def test_non_essential_ecus(self, subtests):
-    # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
-        assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \
-          f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list"
-
-  def test_valid_fw_versions(self, subtests):
-    # Asserts all FW versions are valid
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for fws in ecus.values():
-          for fw in fws:
-            assert check_fw_version(fw), fw
-
-  # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
-  # fingerprint in the absence of full FW matches:
-  @settings(max_examples=100)
-  @given(data=st.data())
-  def test_platform_codes_fuzzy_fw(self, data):
-    fw_strategy = st.lists(st.binary())
-    fws = data.draw(fw_strategy)
-    get_platform_codes(fws)
-
-  def test_platform_code_ecus_available(self, subtests):
-    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for platform_code_ecu in PLATFORM_CODE_ECUS:
-          if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
-            continue
-          if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,):
-            continue
-          assert platform_code_ecu in [e[0] for e in ecus]
-
-  def test_fw_format(self, subtests):
-    # Asserts:
-    # - every supported ECU FW version returns one platform code
-    # - every supported ECU FW version has a part number
-    # - expected parsing of ECU sub-versions
-
-    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
-        for ecu, fws in ecus.items():
-          if ecu[0] not in PLATFORM_CODE_ECUS:
-            continue
-
-          codes = dict()
-          for fw in fws:
-            result = get_platform_codes([fw])
-            # Check only one platform code and sub-version
-            assert 1 == len(result), f"Unable to parse FW: {fw}"
-            assert 1 == len(list(result.values())[0]), f"Unable to parse FW: {fw}"
-            codes |= result
-
-          # Toyota places the ECU part number in their FW versions, assert all parsable
-          # Note that there is only one unique part number per ECU across the fleet, so this
-          # is not important for identification, just a sanity check.
-          assert all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}"
-
-  def test_platform_codes_spot_check(self):
-    # Asserts basic platform code parsing behavior for a few cases
-    results = get_platform_codes([
-      b"F152607140\x00\x00\x00\x00\x00\x00",
-      b"F152607171\x00\x00\x00\x00\x00\x00",
-      b"F152607110\x00\x00\x00\x00\x00\x00",
-      b"F152607180\x00\x00\x00\x00\x00\x00",
-    ])
-    assert results == {b"F1526-07-1": {b"10", b"40", b"71", b"80"}}
-
-    results = get_platform_codes([
-      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
-      b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
-    ])
-    assert results == {b"8646F-41-04": {b"100"}}
-
-    # Short version has no part number
-    results = get_platform_codes([
-      b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
-      b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
-    ])
-    assert results == {b"58-70": {b"000"}, b"58-83": {b"000"}}
-
-    results = get_platform_codes([
-      b"F152607110\x00\x00\x00\x00\x00\x00",
-      b"F152607140\x00\x00\x00\x00\x00\x00",
-      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
-      b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
-    ])
-    assert results == {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}}
-
-  def test_fuzzy_excluded_platforms(self):
-    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
-    platforms_with_shared_codes = set()
-    for platform, fw_by_addr in FW_VERSIONS.items():
-      car_fw = []
-      for ecu, fw_versions in fw_by_addr.items():
-        ecu_name, addr, sub_addr = ecu
-        for fw in fw_versions:
-          car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
-                                        subAddress=0 if sub_addr is None else sub_addr))
-
-      CP = CarParams(carFw=car_fw)
-      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
-      if len(matches) == 1:
-        assert list(matches)[0] == platform
-      else:
-        # If a platform has multiple matches, add it and its matches
-        platforms_with_shared_codes |= {str(platform), *matches}
-
-    assert platforms_with_shared_codes == FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
deleted file mode 100644
index 8068b8e143..0000000000
--- a/selfdrive/car/toyota/toyotacan.py
+++ /dev/null
@@ -1,118 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-
-SteerControlType = CarParams.SteerControlType
-
-
-def create_steer_command(packer, steer, steer_req):
-  """Creates a CAN message for the Toyota Steer Command."""
-
-  values = {
-    "STEER_REQUEST": steer_req,
-    "STEER_TORQUE_CMD": steer,
-    "SET_ME_1": 1,
-  }
-  return packer.make_can_msg("STEERING_LKA", 0, values)
-
-
-def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down):
-  """Creates a CAN message for the Toyota LTA Steer Command."""
-
-  values = {
-    "COUNTER": frame + 128,
-    "SETME_X1": 1,  # suspected LTA feature availability
-    # 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control
-    "SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3,
-    "PERCENTAGE": 100,
-    "TORQUE_WIND_DOWN": torque_wind_down,
-    "ANGLE": 0,
-    "STEER_ANGLE_CMD": steer_angle,
-    "STEER_REQUEST": steer_req,
-    "STEER_REQUEST_2": steer_req,
-    "CLEAR_HOLD_STEERING_ALERT": 0,
-  }
-  return packer.make_can_msg("STEERING_LTA", 0, values)
-
-
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
-  # TODO: find the exact canceling bit that does not create a chime
-  values = {
-    "ACCEL_CMD": accel,
-    "ACC_TYPE": acc_type,
-    "DISTANCE": distance,
-    "MINI_CAR": lead,
-    "PERMIT_BRAKING": 1,
-    "RELEASE_STANDSTILL": not standstill_req,
-    "CANCEL_REQ": pcm_cancel,
-    "ALLOW_LONG_PRESS": 1,
-    "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
-  }
-  return packer.make_can_msg("ACC_CONTROL", 0, values)
-
-
-def create_acc_cancel_command(packer):
-  values = {
-    "GAS_RELEASED": 0,
-    "CRUISE_ACTIVE": 0,
-    "ACC_BRAKING": 0,
-    "ACCEL_NET": 0,
-    "CRUISE_STATE": 0,
-    "CANCEL_REQ": 1,
-  }
-  return packer.make_can_msg("PCM_CRUISE", 0, values)
-
-
-def create_fcw_command(packer, fcw):
-  values = {
-    "PCS_INDICATOR": 1,  # PCS turned off
-    "FCW": fcw,
-    "SET_ME_X20": 0x20,
-    "SET_ME_X10": 0x10,
-    "PCS_OFF": 1,
-    "PCS_SENSITIVITY": 0,
-  }
-  return packer.make_can_msg("PCS_HUD", 0, values)
-
-
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
-  values = {
-    "TWO_BEEPS": chime,
-    "LDA_ALERT": steer,
-    "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
-    "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
-    "BARRIERS": 1 if enabled else 0,
-
-    # static signals
-    "SET_ME_X02": 2,
-    "SET_ME_X01": 1,
-    "LKAS_STATUS": 1,
-    "REPEATED_BEEPS": 0,
-    "LANE_SWAY_FLD": 7,
-    "LANE_SWAY_BUZZER": 0,
-    "LANE_SWAY_WARNING": 0,
-    "LDA_FRONT_CAMERA_BLOCKED": 0,
-    "TAKE_CONTROL": 0,
-    "LANE_SWAY_SENSITIVITY": 2,
-    "LANE_SWAY_TOGGLE": 1,
-    "LDA_ON_MESSAGE": 0,
-    "LDA_MESSAGES": 0,
-    "LDA_SA_TOGGLE": 1,
-    "LDA_SENSITIVITY": 2,
-    "LDA_UNAVAILABLE": 0,
-    "LDA_MALFUNCTION": 0,
-    "LDA_UNAVAILABLE_QUIET": 0,
-    "ADJUSTING_CAMERA": 0,
-    "LDW_EXIST": 1,
-  }
-
-  # lane sway functionality
-  # not all cars have LKAS_HUD — update with camera values if available
-  if len(stock_lkas_hud):
-    values.update({s: stock_lkas_hud[s] for s in [
-      "LANE_SWAY_FLD",
-      "LANE_SWAY_BUZZER",
-      "LANE_SWAY_WARNING",
-      "LANE_SWAY_SENSITIVITY",
-      "LANE_SWAY_TOGGLE",
-    ]})
-
-  return packer.make_can_msg("LKAS_HUD", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
deleted file mode 100644
index 45b6f7a03d..0000000000
--- a/selfdrive/car/toyota/values.py
+++ /dev/null
@@ -1,572 +0,0 @@
-import re
-from collections import defaultdict
-from dataclasses import dataclass, field
-from enum import Enum, IntFlag
-
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = CarParams.Ecu
-MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
-PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
-
-
-class CarControllerParams:
-  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
-  ACCEL_MIN = -3.5  # m/s2
-
-  STEER_STEP = 1
-  STEER_MAX = 1500
-  STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
-
-  # Lane Tracing Assist (LTA) control limits
-  # Assuming a steering ratio of 13.7:
-  # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph
-  # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph,
-  # however the EPS has its own internal limits at all speeds which are less than that:
-  # Observed internal torque rate limit on TSS 2.5 Camry and RAV4 is ~1500 units/sec up and down when using LTA
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
-
-  def __init__(self, CP):
-    if CP.lateralTuning.which() == 'torque':
-      self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
-      self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
-    else:
-      self.STEER_DELTA_UP = 10       # 1.5s time to peak torque
-      self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
-
-
-class ToyotaFlags(IntFlag):
-  # Detected flags
-  HYBRID = 1
-  DISABLE_RADAR = 4
-
-  # Static flags
-  TSS2 = 8
-  NO_DSU = 16
-  UNSUPPORTED_DSU = 32
-  RADAR_ACC = 64
-  # these cars use the Lane Tracing Assist (LTA) message for lateral control
-  ANGLE_CONTROL = 128
-  NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged
-  SNG_WITHOUT_DSU = 512
-
-
-class Footnote(Enum):
-  CAMRY = CarFootnote(
-    "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
-    Column.FSR_LONGITUDINAL)
-
-
-@dataclass
-class ToyotaCarDocs(CarDocs):
-  package: str = "All"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
-
-
-@dataclass
-class ToyotaTSS2PlatformConfig(PlatformConfig):
-  dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
-
-  def init(self):
-    self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU
-
-    if self.flags & ToyotaFlags.RADAR_ACC:
-      self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', None)
-
-
-class CAR(Platforms):
-  # Toyota
-  TOYOTA_ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Alphard 2019-20"),
-      ToyotaCarDocs("Toyota Alphard Hybrid 2021"),
-    ],
-    CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
-  )
-  TOYOTA_AVALON = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"),
-      ToyotaCarDocs("Toyota Avalon 2017-18"),
-    ],
-    CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  )
-  TOYOTA_AVALON_2019 = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Avalon 2019-21"),
-      ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"),
-    ],
-    TOYOTA_AVALON.specs,
-    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-  )
-  TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
-    [
-      ToyotaCarDocs("Toyota Avalon 2022"),
-      ToyotaCarDocs("Toyota Avalon Hybrid 2022"),
-    ],
-    TOYOTA_AVALON.specs,
-  )
-  TOYOTA_CAMRY = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
-      ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
-    ],
-    CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
-    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_DSU,
-  )
-  TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
-    [
-      ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
-      ToyotaCarDocs("Toyota Camry Hybrid 2021-24"),
-    ],
-    TOYOTA_CAMRY.specs,
-  )
-  TOYOTA_CHR = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota C-HR 2017-20"),
-      ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"),
-    ],
-    CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
-    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_DSU,
-  )
-  TOYOTA_CHR_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota C-HR 2021"),
-      ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"),
-    ],
-    TOYOTA_CHR.specs,
-    flags=ToyotaFlags.RADAR_ACC,
-  )
-  TOYOTA_COROLLA = PlatformConfig(
-    [ToyotaCarDocs("Toyota Corolla 2017-19")],
-    CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-  )
-  # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
-  TOYOTA_COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-      ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
-      ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-      # Hybrid platforms
-      ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"),
-      ToyotaCarDocs("Toyota Corolla Hybrid (South America only) 2020-23", min_enable_speed=7.5),
-      ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
-      ToyotaCarDocs("Lexus UX Hybrid 2019-23"),
-    ],
-    CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
-  )
-  TOYOTA_HIGHLANDER = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
-      ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"),
-    ],
-    CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
-  )
-  TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Highlander 2020-23"),
-      ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"),
-    ],
-    TOYOTA_HIGHLANDER.specs,
-  )
-  TOYOTA_PRIUS = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
-      ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
-      ToyotaCarDocs("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
-    ],
-    CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
-    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-  )
-  TOYOTA_PRIUS_V = PlatformConfig(
-    [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
-    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
-  )
-  TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
-      ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
-    ],
-    CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
-  )
-  TOYOTA_RAV4 = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"),
-      ToyotaCarDocs("Toyota RAV4 2017-18")
-    ],
-    CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
-    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-  )
-  TOYOTA_RAV4H = PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
-      ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
-    ],
-    TOYOTA_RAV4.specs,
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    # Note that the ICE RAV4 does not respect positive acceleration commands under 19 mph
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
-  )
-  TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
-      ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"),
-    ],
-    CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
-  )
-  TOYOTA_RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota RAV4 2022"),
-      ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
-    ],
-    TOYOTA_RAV4_TSS2.specs,
-    flags=ToyotaFlags.RADAR_ACC,
-  )
-  TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Toyota RAV4 2023-24"),
-      ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"),
-    ],
-    TOYOTA_RAV4_TSS2.specs,
-    flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
-  )
-  TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
-    [ToyotaCarDocs("Toyota Mirai 2021")],
-    CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
-  )
-  TOYOTA_SIENNA = PlatformConfig(
-    [ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
-  )
-
-  # Lexus
-  LEXUS_CTH = PlatformConfig(
-    [ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")],
-    CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
-    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-  )
-  LEXUS_ES = PlatformConfig(
-    [
-      ToyotaCarDocs("Lexus ES 2017-18"),
-      ToyotaCarDocs("Lexus ES Hybrid 2017-18"),
-    ],
-    CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-  )
-  LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Lexus ES 2019-24"),
-      ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
-    ],
-    LEXUS_ES.specs,
-  )
-  LEXUS_IS = PlatformConfig(
-    [ToyotaCarDocs("Lexus IS 2017-19")],
-    CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.UNSUPPORTED_DSU,
-  )
-  LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
-    [ToyotaCarDocs("Lexus IS 2022-23")],
-    LEXUS_IS.specs,
-  )
-  LEXUS_NX = PlatformConfig(
-    [
-      ToyotaCarDocs("Lexus NX 2018-19"),
-      ToyotaCarDocs("Lexus NX Hybrid 2018-19"),
-    ],
-    CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  )
-  LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Lexus NX 2020-21"),
-      ToyotaCarDocs("Lexus NX Hybrid 2020-21"),
-    ],
-    LEXUS_NX.specs,
-  )
-  LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
-    [ToyotaCarDocs("Lexus LC 2024")],
-    CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
-  )
-  LEXUS_RC = PlatformConfig(
-    [ToyotaCarDocs("Lexus RC 2018-20")],
-    LEXUS_IS.specs,
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.UNSUPPORTED_DSU,
-  )
-  LEXUS_RX = PlatformConfig(
-    [
-      ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"),
-      ToyotaCarDocs("Lexus RX 2017-19"),
-      # Hybrid platforms
-      ToyotaCarDocs("Lexus RX Hybrid 2016", "Lexus Safety System+"),
-      ToyotaCarDocs("Lexus RX Hybrid 2017-19"),
-    ],
-    CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
-    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  )
-  LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
-    [
-      ToyotaCarDocs("Lexus RX 2020-22"),
-      ToyotaCarDocs("Lexus RX Hybrid 2020-22"),
-    ],
-    LEXUS_RX.specs,
-  )
-  LEXUS_GS_F = PlatformConfig(
-    [ToyotaCarDocs("Lexus GS F 2016")],
-    CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.UNSUPPORTED_DSU,
-  )
-
-
-# (addr, cars, bus, 1/freq*100, vl)
-STATIC_DSU_MSGS = [
-  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON), \
-                                                                                                                      1, 3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V),
-                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
-           CAR.TOYOTA_PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V),
-          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
-]
-
-
-def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
-  # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
-  codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_version
-  for fw in fw_versions:
-    # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
-    #  and are prefixed with a byte that describes how many chunks of data there are.
-    # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
-
-    length_code = 1
-    length_code_match = FW_LEN_CODE.search(fw)
-    if length_code_match is not None:
-      length_code = length_code_match.group()[0]
-      fw = fw[1:]
-
-    # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
-    if length_code * FW_CHUNK_LEN != len(fw):
-      continue
-
-    chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)]
-
-    # only first is considered for now since second is commonly shared (TODO: understand that)
-    first_chunk = chunks[0]
-    if len(first_chunk) == 8:
-      # TODO: no part number, but some short chunks have it in subsequent chunks
-      fw_match = SHORT_FW_PATTERN.search(first_chunk)
-      if fw_match is not None:
-        platform, major_version, sub_version = fw_match.groups()
-        codes[b'-'.join((platform, major_version))].add(sub_version)
-
-    elif len(first_chunk) == 10:
-      fw_match = MEDIUM_FW_PATTERN.search(first_chunk)
-      if fw_match is not None:
-        part, platform, major_version, sub_version = fw_match.groups()
-        codes[b'-'.join((part, platform, major_version))].add(sub_version)
-
-    elif len(first_chunk) == 12:
-      fw_match = LONG_FW_PATTERN.search(first_chunk)
-      if fw_match is not None:
-        part, platform, major_version, sub_version = fw_match.groups()
-        codes[b'-'.join((part, platform, major_version))].add(sub_version)
-
-  return dict(codes)
-
-
-def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
-  candidates = set()
-
-  for candidate, fws in offline_fw_versions.items():
-    # Keep track of ECUs which pass all checks (platform codes, within sub-version range)
-    valid_found_ecus = set()
-    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
-    for ecu, expected_versions in fws.items():
-      addr = ecu[1:]
-      # Only check ECUs expected to have platform codes
-      if ecu[0] not in PLATFORM_CODE_ECUS:
-        continue
-
-      # Expected platform codes & versions
-      expected_platform_codes = get_platform_codes(expected_versions)
-
-      # Found platform codes & versions
-      found_platform_codes = get_platform_codes(live_fw_versions.get(addr, set()))
-
-      # Check part number + platform code + major version matches for any found versions
-      # Platform codes and major versions change for different physical parts, generation, API, etc.
-      # Sub-versions are incremented for minor recalls, do not need to be checked.
-      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
-        break
-
-      valid_found_ecus.add(addr)
-
-    # If all live ECUs pass all checks for candidate, add it as a match
-    if valid_expected_ecus.issubset(valid_found_ecus):
-      candidates.add(candidate)
-
-  return {str(c) for c in (candidates - FUZZY_EXCLUDED_PLATFORMS)}
-
-
-# Regex patterns for parsing more general platform-specific identifiers from FW versions.
-# - Part number: Toyota part number (usually last character needs to be ignored to find a match).
-#    Each ECU address has just one part number.
-# - Platform: usually multiple codes per an openpilot platform, however this is the least variable and
-#    is usually shared across ECUs and model years signifying this describes something about the specific platform.
-#    This describes more generational changes (TSS-P vs TSS2), or manufacture region.
-# - Major version: second least variable part of the FW version. Seen splitting cars by model year/API such as
-#    RAV4 2022/2023 and Avalon. Used to differentiate cars where API has changed slightly, but is not a generational change.
-#    It is important to note that these aren't always consecutive, for example:
-#    Avalon 2016-18's fwdCamera has these major versions: 01, 03 while 2019 has: 02
-# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering.
-#    Seen bumped in TSB FW updates, and describes other minor differences.
-SHORT_FW_PATTERN = re.compile(b'[A-Z0-9](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
-MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})')
-LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
-FW_LEN_CODE = re.compile(b'^[\x01-\x03]')  # highest seen is 3 chunks, 16 bytes each
-FW_CHUNK_LEN = 16
-
-# List of ECUs that are most unique across openpilot platforms
-# - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
-#    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
-#    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
-#    Note that the platform codes & major versions do not describe features in plain text, only with
-#    matching against other seen FW versions in the database they can describe features.
-# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code.
-#    For example the RAV4 2022's new radar architecture is shown for both with platform code.
-# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination)
-# - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
-PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
-
-# These platforms have at least one platform code for all ECUs shared with another platform.
-FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set()
-
-# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
-# Toyota diagnostic software first gets the supported data ids, then queries them one by one.
-# For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
-TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01'
-TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01'
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  # TODO: look at data to whitelist new ECUs effectively
-  requests=[
-    Request(
-      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
-      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.srs, Ecu.transmission, Ecu.hvac],
-      bus=0,
-    ),
-    Request(
-      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
-      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac],
-      bus=0,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps,
-                      Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac],
-      bus=0,
-    ),
-  ],
-  non_essential_ecus={
-    # FIXME: On some models, abs can sometimes be missing
-    Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2],
-    # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_CAMRY, CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_CHR, CAR.TOYOTA_CHR_TSS2, CAR.LEXUS_IS,
-                 CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
-  },
-  extra_ecus=[
-    # All known ECUs on a late-model Toyota vehicle not queried here:
-    # Responds to UDS:
-    # - Combination Meter (0x7c0)
-    # - HV Battery (0x713, 0x747)
-    # - Motor Generator (0x716, 0x724)
-    # - 2nd ABS "Brake/EPB" (0x730)
-    # - Electronic Parking Brake ((0x750, 0x2c))
-    # - Telematics ((0x750, 0xc7))
-    # Responds to KWP (0x1a8801):
-    # - Steering Angle Sensor (0x7b3)
-    # - EPS/EMPS (0x7a0, 0x7a1)
-    # - 2nd SRS Airbag (0x784)
-    # - Central Gateway ((0x750, 0x5f))
-    # - Telematics ((0x750, 0xc7))
-    # Responds to KWP (0x1a8881):
-    # - Body Control Module ((0x750, 0x40))
-    # - Telematics ((0x750, 0xc7))
-
-    # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
-    (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
-    (Ecu.srs, 0x780, None),     # SRS Airbag
-    # Transmission is combined with engine on some platforms, such as TSS-P RAV4
-    (Ecu.transmission, 0x701, None),
-    # A few platforms have a tester present response on this address, add to log
-    (Ecu.transmission, 0x7e1, None),
-    (Ecu.hvac, 0x7c4, None),
-  ],
-  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
-)
-
-
-STEER_THRESHOLD = 100
-
-# These cars have non-standard EPS torque scale factors. All others are 73
-EPS_SCALE = defaultdict(lambda: 73,
-                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
-
-# Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
-
-NO_DSU_CAR = CAR.with_flags(ToyotaFlags.NO_DSU)
-
-# the DSU uses the AEB message for longitudinal on these cars
-UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaFlags.UNSUPPORTED_DSU)
-
-# these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC)
-
-ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
-
-# no resume button press required
-NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py
deleted file mode 100644
index 0622339f8a..0000000000
--- a/selfdrive/car/values.py
+++ /dev/null
@@ -1,18 +0,0 @@
-from typing import get_args
-from openpilot.selfdrive.car.body.values import CAR as BODY
-from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
-from openpilot.selfdrive.car.ford.values import CAR as FORD
-from openpilot.selfdrive.car.gm.values import CAR as GM
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
-from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
-
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TOYOTA | VOLKSWAGEN
-BRANDS = get_args(Platform)
-
-PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
deleted file mode 100644
index 9660e35cec..0000000000
--- a/selfdrive/car/vin.py
+++ /dev/null
@@ -1,58 +0,0 @@
-import re
-
-from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
-from openpilot.selfdrive.car import carlog
-from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
-
-VIN_UNKNOWN = "0" * 17
-VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
-
-
-def is_valid_vin(vin: str):
-  return re.fullmatch(VIN_RE, vin) is not None
-
-
-def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
-  for i in range(retry):
-    for bus in buses:
-      for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
-        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
-        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
-        (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
-        (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
-        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0,), [0x74f], None, 0x6a),  # Volkswagen fwdCamera
-      ):
-        if bus not in valid_buses:
-          continue
-
-        # When querying functional addresses, ideally we respond to everything that sends a first frame to avoid leaving the
-        # ECU in a temporary bad state. Note that we may not cover all ECUs and response offsets. TODO: query physical addrs
-        tx_addrs = vin_addrs
-        if functional_addrs is not None:
-          tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100))
-
-        try:
-          query = IsoTpParallelQuery(can_send, can_recv, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
-                                     functional_addrs=functional_addrs, debug=debug)
-          results = query.get_data(timeout)
-
-          for addr in vin_addrs:
-            vin = results.get((addr, None))
-            if vin is not None:
-              # Ford and Nissan pads with null bytes
-              if len(vin) in (19, 24):
-                vin = re.sub(b'\x00*$', b'', vin)
-
-              # Honda Bosch response starts with a length, trim to correct length
-              if vin.startswith(b'\x11'):
-                vin = vin[1:18]
-
-              carlog.error(f"got vin with {request=}")
-              return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
-        except Exception:
-          carlog.exception("VIN query exception")
-
-    carlog.error(f"vin query retry ({i+1}) ...")
-
-  return -1, -1, VIN_UNKNOWN
diff --git a/selfdrive/car/volkswagen/__init__.py b/selfdrive/car/volkswagen/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
deleted file mode 100644
index 1f46520cb9..0000000000
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ /dev/null
@@ -1,119 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.common.numpy_fast import clip
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
-from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
-
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-LongCtrlState = structs.CarControl.Actuators.LongControlState
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.CCP = CarControllerParams(CP)
-    self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
-    self.packer_pt = CANPacker(dbc_name)
-    self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
-
-    self.apply_steer_last = 0
-    self.gra_acc_counter_last = None
-    self.eps_timer_soft_disable_alert = False
-    self.hca_frame_timer_running = 0
-    self.hca_frame_same_torque = 0
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-    can_sends = []
-
-    # **** Steering Controls ************************************************ #
-
-    if self.frame % self.CCP.STEER_STEP == 0:
-      # Logic to avoid HCA state 4 "refused":
-      #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
-      #   * Don't steer at standstill
-      #   * Don't send > 3.00 Newton-meters torque
-      #   * Don't send the same torque for > 6 seconds
-      #   * Don't send uninterrupted steering for > 360 seconds
-      # MQB racks reset the uninterrupted steering timer after a single frame
-      # of HCA disabled; this is done whenever output happens to be zero.
-
-      if CC.latActive:
-        new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
-        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
-        self.hca_frame_timer_running += self.CCP.STEER_STEP
-        if self.apply_steer_last == apply_steer:
-          self.hca_frame_same_torque += self.CCP.STEER_STEP
-          if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
-            apply_steer -= (1, -1)[apply_steer < 0]
-            self.hca_frame_same_torque = 0
-        else:
-          self.hca_frame_same_torque = 0
-        hca_enabled = abs(apply_steer) > 0
-      else:
-        hca_enabled = False
-        apply_steer = 0
-
-      if not hca_enabled:
-        self.hca_frame_timer_running = 0
-
-      self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
-      self.apply_steer_last = apply_steer
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
-
-      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
-        # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
-        # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
-        # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
-        ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)
-        if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
-          ea_simulated_torque = CS.out.steeringTorque
-        can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
-
-    # **** Acceleration Controls ******************************************** #
-
-    if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
-      acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
-      stopping = actuators.longControlState == LongCtrlState.stopping
-      starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
-      can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
-                                                         acc_control, stopping, starting, CS.esp_hold_confirmation))
-
-    # **** HUD Controls ***************************************************** #
-
-    if self.frame % self.CCP.LDW_STEP == 0:
-      hud_alert = 0
-      if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
-        hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
-      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
-                                                       CS.out.steeringPressed, hud_alert, hud_control))
-
-    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
-      lead_distance = 0
-      if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
-        lead_distance = 512 if CS.upscale_lead_car_signal else 8
-      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
-      set_speed = hud_control.setSpeed * CV.MS_TO_KPH
-      can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       lead_distance, hud_control.leadDistanceBars))
-
-    # **** Stock ACC Button Controls **************************************** #
-
-    gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
-    if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
-                                                           cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
-
-    new_actuators = copy.copy(actuators)
-    new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
-    new_actuators.steerOutputCan = self.apply_steer_last
-
-    self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
deleted file mode 100644
index b441c73f3e..0000000000
--- a/selfdrive/car/volkswagen/carstate.py
+++ /dev/null
@@ -1,402 +0,0 @@
-import numpy as np
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
-                                                      CarControllerParams, VolkswagenFlags
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.frame = 0
-    self.eps_init_complete = False
-    self.CCP = CarControllerParams(CP)
-    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
-    self.esp_hold_confirmation = False
-    self.upscale_lead_car_signal = False
-    self.eps_stock_values = False
-
-  def create_button_events(self, pt_cp, buttons):
-    button_events = []
-
-    for button in buttons:
-      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
-      if self.button_states[button.event_type] != state:
-        event = structs.CarState.ButtonEvent()
-        event.type = button.event_type
-        event.pressed = state
-        button_events.append(event)
-      self.button_states[button.event_type] = state
-
-    return button_events
-
-  def update(self, pt_cp, cam_cp, *_) -> structs.CarState:
-
-    ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
-
-    if self.CP.flags & VolkswagenFlags.PQ:
-      return self.update_pq(pt_cp, cam_cp, ext_cp)
-
-    ret = structs.CarState()
-    # Update vehicle speed and acceleration from ABS wheel speeds.
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
-      pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"],
-      pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"],
-      pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
-    )
-
-    ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw == 0
-
-    # Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
-    ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
-    ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
-    ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
-    ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
-    ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
-    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
-    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
-
-    # VW Emergency Assist status tracking and mitigation
-    self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
-    if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
-      ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0
-
-    # Update gas, brakes, and gearshift.
-    ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
-    ret.gasPressed = ret.gas > 0
-    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
-    brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
-    brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
-    ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
-    ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
-
-    # Update gear and/or clutch position data.
-    if self.CP.transmissionType == TransmissionType.automatic:
-      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
-    elif self.CP.transmissionType == TransmissionType.direct:
-      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
-    elif self.CP.transmissionType == TransmissionType.manual:
-      ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
-      if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
-        ret.gearShifter = GearShifter.reverse
-      else:
-        ret.gearShifter = GearShifter.drive
-
-    # Update door and trunk/hatch lid open status.
-    ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"],
-                        pt_cp.vl["Gateway_72"]["ZV_BT_offen"],
-                        pt_cp.vl["Gateway_72"]["ZV_HFS_offen"],
-                        pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"],
-                        pt_cp.vl["Gateway_72"]["ZV_HD_offen"]])
-
-    # Update seatbelt fastened status.
-    ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
-
-    # Consume blind-spot monitoring info/warning LED states, if available.
-    # Infostufe: BSM LED on, Warnung: BSM LED flashing
-    if self.CP.enableBsm:
-      ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
-      ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
-
-    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
-    # and capture it for forwarding to the blind spot radar controller
-    self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
-
-    # Stock FCW is considered active if the release bit for brake-jerk warning
-    # is set. Stock AEB considered active if the partial braking or target
-    # braking release bits are set.
-    # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
-    # Systems, chapter on Front Assist with Braking: Golf Family for all MQB
-    ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
-    ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
-
-    # Update ACC radar status.
-    self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
-
-    # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
-    # currently regulating speed (3), driver accel override (4), brake only (5)
-    ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
-    ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
-
-    if self.CP.pcmCruise:
-      # Cruise Control mode; check for distance UI setting from the radar.
-      # ECM does not manage this, so do not need to check for openpilot longitudinal
-      ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
-    else:
-      # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
-      ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
-
-    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
-
-    self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
-    ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
-
-    # Update ACC setpoint. When the setpoint is zero or there's an error, the
-    # radar sends a set-speed of ~90.69 m/s / 203mph.
-    if self.CP.pcmCruise:
-      ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
-      if ret.cruiseState.speed > 90:
-        ret.cruiseState.speed = 0
-
-    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
-    ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
-    ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
-    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
-    self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
-
-    # Additional safety checks performed in CarInterface.
-    ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
-
-    # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
-    self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
-
-    self.frame += 1
-    return ret
-
-  def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
-    ret = structs.CarState()
-    # Update vehicle speed and acceleration from ABS wheel speeds.
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
-      pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
-      pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
-      pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
-    )
-
-    # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
-    ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw == 0
-
-    # Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
-    ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
-    ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
-    ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
-    ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
-    ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
-    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
-    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
-
-    # Update gas, brakes, and gearshift.
-    ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
-    ret.gasPressed = ret.gas > 0
-    ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
-    ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
-    ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
-
-    # Update gear and/or clutch position data.
-    if self.CP.transmissionType == TransmissionType.automatic:
-      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
-    elif self.CP.transmissionType == TransmissionType.manual:
-      ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
-      reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
-      if reverse_light:
-        ret.gearShifter = GearShifter.reverse
-      else:
-        ret.gearShifter = GearShifter.drive
-
-    # Update door and trunk/hatch lid open status.
-    ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"],
-                        pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"],
-                        pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"],
-                        pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"],
-                        pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]])
-
-    # Update seatbelt fastened status.
-    ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
-
-    # Consume blind-spot monitoring info/warning LED states, if available.
-    # Infostufe: BSM LED on, Warnung: BSM LED flashing
-    if self.CP.enableBsm:
-      ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
-      ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
-
-    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
-    # and capture it for forwarding to the blind spot radar controller
-    self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
-
-    # Stock FCW is considered active if the release bit for brake-jerk warning
-    # is set. Stock AEB considered active if the partial braking or target
-    # braking release bits are set.
-    # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
-    # Systems, chapters on Front Assist with Braking and City Emergency
-    # Braking for the 2016 Passat NMS
-    # TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals
-    ret.stockFcw = False
-    ret.stockAeb = False
-
-    # Update ACC radar status.
-    self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
-    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
-    ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
-    if self.CP.pcmCruise:
-      ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
-    else:
-      ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
-
-    # Update ACC setpoint. When the setpoint reads as 255, the driver has not
-    # yet established an ACC setpoint, so treat it as zero.
-    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
-    if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
-      ret.cruiseState.speed = 0
-
-    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
-                                                                            pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
-    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
-    self.gra_stock_values = pt_cp.vl["GRA_Neu"]
-
-    # Additional safety checks performed in CarInterface.
-    ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
-
-    self.frame += 1
-    return ret
-
-  def update_hca_state(self, hca_status):
-    # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
-    # DISABLED means the EPS hasn't been configured to support Lane Assist
-    self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
-    perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT"))
-    temp_fault = hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
-    return temp_fault, perm_fault
-
-  @staticmethod
-  def get_can_parser(CP):
-    if CP.flags & VolkswagenFlags.PQ:
-      return CarState.get_can_parser_pq(CP)
-
-    messages = [
-      # sig_address, frequency
-      ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
-      ("LH_EPS_03", 100),   # From J500 Steering Assist with integrated sensors
-      ("ESP_19", 100),      # From J104 ABS/ESP controller
-      ("ESP_05", 50),       # From J104 ABS/ESP controller
-      ("ESP_21", 50),       # From J104 ABS/ESP controller
-      ("Motor_20", 50),     # From J623 Engine control module
-      ("TSK_06", 50),       # From J623 Engine control module
-      ("ESP_02", 50),       # From J104 ABS/ESP controller
-      ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
-      ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
-      ("Motor_14", 10),     # From J623 Engine control module
-      ("Airbag_02", 5),     # From J234 Airbag control module
-      ("Kombi_01", 2),      # From J285 Instrument cluster
-      ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
-      ("Kombi_03", 0),      # From J285 instrument cluster (not present on older cars, 1Hz when present)
-    ]
-
-    if CP.transmissionType == TransmissionType.automatic:
-      messages.append(("Getriebe_11", 20))  # From J743 Auto transmission control module
-    elif CP.transmissionType == TransmissionType.direct:
-      messages.append(("EV_Gearshift", 10))  # From J??? unknown EV control module
-
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      # Radars are here on CANBUS.pt
-      messages += MqbExtraSignals.fwd_radar_messages
-      if CP.enableBsm:
-        messages += MqbExtraSignals.bsm_radar_messages
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    if CP.flags & VolkswagenFlags.PQ:
-      return CarState.get_cam_can_parser_pq(CP)
-
-    messages = []
-
-    if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
-      messages += [
-        ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
-      ]
-
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      messages += [
-        # sig_address, frequency
-        ("LDW_02", 10)      # From R242 Driver assistance camera
-      ]
-    else:
-      # Radars are here on CANBUS.cam
-      messages += MqbExtraSignals.fwd_radar_messages
-      if CP.enableBsm:
-        messages += MqbExtraSignals.bsm_radar_messages
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
-
-  @staticmethod
-  def get_can_parser_pq(CP):
-    messages = [
-      # sig_address, frequency
-      ("Bremse_1", 100),    # From J104 ABS/ESP controller
-      ("Bremse_3", 100),    # From J104 ABS/ESP controller
-      ("Lenkhilfe_3", 100),  # From J500 Steering Assist with integrated sensors
-      ("Lenkwinkel_1", 100),  # From J500 Steering Assist with integrated sensors
-      ("Motor_3", 100),     # From J623 Engine control module
-      ("Airbag_1", 50),     # From J234 Airbag control module
-      ("Bremse_5", 50),     # From J104 ABS/ESP controller
-      ("GRA_Neu", 50),      # From J??? steering wheel control buttons
-      ("Kombi_1", 50),      # From J285 Instrument cluster
-      ("Motor_2", 50),      # From J623 Engine control module
-      ("Motor_5", 50),      # From J623 Engine control module
-      ("Lenkhilfe_2", 20),  # From J500 Steering Assist with integrated sensors
-      ("Gate_Komf_1", 10),  # From J533 CAN gateway
-    ]
-
-    if CP.transmissionType == TransmissionType.automatic:
-      messages += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
-    elif CP.transmissionType == TransmissionType.manual:
-      messages += [("Motor_1", 100)]  # From J623 Engine control module
-
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      # Extended CAN devices other than the camera are here on CANBUS.pt
-      messages += PqExtraSignals.fwd_radar_messages
-      if CP.enableBsm:
-        messages += PqExtraSignals.bsm_radar_messages
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
-
-  @staticmethod
-  def get_cam_can_parser_pq(CP):
-
-    messages = []
-
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      messages += [
-        # sig_address, frequency
-        ("LDW_Status", 10)      # From R242 Driver assistance camera
-      ]
-
-    if CP.networkLocation == NetworkLocation.gateway:
-      # Radars are here on CANBUS.cam
-      messages += PqExtraSignals.fwd_radar_messages
-      if CP.enableBsm:
-        messages += PqExtraSignals.bsm_radar_messages
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
-
-
-class MqbExtraSignals:
-  # Additional signal and message lists for optional or bus-portable controllers
-  fwd_radar_messages = [
-    ("ACC_06", 50),                              # From J428 ACC radar control module
-    ("ACC_10", 50),                              # From J428 ACC radar control module
-    ("ACC_02", 17),                              # From J428 ACC radar control module
-  ]
-  bsm_radar_messages = [
-    ("SWA_01", 20),                              # From J1086 Lane Change Assist
-  ]
-
-
-class PqExtraSignals:
-  # Additional signal and message lists for optional or bus-portable controllers
-  fwd_radar_messages = [
-    ("ACC_System", 50),                          # From J428 ACC radar control module
-    ("ACC_GRA_Anzeige", 25),                     # From J428 ACC radar control module
-  ]
-  bsm_radar_messages = [
-    ("SWA_1", 20),                               # From J1086 Lane Change Assist
-  ]
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
deleted file mode 100644
index 4c17b9113f..0000000000
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ /dev/null
@@ -1,1209 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.volkswagen.values import CAR
-
-Ecu = CarParams.Ecu
-
-# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
-
-
-FW_VERSIONS = {
-  CAR.VOLKSWAGEN_ARTEON_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x873G0906259AH\xf1\x890001',
-      b'\xf1\x873G0906259F \xf1\x890004',
-      b'\xf1\x873G0906259G \xf1\x890004',
-      b'\xf1\x873G0906259G \xf1\x890005',
-      b'\xf1\x873G0906259M \xf1\x890003',
-      b'\xf1\x873G0906259N \xf1\x890004',
-      b'\xf1\x873G0906259P \xf1\x890001',
-      b'\xf1\x875NA907115H \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158L \xf1\x893611',
-      b'\xf1\x870DL300014C \xf1\x893704',
-      b'\xf1\x870GC300011L \xf1\x891401',
-      b'\xf1\x870GC300014M \xf1\x892802',
-      b'\xf1\x870GC300019G \xf1\x892804',
-      b'\xf1\x870GC300040P \xf1\x891401',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
-      b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
-      b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900',
-      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00',
-      b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
-      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
-      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
-      b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.VOLKSWAGEN_ATLAS_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703H906026AA\xf1\x899970',
-      b'\xf1\x8703H906026AG\xf1\x899973',
-      b'\xf1\x8703H906026AJ\xf1\x890638',
-      b'\xf1\x8703H906026AJ\xf1\x891017',
-      b'\xf1\x8703H906026AT\xf1\x891922',
-      b'\xf1\x8703H906026BC\xf1\x892664',
-      b'\xf1\x8703H906026F \xf1\x896696',
-      b'\xf1\x8703H906026F \xf1\x899970',
-      b'\xf1\x8703H906026J \xf1\x896026',
-      b'\xf1\x8703H906026J \xf1\x899970',
-      b'\xf1\x8703H906026J \xf1\x899971',
-      b'\xf1\x8703H906026S \xf1\x896693',
-      b'\xf1\x8703H906026S \xf1\x899970',
-      b'\xf1\x873CN906259  \xf1\x890005',
-      b'\xf1\x873CN906259F \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158A \xf1\x893387',
-      b'\xf1\x8709G927158DR\xf1\x893536',
-      b'\xf1\x8709G927158DR\xf1\x893742',
-      b'\xf1\x8709G927158EN\xf1\x893691',
-      b'\xf1\x8709G927158F \xf1\x893489',
-      b'\xf1\x8709G927158FT\xf1\x893835',
-      b'\xf1\x8709G927158GL\xf1\x893939',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\x0e1914151912001103111122031200',
-      b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900',
-      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900',
-      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900',
-      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105111122052J00',
-      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
-      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1',
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1',
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6N920A1',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572S \xf1\x890780',
-    ],
-  },
-  CAR.VOLKSWAGEN_CADDY_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027T \xf1\x892363',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872K5959655E \xf1\x890018\xf1\x82\x05000P037605',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155',
-    ],
-  },
-  CAR.VOLKSWAGEN_CRAFTER_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906056BP\xf1\x894729',
-      b'\xf1\x8704L906056EK\xf1\x896391',
-      b'\xf1\x8705L906023BC\xf1\x892688',
-      b'\xf1\x8705L906023MH\xf1\x892588',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
-      b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
-      b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
-      b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
-      b'\xf1\x872N0909143H \xf1\x897045\xf1\x82\x05263AZ309A2',
-      b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572J \xf1\x890156',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.VOLKSWAGEN_GOLF_MK7: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906016A \xf1\x897697',
-      b'\xf1\x8704E906016AD\xf1\x895758',
-      b'\xf1\x8704E906016CE\xf1\x899096',
-      b'\xf1\x8704E906016CH\xf1\x899226',
-      b'\xf1\x8704E906016N \xf1\x899105',
-      b'\xf1\x8704E906023AG\xf1\x891726',
-      b'\xf1\x8704E906023BN\xf1\x894518',
-      b'\xf1\x8704E906024K \xf1\x896811',
-      b'\xf1\x8704E906024K \xf1\x899970',
-      b'\xf1\x8704E906027GR\xf1\x892394',
-      b'\xf1\x8704E906027HD\xf1\x892603',
-      b'\xf1\x8704E906027HD\xf1\x893742',
-      b'\xf1\x8704E906027MA\xf1\x894958',
-      b'\xf1\x8704L906021DT\xf1\x895520',
-      b'\xf1\x8704L906021DT\xf1\x898127',
-      b'\xf1\x8704L906021N \xf1\x895518',
-      b'\xf1\x8704L906021N \xf1\x898138',
-      b'\xf1\x8704L906026BN\xf1\x891197',
-      b'\xf1\x8704L906026BP\xf1\x897608',
-      b'\xf1\x8704L906026NF\xf1\x899528',
-      b'\xf1\x8704L906056CL\xf1\x893823',
-      b'\xf1\x8704L906056CR\xf1\x895813',
-      b'\xf1\x8704L906056HE\xf1\x893758',
-      b'\xf1\x8704L906056HN\xf1\x896590',
-      b'\xf1\x8704L906056HT\xf1\x896591',
-      b'\xf1\x8704L997022N \xf1\x899459',
-      b'\xf1\x870EA906016A \xf1\x898343',
-      b'\xf1\x870EA906016E \xf1\x894219',
-      b'\xf1\x870EA906016F \xf1\x894238',
-      b'\xf1\x870EA906016F \xf1\x895002',
-      b'\xf1\x870EA906016Q \xf1\x895993',
-      b'\xf1\x870EA906016S \xf1\x897207',
-      b'\xf1\x875G0906259  \xf1\x890007',
-      b'\xf1\x875G0906259D \xf1\x890002',
-      b'\xf1\x875G0906259J \xf1\x890002',
-      b'\xf1\x875G0906259L \xf1\x890002',
-      b'\xf1\x875G0906259N \xf1\x890003',
-      b'\xf1\x875G0906259Q \xf1\x890002',
-      b'\xf1\x875G0906259Q \xf1\x892313',
-      b'\xf1\x875G0906259T \xf1\x890003',
-      b'\xf1\x878V0906259H \xf1\x890002',
-      b'\xf1\x878V0906259J \xf1\x890003',
-      b'\xf1\x878V0906259J \xf1\x890103',
-      b'\xf1\x878V0906259K \xf1\x890001',
-      b'\xf1\x878V0906259K \xf1\x890003',
-      b'\xf1\x878V0906259P \xf1\x890001',
-      b'\xf1\x878V0906259Q \xf1\x890002',
-      b'\xf1\x878V0906259R \xf1\x890002',
-      b'\xf1\x878V0906264F \xf1\x890003',
-      b'\xf1\x878V0906264L \xf1\x890002',
-      b'\xf1\x878V0906264M \xf1\x890001',
-      b'\xf1\x878V09C0BB01 \xf1\x890001',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927749AP\xf1\x892943',
-      b'\xf1\x8709S927158A \xf1\x893585',
-      b'\xf1\x870CW300040H \xf1\x890606',
-      b'\xf1\x870CW300041D \xf1\x891004',
-      b'\xf1\x870CW300041H \xf1\x891010',
-      b'\xf1\x870CW300042F \xf1\x891604',
-      b'\xf1\x870CW300043B \xf1\x891601',
-      b'\xf1\x870CW300043E \xf1\x891603',
-      b'\xf1\x870CW300044S \xf1\x894530',
-      b'\xf1\x870CW300044T \xf1\x895245',
-      b'\xf1\x870CW300045  \xf1\x894531',
-      b'\xf1\x870CW300047D \xf1\x895261',
-      b'\xf1\x870CW300047E \xf1\x895261',
-      b'\xf1\x870CW300048J \xf1\x890611',
-      b'\xf1\x870CW300049H \xf1\x890905',
-      b'\xf1\x870CW300050G \xf1\x891905',
-      b'\xf1\x870D9300012  \xf1\x894904',
-      b'\xf1\x870D9300012  \xf1\x894913',
-      b'\xf1\x870D9300012  \xf1\x894937',
-      b'\xf1\x870D9300012  \xf1\x895045',
-      b'\xf1\x870D9300012  \xf1\x895046',
-      b'\xf1\x870D9300014M \xf1\x895004',
-      b'\xf1\x870D9300014Q \xf1\x895006',
-      b'\xf1\x870D9300018  \xf1\x895201',
-      b'\xf1\x870D9300020J \xf1\x894902',
-      b'\xf1\x870D9300020Q \xf1\x895201',
-      b'\xf1\x870D9300020S \xf1\x895201',
-      b'\xf1\x870D9300040A \xf1\x893613',
-      b'\xf1\x870D9300040S \xf1\x894311',
-      b'\xf1\x870D9300041H \xf1\x895220',
-      b'\xf1\x870D9300041N \xf1\x894512',
-      b'\xf1\x870D9300041P \xf1\x894507',
-      b'\xf1\x870DD300045K \xf1\x891120',
-      b'\xf1\x870DD300046F \xf1\x891601',
-      b'\xf1\x870GC300012A \xf1\x891401',
-      b'\xf1\x870GC300012A \xf1\x891403',
-      b'\xf1\x870GC300012A \xf1\x891422',
-      b'\xf1\x870GC300012M \xf1\x892301',
-      b'\xf1\x870GC300014B \xf1\x892401',
-      b'\xf1\x870GC300014B \xf1\x892403',
-      b'\xf1\x870GC300014B \xf1\x892405',
-      b'\xf1\x870GC300020G \xf1\x892401',
-      b'\xf1\x870GC300020G \xf1\x892403',
-      b'\xf1\x870GC300020G \xf1\x892404',
-      b'\xf1\x870GC300020N \xf1\x892804',
-      b'\xf1\x870GC300043T \xf1\x899999',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
-      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x13141600111233003142115A2232229333463100',
-      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
-      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
-      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
-      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
-      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13271112111312--071104171825102591131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211',
-      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111',
-      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111',
-      b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211',
-      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
-      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
-      b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
-      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400',
-      b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
-      b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00642A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1',
-      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
-      b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
-      b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101',
-      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
-      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
-      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
-      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572G \xf1\x890571',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572J \xf1\x890653',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-      b'\xf1\x875Q0907572S \xf1\x890780',
-    ],
-  },
-  CAR.VOLKSWAGEN_JETTA_MK7: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906024AK\xf1\x899937',
-      b'\xf1\x8704E906024AS\xf1\x899912',
-      b'\xf1\x8704E906024B \xf1\x895594',
-      b'\xf1\x8704E906024BC\xf1\x899971',
-      b'\xf1\x8704E906024BG\xf1\x891057',
-      b'\xf1\x8704E906024C \xf1\x899970',
-      b'\xf1\x8704E906024C \xf1\x899971',
-      b'\xf1\x8704E906024L \xf1\x895595',
-      b'\xf1\x8704E906024L \xf1\x899970',
-      b'\xf1\x8704E906027MS\xf1\x896223',
-      b'\xf1\x8705E906013DB\xf1\x893361',
-      b'\xf1\x875G0906259T \xf1\x890003',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158BQ\xf1\x893545',
-      b'\xf1\x8709S927158BS\xf1\x893642',
-      b'\xf1\x8709S927158BS\xf1\x893694',
-      b'\xf1\x8709S927158CK\xf1\x893770',
-      b'\xf1\x8709S927158JC\xf1\x894113',
-      b'\xf1\x8709S927158R \xf1\x893552',
-      b'\xf1\x8709S927158R \xf1\x893587',
-      b'\xf1\x870GC300020N \xf1\x892803',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1314171231313500314611011630169333463100',
-      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100',
-      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314642011650169333463100',
-      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314643011650169333463100',
-      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1311170031313300314240011150119333433100',
-      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1317171231313500314642023050309333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1',
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x000_A1080_OM',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A10A01A1',
-      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x875Q0907572N \xf1\x890681',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.VOLKSWAGEN_PASSAT_MK8: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703N906026E \xf1\x892114',
-      b'\xf1\x8704E906023AH\xf1\x893379',
-      b'\xf1\x8704E906023BM\xf1\x894522',
-      b'\xf1\x8704L906026DP\xf1\x891538',
-      b'\xf1\x8704L906026ET\xf1\x891990',
-      b'\xf1\x8704L906026FP\xf1\x892012',
-      b'\xf1\x8704L906026GA\xf1\x892013',
-      b'\xf1\x8704L906026GK\xf1\x899971',
-      b'\xf1\x8704L906026KD\xf1\x894798',
-      b'\xf1\x8705L906022A \xf1\x890827',
-      b'\xf1\x873G0906259  \xf1\x890004',
-      b'\xf1\x873G0906259B \xf1\x890002',
-      b'\xf1\x873G0906264  \xf1\x890004',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041E \xf1\x891006',
-      b'\xf1\x870CW300042H \xf1\x891601',
-      b'\xf1\x870CW300042H \xf1\x891607',
-      b'\xf1\x870CW300043H \xf1\x891601',
-      b'\xf1\x870CW300048R \xf1\x890610',
-      b'\xf1\x870D9300013A \xf1\x894905',
-      b'\xf1\x870D9300014L \xf1\x895002',
-      b'\xf1\x870D9300018C \xf1\x895297',
-      b'\xf1\x870D9300041A \xf1\x894801',
-      b'\xf1\x870D9300042H \xf1\x894901',
-      b'\xf1\x870DD300045T \xf1\x891601',
-      b'\xf1\x870DD300046H \xf1\x891601',
-      b'\xf1\x870DL300011H \xf1\x895201',
-      b'\xf1\x870GC300042H \xf1\x891404',
-      b'\xf1\x870GC300043  \xf1\x892301',
-      b'\xf1\x870GC300046P \xf1\x892805',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
-      b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211',
-      b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311',
-      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
-      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012416612124111',
-      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
-      b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
-      b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900',
-      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001344701311442900',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011111200631145171716121691132111',
-      b'\xf1\x875QF959655S \xf1\x890639\xf1\x82\x13131100131300111111000120----2211114A48',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
-      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00703A1',
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x873Q0907572A \xf1\x890126',
-      b'\xf1\x873Q0907572A \xf1\x890130',
-      b'\xf1\x873Q0907572B \xf1\x890192',
-      b'\xf1\x873Q0907572B \xf1\x890194',
-      b'\xf1\x873Q0907572C \xf1\x890195',
-      b'\xf1\x873Q0907572C \xf1\x890196',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-      b'\xf1\x875Q0907572S \xf1\x890780',
-    ],
-  },
-  CAR.VOLKSWAGEN_PASSAT_NMS: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8706K906016C \xf1\x899609',
-      b'\xf1\x8706K906016E \xf1\x899830',
-      b'\xf1\x8706K906016G \xf1\x891124',
-      b'\xf1\x8706K906071BJ\xf1\x894891',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158AB\xf1\x893318',
-      b'\xf1\x8709G927158BD\xf1\x893121',
-      b'\xf1\x8709G927158DK\xf1\x893594',
-      b'\xf1\x8709G927158FQ\xf1\x893745',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x87561959655  \xf1\x890210\xf1\x82\x1212121111113000102011--121012--101312',
-      b'\xf1\x87561959655C \xf1\x890508\xf1\x82\x1215141111121100314919--153015--304831',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x87561907567A \xf1\x890132',
-      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152',
-    ],
-  },
-  CAR.VOLKSWAGEN_POLO_MK6: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025H \xf1\x895177',
-      b'\xf1\x8705C906032J \xf1\x891702',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300042D \xf1\x891612',
-      b'\xf1\x870CW300050D \xf1\x891908',
-      b'\xf1\x870CW300051G \xf1\x891909',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
-      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144M \xf1\x896041',
-      b'\xf1\x872Q2909144AB\xf1\x896050',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-    ],
-  },
-  CAR.VOLKSWAGEN_SHARAN_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906016HE\xf1\x894635',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
-    ],
-  },
-  CAR.VOLKSWAGEN_TAOS_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906025CK\xf1\x892228',
-      b'\xf1\x8704E906027NJ\xf1\x891445',
-      b'\xf1\x8704E906027NP\xf1\x891286',
-      b'\xf1\x8705E906013BD\xf1\x892496',
-      b'\xf1\x8705E906013E \xf1\x891624',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158EM\xf1\x893812',
-      b'\xf1\x8709S927158BL\xf1\x893791',
-      b'\xf1\x8709S927158CR\xf1\x893924',
-      b'\xf1\x8709S927158DN\xf1\x893946',
-      b'\xf1\x8709S927158FF\xf1\x893876',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
-      b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.VOLKSWAGEN_TCROSS_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025AK\xf1\x897053',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300050E \xf1\x891903',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1212130411110411--04041104141311152H14',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144M \xf1\x896041',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.VOLKSWAGEN_TIGUAN_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703N906026D \xf1\x893680',
-      b'\xf1\x8704E906024AP\xf1\x891461',
-      b'\xf1\x8704E906027NB\xf1\x899504',
-      b'\xf1\x8704L906026EJ\xf1\x893661',
-      b'\xf1\x8704L906026EJ\xf1\x893916',
-      b'\xf1\x8704L906027G \xf1\x899893',
-      b'\xf1\x8705E906018BS\xf1\x890914',
-      b'\xf1\x875N0906259  \xf1\x890002',
-      b'\xf1\x875NA906259H \xf1\x890002',
-      b'\xf1\x875NA907115E \xf1\x890003',
-      b'\xf1\x875NA907115E \xf1\x890005',
-      b'\xf1\x875NA907115J \xf1\x890002',
-      b'\xf1\x875NA907115K \xf1\x890004',
-      b'\xf1\x8783A907115  \xf1\x890007',
-      b'\xf1\x8783A907115B \xf1\x890005',
-      b'\xf1\x8783A907115F \xf1\x890002',
-      b'\xf1\x8783A907115G \xf1\x890001',
-      b'\xf1\x8783A907115K \xf1\x890001',
-      b'\xf1\x8783A907115K \xf1\x890002',
-      b'\xf1\x8783A907115Q \xf1\x890001',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158DS\xf1\x893699',
-      b'\xf1\x8709G927158DT\xf1\x893698',
-      b'\xf1\x8709G927158FM\xf1\x893757',
-      b'\xf1\x8709G927158GC\xf1\x893821',
-      b'\xf1\x8709G927158GD\xf1\x893820',
-      b'\xf1\x8709G927158GM\xf1\x893936',
-      b'\xf1\x8709G927158GN\xf1\x893938',
-      b'\xf1\x8709G927158HB\xf1\x894069',
-      b'\xf1\x8709G927158HC\xf1\x894070',
-      b'\xf1\x870D9300043  \xf1\x895202',
-      b'\xf1\x870DD300046K \xf1\x892302',
-      b'\xf1\x870DL300011N \xf1\x892001',
-      b'\xf1\x870DL300011N \xf1\x892012',
-      b'\xf1\x870DL300011N \xf1\x892014',
-      b'\xf1\x870DL300012M \xf1\x892107',
-      b'\xf1\x870DL300012P \xf1\x892103',
-      b'\xf1\x870DL300013A \xf1\x893005',
-      b'\xf1\x870DL300013G \xf1\x892119',
-      b'\xf1\x870DL300013G \xf1\x892120',
-      b'\xf1\x870DL300014C \xf1\x893703',
-      b'\xf1\x870GC300013P \xf1\x892401',
-      b'\xf1\x870GC300046Q \xf1\x892802',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
-      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
-      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
-      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
-      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
-      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
-      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
-      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1312110031333300314240583752379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333336313140013950399333423100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
-      b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
-      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
-      b'\xf1\x875QF909144  \xf1\x895572\xf1\x82\x0571A60833A1',
-      b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM',
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60804A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572AB\xf1\x890397',
-      b'\xf1\x872Q0907572J \xf1\x890156',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x872Q0907572Q \xf1\x890342',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.VOLKSWAGEN_TOURAN_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906025BE\xf1\x890720',
-      b'\xf1\x8704E906027HQ\xf1\x893746',
-      b'\xf1\x8704L906026HM\xf1\x893017',
-      b'\xf1\x8705E906018CQ\xf1\x890808',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020A \xf1\x891936',
-      b'\xf1\x870CW300041E \xf1\x891005',
-      b'\xf1\x870CW300041Q \xf1\x891606',
-      b'\xf1\x870CW300051M \xf1\x891926',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x1336350021353335314132014730479333313100',
-      b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x13363500213533353141324C4732479333313100',
-      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
-      b'\xf1\x875QD959655AJ\xf1\x890421\xf1\x82\x1336350021313300314240023330339333663100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
-      b'\xf1\x875QD909144F \xf1\x891082\xf1\x82\x0521A00642A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x873Q0907572C \xf1\x890195',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.VOLKSWAGEN_TRANSPORTER_T61: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906056AG\xf1\x899970',
-      b'\xf1\x8704L906056AL\xf1\x899970',
-      b'\xf1\x8704L906057AP\xf1\x891186',
-      b'\xf1\x8704L906057N \xf1\x890413',
-      b'\xf1\x8705L906023E \xf1\x891352',
-      b'\xf1\x8705L906023MR\xf1\x892582',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870BT300012E \xf1\x893105',
-      b'\xf1\x870BT300012G \xf1\x893102',
-      b'\xf1\x870BT300046R \xf1\x893102',
-      b'\xf1\x870DV300012B \xf1\x893701',
-      b'\xf1\x870DV300012B \xf1\x893702',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
-      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
-      b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
-      b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
-      b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-    ],
-  },
-  CAR.VOLKSWAGEN_TROC_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906018AT\xf1\x899640',
-      b'\xf1\x8705E906018CK\xf1\x890863',
-      b'\xf1\x8705E906018P \xf1\x896020',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041S \xf1\x891615',
-      b'\xf1\x870CW300050J \xf1\x891911',
-      b'\xf1\x870CW300051M \xf1\x891925',
-      b'\xf1\x870CW300051M \xf1\x891928',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1111001111001105111111052900',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
-      b'\xf1\x875Q0959655CF\xf1\x890421\xf1\x82\x1311110012333300314240021150119333613100',
-      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
-      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1154119333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521060403A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
-      b'\xf1\x875WA907144M \xf1\x891051\xf1\x82\x001T06081T7N',
-      b'\xf1\x875WA907144Q \xf1\x891063\xf1\x82\x001O06081OOM',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.AUDI_A3_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906023AN\xf1\x893695',
-      b'\xf1\x8704E906023AR\xf1\x893440',
-      b'\xf1\x8704E906023BL\xf1\x895190',
-      b'\xf1\x8704E906027CJ\xf1\x897798',
-      b'\xf1\x8704L997022N \xf1\x899459',
-      b'\xf1\x875G0906259A \xf1\x890004',
-      b'\xf1\x875G0906259D \xf1\x890002',
-      b'\xf1\x875G0906259L \xf1\x890002',
-      b'\xf1\x875G0906259Q \xf1\x890002',
-      b'\xf1\x878V0906259E \xf1\x890001',
-      b'\xf1\x878V0906259F \xf1\x890002',
-      b'\xf1\x878V0906259H \xf1\x890002',
-      b'\xf1\x878V0906259J \xf1\x890002',
-      b'\xf1\x878V0906259K \xf1\x890001',
-      b'\xf1\x878V0906264B \xf1\x890003',
-      b'\xf1\x878V0907115B \xf1\x890007',
-      b'\xf1\x878V0907404A \xf1\x890005',
-      b'\xf1\x878V0907404G \xf1\x890005',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300044T \xf1\x895245',
-      b'\xf1\x870CW300048  \xf1\x895201',
-      b'\xf1\x870D9300012  \xf1\x894912',
-      b'\xf1\x870D9300012  \xf1\x894931',
-      b'\xf1\x870D9300012K \xf1\x894513',
-      b'\xf1\x870D9300012L \xf1\x894521',
-      b'\xf1\x870D9300013B \xf1\x894902',
-      b'\xf1\x870D9300013B \xf1\x894931',
-      b'\xf1\x870D9300041N \xf1\x894512',
-      b'\xf1\x870D9300043T \xf1\x899699',
-      b'\xf1\x870DD300046  \xf1\x891604',
-      b'\xf1\x870DD300046A \xf1\x891602',
-      b'\xf1\x870DD300046F \xf1\x891602',
-      b'\xf1\x870DD300046G \xf1\x891601',
-      b'\xf1\x870DL300012E \xf1\x892012',
-      b'\xf1\x870DL300012H \xf1\x892112',
-      b'\xf1\x870GC300011  \xf1\x890403',
-      b'\xf1\x870GC300013M \xf1\x892402',
-      b'\xf1\x870GC300042J \xf1\x891402',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\x111111001111111206110412111321139114',
-      b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
-      b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
-      b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100',
-      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
-      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--171115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
-      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\x111212001112110004110411111421149114',
-      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\x111212001112111104110411111521159114',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561G01A13A0',
-      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566G0HA14A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521G0G809A1',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G00303A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G00803A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516G00804A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521G00807A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567M \xf1\x890398\xf1\x82\x0101',
-      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572G \xf1\x890571',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-    ],
-  },
-  CAR.AUDI_Q2_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027JT\xf1\x894145',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041F \xf1\x891006',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655BD\xf1\x890336\xf1\x82\x1311111111111100311211011231129321312111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571F60511A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.AUDI_Q3_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906018N \xf1\x899970',
-      b'\xf1\x8705L906022M \xf1\x890901',
-      b'\xf1\x8783A906259  \xf1\x890001',
-      b'\xf1\x8783A906259  \xf1\x890005',
-      b'\xf1\x8783A906259C \xf1\x890002',
-      b'\xf1\x8783A906259D \xf1\x890001',
-      b'\xf1\x8783A906259F \xf1\x890001',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158CN\xf1\x893608',
-      b'\xf1\x8709G927158FL\xf1\x893758',
-      b'\xf1\x8709G927158GG\xf1\x893825',
-      b'\xf1\x8709G927158GP\xf1\x893937',
-      b'\xf1\x870GC300045D \xf1\x892802',
-      b'\xf1\x870GC300046F \xf1\x892701',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
-      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111',
-      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
-      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
-      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
-      b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
-      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002VG60A2VOM',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.SEAT_ATECA_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027KA\xf1\x893749',
-      b'\xf1\x8704L906021EL\xf1\x897542',
-      b'\xf1\x8704L906026BP\xf1\x891198',
-      b'\xf1\x8704L906026BP\xf1\x897608',
-      b'\xf1\x8704L906056CR\xf1\x892181',
-      b'\xf1\x8704L906056CR\xf1\x892797',
-      b'\xf1\x8705E906018AS\xf1\x899596',
-      b'\xf1\x8781A906259B \xf1\x890003',
-      b'\xf1\x878V0906264H \xf1\x890005',
-      b'\xf1\x878V0907115E \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041D \xf1\x891004',
-      b'\xf1\x870CW300041G \xf1\x891003',
-      b'\xf1\x870CW300050J \xf1\x891908',
-      b'\xf1\x870D9300014S \xf1\x895202',
-      b'\xf1\x870D9300042M \xf1\x895016',
-      b'\xf1\x870GC300014P \xf1\x892801',
-      b'\xf1\x870GC300043A \xf1\x892304',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
-      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
-      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1212001211001305121211052900',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
-      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
-      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e1312001313001305171311052900',
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1113121149',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571N60511A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521N01342A1',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511N01805A0',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N05808A1',
-      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x0013N619137N',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.SKODA_FABIA_MK4: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906018CF\xf1\x891905',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300051M \xf1\x891936',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144S \xf1\x896042',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-    ],
-  },
-  CAR.SKODA_KAMIQ_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025AK\xf1\x897053',
-      b'\xf1\x8705C906032M \xf1\x891333',
-      b'\xf1\x8705C906032M \xf1\x892365',
-      b'\xf1\x8705E906013CK\xf1\x892540',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020  \xf1\x891906',
-      b'\xf1\x870CW300020  \xf1\x891907',
-      b'\xf1\x870CW300020T \xf1\x892204',
-      b'\xf1\x870CW300050  \xf1\x891709',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
-      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x12111104111104112104040404111111112H14',
-      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x122221042111042121040404042E2711152H14',
-      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
-      b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144AB\xf1\x896050',
-      b'\xf1\x872Q1909144M \xf1\x896041',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.SKODA_KAROQ_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906013CL\xf1\x892541',
-      b'\xf1\x8705E906013H \xf1\x892407',
-      b'\xf1\x8705E906018P \xf1\x895472',
-      b'\xf1\x8705E906018P \xf1\x896020',
-      b'\xf1\x8705L906022BS\xf1\x890913',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020T \xf1\x892202',
-      b'\xf1\x870CW300041S \xf1\x891615',
-      b'\xf1\x870GC300014L \xf1\x892802',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
-      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1213001211001101131122012100',
-      b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572AB\xf1\x890397',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.SKODA_KODIAQ_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027DD\xf1\x893123',
-      b'\xf1\x8704E906027LD\xf1\x893433',
-      b'\xf1\x8704E906027NB\xf1\x896517',
-      b'\xf1\x8704E906027NB\xf1\x899504',
-      b'\xf1\x8704L906026DE\xf1\x895418',
-      b'\xf1\x8704L906026EJ\xf1\x893661',
-      b'\xf1\x8704L906026HT\xf1\x893617',
-      b'\xf1\x8705E906018DJ\xf1\x890915',
-      b'\xf1\x8705E906018DJ\xf1\x891903',
-      b'\xf1\x8705L906022GM\xf1\x893411',
-      b'\xf1\x875NA906259E \xf1\x890003',
-      b'\xf1\x875NA907115D \xf1\x890003',
-      b'\xf1\x875NA907115E \xf1\x890003',
-      b'\xf1\x875NA907115E \xf1\x890005',
-      b'\xf1\x8783A907115E \xf1\x890001',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870D9300014S \xf1\x895201',
-      b'\xf1\x870D9300043  \xf1\x895202',
-      b'\xf1\x870DL300011N \xf1\x892014',
-      b'\xf1\x870DL300012G \xf1\x892006',
-      b'\xf1\x870DL300012M \xf1\x892107',
-      b'\xf1\x870DL300012N \xf1\x892110',
-      b'\xf1\x870DL300013G \xf1\x892119',
-      b'\xf1\x870GC300014N \xf1\x892801',
-      b'\xf1\x870GC300018S \xf1\x892803',
-      b'\xf1\x870GC300019H \xf1\x892806',
-      b'\xf1\x870GC300046Q \xf1\x892802',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r11110011110011031111310311',
-      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
-      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
-      b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
-      b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121246149',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
-      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x0025T6BA25OM',
-      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572AB\xf1\x890397',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x872Q0907572Q \xf1\x890342',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.SKODA_OCTAVIA_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025L \xf1\x896198',
-      b'\xf1\x8704E906016ER\xf1\x895823',
-      b'\xf1\x8704E906027HD\xf1\x893742',
-      b'\xf1\x8704E906027MH\xf1\x894786',
-      b'\xf1\x8704L906021DT\xf1\x898127',
-      b'\xf1\x8704L906021ER\xf1\x898361',
-      b'\xf1\x8704L906026BP\xf1\x897608',
-      b'\xf1\x8704L906026BS\xf1\x891541',
-      b'\xf1\x8704L906026BT\xf1\x897612',
-      b'\xf1\x875G0906259C \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041L \xf1\x891601',
-      b'\xf1\x870CW300041N \xf1\x891605',
-      b'\xf1\x870CW300043B \xf1\x891601',
-      b'\xf1\x870CW300043P \xf1\x891605',
-      b'\xf1\x870D9300012H \xf1\x894518',
-      b'\xf1\x870D9300014T \xf1\x895221',
-      b'\xf1\x870D9300041C \xf1\x894936',
-      b'\xf1\x870D9300041H \xf1\x895220',
-      b'\xf1\x870D9300041J \xf1\x894902',
-      b'\xf1\x870D9300041P \xf1\x894507',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
-      b'\xf1\x873Q0959655AK\xf1\x890306\xf1\x82\r31210031210021033733310331',
-      b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
-      b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
-      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e3221003221002105755331052100',
-      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
-      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111101000011110006110411111111119111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
-      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567P \xf1\x890100\xf1\x82\x0101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.SKODA_SUPERB_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027BS\xf1\x892887',
-      b'\xf1\x8704E906027BT\xf1\x899042',
-      b'\xf1\x8704L906026ET\xf1\x891343',
-      b'\xf1\x8704L906026ET\xf1\x891990',
-      b'\xf1\x8704L906026FP\xf1\x891196',
-      b'\xf1\x8704L906026KA\xf1\x896014',
-      b'\xf1\x8704L906026KB\xf1\x894071',
-      b'\xf1\x8704L906026KD\xf1\x894798',
-      b'\xf1\x8704L906026MT\xf1\x893076',
-      b'\xf1\x8705L906022BK\xf1\x899971',
-      b'\xf1\x873G0906259  \xf1\x890004',
-      b'\xf1\x873G0906259B \xf1\x890002',
-      b'\xf1\x873G0906259L \xf1\x890003',
-      b'\xf1\x873G0906264A \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300042H \xf1\x891601',
-      b'\xf1\x870CW300043B \xf1\x891603',
-      b'\xf1\x870CW300049Q \xf1\x890906',
-      b'\xf1\x870D9300011T \xf1\x894801',
-      b'\xf1\x870D9300012  \xf1\x894940',
-      b'\xf1\x870D9300013A \xf1\x894905',
-      b'\xf1\x870D9300014K \xf1\x895006',
-      b'\xf1\x870D9300041H \xf1\x894905',
-      b'\xf1\x870D9300042M \xf1\x895013',
-      b'\xf1\x870D9300043F \xf1\x895202',
-      b'\xf1\x870GC300013K \xf1\x892403',
-      b'\xf1\x870GC300014M \xf1\x892801',
-      b'\xf1\x870GC300019G \xf1\x892803',
-      b'\xf1\x870GC300043  \xf1\x892301',
-      b'\xf1\x870GC300046D \xf1\x892402',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
-      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121118112231292221111',
-      b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
-      b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
-      b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
-      b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
-      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100',
-      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
-      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
-      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
-      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060700',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x873Q0907572B \xf1\x890192',
-      b'\xf1\x873Q0907572B \xf1\x890194',
-      b'\xf1\x873Q0907572C \xf1\x890195',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-      b'\xf1\x875Q0907572S \xf1\x890780',
-    ],
-  },
-}
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
deleted file mode 100644
index 96f3493fe8..0000000000
--- a/selfdrive/car/volkswagen/interface.py
+++ /dev/null
@@ -1,87 +0,0 @@
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, NetworkLocation, TransmissionType, VolkswagenFlags
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
-    ret.carName = "volkswagen"
-    ret.radarUnavailable = True
-
-    if ret.flags & VolkswagenFlags.PQ:
-      # Set global PQ35/PQ46/NMS parameters
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
-      ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
-
-      if 0x440 in fingerprint[0] or docs:  # Getriebe_1
-        ret.transmissionType = TransmissionType.automatic
-      else:
-        ret.transmissionType = TransmissionType.manual
-
-      if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
-        ret.networkLocation = NetworkLocation.gateway
-      else:
-        ret.networkLocation = NetworkLocation.fwdCamera
-
-      # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
-      # EPS flash update to work around this timer, and enable steering down to zero, is available from:
-      #   https://github.com/pd0wm/pq-flasher
-      # It is documented in a four-part blog series:
-      #   https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
-      # Panda ALLOW_DEBUG firmware required.
-      ret.dashcamOnly = True
-
-    else:
-      # Set global MQB parameters
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
-      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
-
-      if 0xAD in fingerprint[0] or docs:  # Getriebe_11
-        ret.transmissionType = TransmissionType.automatic
-      elif 0x187 in fingerprint[0]:  # EV_Gearshift
-        ret.transmissionType = TransmissionType.direct
-      else:
-        ret.transmissionType = TransmissionType.manual
-
-      if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)):  # Airbag_01, LWI_01, ESP_19, ESP_21
-        ret.networkLocation = NetworkLocation.gateway
-      else:
-        ret.networkLocation = NetworkLocation.fwdCamera
-
-      if 0x126 in fingerprint[2]:  # HCA_01
-        ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value
-
-    # Global lateral tuning defaults, can be overridden per-vehicle
-
-    ret.steerLimitTimer = 0.4
-    if ret.flags & VolkswagenFlags.PQ:
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-    else:
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kpBP = [0.]
-      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.pid.kf = 0.00006
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.2]
-
-    # Global longitudinal tuning defaults, can be overridden per-vehicle
-
-    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
-    if experimental_long:
-      # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
-      ret.openpilotLongitudinalControl = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
-      if ret.transmissionType == TransmissionType.manual:
-        ret.minEnableSpeed = 4.5
-
-    ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.stoppingControl = True
-    ret.stopAccel = -0.55
-    ret.vEgoStarting = 0.1
-    ret.vEgoStopping = 0.5
-    ret.autoResumeSng = ret.minEnableSpeed == -1
-
-    return ret
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
deleted file mode 100644
index 763908b6b2..0000000000
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ /dev/null
@@ -1,137 +0,0 @@
-def create_steering_control(packer, bus, apply_steer, lkas_enabled):
-  values = {
-    "HCA_01_Status_HCA": 5 if lkas_enabled else 3,
-    "HCA_01_LM_Offset": abs(apply_steer),
-    "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
-    "HCA_01_Vib_Freq": 18,
-    "HCA_01_Sendestatus": 1 if lkas_enabled else 0,
-    "EA_ACC_Wunschgeschwindigkeit": 327.36,
-  }
-  return packer.make_can_msg("HCA_01", bus, values)
-
-
-def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
-  values = {s: eps_stock_values[s] for s in [
-    "COUNTER",                     # Sync counter value to EPS output
-    "EPS_Lenkungstyp",             # EPS rack type
-    "EPS_Berechneter_LW",          # Absolute raw steering angle
-    "EPS_VZ_BLW",                  # Raw steering angle sign
-    "EPS_HCA_Status",              # EPS HCA control status
-  ]}
-
-  values.update({
-    # Absolute driver torque input and sign, with EA inactivity mitigation
-    "EPS_Lenkmoment": abs(ea_simulated_torque),
-    "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
-  })
-
-  return packer.make_can_msg("LH_EPS_03", bus, values)
-
-
-def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
-  values = {}
-  if len(ldw_stock_values):
-    values = {s: ldw_stock_values[s] for s in [
-      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
-      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
-      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
-      "LDW_DLC",                # Lane departure, distance to line crossing
-      "LDW_TLC",                # Lane departure, time to line crossing
-    ]}
-
-  values.update({
-    "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
-    "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
-    "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
-    "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
-    "LDW_Texte": hud_alert,
-  })
-  return packer.make_can_msg("LDW_02", bus, values)
-
-
-def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
-  values = {s: gra_stock_values[s] for s in [
-    "GRA_Hauptschalter",           # ACC button, on/off
-    "GRA_Typ_Hauptschalter",       # ACC main button type
-    "GRA_Codierung",               # ACC button configuration/coding
-    "GRA_Tip_Stufe_2",             # unknown related to stalk type
-    "GRA_ButtonTypeInfo",          # unknown related to stalk type
-  ]}
-
-  values.update({
-    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
-    "GRA_Abbrechen": cancel,
-    "GRA_Tip_Wiederaufnahme": resume,
-  })
-
-  return packer.make_can_msg("GRA_ACC_01", bus, values)
-
-
-def acc_control_value(main_switch_on, acc_faulted, long_active):
-  if acc_faulted:
-    acc_control = 6
-  elif long_active:
-    acc_control = 3
-  elif main_switch_on:
-    acc_control = 2
-  else:
-    acc_control = 0
-
-  return acc_control
-
-
-def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
-  # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later
-  return acc_control_value(main_switch_on, acc_faulted, long_active)
-
-
-def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
-  commands = []
-
-  acc_06_values = {
-    "ACC_Typ": acc_type,
-    "ACC_Status_ACC": acc_control,
-    "ACC_StartStopp_Info": acc_enabled,
-    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
-    "ACC_zul_Regelabw_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
-    "ACC_zul_Regelabw_oben": 0.2,  # TODO: dynamic adjustment of comfort-band
-    "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0,  # TODO: dynamic adjustment of jerk limits
-    "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0,  # TODO: dynamic adjustment of jerk limits
-    "ACC_Anfahren": starting,
-    "ACC_Anhalten": stopping,
-  }
-  commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values))
-
-  if starting:
-    acc_hold_type = 4  # hold release / startup
-  elif esp_hold:
-    acc_hold_type = 3  # hold standby
-  elif stopping:
-    acc_hold_type = 1  # hold request
-  else:
-    acc_hold_type = 0
-
-  acc_07_values = {
-    "ACC_Anhalteweg": 0.3 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
-    "ACC_Freilauf_Info": 2 if acc_enabled else 0,
-    "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
-    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
-    "ACC_Anforderung_HMS": acc_hold_type,
-    "ACC_Anfahren": starting,
-    "ACC_Anhalten": stopping,
-  }
-  commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values))
-
-  return commands
-
-
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
-  values = {
-    "ACC_Status_Anzeige": acc_hud_status,
-    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
-    "ACC_Gesetzte_Zeitluecke": distance + 2,
-    "ACC_Display_Prio": 3,
-    "ACC_Abstandsindex": lead_distance,
-  }
-
-  return packer.make_can_msg("ACC_02", bus, values)
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
deleted file mode 100644
index f8d161b970..0000000000
--- a/selfdrive/car/volkswagen/pqcan.py
+++ /dev/null
@@ -1,105 +0,0 @@
-def create_steering_control(packer, bus, apply_steer, lkas_enabled):
-  values = {
-    "LM_Offset": abs(apply_steer),
-    "LM_OffSign": 1 if apply_steer < 0 else 0,
-    "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
-    "Vib_Freq": 16,
-  }
-
-  return packer.make_can_msg("HCA_1", bus, values)
-
-
-def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
-  values = {}
-  if len(ldw_stock_values):
-    values = {s: ldw_stock_values[s] for s in [
-      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
-      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
-      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
-      "LDW_DLC",                # Lane departure, distance to line crossing
-      "LDW_TLC",                # Lane departure, time to line crossing
-    ]}
-
-  values.update({
-    "LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
-    "LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0,
-    "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
-    "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
-    "LDW_Textbits": hud_alert,
-  })
-
-  return packer.make_can_msg("LDW_Status", bus, values)
-
-
-def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
-  values = {s: gra_stock_values[s] for s in [
-    "GRA_Hauptschalt",      # ACC button, on/off
-    "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
-    "GRA_Kodierinfo",       # ACC button, configuration
-    "GRA_Sender",           # ACC button, CAN message originator
-  ]}
-
-  values.update({
-    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
-    "GRA_Abbrechen": cancel,
-    "GRA_Recall": resume,
-  })
-
-  return packer.make_can_msg("GRA_Neu", bus, values)
-
-
-def acc_control_value(main_switch_on, acc_faulted, long_active):
-  if long_active:
-    acc_control = 1
-  elif main_switch_on:
-    acc_control = 2
-  else:
-    acc_control = 0
-
-  return acc_control
-
-
-def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
-  if acc_faulted:
-    hud_status = 6
-  elif long_active:
-    hud_status = 3
-  elif main_switch_on:
-    hud_status = 2
-  else:
-    hud_status = 0
-
-  return hud_status
-
-
-def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
-  commands = []
-
-  values = {
-    "ACS_Sta_ADR": acc_control,
-    "ACS_StSt_Info": acc_enabled,
-    "ACS_Typ_ACC": acc_type,
-    "ACS_Anhaltewunsch": acc_type == 1 and stopping,
-    "ACS_FreigSollB": acc_enabled,
-    "ACS_Sollbeschl": accel if acc_enabled else 3.01,
-    "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
-    "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
-  }
-
-  commands.append(packer.make_can_msg("ACC_System", bus, values))
-
-  return commands
-
-
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
-  values = {
-    "ACA_StaACC": acc_hud_status,
-    "ACA_Zeitluecke": distance + 2,
-    "ACA_V_Wunsch": set_speed,
-    "ACA_gemZeitl": lead_distance,
-    "ACA_PrioDisp": 3,
-    # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay
-    # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
-  }
-
-  return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)
diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py
deleted file mode 100644
index e654bd61fd..0000000000
--- a/selfdrive/car/volkswagen/radar_interface.py
+++ /dev/null
@@ -1,4 +0,0 @@
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass
diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py
deleted file mode 100644
index ba27806dda..0000000000
--- a/selfdrive/car/volkswagen/tests/test_volkswagen.py
+++ /dev/null
@@ -1,60 +0,0 @@
-import random
-import re
-
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
-from openpilot.selfdrive.car.volkswagen.fingerprints import FW_VERSIONS
-
-Ecu = CarParams.Ecu
-
-CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}')
-# TODO: determine the unknown groups
-SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<unknown>[0-9][0-9A-Z][0-9])(?P<unknown2>[0-9A-Z]{2}[0-9])([A-Z0-9]| )')
-
-
-class TestVolkswagenPlatformConfigs:
-  def test_spare_part_fw_pattern(self, subtests):
-    # Relied on for determining if a FW is likely VW
-    for platform, ecus in FW_VERSIONS.items():
-      with subtests.test(platform=platform.value):
-        for fws in ecus.values():
-          for fw in fws:
-            assert SPARE_PART_FW_PATTERN.match(fw) is not None, f"Bad FW: {fw}"
-
-  def test_chassis_codes(self, subtests):
-    for platform in CAR:
-      with subtests.test(platform=platform.value):
-        assert len(platform.config.wmis) > 0, "WMIs not set"
-        assert len(platform.config.chassis_codes) > 0, "Chassis codes not set"
-        assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \
-                            platform.config.chassis_codes), "Bad chassis codes"
-
-        # No two platforms should share chassis codes
-        for comp in CAR:
-          if platform == comp:
-            continue
-          assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \
-                           f"Shared chassis codes: {comp}"
-
-  def test_custom_fuzzy_fingerprinting(self, subtests):
-    all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
-
-    for platform in CAR:
-      with subtests.test(platform=platform.name):
-        for wmi in WMI:
-          for chassis_code in platform.config.chassis_codes | {"00"}:
-            vin = ["0"] * 17
-            vin[0:3] = wmi
-            vin[6:8] = chassis_code
-            vin = "".join(vin)
-
-            # Check a few FW cases - expected, unexpected
-            for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
-              should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
-                              radar_fw in all_radar_fw)
-
-              live_fws = {(0x757, None): [radar_fw]}
-              matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
-
-              expected_matches = {platform} if should_match else set()
-              assert expected_matches == matches, "Bad match"
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
deleted file mode 100644
index 53161e98a1..0000000000
--- a/selfdrive/car/volkswagen/values.py
+++ /dev/null
@@ -1,516 +0,0 @@
-from collections import defaultdict, namedtuple
-from dataclasses import dataclass, field
-from enum import Enum, IntFlag, StrEnum
-
-from panda.python import uds
-from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
-from openpilot.selfdrive.car.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
-                                                     Device
-from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
-
-Ecu = structs.CarParams.Ecu
-NetworkLocation = structs.CarParams.NetworkLocation
-TransmissionType = structs.CarParams.TransmissionType
-GearShifter = structs.CarState.GearShifter
-Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-
-
-class CarControllerParams:
-  STEER_STEP = 2                           # HCA_01/HCA_1 message frequency 50Hz
-  ACC_CONTROL_STEP = 2                     # ACC_06/ACC_07/ACC_System frequency 50Hz
-
-  # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-  # MQB vs PQ maximums are shared, but rate-of-change limited differently
-  # based on safety requirements driven by lateral accel testing.
-
-  STEER_MAX = 300                          # Max heading control assist torque 3.00 Nm
-  STEER_DRIVER_MULTIPLIER = 3              # weight driver torque heavily
-  STEER_DRIVER_FACTOR = 1                  # from dbc
-
-  STEER_TIME_MAX = 360                     # Max time that EPS allows uninterrupted HCA steering control
-  STEER_TIME_ALERT = STEER_TIME_MAX - 10   # If mitigation fails, time to soft disengage before EPS timer expires
-  STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
-
-  DEFAULT_MIN_STEER_SPEED = 0.4            # m/s, newer EPS racks fault below this speed, don't show a low speed alert
-
-  ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
-  ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
-
-  def __init__(self, CP):
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-
-    if CP.flags & VolkswagenFlags.PQ:
-      self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
-      self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
-      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
-      self.STEER_DELTA_UP = 6             # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
-      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
-
-      if CP.transmissionType == TransmissionType.automatic:
-        self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
-      self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
-
-      self.BUTTONS = [
-        Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
-        Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
-        Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
-        Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
-        Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
-        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
-      ]
-
-      self.LDW_MESSAGES = {
-        "none": 0,  # Nothing to display
-        "laneAssistUnavail": 1,  # "Lane Assist currently not available."
-        "laneAssistUnavailSysError": 2,  # "Lane Assist system error"
-        "laneAssistUnavailNoSensorView": 3,  # "Lane Assist not available. No sensor view."
-        "laneAssistTakeOver": 4,  # "Lane Assist: Please Take Over Steering"
-        "laneAssistDeactivTrailer": 5,  # "Lane Assist: no function with trailer"
-      }
-
-    else:
-      self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
-      self.ACC_HUD_STEP = 6               # ACC_02 message frequency 16Hz
-      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
-      self.STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
-      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
-
-      if CP.transmissionType == TransmissionType.automatic:
-        self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
-      elif CP.transmissionType == TransmissionType.direct:
-        self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
-      self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
-
-      self.BUTTONS = [
-        Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
-        Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
-        Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
-        Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
-        Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
-        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
-      ]
-
-      self.LDW_MESSAGES = {
-        "none": 0,                            # Nothing to display
-        "laneAssistUnavailChime": 1,          # "Lane Assist currently not available." with chime
-        "laneAssistUnavailNoSensorChime": 3,  # "Lane Assist not available. No sensor view." with chime
-        "laneAssistTakeOverUrgent": 4,        # "Lane Assist: Please Take Over Steering" with urgent beep
-        "emergencyAssistUrgent": 6,           # "Emergency Assist: Please Take Over Steering" with urgent beep
-        "laneAssistTakeOverChime": 7,         # "Lane Assist: Please Take Over Steering" with chime
-        "laneAssistTakeOver": 8,              # "Lane Assist: Please Take Over Steering" silent
-        "emergencyAssistChangingLanes": 9,    # "Emergency Assist: Changing lanes..." with urgent beep
-        "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
-      }
-
-
-class CANBUS:
-  pt = 0
-  cam = 2
-
-
-class WMI(StrEnum):
-  VOLKSWAGEN_USA_SUV = "1V2"
-  VOLKSWAGEN_USA_CAR = "1VW"
-  VOLKSWAGEN_MEXICO_SUV = "3VV"
-  VOLKSWAGEN_MEXICO_CAR = "3VW"
-  VOLKSWAGEN_ARGENTINA = "8AW"
-  VOLKSWAGEN_BRASIL = "9BW"
-  SAIC_VOLKSWAGEN = "LSV"
-  SKODA = "TMB"
-  SEAT = "VSS"
-  AUDI_EUROPE_MPV = "WA1"
-  AUDI_GERMANY_CAR = "WAU"
-  MAN = "WMA"
-  AUDI_SPORT = "WUA"
-  VOLKSWAGEN_COMMERCIAL = "WV1"
-  VOLKSWAGEN_COMMERCIAL_BUS_VAN = "WV2"
-  VOLKSWAGEN_EUROPE_SUV = "WVG"
-  VOLKSWAGEN_EUROPE_CAR = "WVW"
-  VOLKSWAGEN_GROUP_RUS = "XW8"
-
-
-class VolkswagenFlags(IntFlag):
-  # Detected flags
-  STOCK_HCA_PRESENT = 1
-
-  # Static flags
-  PQ = 2
-
-
-@dataclass
-class VolkswagenMQBPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
-  # Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power
-  # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
-  chassis_codes: set[str] = field(default_factory=set)
-  wmis: set[WMI] = field(default_factory=set)
-
-
-@dataclass
-class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
-
-  def init(self):
-    self.flags |= VolkswagenFlags.PQ
-
-
-@dataclass(frozen=True, kw_only=True)
-class VolkswagenCarSpecs(CarSpecs):
-  centerToFrontRatio: float = 0.45
-  steerRatio: float = 15.6
-  minSteerSpeed: float = CarControllerParams.DEFAULT_MIN_STEER_SPEED
-
-
-class Footnote(Enum):
-  KAMIQ = CarFootnote(
-    "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
-    Column.MODEL)
-  PASSAT = CarFootnote(
-    "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
-    Column.MODEL)
-  SKODA_HEATED_WINDSHIELD = CarFootnote(
-    "Some Škoda vehicles are equipped with heated windshields, which are known " +
-    "to block GPS signal needed for some comma 3X functionality.",
-    Column.MODEL)
-  VW_EXP_LONG = CarFootnote(
-    "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
-    "are limited to using stock ACC.",
-    Column.LONGITUDINAL)
-  VW_MQB_A0 = CarFootnote(
-    "Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
-    "in software, but doesn't yet have a harness available from the comma store.",
-    Column.HARDWARE)
-
-
-@dataclass
-class VWCarDocs(CarDocs):
-  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
-
-  def init_make(self, CP: structs.CarParams):
-    self.footnotes.append(Footnote.VW_EXP_LONG)
-    if "SKODA" in CP.carFingerprint:
-      self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
-
-    if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
-
-    if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
-      self.min_steer_speed = 0
-
-
-# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
-# chassis code is already listed below, don't add a new CAR, just add to the
-# FW_VERSIONS for that existing CAR.
-
-class CAR(Platforms):
-  config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
-
-  VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
-    ],
-    VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
-    chassis_codes={"AN", "3H"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
-  )
-  VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Atlas 2018-23"),
-      VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"),
-      VWCarDocs("Volkswagen Teramont 2018-22"),
-      VWCarDocs("Volkswagen Teramont Cross Sport 2021-22"),
-      VWCarDocs("Volkswagen Teramont X 2021-22"),
-    ],
-    VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
-    chassis_codes={"CA"},
-    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_SUV},
-  )
-  VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Caddy 2019"),
-      VWCarDocs("Volkswagen Caddy Maxi 2019"),
-    ],
-    VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
-    chassis_codes={"2K"},
-    wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
-  )
-  VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Crafter 2017-24", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("Volkswagen e-Crafter 2018-24", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("Volkswagen Grand California 2019-24", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarDocs("MAN eTGE 2020-24", video_link="https://youtu.be/4100gLeabmo"),
-    ],
-    VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
-    chassis_codes={"SY", "SZ", "UY", "UZ"},
-    wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN},
-  )
-  VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen e-Golf 2014-20"),
-      VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False),
-      VWCarDocs("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
-      VWCarDocs("Volkswagen Golf GTD 2015-20"),
-      VWCarDocs("Volkswagen Golf GTE 2015-20"),
-      VWCarDocs("Volkswagen Golf GTI 2015-21", auto_resume=False),
-      VWCarDocs("Volkswagen Golf R 2015-19"),
-      VWCarDocs("Volkswagen Golf SportsVan 2015-20"),
-    ],
-    VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
-    chassis_codes={"5G", "AU", "BA", "BE"},
-    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
-  )
-  VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Jetta 2018-24"),
-      VWCarDocs("Volkswagen Jetta GLI 2021-24"),
-    ],
-    VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
-    chassis_codes={"BU"},
-    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
-  )
-  VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
-      VWCarDocs("Volkswagen Passat Alltrack 2015-22"),
-      VWCarDocs("Volkswagen Passat GTE 2015-22"),
-    ],
-    VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
-    chassis_codes={"3C", "3G"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
-  )
-  VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig(
-    [VWCarDocs("Volkswagen Passat NMS 2017-22")],
-    VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
-    chassis_codes={"A3"},
-    wmis={WMI.VOLKSWAGEN_USA_CAR},
-  )
-  VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
-      VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
-    ],
-    VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
-    chassis_codes={"AW"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
-  )
-  VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Sharan 2018-22"),
-      VWCarDocs("SEAT Alhambra 2018-20"),
-    ],
-    VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS),
-    chassis_codes={"7N"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
-  )
-  VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Volkswagen Taos 2022-23")],
-    VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
-    chassis_codes={"B2"},
-    wmis={WMI.VOLKSWAGEN_MEXICO_SUV, WMI.VOLKSWAGEN_ARGENTINA},
-  )
-  VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
-    VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
-    chassis_codes={"C1"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
-  )
-  VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Tiguan 2018-24"),
-      VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
-    ],
-    VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
-    chassis_codes={"5N", "AD", "AX", "BW"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_SUV, WMI.VOLKSWAGEN_MEXICO_SUV},
-  )
-  VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Volkswagen Touran 2016-23")],
-    VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
-    chassis_codes={"1T"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
-  )
-  VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Volkswagen Caravelle 2020"),
-      VWCarDocs("Volkswagen California 2021-23"),
-    ],
-    VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
-    chassis_codes={"7H", "7L"},
-    wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
-  )
-  VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Volkswagen T-Roc 2018-23")],
-    VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
-    chassis_codes={"A1"},
-    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
-  )
-  AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Audi A3 2014-19"),
-      VWCarDocs("Audi A3 Sportback e-tron 2017-18"),
-      VWCarDocs("Audi RS3 2018"),
-      VWCarDocs("Audi S3 2015-17"),
-    ],
-    VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
-    chassis_codes={"8V", "FF"},
-    wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT},
-  )
-  AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Audi Q2 2018")],
-    VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
-    chassis_codes={"GA"},
-    wmis={WMI.AUDI_GERMANY_CAR},
-  )
-  AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Audi Q3 2019-23")],
-    VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
-    chassis_codes={"8U", "F3", "FS"},
-    wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
-  )
-  SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("CUPRA Ateca 2018-23"),
-      VWCarDocs("SEAT Ateca 2016-23"),
-      VWCarDocs("SEAT Leon 2014-20"),
-    ],
-    VolkswagenCarSpecs(mass=1300, wheelbase=2.64),
-    chassis_codes={"5F"},
-    wmis={WMI.SEAT},
-  )
-  SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
-    VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
-    chassis_codes={"PJ"},
-    wmis={WMI.SKODA},
-  )
-  SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
-      VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
-    ],
-    VolkswagenCarSpecs(mass=1230, wheelbase=2.66),
-    chassis_codes={"NW"},
-    wmis={WMI.SKODA},
-  )
-  SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Škoda Karoq 2019-23")],
-    VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
-    chassis_codes={"NU"},
-    wmis={WMI.SKODA},
-  )
-  SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Škoda Kodiaq 2017-23")],
-    VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
-    chassis_codes={"NS"},
-    wmis={WMI.SKODA, WMI.VOLKSWAGEN_GROUP_RUS},
-  )
-  SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
-    [
-      VWCarDocs("Škoda Octavia 2015-19"),
-      VWCarDocs("Škoda Octavia RS 2016"),
-      VWCarDocs("Škoda Octavia Scout 2017-19"),
-    ],
-    VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
-    chassis_codes={"NE"},
-    wmis={WMI.SKODA},
-  )
-  SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Škoda Superb 2015-22")],
-    VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
-    chassis_codes={"3V", "NP"},
-    wmis={WMI.SKODA},
-  )
-
-
-def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
-  candidates = set()
-
-  # Compile all FW versions for each ECU
-  all_ecu_versions: dict[EcuAddrSubAddr, set[str]] = defaultdict(set)
-  for ecus in offline_fw_versions.values():
-    for ecu, versions in ecus.items():
-      all_ecu_versions[ecu] |= set(versions)
-
-  # Check the WMI and chassis code to determine the platform
-  wmi = vin[:3]
-  chassis_code = vin[6:8]
-
-  for platform in CAR:
-    valid_ecus = set()
-    for ecu in offline_fw_versions[platform]:
-      addr = ecu[1:]
-      if ecu[0] not in CHECK_FUZZY_ECUS:
-        continue
-
-      # Sanity check that live FW is in the superset of all FW, Volkswagen ECU part numbers are commonly shared
-      found_versions = live_fw_versions.get(addr, [])
-      expected_versions = all_ecu_versions[ecu]
-      if not any(found_version in expected_versions for found_version in found_versions):
-        break
-
-      valid_ecus.add(ecu[0])
-
-    if valid_ecus != CHECK_FUZZY_ECUS:
-      continue
-
-    if wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes:
-      candidates.add(platform)
-
-  return {str(c) for c in candidates}
-
-
-# These ECUs are required to match to gain a VIN match
-# TODO: do we want to check camera when we add its FW?
-CHECK_FUZZY_ECUS = {Ecu.fwdRadar}
-
-# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
-# with a manual trans won't return transmission firmware, but all other cars will.
-#
-# The 0xF187 SW part number query should return in the form of N[NX][NX] NNN NNN [X[X]],
-# where N=number, X=letter, and the trailing two letters are optional. Performance
-# tuners sometimes tamper with that field (e.g. 8V0 9C0 BB0 1 from COBB/EQT). Tampered
-# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have
-# them repaired by the tuner before including them in openpilot.
-
-VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
-
-VOLKSWAGEN_RX_OFFSET = 0x6a
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [
-    Request(
-      [VOLKSWAGEN_VERSION_REQUEST_MULTI],
-      [VOLKSWAGEN_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar, Ecu.fwdCamera],
-      rx_offset=VOLKSWAGEN_RX_OFFSET,
-      bus=bus,
-      obd_multiplexing=obd_multiplexing,
-    ),
-    Request(
-      [VOLKSWAGEN_VERSION_REQUEST_MULTI],
-      [VOLKSWAGEN_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission],
-      bus=bus,
-      obd_multiplexing=obd_multiplexing,
-    ),
-  ]],
-  non_essential_ecus={Ecu.eps: list(CAR)},
-  extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
-  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
-)
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 08aaff2f7e..c30b458ef5 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -18,7 +18,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car.car_helpers import get_car_interface
+from opendbc.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_startup_event
 from openpilot.selfdrive.controls.lib.events import Events, ET
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index f4f56752bc..1c4fd7979e 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -1,8 +1,8 @@
 import math
 
 from cereal import log
+from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.numpy_fast import interp
-from openpilot.selfdrive.car.interfaces import LatControlInputs
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index bad37add63..fa6d5542bd 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -3,12 +3,12 @@ import os
 import time
 import numpy as np
 from cereal import log
+from opendbc.car.interfaces import ACCEL_MIN
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
-from openpilot.selfdrive.car.interfaces import ACCEL_MIN
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 6a2a1570d8..528ecdec68 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -4,11 +4,11 @@ import numpy as np
 from openpilot.common.numpy_fast import clip, interp
 
 import cereal.messaging as messaging
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 2f4a2aef81..c3847ed1a5 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -1,11 +1,11 @@
 from parameterized import parameterized
 
 from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index dae465a50d..b58bdbe522 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -3,9 +3,9 @@ import math
 
 import numpy as np
 
+from opendbc.car.honda.interface import CarInterface
+from opendbc.car.honda.values import CAR
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.honda.interface import CarInterface
-from openpilot.selfdrive.car.honda.values import CAR
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index eb1cdb2d2c..f3aa099bfb 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -6,12 +6,12 @@ from typing import Any
 
 import capnp
 from cereal import messaging, log, car
+from opendbc.car import structs
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
@@ -288,7 +288,7 @@ def main() -> None:
 
   # import the radar from the fingerprint
   cloudlog.info("radard is importing %s", CP.carName)
-  RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
+  RadarInterface = importlib.import_module(f'opendbc.car.{CP.carName}.radar_interface').RadarInterface
 
   # *** setup messaging
   can_sock = messaging.sub_sock('can')
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index f1f4449afd..4b98628bf6 100644
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -1,7 +1,7 @@
 import cereal.messaging as messaging
 
+from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
 class TestLeads:
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 51b9887c96..077d289021 100644
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -3,11 +3,11 @@ from parameterized import parameterized
 
 from cereal import log, car
 import cereal.messaging as messaging
+from opendbc.car.fingerprints import _FINGERPRINTS
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.mazda.values import CAR as MAZDA
 from openpilot.common.params import Params
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
 from openpilot.system.manager.process_config import managed_processes
 
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index b6ec512dc4..a480aa8d2b 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -1,10 +1,10 @@
 from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.mock.values import CAR as MOCK
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
                                           AudibleAlert, EVENTS
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
 
 State = log.ControlsState.OpenpilotState
 
diff --git a/selfdrive/debug/car/disable_ecu.py b/selfdrive/debug/car/disable_ecu.py
index cdfe433057..185139324d 100755
--- a/selfdrive/debug/car/disable_ecu.py
+++ b/selfdrive/debug/car/disable_ecu.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import time
 import cereal.messaging as messaging
+from opendbc.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.card import can_comm_callbacks
-from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 if __name__ == "__main__":
   sendcan = messaging.pub_sock('sendcan')
diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py
index 5e8844c1e1..58781222dc 100755
--- a/selfdrive/debug/car/ecu_addrs.py
+++ b/selfdrive/debug/car/ecu_addrs.py
@@ -2,9 +2,9 @@
 import argparse
 import time
 import cereal.messaging as messaging
+from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
-from openpilot.selfdrive.car.ecu_addrs import get_all_ecu_addrs
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index e52c8bf915..18a287b38e 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -3,10 +3,10 @@ import time
 import argparse
 import cereal.messaging as messaging
 from cereal import car
+from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
+from opendbc.car.vin import get_vin
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
-from openpilot.selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
-from openpilot.selfdrive.car.vin import get_vin
 from typing import Any
 
 Ecu = car.CarParams.Ecu
diff --git a/selfdrive/debug/car/vin.py b/selfdrive/debug/car/vin.py
index 025a27c1ea..7946b429e4 100755
--- a/selfdrive/debug/car/vin.py
+++ b/selfdrive/debug/car/vin.py
@@ -2,8 +2,8 @@
 import argparse
 import time
 import cereal.messaging as messaging
+from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks
-from openpilot.selfdrive.car.vin import get_vin
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Get VIN of the car')
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 6222daf664..efe01b7d7e 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -4,8 +4,8 @@ import random
 
 from cereal import car, log
 import cereal.messaging as messaging
+from opendbc.car.honda.interface import CarInterface
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
 from openpilot.system.manager.process_config import managed_processes
diff --git a/selfdrive/debug/dump_car_docs.py b/selfdrive/debug/dump_car_docs.py
index f09c602cff..f0e99cda24 100755
--- a/selfdrive/debug/dump_car_docs.py
+++ b/selfdrive/debug/dump_car_docs.py
@@ -2,7 +2,7 @@
 import argparse
 import pickle
 
-from openpilot.selfdrive.car.docs import get_all_car_docs
+from opendbc.car.docs import get_all_car_docs
 
 
 def dump_car_docs(path):
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
index ac4cef0ccc..ae1ed06b75 100755
--- a/selfdrive/debug/format_fingerprints.py
+++ b/selfdrive/debug/format_fingerprints.py
@@ -3,7 +3,7 @@ import jinja2
 import os
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.interfaces import get_interface_attr
+from opendbc.car.interfaces import get_interface_attr
 
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
@@ -14,9 +14,9 @@ FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 # ruff: noqa: E501
 {% endif %}
 {% if FW_VERSIONS[brand] %}
-from openpilot.selfdrive.car.structs import CarParams
+from opendbc.car.structs import CarParams
 {% endif %}
-from openpilot.selfdrive.car.{{brand}}.values import CAR
+from opendbc.car.{{brand}}.values import CAR
 {% if FW_VERSIONS[brand] %}
 
 Ecu = CarParams.Ecu
@@ -62,7 +62,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
   extra_fw_versions = extra_fw_versions or {}
 
-  fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py")
+  fingerprints_file = os.path.join(BASEDIR, f"opendbc/car/{brand}/fingerprints.py")
   with open(fingerprints_file) as f:
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py
index aedb3ada1d..fa99e6bfbe 100755
--- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py
+++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py
@@ -5,11 +5,11 @@ from collections import defaultdict
 
 from tqdm import tqdm
 
-from openpilot.selfdrive.car.fw_versions import match_fw_to_car_fuzzy
-from openpilot.selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
-from openpilot.selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
-from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
-from openpilot.selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
+from opendbc.car.fw_versions import match_fw_to_car_fuzzy
+from opendbc.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
+from opendbc.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+from opendbc.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
+from opendbc.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
 
 
 FWS = {}
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 7ef89a6eca..388acf3af5 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -4,8 +4,8 @@ from collections import defaultdict
 import difflib
 import pickle
 
-from openpilot.selfdrive.car.docs import get_all_car_docs
-from openpilot.selfdrive.car.docs_definitions import Column
+from opendbc.car.docs import get_all_car_docs
+from opendbc.car.docs_definitions import Column
 
 FOOTNOTE_TAG = "<sup>{}</sup>"
 STAR_ICON = '<a href="##"><img valign="top" ' + \
diff --git a/selfdrive/debug/print_flags.py b/selfdrive/debug/print_flags.py
index c69765550e..a50d929f54 100755
--- a/selfdrive/debug/print_flags.py
+++ b/selfdrive/debug/print_flags.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from openpilot.selfdrive.car.values import BRANDS
+from opendbc.car.values import BRANDS
 
 for brand in BRANDS:
   all_flags = set()
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
index 19144ead7e..bc13772977 100755
--- a/selfdrive/debug/show_matching_cars.py
+++ b/selfdrive/debug/show_matching_cars.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
+from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 import cereal.messaging as messaging
 
 
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index e338110a7d..f23c285908 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -6,11 +6,11 @@ import argparse
 import os
 import traceback
 from tqdm import tqdm
+from opendbc.car.car_helpers import interface_names
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.fw_versions import VERSIONS, match_fw_to_car
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 from openpilot.tools.lib.route import SegmentRange
-from openpilot.selfdrive.car.car_helpers import interface_names
-from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
 
 
 NO_API = "NO_API" in os.environ
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py
index dc83c8f7a4..f35a86e1ad 100755
--- a/selfdrive/debug/toyota_eps_factor.py
+++ b/selfdrive/debug/toyota_eps_factor.py
@@ -3,7 +3,7 @@ import sys
 import numpy as np
 import matplotlib.pyplot as plt
 from sklearn import linear_model
-from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD
+from opendbc.car.toyota.values import STEER_THRESHOLD
 
 from openpilot.tools.lib.logreader import LogReader
 
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index a4d873b174..86813fcb8e 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -9,6 +9,7 @@ from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -17,7 +18,6 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index e407b12d6a..1bf2977a91 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -3,11 +3,11 @@ import random
 
 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
+from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
diff --git a/selfdrive/opcar/__init__.py b/selfdrive/opcar/__init__.py
deleted file mode 100644
index ddc217f21b..0000000000
--- a/selfdrive/opcar/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-# This folder will be renamed back to car after the opendbc car split
diff --git a/selfdrive/opcar/docs.py b/selfdrive/opcar/docs.py
deleted file mode 100755
index 99bf0b055b..0000000000
--- a/selfdrive/opcar/docs.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.docs import get_all_car_docs, generate_cars_md
-
-CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
-CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
-  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
-  args = parser.parse_args()
-
-  with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_docs(), args.template))
-  print(f"Generated and written to {args.out}")
diff --git a/selfdrive/opcar/tests/__init__.py b/selfdrive/opcar/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/opcar/tests/test_docs.py b/selfdrive/opcar/tests/test_docs.py
deleted file mode 100644
index f200bc292d..0000000000
--- a/selfdrive/opcar/tests/test_docs.py
+++ /dev/null
@@ -1,26 +0,0 @@
-import os
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.docs import generate_cars_md, get_all_car_docs
-from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
-from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
-from openpilot.selfdrive.opcar.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
-
-
-class TestCarDocs:
-  @classmethod
-  def setup_class(cls):
-    cls.all_cars = get_all_car_docs()
-
-  def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT) as f:
-      current_cars_md = f.read()
-
-    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
-
-  def test_docs_diff(self):
-    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_docs(dump_path)
-    print_car_docs_diff(dump_path)
-    os.remove(dump_path)
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 3f0926662c..0f41201ece 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -8,11 +8,11 @@ from pprint import pprint
 
 import cereal.messaging as messaging
 from cereal import car, log
+from opendbc.car.can_definitions import CanData
 from openpilot.common.retry import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index daf7cec32b..a1eedc915b 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -47,8 +47,8 @@ class Plant:
     time.sleep(0.1)
     self.sm = messaging.SubMaster(['longitudinalPlan'])
 
-    from openpilot.selfdrive.car.honda.values import CAR
-    from openpilot.selfdrive.car.honda.interface import CarInterface
+    from opendbc.car.honda.values import CAR
+    from opendbc.car.honda.interface import CarInterface
 
     self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
 
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 0715fcf7b4..52ed82a7cc 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,9 +1,9 @@
 from collections import defaultdict
 
 from cereal import messaging
-from openpilot.selfdrive.car.fingerprints import MIGRATION
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.car.toyota.values import EPS_SCALE
 from openpilot.system.manager.process_config import managed_processes
 from panda import Panda
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c2041efd3f..da0197b256 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -17,14 +17,14 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from opendbc.car import structs
+from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import get_car, interfaces
-from openpilot.selfdrive.car import structs
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index c802d9c573..d938839039 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -4,7 +4,7 @@ import hypothesis.strategies as st
 from parameterized import parameterized
 
 from cereal import log
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 95b104966f..fbd23adf89 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -7,8 +7,8 @@ from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
 
+from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
-from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 2cd547171a..d50b157a37 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -5,13 +5,13 @@ import cProfile
 import pprofile
 import pyprof2calltree
 
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.volkswagen.values import CAR as VW
 from openpilot.common.params import Params
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 22246f44d1..eb3a515b76 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -7,10 +7,10 @@ from tabulate import tabulate
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py
index 2d3fbe9fc4..04d45f304a 100755
--- a/tools/cabana/dbc/generate_dbc_json.py
+++ b/tools/cabana/dbc/generate_dbc_json.py
@@ -2,8 +2,8 @@
 import argparse
 import json
 
-from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.selfdrive.car.values import PLATFORMS
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.values import PLATFORMS
 
 
 def generate_dbc_json() -> str:
diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
index 145f38c63f..5080293e29 100755
--- a/tools/car_porting/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -4,8 +4,8 @@ import argparse
 from collections import defaultdict
 from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions
 
-from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.selfdrive.car.fw_versions import MODEL_TO_BRAND, match_fw_to_car
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.fw_versions import MODEL_TO_BRAND, match_fw_to_car
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 if __name__ == "__main__":
diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py
index 78825504e6..fe9c350a9b 100644
--- a/tools/lib/comma_car_segments.py
+++ b/tools/lib/comma_car_segments.py
@@ -8,7 +8,7 @@ COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
 COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
 
 def get_comma_car_segments_database():
-  from openpilot.selfdrive.car.fingerprints import MIGRATION
+  from opendbc.car.fingerprints import MIGRATION
 
   database = requests.get(get_repo_raw_url("database.json")).json()
 
diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py
index b9a4def75f..1b0f07ee63 100644
--- a/tools/lib/tests/test_comma_car_segments.py
+++ b/tools/lib/tests/test_comma_car_segments.py
@@ -1,6 +1,6 @@
 import pytest
 import requests
-from openpilot.selfdrive.car.fingerprints import MIGRATION
+from opendbc.car.fingerprints import MIGRATION
 from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentRange
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 22854b368d..82bd36622f 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -10,8 +10,8 @@ import requests
 import argparse
 from functools import partial
 
+from opendbc.car.fingerprints import MIGRATION
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
@@ -83,7 +83,7 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None):
   if dbc is None:
     for cp in [m for m in all_data if m.which() == 'carParams']:
       try:
-        DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
+        DBC = __import__(f"opendbc.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
         fingerprint = cp.carParams.carFingerprint
         dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt']
       except Exception:
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 64407143f7..f1d3ef2274 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -7,11 +7,11 @@ from enum import Enum
 from multiprocessing import Process, Queue, Value
 from abc import ABC, abstractmethod
 
+from opendbc.car.honda.values import CruiseButtons
 from openpilot.common.params import Params
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import Ratekeeper
 from openpilot.selfdrive.test.helpers import set_params_enabled
-from openpilot.selfdrive.car.honda.values import CruiseButtons
 from openpilot.tools.sim.lib.common import SimulatorState, World
 from openpilot.tools.sim.lib.simulated_car import SimulatedCar
 from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors

From 725a6fa9984e584dbb896104e219fe1a633845b8 Mon Sep 17 00:00:00 2001
From: Sameh Mohamed <sameh4@gmx.com>
Date: Sat, 17 Aug 2024 18:37:06 -0400
Subject: [PATCH 0447/1243] Cleaning up README for tools directory (#33322)

cleaning up readme

Co-authored-by: Sameh <Sameh Mohamed>
old-commit-hash: 542f3d1b441d6373943289cd9505c4d59e050cb1
---
 tools/README.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tools/README.md b/tools/README.md
index 521a12ca92..7f5c6b4d06 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -83,6 +83,5 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 ├── scripts/            # Miscellaneous scripts
 ├── serial/             # Tools for using the comma serial
 ├── sim/                # Run openpilot in a simulator
-├── ssh/                # SSH into a comma device
 └── webcam/             # Run openpilot on a PC with webcams
 ```

From 24c18d2c4b05968bc3166d8af53851dd966c4f54 Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Sun, 18 Aug 2024 02:31:22 +0300
Subject: [PATCH 0448/1243] agnos updater: set decompress max_length (#33320)

* agnos: decompress max_length

* flash last chunk after eof

* don't decompress more than length

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: ba098f509b7d2d21114208f700f2de8b9e45a39a
---
 system/hardware/tici/agnos.py | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index 7e3536f775..f5261953d5 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -29,16 +29,23 @@ class StreamingDecompressor:
     self.sha256 = hashlib.sha256()
 
   def read(self, length: int) -> bytes:
-    while len(self.buf) < length:
-      self.req.raise_for_status()
+    while len(self.buf) < length and not self.eof:
+      if self.decompressor.needs_input:
+        self.req.raise_for_status()
 
-      try:
-        compressed = next(self.it)
-      except StopIteration:
+        try:
+          compressed = next(self.it)
+        except StopIteration:
+          self.eof = True
+          break
+      else:
+        compressed = b''
+
+      self.buf += self.decompressor.decompress(compressed, max_length=length)
+
+      if self.decompressor.eof:
         self.eof = True
         break
-      out = self.decompressor.decompress(compressed)
-      self.buf += out
 
     result = self.buf[:length]
     self.buf = self.buf[length:]
@@ -83,8 +90,8 @@ def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
 
 # noop wrapper with same API as unsparsify() for non sparse images
 def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
-  while not f.eof:
-    yield f.read(1024 * 1024)
+  while len(chunk := f.read(1024 * 1024)) > 0:
+    yield chunk
 
 
 def get_target_slot_number() -> int:

From ce9bea56eaf5e922739e676f8b536121c0a8a10f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 19 Aug 2024 14:19:12 -0700
Subject: [PATCH 0449/1243] update test

old-commit-hash: 08f64ae30ae263710697cf712958f40751fec15c
---
 selfdrive/test/scons_build_test.sh | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
index efc9469deb..8048d3acb7 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/selfdrive/test/scons_build_test.sh
@@ -1,4 +1,5 @@
 #!/usr/bin/env bash
+set -e
 
 SCRIPT_DIR=$(dirname "$0")
 BASEDIR=$(realpath "$SCRIPT_DIR/../../")
@@ -6,5 +7,11 @@ cd $BASEDIR
 
 # tests that our build system's dependencies are configured properly,
 # needs a machine with lots of cores
+
+cd $BASEDIR/opendbc_repo/
 scons --clean
 scons --no-cache --random -j$(nproc)
+if ! scons -q; then
+  echo "FAILED: all build products not up to date after first pass."
+  exit 1
+fi

From 89725e7ac2a189d5d07ccfa984a9c275e66127ab Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 19 Aug 2024 14:27:50 -0700
Subject: [PATCH 0450/1243] card: fix memory leak from nested function scoping
 (#33328)

* stash

* no other leaks! pm.send grows memory usage by ~20mb but that's it

* undo

* clean up
old-commit-hash: ee9977df2f13099d9823bd242cee8f2c52718f85
---
 selfdrive/car/card.py | 23 ++++++++++++-----------
 1 file changed, 12 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 47bef0349e..1ef7a44eff 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -66,6 +66,18 @@ def is_dataclass(obj):
   return hasattr(obj, _FIELDS)
 
 
+def _asdictref_inner(obj) -> dict[str, Any] | Any:
+  if is_dataclass(obj):
+    ret = {}
+    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
+      ret[field] = _asdictref_inner(getattr(obj, field))
+    return ret
+  elif isinstance(obj, (tuple, list)):
+    return type(obj)(_asdictref_inner(v) for v in obj)
+  else:
+    return obj
+
+
 def asdictref(obj) -> dict[str, Any]:
   """
   Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
@@ -74,17 +86,6 @@ def asdictref(obj) -> dict[str, Any]:
   if not is_dataclass(obj):
     raise TypeError("asdictref() should be called on dataclass instances")
 
-  def _asdictref_inner(obj) -> dict[str, Any] | Any:
-    if is_dataclass(obj):
-      ret = {}
-      for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-        ret[field] = _asdictref_inner(getattr(obj, field))
-      return ret
-    elif isinstance(obj, (tuple, list)):
-      return type(obj)(_asdictref_inner(v) for v in obj)
-    else:
-      return obj
-
   return _asdictref_inner(obj)
 
 

From 94621d2fee993f590c7f62086702ac064cacc65d Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 19 Aug 2024 18:28:13 -0300
Subject: [PATCH 0451/1243] Update what-is-a-car-port.md (#33323)

old-commit-hash: 7a40c970688f63bb0a891381a86b7ca892b639f8
---
 docs/car-porting/what-is-a-car-port.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md
index b918bb50e0..622fe9e75e 100644
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/car-porting/what-is-a-car-port.md
@@ -1,6 +1,6 @@
 # What is a car port?
 
-A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/car_specific.py` and `opendbc_repo/opendbc/car`.
 
 The complexity of a car port varies depending on many factors including:
 * existing openpilot support for similar cars

From 2f423769dab36cb25d6d19c3a93b1d28540bb639 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 19 Aug 2024 14:45:02 -0700
Subject: [PATCH 0452/1243] Remove car labeler (#33329)

* can?

* car still makes sense

* bump

* opendbc

* ?

* bump

* revert
old-commit-hash: 799539320d7d7b991bc2c54871f0e0088f2c8d64
---
 .github/labeler.yaml | 54 +-------------------------------------------
 1 file changed, 1 insertion(+), 53 deletions(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 0c5d1a687a..abf5bbb786 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -4,59 +4,7 @@ CI / testing:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/**'
-
-body:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/body/*'
-
-chrysler:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
-
-ford:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/ford/*'
-
-gm:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/gm/*'
-
-honda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/honda/*'
-
-hyundai:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
-
-mazda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
-
-nissan:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
-
-subaru:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
-
-tesla:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
-
-toyota:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
-
-volkswagen:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
-
-fingerprint:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
+    - any-glob-to-all-files: 'selfdrive/car/**,opendbc_repo'
 
 simulation:
   - changed-files:

From 0fc63a4cc558becedc69ef735e0b26629ac7d38c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 19 Aug 2024 14:45:55 -0700
Subject: [PATCH 0453/1243] fix labeler syntax

old-commit-hash: 2a7c6bc8bd290c41db200965b394bbc82459e7ef
---
 .github/labeler.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index abf5bbb786..14b8f71a5b 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -4,7 +4,7 @@ CI / testing:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/**,opendbc_repo'
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:

From 155934bd492c9ee3748f57b0056371bc3c127d13 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 19 Aug 2024 15:25:05 -0700
Subject: [PATCH 0454/1243] [bot] Update Python packages (#33327)

* Update Python packages

* fix opendbc

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 9b2cafe597c0ab871b06ec30e28444773ba1c3a6
---
 SConstruct                         |   3 +-
 opendbc_repo                       |   2 +-
 panda                              |   2 +-
 selfdrive/test/scons_build_test.sh |   3 +
 uv.lock                            | 367 +++++++++++++----------------
 5 files changed, 165 insertions(+), 212 deletions(-)

diff --git a/SConstruct b/SConstruct
index 47f2db9661..38f2a282c0 100644
--- a/SConstruct
+++ b/SConstruct
@@ -207,7 +207,6 @@ env = Environment(
     "#third_party",
     "#cereal",
     "#msgq",
-    "#opendbc/can",
   ],
 
   CC='clang',
@@ -346,7 +345,7 @@ Export('env', 'qt_env', 'arch', 'real_arch')
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-common = [_common, 'json11']
+common = [_common, 'json11', 'zmq']
 gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
diff --git a/opendbc_repo b/opendbc_repo
index 9a53f08080..ff1c8b4e58 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 9a53f0808029b34c997d2999e2d7df4280a3ce32
+Subproject commit ff1c8b4e589541c5c2b843ac7849cc93273c6f84
diff --git a/panda b/panda
index e7a04b54b0..080e53f04d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e7a04b54b039307c33f542efd21ce936c45756be
+Subproject commit 080e53f04d45d5ca9348591e676c80a7149510f5
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
index 8048d3acb7..5ffdb4379e 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/selfdrive/test/scons_build_test.sh
@@ -8,6 +8,9 @@ cd $BASEDIR
 # tests that our build system's dependencies are configured properly,
 # needs a machine with lots of cores
 
+# helpful commands:
+# scons -Q --tree=derived
+
 cd $BASEDIR/opendbc_repo/
 scons --clean
 scons --no-cache --random -j$(nproc)
diff --git a/uv.lock b/uv.lock
index 989f406068..f75c3221c2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,29 +1,26 @@
 version = 1
 requires-python = ">=3.11"
 environment-markers = [
-    "python_full_version == '3.11.*' and platform_system == 'Darwin'",
-    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version == '3.11.*' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "python_full_version < '3.12' and platform_system == 'Darwin'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
     "python_full_version >= '3.12' and platform_system == 'Darwin'",
     "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
     "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
-    "python_full_version < '3.11' and platform_system == 'Darwin'",
-    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.11' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.3.5"
+version = "2.3.7"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b7/c3/112f2f992aeb321de483754c1c5acab08c8ac3388c9c7e6f3e4f45ec1c42/aiohappyeyeballs-2.3.5.tar.gz", hash = "sha256:6fa48b9f1317254f122a07a131a86b71ca6946ca989ce6326fff54a99a920105", size = 16791 }
+sdist = { url = "https://files.pythonhosted.org/packages/a7/64/889100848dea8a797215dbacbcf15367e2bd797b879aaf9df5c78d7c3200/aiohappyeyeballs-2.3.7.tar.gz", hash = "sha256:e794cd29ba6a14078092984e43688212a19081de3a73b6796c2fdeb3706dd6ce", size = 16788 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/8b/b4/0983e94060405eb51f23be493e3f5c28003f7ebc5efcd0803c1cb23ea407/aiohappyeyeballs-2.3.5-py3-none-any.whl", hash = "sha256:4d6dea59215537dbc746e93e779caea8178c866856a721c9c660d7a5a7b8be03", size = 12139 },
+    { url = "https://files.pythonhosted.org/packages/20/a2/933039a31d8f636d20bd40cedaa647c94d5875fc89cd3018f2275ce43c05/aiohappyeyeballs-2.3.7-py3-none-any.whl", hash = "sha256:337ce4dc0e99eb697c3c5a77d6cb3c52925824d9a67ac0dea7c55b8a2d60b222", size = 12153 },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.10.3"
+version = "3.10.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -33,38 +30,38 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/15/9c/ed427fcc46423c965a8e33673d7111b6e3b3aa7d61ca52163a720ff200cb/aiohttp-3.10.3.tar.gz", hash = "sha256:21650e7032cc2d31fc23d353d7123e771354f2a3d5b05a5647fc30fea214e696", size = 7521618 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8c/e4/2dec0e2eca35a23aeba5861f27c013988354d58ea5eb445b94e07d08113f/aiohttp-3.10.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e021c4c778644e8cdc09487d65564265e6b149896a17d7c0f52e9a088cc44e1b", size = 585893 },
-    { url = "https://files.pythonhosted.org/packages/0a/d2/a2ad7940fac1245a1e7fb7c76db298c88b44890991972bf1c1c502c5398c/aiohttp-3.10.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:24fade6dae446b183e2410a8628b80df9b7a42205c6bfc2eff783cbeedc224a2", size = 396679 },
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+    { url = "https://files.pythonhosted.org/packages/e0/94/92bc24e7e58d2f90fa2a370f763d25d9e06ccccfab839b88e389d79fb4e3/ruff-0.6.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d812615525a34ecfc07fd93f906ef5b93656be01dfae9a819e31caa6cfe758a1", size = 10221898 },
+    { url = "https://files.pythonhosted.org/packages/f7/47/1aca18f02abd4a3ba739991b719a3aa5d8e39e0bee1a91090c8bfacdcd13/ruff-0.6.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:faaa4060f4064c3b7aaaa27328080c932fa142786f8142aff095b42b6a2eb631", size = 10033784 },
+    { url = "https://files.pythonhosted.org/packages/e6/48/df16d9b00af42034ee85915914783bc0529a2ff709d6d3ef39c7c15d826d/ruff-0.6.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:99d7ae0df47c62729d58765c593ea54c2546d5de213f2af2a19442d50a10cec9", size = 9477381 },
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+    { url = "https://files.pythonhosted.org/packages/4e/30/e2f5b06ac048898a1cac190e1c9c0d88f984596b27f1069341217e42d119/ruff-0.6.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:c62bc04c6723a81e25e71715aa59489f15034d69bf641df88cb38bdc32fd1dbb", size = 10287591 },
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+    { url = "https://files.pythonhosted.org/packages/2e/ba/66a6c87f6532e0390ebc67d5ae9bc1064f4e14d1b0e224bdedc999ae2b15/ruff-0.6.1-py3-none-win_amd64.whl", hash = "sha256:c2ebfc8f51ef4aca05dad4552bbcf6fe8d1f75b2f6af546cc47cc1c1ca916b5b", size = 8736178 },
+    { url = "https://files.pythonhosted.org/packages/14/da/418c5d40058ad56bd0fa060efa4580ccf446f916167aa6540d31f6844e16/ruff-0.6.1-py3-none-win_arm64.whl", hash = "sha256:3bc81074971b0ffad1bd0c52284b22411f02a11a012082a76ac6da153536e014", size = 8142791 },
 ]
 
 [[package]]
@@ -5124,15 +5075,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.12.0"
+version = "2.13.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/2e/39/eb97e463e372b38d0b9c7ae705822d1df717940c04cb6d998ae15bf3eb02/sentry_sdk-2.12.0.tar.gz", hash = "sha256:8763840497b817d44c49b3fe3f5f7388d083f2337ffedf008b2cdb63b5c86dc6", size = 274179 }
+sdist = { url = "https://files.pythonhosted.org/packages/bb/41/97f673384dae5ed81cc2a568cc5c28e76deee85f8ba50def862e86150a5a/sentry_sdk-2.13.0.tar.gz", hash = "sha256:8d4a576f7a98eb2fdb40e13106e41f330e5c79d72a68be1316e7852cf4995260", size = 279937 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/71/29/744921222eb1bfef7a7e16e71fc122f518b315fc57624828b90028dfa02e/sentry_sdk-2.12.0-py2.py3-none-any.whl", hash = "sha256:7a8d5163d2ba5c5f4464628c6b68f85e86972f7c636acc78aed45c61b98b7a5e", size = 301807 },
+    { url = "https://files.pythonhosted.org/packages/ad/7e/e9ca09f24a6c334286631a2d32c267cdc5edad5ac03fd9d20a01a82f1c35/sentry_sdk-2.13.0-py2.py3-none-any.whl", hash = "sha256:6beede8fc2ab4043da7f69d95534e320944690680dd9a963178a49de71d726c6", size = 309078 },
 ]
 
 [[package]]
@@ -5169,11 +5120,11 @@ wheels = [
 
 [[package]]
 name = "setuptools"
-version = "72.1.0"
+version = "72.2.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5e/11/487b18cc768e2ae25a919f230417983c8d5afa1b6ee0abd8b6db0b89fa1d/setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec", size = 2419487 }
+sdist = { url = "https://files.pythonhosted.org/packages/ce/ef/013ded5b0d259f3fa636bf35de186f0061c09fbe124020ce6b8db68c83af/setuptools-72.2.0.tar.gz", hash = "sha256:80aacbf633704e9c8bfa1d99fa5dd4dc59573efcf9e4042c13d3bcef91ac2ef9", size = 2419230 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e1/58/e0ef3b9974a04ce9cde2a7a33881ddcb2d68450803745804545cdd8d258f/setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1", size = 2337965 },
+    { url = "https://files.pythonhosted.org/packages/6e/ec/06715d912351edc453e37f93f3fc80dcffd5ca0e70386c87529aca296f05/setuptools-72.2.0-py3-none-any.whl", hash = "sha256:f11dd94b7bae3a156a95ec151f24e4637fb4fa19c878e4d191bfb8b2d82728c4", size = 2336658 },
 ]
 
 [[package]]

From 3869d2cdf98b540003d4e98b2309cb1bffb35227 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 19 Aug 2024 16:11:20 -0700
Subject: [PATCH 0455/1243] research -> autonomy

old-commit-hash: 7b5f76ecf93731ff5b2ab9fc11bde17fbc23e279
---
 .github/labeler.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 14b8f71a5b..db1f976da8 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -22,6 +22,6 @@ multilanguage:
   - changed-files:
     - any-glob-to-all-files: 'selfdrive/ui/translations/**'
 
-research:
+autonomy:
   - changed-files:
     - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

From 2119f7774e9976dc7ac9badb8d2da8296f2daac1 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 20 Aug 2024 07:53:13 +0800
Subject: [PATCH 0456/1243] cereal/SubMaster: encapsulate frequency management
 in FrequencyTracker (#33252)

* encapsulate frequency management

* apply reviews

* early return, avoiding unnecessary calculations

* simplify avg freq calc
old-commit-hash: b14fca78e07af4e334af1097fe7e328103226e21
---
 cereal/messaging/__init__.py                  | 85 ++++++++++---------
 cereal/messaging/tests/test_pub_sub_master.py |  4 +-
 selfdrive/test/profiling/lib.py               |  4 +-
 3 files changed, 48 insertions(+), 45 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 9646047de3..6e97318824 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -92,6 +92,45 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
       return log_from_bytes(dat)
 
 
+class FrequencyTracker:
+  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
+    freq = max(min(service_freq, update_freq), 1.)
+    if is_poll:
+      min_freq = max_freq = freq
+    else:
+      max_freq = min(freq, update_freq)
+      if service_freq >= 2 * update_freq:
+        min_freq = update_freq
+      elif update_freq >= 2* service_freq:
+        min_freq = freq
+      else:
+        min_freq = min(freq, freq / 2.)
+
+    self.min_freq = min_freq * 0.8
+    self.max_freq = max_freq * 1.2
+    self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
+    self.prev_time = 0.0
+
+  def record_recv_time(self, cur_time: float) -> None:
+    # TODO: Handle case where cur_time is less than prev_time
+    if self.prev_time > 1e-5:
+      self.recv_dts.append(cur_time - self.prev_time)
+    self.prev_time = cur_time
+
+  @property
+  def valid(self) -> bool:
+    if not self.recv_dts:
+      return False
+
+    avg_freq = len(self.recv_dts) / sum(self.recv_dts)
+    if self.min_freq <= avg_freq <= self.max_freq:
+      return True
+
+    recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
+    avg_freq_recent = len(recent_dts) / sum(recent_dts)
+    return self.min_freq <= avg_freq_recent <= self.max_freq
+
+
 class SubMaster:
   def __init__(self, services: List[str], poll: Optional[str] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
@@ -103,15 +142,12 @@ class SubMaster:
     self.recv_frame = {s: 0 for s in services}
     self.alive = {s: False for s in services}
     self.freq_ok = {s: False for s in services}
-    self.recv_dts: Dict[str, Deque[float]] = {}
     self.sock = {}
     self.data = {}
     self.valid = {}
     self.logMonoTime = {}
 
-    self.max_freq = {}
-    self.min_freq = {}
-
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -138,22 +174,7 @@ class SubMaster:
       self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
       self.valid[s] = True  # FIXME: this should default to False
-
-      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
-      if s == poll:
-        max_freq = freq
-        min_freq = freq
-      else:
-        max_freq = min(freq, self.update_freq)
-        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
-          min_freq = self.update_freq
-        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
-          min_freq = freq
-        else:
-          min_freq = min(freq, freq / 2.)
-      self.max_freq[s] = max_freq*1.2
-      self.min_freq[s] = min_freq*0.8
-      self.recv_dts[s] = deque(maxlen=int(10*freq))
+      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
@@ -182,8 +203,7 @@ class SubMaster:
       self.seen[s] = True
       self.updated[s] = True
 
-      if self.recv_time[s] > 1e-5:
-        self.recv_dts[s].append(cur_time - self.recv_time[s])
+      self.freq_tracker[s].record_recv_time(cur_time)
       self.recv_time[s] = cur_time
       self.recv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
@@ -194,27 +214,10 @@ class SubMaster:
       if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
         # alive if delay is within 10x the expected frequency
         self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-
-        # check average frequency; slow to fall, quick to recover
-        dts = self.recv_dts[s]
-        assert dts.maxlen is not None
-        recent_dts = list(dts)[-int(dts.maxlen / 10):]
-        try:
-          avg_freq = 1 / (sum(dts) / len(dts))
-          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
-        except ZeroDivisionError:
-          avg_freq = 0
-          avg_freq_recent = 0
-
-        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
-        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
-        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
+        self.freq_ok[s] = self.freq_tracker[s].valid
       else:
         self.freq_ok[s] = True
-        if self.simulation:
-          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
-        else:
-          self.alive[s] = True
+        self.alive[s] = self.seen[s] if self.simulation else True
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     if service_list is None:
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
index ba5b397aad..99965319eb 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -89,8 +89,8 @@ class TestSubMaster:
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
           assert sm._check_avg_freq(service)
-          assert sm.max_freq[service] == max_freq*1.2
-          assert sm.min_freq[service] == min_freq*0.8
+          assert sm.freq_tracker[service].max_freq == max_freq*1.2
+          assert sm.freq_tracker[service].min_freq == min_freq*0.8
         else:
           assert not sm._check_avg_freq(service)
 
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
index 93ba215386..62bb305ca8 100644
--- a/selfdrive/test/profiling/lib.py
+++ b/selfdrive/test/profiling/lib.py
@@ -1,4 +1,4 @@
-from collections import defaultdict, deque
+from collections import defaultdict
 from cereal.services import SERVICE_LIST
 import cereal.messaging as messaging
 import capnp
@@ -45,7 +45,7 @@ class SubMaster(messaging.SubMaster):
     self.rcv_frame = {s: 0 for s in services}
     self.valid = {s: True for s in services}
     self.freq_ok = {s: True for s in services}
-    self.recv_dts = {s: deque([0.0] * messaging.AVG_FREQ_HISTORY, maxlen=messaging.AVG_FREQ_HISTORY) for s in services}
+    self.freq_tracker = {s: messaging.FrequencyTracker(SERVICE_LIST[s].frequency, SERVICE_LIST[s].frequency, False) for s in services}
     self.logMonoTime = {}
     self.sock = {}
     self.freq = {}

From a0f8148ae63a1893b61de71a7376d4cd018a4144 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 20 Aug 2024 07:56:57 +0800
Subject: [PATCH 0457/1243] SubMaster: add self.services attribute for
 consistent service management (#33268)

simplify service handing
old-commit-hash: b644555a1d9ef16115df99c442d173f3f8119a33
---
 cereal/messaging/__init__.py | 17 ++++++-----------
 1 file changed, 6 insertions(+), 11 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 6e97318824..32b7a6553f 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -136,6 +136,7 @@ class SubMaster:
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
                ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
     self.frame = -1
+    self.services = services
     self.seen = {s: False for s in services}
     self.updated = {s: False for s in services}
     self.recv_time = {s: 0. for s in services}
@@ -194,7 +195,7 @@ class SubMaster:
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
-    self.updated = dict.fromkeys(self.updated, False)
+    self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
       if msg is None:
         continue
@@ -210,7 +211,7 @@ class SubMaster:
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.data:
+    for s in self.services:
       if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
         # alive if delay is within 10x the expected frequency
         self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
@@ -220,19 +221,13 @@ class SubMaster:
         self.alive[s] = self.seen[s] if self.simulation else True
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
+    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
   def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
+    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
   def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
+    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
   def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)

From a2b6fc200bf5ee16932c001ced6047c967a48bb1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 20 Aug 2024 15:28:28 -0700
Subject: [PATCH 0458/1243] update car docs in weekly repo maintenance (#33345)

* does this work?

* fix

* fix

* what
old-commit-hash: be8485ca890d63b5fdc3daa405e2009a91a265f4
---
 .github/workflows/repo-maintenance.yaml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 78f64c03b1..c724c00c5e 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -26,6 +26,11 @@ jobs:
         git config --global --add safe.directory '*'
         git -c submodule."tinygrad".update=none submodule update --remote
         git add .
+    - name: update car docs
+      run: |
+        scons -j$(nproc) --minimal opendbc
+        PYTHONPATH=. python selfdrive/car/docs.py
+        git add docs/CARS.md
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:

From 10d31dcd8c30fdae8220f04400cc4e59b88dea05 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:28:41 -0700
Subject: [PATCH 0459/1243] [bot] Update Python packages (#33347)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: c013d8aa942b0480f266a74d272e9e757f0f8159
---
 opendbc_repo |   2 +-
 uv.lock      | 137 +++++++++++++++++++++++++++++----------------------
 2 files changed, 80 insertions(+), 59 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ff1c8b4e58..fa1d7e7c16 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ff1c8b4e589541c5c2b843ac7849cc93273c6f84
+Subproject commit fa1d7e7c16eb00a6db2b86106cea3cc6d4fe61f7
diff --git a/uv.lock b/uv.lock
index f75c3221c2..ddc6f0b64c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,6 +1,6 @@
 version = 1
 requires-python = ">=3.11"
-environment-markers = [
+resolution-markers = [
     "python_full_version < '3.12' and platform_system == 'Darwin'",
     "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
     "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
@@ -11,16 +11,16 @@ environment-markers = [
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.3.7"
+version = "2.4.0"
 source = { registry = "https://pypi.org/simple" }
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 [[package]]

From 8d4770a65a43b519d3e59429c8e8f1f7492c9319 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 20 Aug 2024 15:42:02 -0700
Subject: [PATCH 0460/1243] move test_lateral_limits.py to opendbc

old-commit-hash: fe51a2fc6272dfe81f5e8669fcd09b536ca7406d
---
 opendbc_repo                               |  2 +-
 selfdrive/car/tests/test_lateral_limits.py | 98 ----------------------
 2 files changed, 1 insertion(+), 99 deletions(-)
 delete mode 100755 selfdrive/car/tests/test_lateral_limits.py

diff --git a/opendbc_repo b/opendbc_repo
index fa1d7e7c16..3229aa2e9c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit fa1d7e7c16eb00a6db2b86106cea3cc6d4fe61f7
+Subproject commit 3229aa2e9c5dfefe6acb827e829fd3f43215bdf1
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
deleted file mode 100755
index 87c7a5e256..0000000000
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ /dev/null
@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-from collections import defaultdict
-import importlib
-from parameterized import parameterized_class
-import pytest
-import sys
-
-from opendbc.car import DT_CTRL
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.fingerprints import all_known_cars
-from opendbc.car.interfaces import get_torque_params
-
-CAR_MODELS = all_known_cars()
-
-# ISO 11270 - allowed up jerk is strictly lower than recommended limits
-MAX_LAT_ACCEL = 3.0              # m/s^2
-MAX_LAT_JERK_UP = 2.5            # m/s^3
-MAX_LAT_JERK_DOWN = 5.0          # m/s^3
-MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
-
-# jerk is measured over half a second
-JERK_MEAS_T = 0.5
-
-
-@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
-class TestLateralLimits:
-  car_model: str
-
-  @classmethod
-  def setup_class(cls):
-    CarInterface, _, _ = interfaces[cls.car_model]
-    CP = CarInterface.get_non_essential_params(cls.car_model)
-
-    if CP.dashcamOnly:
-      pytest.skip("Platform is behind dashcamOnly")
-
-    # TODO: test all platforms
-    if CP.lateralTuning.which() != 'torque':
-      pytest.skip()
-
-    if CP.notCar:
-      pytest.skip()
-
-    CarControllerParams = importlib.import_module(f'opendbc.car.{CP.carName}.values').CarControllerParams
-    cls.control_params = CarControllerParams(CP)
-    cls.torque_params = get_torque_params()[cls.car_model]
-
-  @staticmethod
-  def calculate_0_5s_jerk(control_params, torque_params):
-    steer_step = control_params.STEER_STEP
-    max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
-
-    # Steer up/down delta per 10ms frame, in percentage of max torque
-    steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
-    steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
-
-    # Lateral acceleration reached in 0.5 seconds, clipping to max torque
-    accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
-    accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
-
-    # Convert to m/s^3
-    return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
-
-  def test_jerk_limits(self):
-    up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
-    assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
-    assert down_jerk <= MAX_LAT_JERK_DOWN
-
-  def test_max_lateral_accel(self):
-    assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL
-
-
-class LatAccelReport:
-  car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
-
-  def pytest_sessionfinish(self):
-    print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
-
-    max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks])
-    for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
-      violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
-                  _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
-      violation_str = " - VIOLATION" if violation else ""
-
-      print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
-            f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
-
-  @pytest.fixture(scope="class", autouse=True)
-  def class_setup(self, request):
-    yield
-    cls = request.cls
-    if hasattr(cls, "control_params"):
-      up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params)
-      self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
-
-
-if __name__ == '__main__':
-  sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()]))  # noqa: TID251

From d69c1f600be4b36224a0f23975ed137be1b6f318 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 20 Aug 2024 20:49:30 -0700
Subject: [PATCH 0461/1243] ui: fix wrong path color indexing (#33350)

* fix

* clean up

* clean up

* clean up
old-commit-hash: d8c982242118b25ef2ad0dc25113907a53669593
---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 484075b3e2..c7ffa9b410 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -177,7 +177,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
-      int track_idx = (scene.track_vertices.length() / 2) - i;  // flip idx to start from top
+      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
       if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
 
       // Flip so 0 is bottom of frame

From 093fac6f5ac903ae2a08757e2224a2db971b2566 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 21 Aug 2024 00:30:06 -0700
Subject: [PATCH 0462/1243] move some car interface tests into opendbc (#33352)

* bump

* this is in opendbc

* so is radar interface

* clean up

* bump

* can import from opendbc

* bump
old-commit-hash: 7af3c6dfee305c991e03bc6cd6ae7449538a4201
---
 opendbc_repo                               |  2 +-
 selfdrive/car/tests/test_car_interfaces.py | 74 ++--------------------
 2 files changed, 5 insertions(+), 71 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 3229aa2e9c..06c51c1db4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 3229aa2e9c5dfefe6acb827e829fd3f43215bdf1
+Subproject commit 06c51c1db49c3b4ffb9144ba010b84ce186d5c5b
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 5a321efb16..f2a60c4d10 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -2,24 +2,22 @@ import os
 import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-import importlib
 from parameterized import parameterized
 
-from cereal import car, messaging
-from opendbc.car import DT_CTRL, gen_empty_fingerprint
+from cereal import car
+from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
-from opendbc.car.interfaces import get_interface_attr
 from opendbc.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-from openpilot.selfdrive.pandad import can_capnp_to_list
-from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
+from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
 ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
@@ -29,28 +27,6 @@ ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r i
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
-def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
-  # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
-  fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
-                                                                     st.integers(min_value=0, max_value=64)) for key in
-                                                gen_empty_fingerprint()})
-
-  # only pick from possible ecus to reduce search space
-  car_fw_strategy = st.lists(st.sampled_from(sorted(ALL_ECUS)))
-
-  params_strategy = st.fixed_dictionaries({
-    'fingerprints': fingerprint_strategy,
-    'car_fw': car_fw_strategy,
-    'experimental_long': st.booleans(),
-  })
-
-  params: dict = draw(params_strategy)
-  params['car_fw'] = [CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0,
-                                      request=draw(st.sampled_from(sorted(ALL_REQUESTS))))
-                      for fw in params['car_fw']]
-  return params
-
-
 class TestCarInterfaces:
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
@@ -121,45 +97,3 @@ class TestCarInterfaces:
       LatControlPID(car_params_capnp, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
       LatControlTorque(car_params_capnp, car_interface)
-
-    # Test radar interface
-    RadarInterface = importlib.import_module(f'opendbc.car.{car_params.carName}.radar_interface').RadarInterface
-    radar_interface = RadarInterface(car_params)
-    assert radar_interface
-
-    # Run radar interface once
-    radar_interface.update([])
-    if not car_params.radarUnavailable and radar_interface.rcp is not None and \
-       hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
-      radar_interface._update([radar_interface.trigger_msg])
-
-    # Test radar fault
-    if not car_params.radarUnavailable and radar_interface.rcp is not None:
-      cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)])
-      rr = radar_interface.update(cans)
-      assert rr is None or len(rr.errors) > 0
-
-  def test_interface_attrs(self):
-    """Asserts basic behavior of interface attribute getter"""
-    num_brands = len(get_interface_attr('CAR'))
-    assert num_brands >= 12
-
-    # Should return value for all brands when not combining, even if attribute doesn't exist
-    ret = get_interface_attr('FAKE_ATTR')
-    assert len(ret) == num_brands
-
-    # Make sure we can combine dicts
-    ret = get_interface_attr('DBC', combine_brands=True)
-    assert len(ret) >= 160
-
-    # We don't support combining non-dicts
-    ret = get_interface_attr('CAR', combine_brands=True)
-    assert len(ret) == 0
-
-    # If brand has None value, it shouldn't return when ignore_none=True is specified
-    none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None}
-    assert len(none_brands) >= 1
-
-    ret = get_interface_attr('FINGERPRINTS', ignore_none=True)
-    none_brands_in_ret = none_brands.intersection(ret)
-    assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}'

From 2871822bd2cc066d0da236f367f6de343c6f7d37 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 22 Aug 2024 02:03:55 +0800
Subject: [PATCH 0463/1243] drive_helpers.py: iterate button_timers with
 items() (#33351)

iterate button_timers with items()
old-commit-hash: 13e58d33dbe3a7c64f9ff3201fec0c99b477d37e
---
 selfdrive/controls/lib/drive_helpers.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 51758f8607..47ab36e6bd 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -86,8 +86,8 @@ class VCruiseHelper:
         button_type = b.type.raw
         break
     else:
-      for k in self.button_timers.keys():
-        if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
+      for k, timer in self.button_timers.items():
+        if timer and timer % CRUISE_LONG_PRESS == 0:
           button_type = k
           long_press = True
           break

From 76ba6d619f8855cd423dc85a90f2c9a376846823 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 23 Aug 2024 01:53:17 +0800
Subject: [PATCH 0464/1243] scons: remove Wno-error=unused-but-set-variable
 (#33355)

remove Wno-error=unused-but-set-variable
old-commit-hash: 55446438abefed400a2ee5b92a18f3bb00ee45cb
---
 SConstruct | 1 -
 1 file changed, 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 38f2a282c0..616cd67059 100644
--- a/SConstruct
+++ b/SConstruct
@@ -190,7 +190,6 @@ env = Environment(
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
-    "-Wno-error=unused-but-set-variable",
     "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 

From 73f0d647a1a247df8a052f15b5778c01c61c6e5a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 23 Aug 2024 01:55:17 +0800
Subject: [PATCH 0465/1243] scons:  remove -Wno-deprecated-register and
 -Wno-register  (#33356)

remove flag
old-commit-hash: e2305d92e30296cc04bc4e48bc74cf4bbe412cca
---
 SConstruct | 2 --
 1 file changed, 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 616cd67059..0e9ab305a9 100644
--- a/SConstruct
+++ b/SConstruct
@@ -185,8 +185,6 @@ env = Environment(
     "-Werror",
     "-Wshadow",
     "-Wno-unknown-warning-option",
-    "-Wno-deprecated-register",
-    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",

From c2fbe69e9f3be6d4f925f23959417cc0a092daa5 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Thu, 22 Aug 2024 17:01:43 -0400
Subject: [PATCH 0466/1243] rerun: adapt to the change in release of 0.18
 (#33359)

old-commit-hash: 63992fd164a669ebc7bb71b64e0d2531e712c8a0
---
 tools/rerun/run.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index ffbee0a9a5..6ce8a37937 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -111,13 +111,13 @@ class Rerunner:
         continue
 
       for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
-        log_msgs[entity_path]["times"].append(msg.logMonoTime / 1e9)
+        log_msgs[entity_path]["times"].append(msg.logMonoTime)
         log_msgs[entity_path]["data"].append(dat)
 
     for entity_path, log_msg in log_msgs.items():
-      rr.log_temporal_batch(
+      rr.send_columns(
         entity_path,
-        times=[rr.TimeSecondsBatch(RR_TIMELINE_NAME, log_msg["times"])],
+        times=[rr.TimeNanosColumn(RR_TIMELINE_NAME, log_msg["times"])],
         components=[rr.components.ScalarBatch(log_msg["data"])]
       )
 

From d105d8b3fa3cf7309c797b5e9c38ab2f1af015f7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 23 Aug 2024 10:44:59 +0800
Subject: [PATCH 0467/1243] scons: remove QtMultimedia lib and include path
 from build configuration (#33358)

remove multimedia
old-commit-hash: 61abc05c8b178436513f29fbffa19dd44091b44d
---
 SConstruct                           | 2 +-
 tools/install_ubuntu_dependencies.sh | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 0e9ab305a9..f48d9e7aab 100644
--- a/SConstruct
+++ b/SConstruct
@@ -269,7 +269,7 @@ Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index e768fb8d2c..2996127ecd 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -60,7 +60,6 @@ function install_ubuntu_common_requirements() {
     ocl-icd-opencl-dev \
     portaudio19-dev \
     qml-module-qtquick2 \
-    qtmultimedia5-dev \
     qtdeclarative5-dev \
     qttools5-dev-tools \
     libqt5svg5-dev \

From 7bfd7632918ccf55e31a4226ff33b44b62576b20 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 22 Aug 2024 21:59:00 -0700
Subject: [PATCH 0468/1243] bump panda

old-commit-hash: bdf9c90951409301a27a15bf97c82a90402ab71f
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 080e53f04d..30d0434380 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 080e53f04d45d5ca9348591e676c80a7149510f5
+Subproject commit 30d0434380d314f72fe84a767622dde585d44eb3

From e154f03a126387870813c56a8b3882211cb62a7e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 22 Aug 2024 23:30:29 -0700
Subject: [PATCH 0469/1243] timed: use gps location packet for time (#33306)

* GPS helpers

* Use GPS socket in timed

* Use helper in controlsd

* Use updated and logMonoTime

* Helper type annot

* Not updated

* Increase time threashold
old-commit-hash: cf355ecf20b546e6c6caca40936fe7505d5f8b7f
---
 common/gps.py                   |  8 ++++++++
 selfdrive/controls/controlsd.py |  6 ++----
 system/timed.py                 | 13 +++++++++----
 3 files changed, 19 insertions(+), 8 deletions(-)
 create mode 100644 common/gps.py

diff --git a/common/gps.py b/common/gps.py
new file mode 100644
index 0000000000..6f96d72e99
--- /dev/null
+++ b/common/gps.py
@@ -0,0 +1,8 @@
+from openpilot.common.params import Params
+
+
+def get_gps_location_service(params: Params) -> str:
+  if params.get_bool("UbloxAvailable"):
+    return "gpsLocationExternal"
+  else:
+    return "gpsLocation"
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c30b458ef5..fac978b970 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -17,6 +17,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.gps import get_gps_location_service
 
 from opendbc.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
@@ -79,10 +80,7 @@ class Controls:
     # Setup sockets
     self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
 
-    if self.params.get_bool("UbloxAvailable"):
-      self.gps_location_service = "gpsLocationExternal"
-    else:
-      self.gps_location_service = "gpsLocation"
+    self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
diff --git a/system/timed.py b/system/timed.py
index 6c85bf2a25..31d0d06588 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -7,6 +7,8 @@ from typing import NoReturn
 import cereal.messaging as messaging
 from openpilot.common.time import system_time_valid
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.gps import get_gps_location_service
 
 
 def set_time(new_time):
@@ -31,8 +33,11 @@ def main() -> NoReturn:
     AGNOS will also use NTP to update the time.
   """
 
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
   pm = messaging.PubMaster(['clocks'])
-  sm = messaging.SubMaster(['liveLocationKalman'])
+  sm = messaging.SubMaster([gps_location_service])
   while True:
     sm.update(1000)
 
@@ -41,13 +46,13 @@ def main() -> NoReturn:
     msg.clocks.wallTimeNanos = time.time_ns()
     pm.send('clocks', msg)
 
-    llk = sm['liveLocationKalman']
-    if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
+    gps = sm[gps_location_service]
+    if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
       continue
 
     # set time
     # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
-    gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
     set_time(gps_time)
 
     time.sleep(10)

From 965aea8eab5450eff98214e5bc49f99aa9577586 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 24 Aug 2024 01:42:57 +0800
Subject: [PATCH 0470/1243] scons: remove duplicate linker flags for -ljson11,
 -lzmq  (#33361)

fix duplicate link
old-commit-hash: 908aa525ec49c0541d88a7f2596d71d98df63ba3
---
 cereal/SConscript           | 2 +-
 selfdrive/modeld/SConscript | 6 +++---
 selfdrive/ui/SConscript     | 4 ++--
 system/logcatd/SConscript   | 2 +-
 system/proclogd/SConscript  | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/cereal/SConscript b/cereal/SConscript
index be5f161dea..47835bdc1b 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -22,7 +22,7 @@ env.SharedLibrary('cereal_shared', cereal_objects)
 # Build messaging
 
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, common])
 
 
 socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index deb84d5952..d572915c72 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -4,7 +4,7 @@ Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon',
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 
-libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread']
+libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
 frameworks = []
 
 common_src = [
@@ -69,6 +69,6 @@ if arch == "larch64" or GetOption('pc_thneed'):
 
   lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl'])
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'zmq', 'OpenCL'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 509f2aebd1..325fe231ce 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -79,7 +79,7 @@ if GetOption('extras') and arch != "Darwin":
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
-                 LIBS=qt_libs + ['curl', 'common', 'json11'])
+                 LIBS=qt_libs + ['curl', 'common'])
 
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
@@ -113,4 +113,4 @@ if GetOption('extras') and arch != "Darwin":
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'msgq', 'visionipc'])
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript
index ac2a79a1f2..39c45d1093 100644
--- a/system/logcatd/SConscript
+++ b/system/logcatd/SConscript
@@ -1,3 +1,3 @@
 Import('env', 'messaging', 'common')
 
-env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd', 'json11'])
+env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd'])
diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript
index 9ca8e73542..08814d5ccb 100644
--- a/system/proclogd/SConscript
+++ b/system/proclogd/SConscript
@@ -1,5 +1,5 @@
 Import('env', 'messaging', 'common')
-libs = [messaging, 'pthread', 'common', 'zmq', 'json11']
+libs = [messaging, 'pthread', common]
 env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs)
 
 if GetOption('extras'):

From 2bfbc779b3b8224759237e41f352c3a315bed1c1 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 24 Aug 2024 01:45:31 +0800
Subject: [PATCH 0471/1243] cereal: remove unused shared library creation
 (#33363)

clear cereal/SConscript
old-commit-hash: 1a4ff8272bdcf354a21c211d350b736621d17601
---
 cereal/SConscript | 17 +++--------------
 1 file changed, 3 insertions(+), 14 deletions(-)

diff --git a/cereal/SConscript b/cereal/SConscript
index 47835bdc1b..ce3a9ff8f8 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,31 +1,20 @@
-Import('env', 'envCython', 'arch', 'common', 'msgq')
-
-import shutil
+Import('env', 'common', 'msgq')
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-other_dir = Dir('#msgq')
 
 # Build cereal
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 
-# TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
-
-cereal = env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
-
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, common])
 
-
-socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
-socketmaster = env.Library('socketmaster', socketmaster)
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
 Export('cereal', 'socketmaster')

From 7dfe2706d60d54465e009bf6d198837ecb2b8260 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 24 Aug 2024 01:46:37 +0800
Subject: [PATCH 0472/1243] scons: only enable swaglog for submodules (#33365)

only enable swaglog for submodules
old-commit-hash: 7a6e686ec78a9890093cddba2a724ceb5983e29c
---
 SConstruct | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/SConstruct b/SConstruct
index f48d9e7aab..ca0c9e28f9 100644
--- a/SConstruct
+++ b/SConstruct
@@ -168,9 +168,6 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-# Enable swaglog include in submodules
-cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
-
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
@@ -348,18 +345,21 @@ gpucommon = [_gpucommon]
 Export('common', 'gpucommon')
 
 # Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq_repo/SConscript'])
+# Enable swaglog include in submodules
+env_swaglog = env.Clone()
+env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
+SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})
+
 SConscript(['cereal/SConscript'])
+
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')
 
 
 # Build other submodules
-SConscript([
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
+SConscript(['panda/SConscript'])
 
 # Build rednose library
 SConscript(['rednose/SConscript'])

From 7098ddcd19197841d0ea835de333355012117b8a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 24 Aug 2024 01:56:31 +0800
Subject: [PATCH 0473/1243] ui: remove QtQml and related dependencies (#33357)

* remove QtQml

* remove qtdeclarative5-dev
old-commit-hash: 4d9ee68d165fe47bd6c0f10851273cbf09ae1ac7
---
 SConstruct                            |  5 +--
 selfdrive/ui/qt/offroad/onboarding.cc | 34 +++++++++----------
 selfdrive/ui/qt/offroad/text_view.qml | 47 ---------------------------
 tools/install_ubuntu_dependencies.sh  |  2 --
 4 files changed, 17 insertions(+), 71 deletions(-)
 delete mode 100644 selfdrive/ui/qt/offroad/text_view.qml

diff --git a/SConstruct b/SConstruct
index ca0c9e28f9..c3e0f5805c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -266,7 +266,7 @@ Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -312,9 +312,6 @@ qt_flags = [
   "-DQT_NO_DEBUG",
   "-DQT_WIDGETS_LIB",
   "-DQT_GUI_LIB",
-  "-DQT_QUICK_LIB",
-  "-DQT_QUICKWIDGETS_LIB",
-  "-DQT_QML_LIB",
   "-DQT_CORE_LIB",
   "-DQT_MESSAGELOGCONTEXT",
 ]
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index b1219055fd..bae7e3bdf3 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -4,8 +4,7 @@
 
 #include <QLabel>
 #include <QPainter>
-#include <QQmlContext>
-#include <QQuickWidget>
+#include <QScrollBar>
 #include <QTransform>
 #include <QVBoxLayout>
 
@@ -13,6 +12,7 @@
 #include "common/params.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
 
 TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
@@ -98,25 +98,17 @@ void TermsPage::showEvent(QShowEvent *event) {
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title);
 
-  main_layout->addSpacing(30);
-
-  QQuickWidget *text = new QQuickWidget(this);
-  text->setResizeMode(QQuickWidget::SizeRootObjectToView);
-  text->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
-  text->setAttribute(Qt::WA_AlwaysStackOnTop);
-  text->setClearColor(QColor("#1B1B1B"));
-
-  QString text_view = util::read_file("../assets/offroad/tc.html").c_str();
-  text->rootContext()->setContextProperty("text_view", text_view);
-
-  text->setSource(QUrl::fromLocalFile("qt/offroad/text_view.qml"));
+  QLabel *text = new QLabel(this);
+  text->setTextFormat(Qt::RichText);
+  text->setWordWrap(true);
+  text->setText(QString::fromStdString(util::read_file("../assets/offroad/tc.html")));
+  text->setStyleSheet("font-size:50px; font-weight: 200; color: #C9C9C9; background-color:#1B1B1B; padding:50px 50px;");
+  ScrollView *scroll = new ScrollView(text, this);
 
-  main_layout->addWidget(text, 1);
+  main_layout->addSpacing(30);
+  main_layout->addWidget(scroll);
   main_layout->addSpacing(50);
 
-  QObject *obj = (QObject*)text->rootObject();
-  QObject::connect(obj, SIGNAL(scroll()), SLOT(enableAccept()));
-
   QHBoxLayout* buttons = new QHBoxLayout;
   buttons->setMargin(0);
   buttons->setSpacing(45);
@@ -141,6 +133,12 @@ void TermsPage::showEvent(QShowEvent *event) {
   )");
   buttons->addWidget(accept_btn);
   QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
+  QScrollBar *scroll_bar = scroll->verticalScrollBar();
+  connect(scroll_bar, &QScrollBar::valueChanged, this, [this, scroll_bar](int value) {
+    if (value == scroll_bar->maximum()) {
+      enableAccept();
+    }
+  });
 }
 
 void TermsPage::enableAccept() {
diff --git a/selfdrive/ui/qt/offroad/text_view.qml b/selfdrive/ui/qt/offroad/text_view.qml
deleted file mode 100644
index 10b423bacb..0000000000
--- a/selfdrive/ui/qt/offroad/text_view.qml
+++ /dev/null
@@ -1,47 +0,0 @@
-import QtQuick 2.0
-
-Item {
-  id: root
-  signal scroll()
-
-  Flickable {
-    id: flickArea
-    objectName: "flickArea"
-    anchors.fill: parent
-    contentHeight: helpText.height
-    contentWidth: width - (leftMargin + rightMargin)
-    bottomMargin: 50
-    topMargin: 50
-    rightMargin: 50
-    leftMargin: 50
-    flickableDirection: Flickable.VerticalFlick
-    flickDeceleration: 7500.0
-    maximumFlickVelocity: 10000.0
-    pixelAligned: true
-
-    onAtYEndChanged: root.scroll()
-
-    Text {
-      id: helpText
-      width: flickArea.contentWidth
-      font.family: "Inter"
-      font.weight: "Light"
-      font.pixelSize: 50
-      textFormat: Text.RichText
-      color: "#C9C9C9"
-      wrapMode: Text.Wrap
-      text: text_view
-    }
-  }
-
-  Rectangle {
-    id: scrollbar
-    anchors.right: flickArea.right
-    anchors.rightMargin: 20
-    y: flickArea.topMargin + flickArea.visibleArea.yPosition * (flickArea.height - flickArea.bottomMargin - flickArea.topMargin)
-    width: 12
-    radius: 6
-    height: flickArea.visibleArea.heightRatio * (flickArea.height - flickArea.bottomMargin - flickArea.topMargin)
-    color: "#808080"
-  }
-}
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 2996127ecd..33e6d9c863 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -59,8 +59,6 @@ function install_ubuntu_common_requirements() {
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
     portaudio19-dev \
-    qml-module-qtquick2 \
-    qtdeclarative5-dev \
     qttools5-dev-tools \
     libqt5svg5-dev \
     libqt5serialbus5-dev  \

From 8ff2785fb9eadd3344f2132faa0f3ff7f28b896d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 23 Aug 2024 15:19:21 -0700
Subject: [PATCH 0474/1243] add back pre-commit hook (#33366)

* add pre-commit

* space

* post

* e
old-commit-hash: b87414c74971082a8af73d913441a00f90037798
---
 scripts/post-commit |  7 ++++++
 tools/op.sh         | 56 +++++++++++++++++++++++++++------------------
 tools/setup.sh      |  1 +
 3 files changed, 42 insertions(+), 22 deletions(-)
 create mode 100755 scripts/post-commit

diff --git a/scripts/post-commit b/scripts/post-commit
new file mode 100755
index 0000000000..f9964639de
--- /dev/null
+++ b/scripts/post-commit
@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -e
+if [[ -f .git/hooks/post-commit.d/post-commit ]]; then
+  .git/hooks/post-commit.d/post-commit
+fi
+tools/op.sh lint --fast
+echo ""
diff --git a/tools/op.sh b/tools/op.sh
index 05a55cd35b..4c792edefe 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -61,6 +61,16 @@ function op_get_openpilot_dir() {
   done
 }
 
+function op_install_post_commit() {
+  op_get_openpilot_dir
+  if [[ ! -d $OPENPILOT_ROOT/.git/hooks/post-commit.d ]]; then
+    mkdir $OPENPILOT_ROOT/.git/hooks/post-commit.d
+    mv $OPENPILOT_ROOT/.git/hooks/post-commit $OPENPILOT_ROOT/.git/hooks/post-commit.d 2>/dev/null || true
+  fi
+  cd $OPENPILOT_ROOT/.git/hooks
+  ln -sf ../../scripts/post-commit post-commit
+}
+
 function op_check_openpilot_dir() {
   echo "Checking for openpilot directory..."
   if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
@@ -313,21 +323,22 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
-  echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
-  echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
-  echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
-  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
+  echo -e "  ${BOLD}check${NC}        Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}venv${NC}         Activate the python virtual environment"
+  echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
+  echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
+  echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
-  echo -e "  ${BOLD}juggle${NC}   Run PlotJuggler"
-  echo -e "  ${BOLD}replay${NC}   Run Replay"
-  echo -e "  ${BOLD}cabana${NC}   Run Cabana"
+  echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
+  echo -e "  ${BOLD}replay${NC}       Run Replay"
+  echo -e "  ${BOLD}cabana${NC}       Run Cabana"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
-  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
-  echo -e "  ${BOLD}lint${NC}     Run the linter"
-  echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
+  echo -e "  ${BOLD}sim${NC}          Run openpilot in a simulator"
+  echo -e "  ${BOLD}lint${NC}         Run the linter"
+  echo -e "  ${BOLD}post-commit${NC}  Install the linter as a post-commit hook"
+  echo -e "  ${BOLD}test${NC}         Run all unit tests from pytest"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
@@ -361,17 +372,18 @@ function _op() {
 
   # parse Commands
   case $1 in
-    venv )      shift 1; op_venv "$@" ;;
-    check )     shift 1; op_check "$@" ;;
-    setup )     shift 1; op_setup "$@" ;;
-    build )     shift 1; op_build "$@" ;;
-    juggle )    shift 1; op_juggle "$@" ;;
-    cabana )    shift 1; op_cabana "$@" ;;
-    lint )      shift 1; op_lint "$@" ;;
-    test )      shift 1; op_test "$@" ;;
-    replay )    shift 1; op_replay "$@" ;;
-    sim )       shift 1; op_sim "$@" ;;
-    install )   shift 1; op_install "$@" ;;
+    venv )          shift 1; op_venv "$@" ;;
+    check )         shift 1; op_check "$@" ;;
+    setup )         shift 1; op_setup "$@" ;;
+    build )         shift 1; op_build "$@" ;;
+    juggle )        shift 1; op_juggle "$@" ;;
+    cabana )        shift 1; op_cabana "$@" ;;
+    lint )          shift 1; op_lint "$@" ;;
+    test )          shift 1; op_test "$@" ;;
+    replay )        shift 1; op_replay "$@" ;;
+    sim )           shift 1; op_sim "$@" ;;
+    install )       shift 1; op_install "$@" ;;
+    post-commit )   shift 1; op_install_post_commit "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
diff --git a/tools/setup.sh b/tools/setup.sh
index bc8e41a401..e0a9a4f6a6 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -158,6 +158,7 @@ function git_clone() {
 function install_with_op() {
   cd $OPENPILOT_ROOT
   $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh post-commit
 
   LOG_FILE=$(mktemp)
 

From 841768e76865a701abd4ac6c75b79c41b7f8ad7e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 23 Aug 2024 18:14:43 -0700
Subject: [PATCH 0475/1243] ui: move more builds behind --minimal (#33368)

old-commit-hash: 5cb7aed8cefc4cd8345ccfc3cbb4fee3b1977dc6
---
 selfdrive/ui/SConscript | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 325fe231ce..63a795e0b7 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -61,12 +61,6 @@ qt_env.Command(assets, [assets_src, translations_assets_src], f"rcc $SOURCES -o
 qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, translations_assets_src, "#selfdrive/assets/assets.o"]) + [lrelease])
 asset_obj = qt_env.Object("assets", assets)
 
-qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
-
-# spinner and text window
-qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
-qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
-
 # build main UI
 qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
 if GetOption('extras'):
@@ -74,8 +68,14 @@ if GetOption('extras'):
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
   qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs)
 
-
 if GetOption('extras') and arch != "Darwin":
+  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
+
+  # spinner and text window
+  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
+  qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
+
+
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],

From 331a0a6554603d7191af8dd63cb98b9f7acf5725 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 23 Aug 2024 21:07:11 -0700
Subject: [PATCH 0476/1243] bump panda

old-commit-hash: 95600b00c6473eee76a9262383c276b6c27c806e
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 30d0434380..866bd9c3bc 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 30d0434380d314f72fe84a767622dde585d44eb3
+Subproject commit 866bd9c3bc44a362a64f0104b5e555a064335009

From 9abd041b53daa65fd0870fd321ac7dc981769504 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 23 Aug 2024 21:24:04 -0700
Subject: [PATCH 0477/1243] these have nothing to do with openpilot (#33369)

old-commit-hash: 73d9f6e05e354986b3fd225546e8aa1dbc58cf04
---
 tools/install_ubuntu_dependencies.sh | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 33e6d9c863..1b4fa0581a 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -70,11 +70,6 @@ function install_ubuntu_common_requirements() {
 function install_extra_packages() {
   echo "Installing extra packages..."
   $SUDO apt-get install -y --no-install-recommends \
-    casync \
-    cmake \
-    make \
-    clinfo \
-    libqt5sql5-sqlite \
     libreadline-dev \
     libdw1 \
     autoconf \

From a0c4bab7a1b4af24898447ac5dcf0bbdf0bbf257 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 25 Aug 2024 04:51:07 +0800
Subject: [PATCH 0478/1243] scons: cleanup cpppath (#33370)

cleanup cpppath
old-commit-hash: 44c3156fa4bab81dbb9424cf65f18a8155225386
---
 SConstruct             | 1 -
 third_party/SConscript | 2 --
 2 files changed, 3 deletions(-)

diff --git a/SConstruct b/SConstruct
index c3e0f5805c..fea47440cf 100644
--- a/SConstruct
+++ b/SConstruct
@@ -199,7 +199,6 @@ env = Environment(
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party",
-    "#cereal",
     "#msgq",
   ],
 
diff --git a/third_party/SConscript b/third_party/SConscript
index e5bbfaa07a..507c17c4a5 100644
--- a/third_party/SConscript
+++ b/third_party/SConscript
@@ -1,6 +1,4 @@
 Import('env')
 
 env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
-env.Append(CPPPATH=[Dir('json11')])
-
 env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE'])

From 2c98c6d52be78121a2b683407c07120449a2ce4a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 24 Aug 2024 16:39:00 -0700
Subject: [PATCH 0479/1243] third_party: setup raylib (#33367)

* setup raylib

* x86 build

* add larch

* darwin

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 4b70cc92861df35e7a769019b6926b4dbe47978f
---
 third_party/raylib/.gitignore          |    1 +
 third_party/raylib/Darwin/libraylib.a  |    3 +
 third_party/raylib/include/raylib.h    | 1662 ++++++++
 third_party/raylib/include/raymath.h   | 2190 +++++++++++
 third_party/raylib/include/rlgl.h      | 4859 ++++++++++++++++++++++++
 third_party/raylib/larch64/libraylib.a |    3 +
 third_party/raylib/setup.sh            |   36 +
 third_party/raylib/x86_64/libraylib.a  |    3 +
 8 files changed, 8757 insertions(+)
 create mode 100644 third_party/raylib/.gitignore
 create mode 100644 third_party/raylib/Darwin/libraylib.a
 create mode 100644 third_party/raylib/include/raylib.h
 create mode 100644 third_party/raylib/include/raymath.h
 create mode 100644 third_party/raylib/include/rlgl.h
 create mode 100644 third_party/raylib/larch64/libraylib.a
 create mode 100755 third_party/raylib/setup.sh
 create mode 100644 third_party/raylib/x86_64/libraylib.a

diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
new file mode 100644
index 0000000000..efe2c09437
--- /dev/null
+++ b/third_party/raylib/.gitignore
@@ -0,0 +1 @@
+/raylib_repo/
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
new file mode 100644
index 0000000000..837ad8818e
--- /dev/null
+++ b/third_party/raylib/Darwin/libraylib.a
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffe1fc6497f0c111fc507988e94fd29ce4db53a4876dc82ab9267895ad82584
+size 6515352
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
new file mode 100644
index 0000000000..1c4c4a09fa
--- /dev/null
+++ b/third_party/raylib/include/raylib.h
@@ -0,0 +1,1662 @@
+/**********************************************************************************************
+*
+*   raylib v5.0 - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
+*
+*   FEATURES:
+*       - NO external dependencies, all required libraries included with raylib
+*       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
+*                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
+*       - Written in plain C code (C99) in PascalCase/camelCase notation
+*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3 or ES2 - choose at compile)
+*       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
+*       - Multiple Fonts formats supported (TTF, XNA fonts, AngelCode fonts)
+*       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
+*       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
+*       - Flexible Materials system, supporting classic maps and PBR maps
+*       - Animated 3D models supported (skeletal bones animation) (IQM)
+*       - Shaders support, including Model shaders and Postprocessing shaders
+*       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
+*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, XM, MOD)
+*       - VR stereo rendering with configurable HMD device parameters
+*       - Bindings to multiple programming languages available!
+*
+*   NOTES:
+*       - One default Font is loaded on InitWindow()->LoadFontDefault() [core, text]
+*       - One default Texture2D is loaded on rlglInit(), 1x1 white pixel R8G8B8A8 [rlgl] (OpenGL 3.3 or ES2)
+*       - One default Shader is loaded on rlglInit()->rlLoadShaderDefault() [rlgl] (OpenGL 3.3 or ES2)
+*       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
+*
+*   DEPENDENCIES (included):
+*       [rcore] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input (PLATFORM_DESKTOP)
+*       [rlgl] glad (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading (PLATFORM_DESKTOP)
+*       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
+*
+*   OPTIONAL DEPENDENCIES (included):
+*       [rcore] msf_gif (Miles Fogle) for GIF recording
+*       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
+*       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
+*       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
+*       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
+*       [rtextures] stb_image_resize (Sean Barret) for image resizing algorithms
+*       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
+*       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
+*       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
+*       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
+*       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
+*       [rmodels] Model3D (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
+*       [raudio] dr_wav (David Reid) for WAV audio file loading
+*       [raudio] dr_flac (David Reid) for FLAC audio file loading
+*       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
+*       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
+*       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
+*       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
+*
+*
+*   LICENSE: zlib/libpng
+*
+*   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
+*   BSD-like license that allows static linking with closed source software:
+*
+*   Copyright (c) 2013-2023 Ramon Santamaria (@raysan5)
+*
+*   This software is provided "as-is", without any express or implied warranty. In no event
+*   will the authors be held liable for any damages arising from the use of this software.
+*
+*   Permission is granted to anyone to use this software for any purpose, including commercial
+*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
+*
+*     1. The origin of this software must not be misrepresented; you must not claim that you
+*     wrote the original software. If you use this software in a product, an acknowledgment
+*     in the product documentation would be appreciated but is not required.
+*
+*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
+*     as being the original software.
+*
+*     3. This notice may not be removed or altered from any source distribution.
+*
+**********************************************************************************************/
+
+#ifndef RAYLIB_H
+#define RAYLIB_H
+
+#include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
+
+#define RAYLIB_VERSION_MAJOR 5
+#define RAYLIB_VERSION_MINOR 0
+#define RAYLIB_VERSION_PATCH 0
+#define RAYLIB_VERSION  "5.0"
+
+// Function specifiers in case library is build/used as a shared library (Windows)
+// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
+#if defined(_WIN32)
+    #if defined(BUILD_LIBTYPE_SHARED)
+        #if defined(__TINYC__)
+            #define __declspec(x) __attribute__((x))
+        #endif
+        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
+    #elif defined(USE_LIBTYPE_SHARED)
+        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
+    #endif
+#endif
+
+#ifndef RLAPI
+    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
+#endif
+
+//----------------------------------------------------------------------------------
+// Some basic Defines
+//----------------------------------------------------------------------------------
+#ifndef PI
+    #define PI 3.14159265358979323846f
+#endif
+#ifndef DEG2RAD
+    #define DEG2RAD (PI/180.0f)
+#endif
+#ifndef RAD2DEG
+    #define RAD2DEG (180.0f/PI)
+#endif
+
+// Allow custom memory allocators
+// NOTE: Require recompiling raylib sources
+#ifndef RL_MALLOC
+    #define RL_MALLOC(sz)       malloc(sz)
+#endif
+#ifndef RL_CALLOC
+    #define RL_CALLOC(n,sz)     calloc(n,sz)
+#endif
+#ifndef RL_REALLOC
+    #define RL_REALLOC(ptr,sz)  realloc(ptr,sz)
+#endif
+#ifndef RL_FREE
+    #define RL_FREE(ptr)        free(ptr)
+#endif
+
+// NOTE: MSVC C++ compiler does not support compound literals (C99 feature)
+// Plain structures in C++ (without constructors) can be initialized with { }
+// This is called aggregate initialization (C++11 feature)
+#if defined(__cplusplus)
+    #define CLITERAL(type)      type
+#else
+    #define CLITERAL(type)      (type)
+#endif
+
+// Some compilers (mostly macos clang) default to C++98,
+// where aggregate initialization can't be used
+// So, give a more clear error stating how to fix this
+#if !defined(_MSC_VER) && (defined(__cplusplus) && __cplusplus < 201103L)
+    #error "C++11 or later is required. Add -std=c++11"
+#endif
+
+// NOTE: We set some defines with some data types declared by raylib
+// Other modules (raymath, rlgl) also require some of those types, so,
+// to be able to use those other modules as standalone (not depending on raylib)
+// this defines are very useful for internal check and avoid type (re)definitions
+#define RL_COLOR_TYPE
+#define RL_RECTANGLE_TYPE
+#define RL_VECTOR2_TYPE
+#define RL_VECTOR3_TYPE
+#define RL_VECTOR4_TYPE
+#define RL_QUATERNION_TYPE
+#define RL_MATRIX_TYPE
+
+// Some Basic Colors
+// NOTE: Custom raylib color palette for amazing visuals on WHITE background
+#define LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
+#define GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
+#define DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
+#define YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
+#define GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
+#define ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
+#define PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
+#define RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
+#define MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
+#define GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
+#define LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
+#define DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
+#define SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
+#define BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
+#define DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
+#define PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
+#define VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
+#define DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
+#define BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
+#define BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
+#define DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
+
+#define WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
+#define BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
+#define BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
+#define MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
+#define RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+
+//----------------------------------------------------------------------------------
+// Structures Definition
+//----------------------------------------------------------------------------------
+// Boolean type
+#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
+    #include <stdbool.h>
+#elif !defined(__cplusplus) && !defined(bool)
+    typedef enum bool { false = 0, true = !false } bool;
+    #define RL_BOOL_TYPE
+#endif
+
+// Vector2, 2 components
+typedef struct Vector2 {
+    float x;                // Vector x component
+    float y;                // Vector y component
+} Vector2;
+
+// Vector3, 3 components
+typedef struct Vector3 {
+    float x;                // Vector x component
+    float y;                // Vector y component
+    float z;                // Vector z component
+} Vector3;
+
+// Vector4, 4 components
+typedef struct Vector4 {
+    float x;                // Vector x component
+    float y;                // Vector y component
+    float z;                // Vector z component
+    float w;                // Vector w component
+} Vector4;
+
+// Quaternion, 4 components (Vector4 alias)
+typedef Vector4 Quaternion;
+
+// Matrix, 4x4 components, column major, OpenGL style, right-handed
+typedef struct Matrix {
+    float m0, m4, m8, m12;  // Matrix first row (4 components)
+    float m1, m5, m9, m13;  // Matrix second row (4 components)
+    float m2, m6, m10, m14; // Matrix third row (4 components)
+    float m3, m7, m11, m15; // Matrix fourth row (4 components)
+} Matrix;
+
+// Color, 4 components, R8G8B8A8 (32bit)
+typedef struct Color {
+    unsigned char r;        // Color red value
+    unsigned char g;        // Color green value
+    unsigned char b;        // Color blue value
+    unsigned char a;        // Color alpha value
+} Color;
+
+// Rectangle, 4 components
+typedef struct Rectangle {
+    float x;                // Rectangle top-left corner position x
+    float y;                // Rectangle top-left corner position y
+    float width;            // Rectangle width
+    float height;           // Rectangle height
+} Rectangle;
+
+// Image, pixel data stored in CPU memory (RAM)
+typedef struct Image {
+    void *data;             // Image raw data
+    int width;              // Image base width
+    int height;             // Image base height
+    int mipmaps;            // Mipmap levels, 1 by default
+    int format;             // Data format (PixelFormat type)
+} Image;
+
+// Texture, tex data stored in GPU memory (VRAM)
+typedef struct Texture {
+    unsigned int id;        // OpenGL texture id
+    int width;              // Texture base width
+    int height;             // Texture base height
+    int mipmaps;            // Mipmap levels, 1 by default
+    int format;             // Data format (PixelFormat type)
+} Texture;
+
+// Texture2D, same as Texture
+typedef Texture Texture2D;
+
+// TextureCubemap, same as Texture
+typedef Texture TextureCubemap;
+
+// RenderTexture, fbo for texture rendering
+typedef struct RenderTexture {
+    unsigned int id;        // OpenGL framebuffer object id
+    Texture texture;        // Color buffer attachment texture
+    Texture depth;          // Depth buffer attachment texture
+} RenderTexture;
+
+// RenderTexture2D, same as RenderTexture
+typedef RenderTexture RenderTexture2D;
+
+// NPatchInfo, n-patch layout info
+typedef struct NPatchInfo {
+    Rectangle source;       // Texture source rectangle
+    int left;               // Left border offset
+    int top;                // Top border offset
+    int right;              // Right border offset
+    int bottom;             // Bottom border offset
+    int layout;             // Layout of the n-patch: 3x3, 1x3 or 3x1
+} NPatchInfo;
+
+// GlyphInfo, font characters glyphs info
+typedef struct GlyphInfo {
+    int value;              // Character value (Unicode)
+    int offsetX;            // Character offset X when drawing
+    int offsetY;            // Character offset Y when drawing
+    int advanceX;           // Character advance position X
+    Image image;            // Character image data
+} GlyphInfo;
+
+// Font, font texture and GlyphInfo array data
+typedef struct Font {
+    int baseSize;           // Base size (default chars height)
+    int glyphCount;         // Number of glyph characters
+    int glyphPadding;       // Padding around the glyph characters
+    Texture2D texture;      // Texture atlas containing the glyphs
+    Rectangle *recs;        // Rectangles in texture for the glyphs
+    GlyphInfo *glyphs;      // Glyphs info data
+} Font;
+
+// Camera, defines position/orientation in 3d space
+typedef struct Camera3D {
+    Vector3 position;       // Camera position
+    Vector3 target;         // Camera target it looks-at
+    Vector3 up;             // Camera up vector (rotation over its axis)
+    float fovy;             // Camera field-of-view aperture in Y (degrees) in perspective, used as near plane width in orthographic
+    int projection;         // Camera projection: CAMERA_PERSPECTIVE or CAMERA_ORTHOGRAPHIC
+} Camera3D;
+
+typedef Camera3D Camera;    // Camera type fallback, defaults to Camera3D
+
+// Camera2D, defines position/orientation in 2d space
+typedef struct Camera2D {
+    Vector2 offset;         // Camera offset (displacement from target)
+    Vector2 target;         // Camera target (rotation and zoom origin)
+    float rotation;         // Camera rotation in degrees
+    float zoom;             // Camera zoom (scaling), should be 1.0f by default
+} Camera2D;
+
+// Mesh, vertex data and vao/vbo
+typedef struct Mesh {
+    int vertexCount;        // Number of vertices stored in arrays
+    int triangleCount;      // Number of triangles stored (indexed or not)
+
+    // Vertex attributes data
+    float *vertices;        // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
+    float *texcoords;       // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
+    float *texcoords2;      // Vertex texture second coordinates (UV - 2 components per vertex) (shader-location = 5)
+    float *normals;         // Vertex normals (XYZ - 3 components per vertex) (shader-location = 2)
+    float *tangents;        // Vertex tangents (XYZW - 4 components per vertex) (shader-location = 4)
+    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
+    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed)
+
+    // Animation vertex data
+    float *animVertices;    // Animated vertex positions (after bones transformations)
+    float *animNormals;     // Animated normals (after bones transformations)
+    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning)
+    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning)
+
+    // OpenGL identifiers
+    unsigned int vaoId;     // OpenGL Vertex Array Object id
+    unsigned int *vboId;    // OpenGL Vertex Buffer Objects id (default vertex data)
+} Mesh;
+
+// Shader
+typedef struct Shader {
+    unsigned int id;        // Shader program id
+    int *locs;              // Shader locations array (RL_MAX_SHADER_LOCATIONS)
+} Shader;
+
+// MaterialMap
+typedef struct MaterialMap {
+    Texture2D texture;      // Material map texture
+    Color color;            // Material map color
+    float value;            // Material map value
+} MaterialMap;
+
+// Material, includes shader and maps
+typedef struct Material {
+    Shader shader;          // Material shader
+    MaterialMap *maps;      // Material maps array (MAX_MATERIAL_MAPS)
+    float params[4];        // Material generic parameters (if required)
+} Material;
+
+// Transform, vertex transformation data
+typedef struct Transform {
+    Vector3 translation;    // Translation
+    Quaternion rotation;    // Rotation
+    Vector3 scale;          // Scale
+} Transform;
+
+// Bone, skeletal animation bone
+typedef struct BoneInfo {
+    char name[32];          // Bone name
+    int parent;             // Bone parent
+} BoneInfo;
+
+// Model, meshes, materials and animation data
+typedef struct Model {
+    Matrix transform;       // Local transform matrix
+
+    int meshCount;          // Number of meshes
+    int materialCount;      // Number of materials
+    Mesh *meshes;           // Meshes array
+    Material *materials;    // Materials array
+    int *meshMaterial;      // Mesh material number
+
+    // Animation data
+    int boneCount;          // Number of bones
+    BoneInfo *bones;        // Bones information (skeleton)
+    Transform *bindPose;    // Bones base transformation (pose)
+} Model;
+
+// ModelAnimation
+typedef struct ModelAnimation {
+    int boneCount;          // Number of bones
+    int frameCount;         // Number of animation frames
+    BoneInfo *bones;        // Bones information (skeleton)
+    Transform **framePoses; // Poses array by frame
+    char name[32];          // Animation name
+} ModelAnimation;
+
+// Ray, ray for raycasting
+typedef struct Ray {
+    Vector3 position;       // Ray position (origin)
+    Vector3 direction;      // Ray direction
+} Ray;
+
+// RayCollision, ray hit information
+typedef struct RayCollision {
+    bool hit;               // Did the ray hit something?
+    float distance;         // Distance to the nearest hit
+    Vector3 point;          // Point of the nearest hit
+    Vector3 normal;         // Surface normal of hit
+} RayCollision;
+
+// BoundingBox
+typedef struct BoundingBox {
+    Vector3 min;            // Minimum vertex box-corner
+    Vector3 max;            // Maximum vertex box-corner
+} BoundingBox;
+
+// Wave, audio wave data
+typedef struct Wave {
+    unsigned int frameCount;    // Total number of frames (considering channels)
+    unsigned int sampleRate;    // Frequency (samples per second)
+    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
+    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
+    void *data;                 // Buffer data pointer
+} Wave;
+
+// Opaque structs declaration
+// NOTE: Actual structs are defined internally in raudio module
+typedef struct rAudioBuffer rAudioBuffer;
+typedef struct rAudioProcessor rAudioProcessor;
+
+// AudioStream, custom audio stream
+typedef struct AudioStream {
+    rAudioBuffer *buffer;       // Pointer to internal data used by the audio system
+    rAudioProcessor *processor; // Pointer to internal data processor, useful for audio effects
+
+    unsigned int sampleRate;    // Frequency (samples per second)
+    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
+    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
+} AudioStream;
+
+// Sound
+typedef struct Sound {
+    AudioStream stream;         // Audio stream
+    unsigned int frameCount;    // Total number of frames (considering channels)
+} Sound;
+
+// Music, audio stream, anything longer than ~10 seconds should be streamed
+typedef struct Music {
+    AudioStream stream;         // Audio stream
+    unsigned int frameCount;    // Total number of frames (considering channels)
+    bool looping;               // Music looping enable
+
+    int ctxType;                // Type of music context (audio filetype)
+    void *ctxData;              // Audio context data, depends on type
+} Music;
+
+// VrDeviceInfo, Head-Mounted-Display device parameters
+typedef struct VrDeviceInfo {
+    int hResolution;                // Horizontal resolution in pixels
+    int vResolution;                // Vertical resolution in pixels
+    float hScreenSize;              // Horizontal size in meters
+    float vScreenSize;              // Vertical size in meters
+    float vScreenCenter;            // Screen center in meters
+    float eyeToScreenDistance;      // Distance between eye and display in meters
+    float lensSeparationDistance;   // Lens separation distance in meters
+    float interpupillaryDistance;   // IPD (distance between pupils) in meters
+    float lensDistortionValues[4];  // Lens distortion constant parameters
+    float chromaAbCorrection[4];    // Chromatic aberration correction parameters
+} VrDeviceInfo;
+
+// VrStereoConfig, VR stereo rendering configuration for simulator
+typedef struct VrStereoConfig {
+    Matrix projection[2];           // VR projection matrices (per eye)
+    Matrix viewOffset[2];           // VR view offset matrices (per eye)
+    float leftLensCenter[2];        // VR left lens center
+    float rightLensCenter[2];       // VR right lens center
+    float leftScreenCenter[2];      // VR left screen center
+    float rightScreenCenter[2];     // VR right screen center
+    float scale[2];                 // VR distortion scale
+    float scaleIn[2];               // VR distortion scale in
+} VrStereoConfig;
+
+// File path list
+typedef struct FilePathList {
+    unsigned int capacity;          // Filepaths max entries
+    unsigned int count;             // Filepaths entries count
+    char **paths;                   // Filepaths entries
+} FilePathList;
+
+// Automation event
+typedef struct AutomationEvent {
+    unsigned int frame;             // Event frame
+    unsigned int type;              // Event type (AutomationEventType)
+    int params[4];                  // Event parameters (if required)
+} AutomationEvent;
+
+// Automation event list
+typedef struct AutomationEventList {
+    unsigned int capacity;          // Events max entries (MAX_AUTOMATION_EVENTS)
+    unsigned int count;             // Events entries count
+    AutomationEvent *events;        // Events entries
+} AutomationEventList;
+
+//----------------------------------------------------------------------------------
+// Enumerators Definition
+//----------------------------------------------------------------------------------
+// System/Window config flags
+// NOTE: Every bit registers one state (use it with bit masks)
+// By default all flags are set to 0
+typedef enum {
+    FLAG_VSYNC_HINT         = 0x00000040,   // Set to try enabling V-Sync on GPU
+    FLAG_FULLSCREEN_MODE    = 0x00000002,   // Set to run program in fullscreen
+    FLAG_WINDOW_RESIZABLE   = 0x00000004,   // Set to allow resizable window
+    FLAG_WINDOW_UNDECORATED = 0x00000008,   // Set to disable window decoration (frame and buttons)
+    FLAG_WINDOW_HIDDEN      = 0x00000080,   // Set to hide window
+    FLAG_WINDOW_MINIMIZED   = 0x00000200,   // Set to minimize window (iconify)
+    FLAG_WINDOW_MAXIMIZED   = 0x00000400,   // Set to maximize window (expanded to monitor)
+    FLAG_WINDOW_UNFOCUSED   = 0x00000800,   // Set to window non focused
+    FLAG_WINDOW_TOPMOST     = 0x00001000,   // Set to window always on top
+    FLAG_WINDOW_ALWAYS_RUN  = 0x00000100,   // Set to allow windows running while minimized
+    FLAG_WINDOW_TRANSPARENT = 0x00000010,   // Set to allow transparent framebuffer
+    FLAG_WINDOW_HIGHDPI     = 0x00002000,   // Set to support HighDPI
+    FLAG_WINDOW_MOUSE_PASSTHROUGH = 0x00004000, // Set to support mouse passthrough, only supported when FLAG_WINDOW_UNDECORATED
+    FLAG_BORDERLESS_WINDOWED_MODE = 0x00008000, // Set to run program in borderless windowed mode
+    FLAG_MSAA_4X_HINT       = 0x00000020,   // Set to try enabling MSAA 4X
+    FLAG_INTERLACED_HINT    = 0x00010000    // Set to try enabling interlaced video format (for V3D)
+} ConfigFlags;
+
+// Trace log level
+// NOTE: Organized by priority level
+typedef enum {
+    LOG_ALL = 0,        // Display all logs
+    LOG_TRACE,          // Trace logging, intended for internal use only
+    LOG_DEBUG,          // Debug logging, used for internal debugging, it should be disabled on release builds
+    LOG_INFO,           // Info logging, used for program execution info
+    LOG_WARNING,        // Warning logging, used on recoverable failures
+    LOG_ERROR,          // Error logging, used on unrecoverable failures
+    LOG_FATAL,          // Fatal logging, used to abort program: exit(EXIT_FAILURE)
+    LOG_NONE            // Disable logging
+} TraceLogLevel;
+
+// Keyboard keys (US keyboard layout)
+// NOTE: Use GetKeyPressed() to allow redefining
+// required keys for alternative layouts
+typedef enum {
+    KEY_NULL            = 0,        // Key: NULL, used for no key pressed
+    // Alphanumeric keys
+    KEY_APOSTROPHE      = 39,       // Key: '
+    KEY_COMMA           = 44,       // Key: ,
+    KEY_MINUS           = 45,       // Key: -
+    KEY_PERIOD          = 46,       // Key: .
+    KEY_SLASH           = 47,       // Key: /
+    KEY_ZERO            = 48,       // Key: 0
+    KEY_ONE             = 49,       // Key: 1
+    KEY_TWO             = 50,       // Key: 2
+    KEY_THREE           = 51,       // Key: 3
+    KEY_FOUR            = 52,       // Key: 4
+    KEY_FIVE            = 53,       // Key: 5
+    KEY_SIX             = 54,       // Key: 6
+    KEY_SEVEN           = 55,       // Key: 7
+    KEY_EIGHT           = 56,       // Key: 8
+    KEY_NINE            = 57,       // Key: 9
+    KEY_SEMICOLON       = 59,       // Key: ;
+    KEY_EQUAL           = 61,       // Key: =
+    KEY_A               = 65,       // Key: A | a
+    KEY_B               = 66,       // Key: B | b
+    KEY_C               = 67,       // Key: C | c
+    KEY_D               = 68,       // Key: D | d
+    KEY_E               = 69,       // Key: E | e
+    KEY_F               = 70,       // Key: F | f
+    KEY_G               = 71,       // Key: G | g
+    KEY_H               = 72,       // Key: H | h
+    KEY_I               = 73,       // Key: I | i
+    KEY_J               = 74,       // Key: J | j
+    KEY_K               = 75,       // Key: K | k
+    KEY_L               = 76,       // Key: L | l
+    KEY_M               = 77,       // Key: M | m
+    KEY_N               = 78,       // Key: N | n
+    KEY_O               = 79,       // Key: O | o
+    KEY_P               = 80,       // Key: P | p
+    KEY_Q               = 81,       // Key: Q | q
+    KEY_R               = 82,       // Key: R | r
+    KEY_S               = 83,       // Key: S | s
+    KEY_T               = 84,       // Key: T | t
+    KEY_U               = 85,       // Key: U | u
+    KEY_V               = 86,       // Key: V | v
+    KEY_W               = 87,       // Key: W | w
+    KEY_X               = 88,       // Key: X | x
+    KEY_Y               = 89,       // Key: Y | y
+    KEY_Z               = 90,       // Key: Z | z
+    KEY_LEFT_BRACKET    = 91,       // Key: [
+    KEY_BACKSLASH       = 92,       // Key: '\'
+    KEY_RIGHT_BRACKET   = 93,       // Key: ]
+    KEY_GRAVE           = 96,       // Key: `
+    // Function keys
+    KEY_SPACE           = 32,       // Key: Space
+    KEY_ESCAPE          = 256,      // Key: Esc
+    KEY_ENTER           = 257,      // Key: Enter
+    KEY_TAB             = 258,      // Key: Tab
+    KEY_BACKSPACE       = 259,      // Key: Backspace
+    KEY_INSERT          = 260,      // Key: Ins
+    KEY_DELETE          = 261,      // Key: Del
+    KEY_RIGHT           = 262,      // Key: Cursor right
+    KEY_LEFT            = 263,      // Key: Cursor left
+    KEY_DOWN            = 264,      // Key: Cursor down
+    KEY_UP              = 265,      // Key: Cursor up
+    KEY_PAGE_UP         = 266,      // Key: Page up
+    KEY_PAGE_DOWN       = 267,      // Key: Page down
+    KEY_HOME            = 268,      // Key: Home
+    KEY_END             = 269,      // Key: End
+    KEY_CAPS_LOCK       = 280,      // Key: Caps lock
+    KEY_SCROLL_LOCK     = 281,      // Key: Scroll down
+    KEY_NUM_LOCK        = 282,      // Key: Num lock
+    KEY_PRINT_SCREEN    = 283,      // Key: Print screen
+    KEY_PAUSE           = 284,      // Key: Pause
+    KEY_F1              = 290,      // Key: F1
+    KEY_F2              = 291,      // Key: F2
+    KEY_F3              = 292,      // Key: F3
+    KEY_F4              = 293,      // Key: F4
+    KEY_F5              = 294,      // Key: F5
+    KEY_F6              = 295,      // Key: F6
+    KEY_F7              = 296,      // Key: F7
+    KEY_F8              = 297,      // Key: F8
+    KEY_F9              = 298,      // Key: F9
+    KEY_F10             = 299,      // Key: F10
+    KEY_F11             = 300,      // Key: F11
+    KEY_F12             = 301,      // Key: F12
+    KEY_LEFT_SHIFT      = 340,      // Key: Shift left
+    KEY_LEFT_CONTROL    = 341,      // Key: Control left
+    KEY_LEFT_ALT        = 342,      // Key: Alt left
+    KEY_LEFT_SUPER      = 343,      // Key: Super left
+    KEY_RIGHT_SHIFT     = 344,      // Key: Shift right
+    KEY_RIGHT_CONTROL   = 345,      // Key: Control right
+    KEY_RIGHT_ALT       = 346,      // Key: Alt right
+    KEY_RIGHT_SUPER     = 347,      // Key: Super right
+    KEY_KB_MENU         = 348,      // Key: KB menu
+    // Keypad keys
+    KEY_KP_0            = 320,      // Key: Keypad 0
+    KEY_KP_1            = 321,      // Key: Keypad 1
+    KEY_KP_2            = 322,      // Key: Keypad 2
+    KEY_KP_3            = 323,      // Key: Keypad 3
+    KEY_KP_4            = 324,      // Key: Keypad 4
+    KEY_KP_5            = 325,      // Key: Keypad 5
+    KEY_KP_6            = 326,      // Key: Keypad 6
+    KEY_KP_7            = 327,      // Key: Keypad 7
+    KEY_KP_8            = 328,      // Key: Keypad 8
+    KEY_KP_9            = 329,      // Key: Keypad 9
+    KEY_KP_DECIMAL      = 330,      // Key: Keypad .
+    KEY_KP_DIVIDE       = 331,      // Key: Keypad /
+    KEY_KP_MULTIPLY     = 332,      // Key: Keypad *
+    KEY_KP_SUBTRACT     = 333,      // Key: Keypad -
+    KEY_KP_ADD          = 334,      // Key: Keypad +
+    KEY_KP_ENTER        = 335,      // Key: Keypad Enter
+    KEY_KP_EQUAL        = 336,      // Key: Keypad =
+    // Android key buttons
+    KEY_BACK            = 4,        // Key: Android back button
+    KEY_MENU            = 82,       // Key: Android menu button
+    KEY_VOLUME_UP       = 24,       // Key: Android volume up button
+    KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
+} KeyboardKey;
+
+// Add backwards compatibility support for deprecated names
+#define MOUSE_LEFT_BUTTON   MOUSE_BUTTON_LEFT
+#define MOUSE_RIGHT_BUTTON  MOUSE_BUTTON_RIGHT
+#define MOUSE_MIDDLE_BUTTON MOUSE_BUTTON_MIDDLE
+
+// Mouse buttons
+typedef enum {
+    MOUSE_BUTTON_LEFT    = 0,       // Mouse button left
+    MOUSE_BUTTON_RIGHT   = 1,       // Mouse button right
+    MOUSE_BUTTON_MIDDLE  = 2,       // Mouse button middle (pressed wheel)
+    MOUSE_BUTTON_SIDE    = 3,       // Mouse button side (advanced mouse device)
+    MOUSE_BUTTON_EXTRA   = 4,       // Mouse button extra (advanced mouse device)
+    MOUSE_BUTTON_FORWARD = 5,       // Mouse button forward (advanced mouse device)
+    MOUSE_BUTTON_BACK    = 6,       // Mouse button back (advanced mouse device)
+} MouseButton;
+
+// Mouse cursor
+typedef enum {
+    MOUSE_CURSOR_DEFAULT       = 0,     // Default pointer shape
+    MOUSE_CURSOR_ARROW         = 1,     // Arrow shape
+    MOUSE_CURSOR_IBEAM         = 2,     // Text writing cursor shape
+    MOUSE_CURSOR_CROSSHAIR     = 3,     // Cross shape
+    MOUSE_CURSOR_POINTING_HAND = 4,     // Pointing hand cursor
+    MOUSE_CURSOR_RESIZE_EW     = 5,     // Horizontal resize/move arrow shape
+    MOUSE_CURSOR_RESIZE_NS     = 6,     // Vertical resize/move arrow shape
+    MOUSE_CURSOR_RESIZE_NWSE   = 7,     // Top-left to bottom-right diagonal resize/move arrow shape
+    MOUSE_CURSOR_RESIZE_NESW   = 8,     // The top-right to bottom-left diagonal resize/move arrow shape
+    MOUSE_CURSOR_RESIZE_ALL    = 9,     // The omnidirectional resize/move cursor shape
+    MOUSE_CURSOR_NOT_ALLOWED   = 10     // The operation-not-allowed shape
+} MouseCursor;
+
+// Gamepad buttons
+typedef enum {
+    GAMEPAD_BUTTON_UNKNOWN = 0,         // Unknown button, just for error checking
+    GAMEPAD_BUTTON_LEFT_FACE_UP,        // Gamepad left DPAD up button
+    GAMEPAD_BUTTON_LEFT_FACE_RIGHT,     // Gamepad left DPAD right button
+    GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
+    GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
+    GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
+    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Square, Xbox: X)
+    GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
+    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Circle, Xbox: B)
+    GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
+    GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
+    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (one), it could be a trailing button
+    GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
+    GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
+    GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
+    GAMEPAD_BUTTON_MIDDLE_RIGHT,        // Gamepad center buttons, right one (i.e. PS3: Start)
+    GAMEPAD_BUTTON_LEFT_THUMB,          // Gamepad joystick pressed button left
+    GAMEPAD_BUTTON_RIGHT_THUMB          // Gamepad joystick pressed button right
+} GamepadButton;
+
+// Gamepad axis
+typedef enum {
+    GAMEPAD_AXIS_LEFT_X        = 0,     // Gamepad left stick X axis
+    GAMEPAD_AXIS_LEFT_Y        = 1,     // Gamepad left stick Y axis
+    GAMEPAD_AXIS_RIGHT_X       = 2,     // Gamepad right stick X axis
+    GAMEPAD_AXIS_RIGHT_Y       = 3,     // Gamepad right stick Y axis
+    GAMEPAD_AXIS_LEFT_TRIGGER  = 4,     // Gamepad back trigger left, pressure level: [1..-1]
+    GAMEPAD_AXIS_RIGHT_TRIGGER = 5      // Gamepad back trigger right, pressure level: [1..-1]
+} GamepadAxis;
+
+// Material map index
+typedef enum {
+    MATERIAL_MAP_ALBEDO = 0,        // Albedo material (same as: MATERIAL_MAP_DIFFUSE)
+    MATERIAL_MAP_METALNESS,         // Metalness material (same as: MATERIAL_MAP_SPECULAR)
+    MATERIAL_MAP_NORMAL,            // Normal material
+    MATERIAL_MAP_ROUGHNESS,         // Roughness material
+    MATERIAL_MAP_OCCLUSION,         // Ambient occlusion material
+    MATERIAL_MAP_EMISSION,          // Emission material
+    MATERIAL_MAP_HEIGHT,            // Heightmap material
+    MATERIAL_MAP_CUBEMAP,           // Cubemap material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
+    MATERIAL_MAP_IRRADIANCE,        // Irradiance material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
+    MATERIAL_MAP_PREFILTER,         // Prefilter material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
+    MATERIAL_MAP_BRDF               // Brdf material
+} MaterialMapIndex;
+
+#define MATERIAL_MAP_DIFFUSE      MATERIAL_MAP_ALBEDO
+#define MATERIAL_MAP_SPECULAR     MATERIAL_MAP_METALNESS
+
+// Shader location index
+typedef enum {
+    SHADER_LOC_VERTEX_POSITION = 0, // Shader location: vertex attribute: position
+    SHADER_LOC_VERTEX_TEXCOORD01,   // Shader location: vertex attribute: texcoord01
+    SHADER_LOC_VERTEX_TEXCOORD02,   // Shader location: vertex attribute: texcoord02
+    SHADER_LOC_VERTEX_NORMAL,       // Shader location: vertex attribute: normal
+    SHADER_LOC_VERTEX_TANGENT,      // Shader location: vertex attribute: tangent
+    SHADER_LOC_VERTEX_COLOR,        // Shader location: vertex attribute: color
+    SHADER_LOC_MATRIX_MVP,          // Shader location: matrix uniform: model-view-projection
+    SHADER_LOC_MATRIX_VIEW,         // Shader location: matrix uniform: view (camera transform)
+    SHADER_LOC_MATRIX_PROJECTION,   // Shader location: matrix uniform: projection
+    SHADER_LOC_MATRIX_MODEL,        // Shader location: matrix uniform: model (transform)
+    SHADER_LOC_MATRIX_NORMAL,       // Shader location: matrix uniform: normal
+    SHADER_LOC_VECTOR_VIEW,         // Shader location: vector uniform: view
+    SHADER_LOC_COLOR_DIFFUSE,       // Shader location: vector uniform: diffuse color
+    SHADER_LOC_COLOR_SPECULAR,      // Shader location: vector uniform: specular color
+    SHADER_LOC_COLOR_AMBIENT,       // Shader location: vector uniform: ambient color
+    SHADER_LOC_MAP_ALBEDO,          // Shader location: sampler2d texture: albedo (same as: SHADER_LOC_MAP_DIFFUSE)
+    SHADER_LOC_MAP_METALNESS,       // Shader location: sampler2d texture: metalness (same as: SHADER_LOC_MAP_SPECULAR)
+    SHADER_LOC_MAP_NORMAL,          // Shader location: sampler2d texture: normal
+    SHADER_LOC_MAP_ROUGHNESS,       // Shader location: sampler2d texture: roughness
+    SHADER_LOC_MAP_OCCLUSION,       // Shader location: sampler2d texture: occlusion
+    SHADER_LOC_MAP_EMISSION,        // Shader location: sampler2d texture: emission
+    SHADER_LOC_MAP_HEIGHT,          // Shader location: sampler2d texture: height
+    SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
+    SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
+    SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
+    SHADER_LOC_MAP_BRDF             // Shader location: sampler2d texture: brdf
+} ShaderLocationIndex;
+
+#define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
+#define SHADER_LOC_MAP_SPECULAR     SHADER_LOC_MAP_METALNESS
+
+// Shader uniform data type
+typedef enum {
+    SHADER_UNIFORM_FLOAT = 0,       // Shader uniform type: float
+    SHADER_UNIFORM_VEC2,            // Shader uniform type: vec2 (2 float)
+    SHADER_UNIFORM_VEC3,            // Shader uniform type: vec3 (3 float)
+    SHADER_UNIFORM_VEC4,            // Shader uniform type: vec4 (4 float)
+    SHADER_UNIFORM_INT,             // Shader uniform type: int
+    SHADER_UNIFORM_IVEC2,           // Shader uniform type: ivec2 (2 int)
+    SHADER_UNIFORM_IVEC3,           // Shader uniform type: ivec3 (3 int)
+    SHADER_UNIFORM_IVEC4,           // Shader uniform type: ivec4 (4 int)
+    SHADER_UNIFORM_SAMPLER2D        // Shader uniform type: sampler2d
+} ShaderUniformDataType;
+
+// Shader attribute data types
+typedef enum {
+    SHADER_ATTRIB_FLOAT = 0,        // Shader attribute type: float
+    SHADER_ATTRIB_VEC2,             // Shader attribute type: vec2 (2 float)
+    SHADER_ATTRIB_VEC3,             // Shader attribute type: vec3 (3 float)
+    SHADER_ATTRIB_VEC4              // Shader attribute type: vec4 (4 float)
+} ShaderAttributeDataType;
+
+// Pixel formats
+// NOTE: Support depends on OpenGL version and platform
+typedef enum {
+    PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1, // 8 bit per pixel (no alpha)
+    PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,    // 8*2 bpp (2 channels)
+    PIXELFORMAT_UNCOMPRESSED_R5G6B5,        // 16 bpp
+    PIXELFORMAT_UNCOMPRESSED_R8G8B8,        // 24 bpp
+    PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,      // 16 bpp (1 bit alpha)
+    PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,      // 16 bpp (4 bit alpha)
+    PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,      // 32 bpp
+    PIXELFORMAT_UNCOMPRESSED_R32,           // 32 bpp (1 channel - float)
+    PIXELFORMAT_UNCOMPRESSED_R32G32B32,     // 32*3 bpp (3 channels - float)
+    PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,  // 32*4 bpp (4 channels - float)
+    PIXELFORMAT_UNCOMPRESSED_R16,           // 16 bpp (1 channel - half float)
+    PIXELFORMAT_UNCOMPRESSED_R16G16B16,     // 16*3 bpp (3 channels - half float)
+    PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,  // 16*4 bpp (4 channels - half float)
+    PIXELFORMAT_COMPRESSED_DXT1_RGB,        // 4 bpp (no alpha)
+    PIXELFORMAT_COMPRESSED_DXT1_RGBA,       // 4 bpp (1 bit alpha)
+    PIXELFORMAT_COMPRESSED_DXT3_RGBA,       // 8 bpp
+    PIXELFORMAT_COMPRESSED_DXT5_RGBA,       // 8 bpp
+    PIXELFORMAT_COMPRESSED_ETC1_RGB,        // 4 bpp
+    PIXELFORMAT_COMPRESSED_ETC2_RGB,        // 4 bpp
+    PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,   // 8 bpp
+    PIXELFORMAT_COMPRESSED_PVRT_RGB,        // 4 bpp
+    PIXELFORMAT_COMPRESSED_PVRT_RGBA,       // 4 bpp
+    PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,   // 8 bpp
+    PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA    // 2 bpp
+} PixelFormat;
+
+// Texture parameters: filter mode
+// NOTE 1: Filtering considers mipmaps if available in the texture
+// NOTE 2: Filter is accordingly set for minification and magnification
+typedef enum {
+    TEXTURE_FILTER_POINT = 0,               // No filter, just pixel approximation
+    TEXTURE_FILTER_BILINEAR,                // Linear filtering
+    TEXTURE_FILTER_TRILINEAR,               // Trilinear filtering (linear with mipmaps)
+    TEXTURE_FILTER_ANISOTROPIC_4X,          // Anisotropic filtering 4x
+    TEXTURE_FILTER_ANISOTROPIC_8X,          // Anisotropic filtering 8x
+    TEXTURE_FILTER_ANISOTROPIC_16X,         // Anisotropic filtering 16x
+} TextureFilter;
+
+// Texture parameters: wrap mode
+typedef enum {
+    TEXTURE_WRAP_REPEAT = 0,                // Repeats texture in tiled mode
+    TEXTURE_WRAP_CLAMP,                     // Clamps texture to edge pixel in tiled mode
+    TEXTURE_WRAP_MIRROR_REPEAT,             // Mirrors and repeats the texture in tiled mode
+    TEXTURE_WRAP_MIRROR_CLAMP               // Mirrors and clamps to border the texture in tiled mode
+} TextureWrap;
+
+// Cubemap layouts
+typedef enum {
+    CUBEMAP_LAYOUT_AUTO_DETECT = 0,         // Automatically detect layout type
+    CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
+    CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
+    CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
+    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE,     // Layout is defined by a 4x3 cross with cubemap faces
+    CUBEMAP_LAYOUT_PANORAMA                 // Layout is defined by a panorama image (equirrectangular map)
+} CubemapLayout;
+
+// Font type, defines generation method
+typedef enum {
+    FONT_DEFAULT = 0,               // Default font generation, anti-aliased
+    FONT_BITMAP,                    // Bitmap font generation, no anti-aliasing
+    FONT_SDF                        // SDF font generation, requires external shader
+} FontType;
+
+// Color blending modes (pre-defined)
+typedef enum {
+    BLEND_ALPHA = 0,                // Blend textures considering alpha (default)
+    BLEND_ADDITIVE,                 // Blend textures adding colors
+    BLEND_MULTIPLIED,               // Blend textures multiplying colors
+    BLEND_ADD_COLORS,               // Blend textures adding colors (alternative)
+    BLEND_SUBTRACT_COLORS,          // Blend textures subtracting colors (alternative)
+    BLEND_ALPHA_PREMULTIPLY,        // Blend premultiplied textures considering alpha
+    BLEND_CUSTOM,                   // Blend textures using custom src/dst factors (use rlSetBlendFactors())
+    BLEND_CUSTOM_SEPARATE           // Blend textures using custom rgb/alpha separate src/dst factors (use rlSetBlendFactorsSeparate())
+} BlendMode;
+
+// Gesture
+// NOTE: Provided as bit-wise flags to enable only desired gestures
+typedef enum {
+    GESTURE_NONE        = 0,        // No gesture
+    GESTURE_TAP         = 1,        // Tap gesture
+    GESTURE_DOUBLETAP   = 2,        // Double tap gesture
+    GESTURE_HOLD        = 4,        // Hold gesture
+    GESTURE_DRAG        = 8,        // Drag gesture
+    GESTURE_SWIPE_RIGHT = 16,       // Swipe right gesture
+    GESTURE_SWIPE_LEFT  = 32,       // Swipe left gesture
+    GESTURE_SWIPE_UP    = 64,       // Swipe up gesture
+    GESTURE_SWIPE_DOWN  = 128,      // Swipe down gesture
+    GESTURE_PINCH_IN    = 256,      // Pinch in gesture
+    GESTURE_PINCH_OUT   = 512       // Pinch out gesture
+} Gesture;
+
+// Camera system modes
+typedef enum {
+    CAMERA_CUSTOM = 0,              // Custom camera
+    CAMERA_FREE,                    // Free camera
+    CAMERA_ORBITAL,                 // Orbital camera
+    CAMERA_FIRST_PERSON,            // First person camera
+    CAMERA_THIRD_PERSON             // Third person camera
+} CameraMode;
+
+// Camera projection
+typedef enum {
+    CAMERA_PERSPECTIVE = 0,         // Perspective projection
+    CAMERA_ORTHOGRAPHIC             // Orthographic projection
+} CameraProjection;
+
+// N-patch layout
+typedef enum {
+    NPATCH_NINE_PATCH = 0,          // Npatch layout: 3x3 tiles
+    NPATCH_THREE_PATCH_VERTICAL,    // Npatch layout: 1x3 tiles
+    NPATCH_THREE_PATCH_HORIZONTAL   // Npatch layout: 3x1 tiles
+} NPatchLayout;
+
+// Callbacks to hook some internal functions
+// WARNING: These callbacks are intended for advance users
+typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
+typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
+typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
+typedef char *(*LoadFileTextCallback)(const char *fileName);            // FileIO: Load text data
+typedef bool (*SaveFileTextCallback)(const char *fileName, char *text); // FileIO: Save text data
+
+//------------------------------------------------------------------------------------
+// Global Variables Definition
+//------------------------------------------------------------------------------------
+// It's lonely here...
+
+//------------------------------------------------------------------------------------
+// Window and Graphics Device Functions (Module: core)
+//------------------------------------------------------------------------------------
+
+#if defined(__cplusplus)
+extern "C" {            // Prevents name mangling of functions
+#endif
+
+// Window-related functions
+RLAPI void InitWindow(int width, int height, const char *title);  // Initialize window and OpenGL context
+RLAPI void CloseWindow(void);                                     // Close window and unload OpenGL context
+RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
+RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
+RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
+RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden (only PLATFORM_DESKTOP)
+RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized (only PLATFORM_DESKTOP)
+RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized (only PLATFORM_DESKTOP)
+RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused (only PLATFORM_DESKTOP)
+RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
+RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
+RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags (only PLATFORM_DESKTOP)
+RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
+RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed (only PLATFORM_DESKTOP)
+RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed (only PLATFORM_DESKTOP)
+RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable (only PLATFORM_DESKTOP)
+RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable (only PLATFORM_DESKTOP)
+RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized (only PLATFORM_DESKTOP)
+RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit, only PLATFORM_DESKTOP)
+RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit, only PLATFORM_DESKTOP)
+RLAPI void SetWindowTitle(const char *title);                     // Set title for window (only PLATFORM_DESKTOP and PLATFORM_WEB)
+RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen (only PLATFORM_DESKTOP)
+RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
+RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
+RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
+RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
+RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f] (only PLATFORM_DESKTOP)
+RLAPI void SetWindowFocused(void);                                // Set window focused (only PLATFORM_DESKTOP)
+RLAPI void *GetWindowHandle(void);                                // Get native window handle
+RLAPI int GetScreenWidth(void);                                   // Get current screen width
+RLAPI int GetScreenHeight(void);                                  // Get current screen height
+RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
+RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
+RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
+RLAPI int GetCurrentMonitor(void);                                // Get current connected monitor
+RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
+RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
+RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
+RLAPI int GetMonitorPhysicalWidth(int monitor);                   // Get specified monitor physical width in millimetres
+RLAPI int GetMonitorPhysicalHeight(int monitor);                  // Get specified monitor physical height in millimetres
+RLAPI int GetMonitorRefreshRate(int monitor);                     // Get specified monitor refresh rate
+RLAPI Vector2 GetWindowPosition(void);                            // Get window position XY on monitor
+RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window scale DPI factor
+RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
+RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
+RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
+RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
+RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
+
+// Cursor-related functions
+RLAPI void ShowCursor(void);                                      // Shows cursor
+RLAPI void HideCursor(void);                                      // Hides cursor
+RLAPI bool IsCursorHidden(void);                                  // Check if cursor is not visible
+RLAPI void EnableCursor(void);                                    // Enables cursor (unlock cursor)
+RLAPI void DisableCursor(void);                                   // Disables cursor (lock cursor)
+RLAPI bool IsCursorOnScreen(void);                                // Check if cursor is on the screen
+
+// Drawing-related functions
+RLAPI void ClearBackground(Color color);                          // Set background color (framebuffer clear color)
+RLAPI void BeginDrawing(void);                                    // Setup canvas (framebuffer) to start drawing
+RLAPI void EndDrawing(void);                                      // End canvas drawing and swap buffers (double buffering)
+RLAPI void BeginMode2D(Camera2D camera);                          // Begin 2D mode with custom camera (2D)
+RLAPI void EndMode2D(void);                                       // Ends 2D mode with custom camera
+RLAPI void BeginMode3D(Camera3D camera);                          // Begin 3D mode with custom camera (3D)
+RLAPI void EndMode3D(void);                                       // Ends 3D mode and returns to default 2D orthographic mode
+RLAPI void BeginTextureMode(RenderTexture2D target);              // Begin drawing to render texture
+RLAPI void EndTextureMode(void);                                  // Ends drawing to render texture
+RLAPI void BeginShaderMode(Shader shader);                        // Begin custom shader drawing
+RLAPI void EndShaderMode(void);                                   // End custom shader drawing (use default shader)
+RLAPI void BeginBlendMode(int mode);                              // Begin blending mode (alpha, additive, multiplied, subtract, custom)
+RLAPI void EndBlendMode(void);                                    // End blending mode (reset to default: alpha blending)
+RLAPI void BeginScissorMode(int x, int y, int width, int height); // Begin scissor mode (define screen area for following drawing)
+RLAPI void EndScissorMode(void);                                  // End scissor mode
+RLAPI void BeginVrStereoMode(VrStereoConfig config);              // Begin stereo rendering (requires VR simulator)
+RLAPI void EndVrStereoMode(void);                                 // End stereo rendering (requires VR simulator)
+
+// VR stereo config functions for VR simulator
+RLAPI VrStereoConfig LoadVrStereoConfig(VrDeviceInfo device);     // Load VR stereo config for VR simulator device parameters
+RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR stereo config
+
+// Shader management functions
+// NOTE: Shader functionality is not available on OpenGL 1.1
+RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
+RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
+RLAPI bool IsShaderReady(Shader shader);                                   // Check if a shader is ready
+RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
+RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
+RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
+RLAPI void SetShaderValueV(Shader shader, int locIndex, const void *value, int uniformType, int count);   // Set shader uniform value vector
+RLAPI void SetShaderValueMatrix(Shader shader, int locIndex, Matrix mat);         // Set shader uniform value (matrix 4x4)
+RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture); // Set shader uniform value for texture (sampler2d)
+RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
+
+// Screen-space-related functions
+RLAPI Ray GetMouseRay(Vector2 mousePosition, Camera camera);      // Get a ray trace from mouse position
+RLAPI Matrix GetCameraMatrix(Camera camera);                      // Get camera transform matrix (view matrix)
+RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                  // Get camera 2d transform matrix
+RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);  // Get the screen space position for a 3d world space position
+RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera); // Get the world space position for a 2d camera screen space position
+RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
+RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera); // Get the screen space position for a 2d camera world space position
+
+// Timing-related functions
+RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
+RLAPI float GetFrameTime(void);                                   // Get time in seconds for last frame drawn (delta time)
+RLAPI double GetTime(void);                                       // Get elapsed time in seconds since InitWindow()
+RLAPI int GetFPS(void);                                           // Get current FPS
+
+// Custom frame control functions
+// NOTE: Those functions are intended for advance users that want full control over the frame processing
+// By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
+// To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
+RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
+RLAPI void PollInputEvents(void);                                 // Register all input events
+RLAPI void WaitTime(double seconds);                              // Wait for some time (halt program execution)
+
+// Random values generation functions
+RLAPI void SetRandomSeed(unsigned int seed);                      // Set the seed for the random number generator
+RLAPI int GetRandomValue(int min, int max);                       // Get a random value between min and max (both included)
+RLAPI int *LoadRandomSequence(unsigned int count, int min, int max); // Load random values sequence, no values repeated
+RLAPI void UnloadRandomSequence(int *sequence);                   // Unload random values sequence
+
+// Misc. functions
+RLAPI void TakeScreenshot(const char *fileName);                  // Takes a screenshot of current screen (filename extension defines format)
+RLAPI void SetConfigFlags(unsigned int flags);                    // Setup init configuration flags (view FLAGS)
+RLAPI void OpenURL(const char *url);                              // Open URL with default system browser (if available)
+
+// NOTE: Following functions implemented in module [utils]
+//------------------------------------------------------------------
+RLAPI void TraceLog(int logLevel, const char *text, ...);         // Show trace log messages (LOG_DEBUG, LOG_INFO, LOG_WARNING, LOG_ERROR...)
+RLAPI void SetTraceLogLevel(int logLevel);                        // Set the current threshold (minimum) log level
+RLAPI void *MemAlloc(unsigned int size);                          // Internal memory allocator
+RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal memory reallocator
+RLAPI void MemFree(void *ptr);                                    // Internal memory free
+
+// Set custom callbacks
+// WARNING: Callbacks setup is intended for advance users
+RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
+RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
+RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
+RLAPI void SetLoadFileTextCallback(LoadFileTextCallback callback); // Set custom file text data loader
+RLAPI void SetSaveFileTextCallback(SaveFileTextCallback callback); // Set custom file text data saver
+
+// Files management functions
+RLAPI unsigned char *LoadFileData(const char *fileName, int *dataSize); // Load file data as byte array (read)
+RLAPI void UnloadFileData(unsigned char *data);                   // Unload file data allocated by LoadFileData()
+RLAPI bool SaveFileData(const char *fileName, void *data, int dataSize); // Save data to file from byte array (write), returns true on success
+RLAPI bool ExportDataAsCode(const unsigned char *data, int dataSize, const char *fileName); // Export data to code (.h), returns true on success
+RLAPI char *LoadFileText(const char *fileName);                   // Load text data from file (read), returns a '\0' terminated string
+RLAPI void UnloadFileText(char *text);                            // Unload file text data allocated by LoadFileText()
+RLAPI bool SaveFileText(const char *fileName, char *text);        // Save text data to file (write), string must be '\0' terminated, returns true on success
+//------------------------------------------------------------------
+
+// File system functions
+RLAPI bool FileExists(const char *fileName);                      // Check if file exists
+RLAPI bool DirectoryExists(const char *dirPath);                  // Check if a directory path exists
+RLAPI bool IsFileExtension(const char *fileName, const char *ext); // Check file extension (including point: .png, .wav)
+RLAPI int GetFileLength(const char *fileName);                    // Get file length in bytes (NOTE: GetFileSize() conflicts with windows.h)
+RLAPI const char *GetFileExtension(const char *fileName);         // Get pointer to extension for a filename string (includes dot: '.png')
+RLAPI const char *GetFileName(const char *filePath);              // Get pointer to filename for a path string
+RLAPI const char *GetFileNameWithoutExt(const char *filePath);    // Get filename string without extension (uses static string)
+RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full path for a given fileName with path (uses static string)
+RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
+RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
+RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
+RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
+RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
+RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
+RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan
+RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
+RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
+RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
+RLAPI void UnloadDroppedFiles(FilePathList files);                // Unload dropped filepaths
+RLAPI long GetFileModTime(const char *fileName);                  // Get file modification time (last write time)
+
+// Compression/Encoding functionality
+RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *compDataSize);        // Compress data (DEFLATE algorithm), memory must be MemFree()
+RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
+RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
+RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
+
+// Automation events functionality
+RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
+RLAPI void UnloadAutomationEventList(AutomationEventList *list);                        // Unload automation events list from file
+RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
+RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
+RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
+RLAPI void StartAutomationEventRecording(void);                                         // Start recording automation events (AutomationEventList must be set)
+RLAPI void StopAutomationEventRecording(void);                                          // Stop recording automation events
+RLAPI void PlayAutomationEvent(AutomationEvent event);                                  // Play a recorded automation event
+
+//------------------------------------------------------------------------------------
+// Input Handling Functions (Module: core)
+//------------------------------------------------------------------------------------
+
+// Input-related functions: keyboard
+RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
+RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again (Only PLATFORM_DESKTOP)
+RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
+RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
+RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
+RLAPI int GetKeyPressed(void);                                // Get key pressed (keycode), call it multiple times for keys queued, returns 0 when the queue is empty
+RLAPI int GetCharPressed(void);                               // Get char pressed (unicode), call it multiple times for chars queued, returns 0 when the queue is empty
+RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
+
+// Input-related functions: gamepads
+RLAPI bool IsGamepadAvailable(int gamepad);                   // Check if a gamepad is available
+RLAPI const char *GetGamepadName(int gamepad);                // Get gamepad internal name id
+RLAPI bool IsGamepadButtonPressed(int gamepad, int button);   // Check if a gamepad button has been pressed once
+RLAPI bool IsGamepadButtonDown(int gamepad, int button);      // Check if a gamepad button is being pressed
+RLAPI bool IsGamepadButtonReleased(int gamepad, int button);  // Check if a gamepad button has been released once
+RLAPI bool IsGamepadButtonUp(int gamepad, int button);        // Check if a gamepad button is NOT being pressed
+RLAPI int GetGamepadButtonPressed(void);                      // Get the last gamepad button pressed
+RLAPI int GetGamepadAxisCount(int gamepad);                   // Get gamepad axis count for a gamepad
+RLAPI float GetGamepadAxisMovement(int gamepad, int axis);    // Get axis movement value for a gamepad axis
+RLAPI int SetGamepadMappings(const char *mappings);           // Set internal gamepad mappings (SDL_GameControllerDB)
+
+// Input-related functions: mouse
+RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
+RLAPI bool IsMouseButtonDown(int button);                     // Check if a mouse button is being pressed
+RLAPI bool IsMouseButtonReleased(int button);                 // Check if a mouse button has been released once
+RLAPI bool IsMouseButtonUp(int button);                       // Check if a mouse button is NOT being pressed
+RLAPI int GetMouseX(void);                                    // Get mouse position X
+RLAPI int GetMouseY(void);                                    // Get mouse position Y
+RLAPI Vector2 GetMousePosition(void);                         // Get mouse position XY
+RLAPI Vector2 GetMouseDelta(void);                            // Get mouse delta between frames
+RLAPI void SetMousePosition(int x, int y);                    // Set mouse position XY
+RLAPI void SetMouseOffset(int offsetX, int offsetY);          // Set mouse offset
+RLAPI void SetMouseScale(float scaleX, float scaleY);         // Set mouse scaling
+RLAPI float GetMouseWheelMove(void);                          // Get mouse wheel movement for X or Y, whichever is larger
+RLAPI Vector2 GetMouseWheelMoveV(void);                       // Get mouse wheel movement for both X and Y
+RLAPI void SetMouseCursor(int cursor);                        // Set mouse cursor
+
+// Input-related functions: touch
+RLAPI int GetTouchX(void);                                    // Get touch position X for touch point 0 (relative to screen size)
+RLAPI int GetTouchY(void);                                    // Get touch position Y for touch point 0 (relative to screen size)
+RLAPI Vector2 GetTouchPosition(int index);                    // Get touch position XY for a touch point index (relative to screen size)
+RLAPI int GetTouchPointId(int index);                         // Get touch point identifier for given index
+RLAPI int GetTouchPointCount(void);                           // Get number of touch points
+
+//------------------------------------------------------------------------------------
+// Gestures and Touch Handling Functions (Module: rgestures)
+//------------------------------------------------------------------------------------
+RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
+RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
+RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
+RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in milliseconds
+RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
+RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
+RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
+RLAPI float GetGesturePinchAngle(void);                 // Get gesture pinch angle
+
+//------------------------------------------------------------------------------------
+// Camera System Functions (Module: rcamera)
+//------------------------------------------------------------------------------------
+RLAPI void UpdateCamera(Camera *camera, int mode);      // Update camera position for selected mode
+RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, float zoom); // Update camera movement/rotation
+
+//------------------------------------------------------------------------------------
+// Basic Shapes Drawing Functions (Module: shapes)
+//------------------------------------------------------------------------------------
+// Set texture and rectangle to be used on shapes drawing
+// NOTE: It can be useful when using basic shapes and one single font,
+// defining a font char white rectangle would allow drawing everything in a single draw call
+RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
+
+// Basic shapes drawing functions
+RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel
+RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel (Vector version)
+RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
+RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
+RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
+RLAPI void DrawLineStrip(Vector2 *points, int pointCount, Color color);                                  // Draw lines sequence (using gl lines)
+RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
+RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
+RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
+RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
+RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color color1, Color color2);       // Draw a gradient-filled circle
+RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
+RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
+RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
+RLAPI void DrawEllipse(int centerX, int centerY, float radiusH, float radiusV, Color color);             // Draw ellipse
+RLAPI void DrawEllipseLines(int centerX, int centerY, float radiusH, float radiusV, Color color);        // Draw ellipse outline
+RLAPI void DrawRing(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color); // Draw ring
+RLAPI void DrawRingLines(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color);    // Draw ring outline
+RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color);                        // Draw a color-filled rectangle
+RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
+RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
+RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
+RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a vertical-gradient-filled rectangle
+RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a horizontal-gradient-filled rectangle
+RLAPI void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4);       // Draw a gradient-filled rectangle with custom vertex colors
+RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
+RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
+RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
+RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
+RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
+RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
+RLAPI void DrawTriangleFan(Vector2 *points, int pointCount, Color color);                                // Draw a triangle fan defined by points (first vertex is the center)
+RLAPI void DrawTriangleStrip(Vector2 *points, int pointCount, Color color);                              // Draw a triangle strip defined by points
+RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
+RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
+RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
+
+// Splines drawing functions
+RLAPI void DrawSplineLinear(Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
+RLAPI void DrawSplineBasis(Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
+RLAPI void DrawSplineCatmullRom(Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
+RLAPI void DrawSplineBezierQuadratic(Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
+RLAPI void DrawSplineBezierCubic(Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
+RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
+RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
+RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
+RLAPI void DrawSplineSegmentBezierQuadratic(Vector2 p1, Vector2 c2, Vector2 p3, float thick, Color color); // Draw spline segment: Quadratic Bezier, 2 points, 1 control point
+RLAPI void DrawSplineSegmentBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float thick, Color color); // Draw spline segment: Cubic Bezier, 2 points, 2 control points
+
+// Spline segment point evaluation functions, for a given t [0.0f .. 1.0f]
+RLAPI Vector2 GetSplinePointLinear(Vector2 startPos, Vector2 endPos, float t);                           // Get (evaluate) spline point: Linear
+RLAPI Vector2 GetSplinePointBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);              // Get (evaluate) spline point: B-Spline
+RLAPI Vector2 GetSplinePointCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);         // Get (evaluate) spline point: Catmull-Rom
+RLAPI Vector2 GetSplinePointBezierQuad(Vector2 p1, Vector2 c2, Vector2 p3, float t);                     // Get (evaluate) spline point: Quadratic Bezier
+RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float t);        // Get (evaluate) spline point: Cubic Bezier
+
+// Basic shapes collision detection functions
+RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
+RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
+RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
+RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
+RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
+RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
+RLAPI bool CheckCollisionPointPoly(Vector2 point, Vector2 *points, int pointCount);                      // Check if point is within a polygon described by array of vertices
+RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
+RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
+RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
+
+//------------------------------------------------------------------------------------
+// Texture Loading and Drawing Functions (Module: textures)
+//------------------------------------------------------------------------------------
+
+// Image loading functions
+// NOTE: These functions do not require GPU access
+RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
+RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
+RLAPI Image LoadImageSvg(const char *fileNameOrString, int width, int height);                           // Load image from SVG file data or string with specified size
+RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
+RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
+RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
+RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
+RLAPI bool IsImageReady(Image image);                                                                    // Check if an image is ready
+RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
+RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
+RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
+RLAPI bool ExportImageAsCode(Image image, const char *fileName);                                         // Export image as code file defining an array of bytes, returns true on success
+
+// Image generation functions
+RLAPI Image GenImageColor(int width, int height, Color color);                                           // Generate image: plain color
+RLAPI Image GenImageGradientLinear(int width, int height, int direction, Color start, Color end);        // Generate image: linear gradient, direction in degrees [0..360], 0=Vertical gradient
+RLAPI Image GenImageGradientRadial(int width, int height, float density, Color inner, Color outer);      // Generate image: radial gradient
+RLAPI Image GenImageGradientSquare(int width, int height, float density, Color inner, Color outer);      // Generate image: square gradient
+RLAPI Image GenImageChecked(int width, int height, int checksX, int checksY, Color col1, Color col2);    // Generate image: checked
+RLAPI Image GenImageWhiteNoise(int width, int height, float factor);                                     // Generate image: white noise
+RLAPI Image GenImagePerlinNoise(int width, int height, int offsetX, int offsetY, float scale);           // Generate image: perlin noise
+RLAPI Image GenImageCellular(int width, int height, int tileSize);                                       // Generate image: cellular algorithm, bigger tileSize means bigger cells
+RLAPI Image GenImageText(int width, int height, const char *text);                                       // Generate image: grayscale image from text data
+
+// Image manipulation functions
+RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
+RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
+RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
+RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
+RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
+RLAPI void ImageToPOT(Image *image, Color fill);                                                         // Convert image to POT (power-of-two)
+RLAPI void ImageCrop(Image *image, Rectangle crop);                                                      // Crop an image to a defined rectangle
+RLAPI void ImageAlphaCrop(Image *image, float threshold);                                                // Crop image depending on alpha value
+RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);                                  // Clear alpha channel to desired color
+RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
+RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
+RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
+RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
+RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
+RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill);  // Resize canvas and fill with color
+RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
+RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
+RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
+RLAPI void ImageFlipHorizontal(Image *image);                                                            // Flip image horizontally
+RLAPI void ImageRotate(Image *image, int degrees);                                                       // Rotate image by input angle in degrees (-359 to 359)
+RLAPI void ImageRotateCW(Image *image);                                                                  // Rotate image clockwise 90deg
+RLAPI void ImageRotateCCW(Image *image);                                                                 // Rotate image counter-clockwise 90deg
+RLAPI void ImageColorTint(Image *image, Color color);                                                    // Modify image color: tint
+RLAPI void ImageColorInvert(Image *image);                                                               // Modify image color: invert
+RLAPI void ImageColorGrayscale(Image *image);                                                            // Modify image color: grayscale
+RLAPI void ImageColorContrast(Image *image, float contrast);                                             // Modify image color: contrast (-100 to 100)
+RLAPI void ImageColorBrightness(Image *image, int brightness);                                           // Modify image color: brightness (-255 to 255)
+RLAPI void ImageColorReplace(Image *image, Color color, Color replace);                                  // Modify image color: replace color
+RLAPI Color *LoadImageColors(Image image);                                                               // Load color data from image as a Color array (RGBA - 32bit)
+RLAPI Color *LoadImagePalette(Image image, int maxPaletteSize, int *colorCount);                         // Load colors palette from image as a Color array (RGBA - 32bit)
+RLAPI void UnloadImageColors(Color *colors);                                                             // Unload color data loaded with LoadImageColors()
+RLAPI void UnloadImagePalette(Color *colors);                                                            // Unload colors palette loaded with LoadImagePalette()
+RLAPI Rectangle GetImageAlphaBorder(Image image, float threshold);                                       // Get image alpha border rectangle
+RLAPI Color GetImageColor(Image image, int x, int y);                                                    // Get image pixel color at (x, y) position
+
+// Image drawing functions
+// NOTE: Image software-rendering functions (CPU)
+RLAPI void ImageClearBackground(Image *dst, Color color);                                                // Clear image background with given color
+RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);                                  // Draw pixel within an image
+RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
+RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
+RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
+RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
+RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
+RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
+RLAPI void ImageDrawCircleLinesV(Image *dst, Vector2 center, int radius, Color color);                   // Draw circle outline within an image (Vector version)
+RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int height, Color color);       // Draw rectangle within an image
+RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
+RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
+RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
+RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
+RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
+RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
+
+// Texture loading functions
+// NOTE: These functions require GPU access
+RLAPI Texture2D LoadTexture(const char *fileName);                                                       // Load texture from file into GPU memory (VRAM)
+RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
+RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
+RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
+RLAPI bool IsTextureReady(Texture2D texture);                                                            // Check if a texture is ready
+RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
+RLAPI bool IsRenderTextureReady(RenderTexture2D target);                                                 // Check if a render texture is ready
+RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
+RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
+RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
+
+// Texture configuration functions
+RLAPI void GenTextureMipmaps(Texture2D *texture);                                                        // Generate GPU mipmaps for a texture
+RLAPI void SetTextureFilter(Texture2D texture, int filter);                                              // Set texture scaling filter mode
+RLAPI void SetTextureWrap(Texture2D texture, int wrap);                                                  // Set texture wrapping mode
+
+// Texture drawing functions
+RLAPI void DrawTexture(Texture2D texture, int posX, int posY, Color tint);                               // Draw a Texture2D
+RLAPI void DrawTextureV(Texture2D texture, Vector2 position, Color tint);                                // Draw a Texture2D with position defined as Vector2
+RLAPI void DrawTextureEx(Texture2D texture, Vector2 position, float rotation, float scale, Color tint);  // Draw a Texture2D with extended parameters
+RLAPI void DrawTextureRec(Texture2D texture, Rectangle source, Vector2 position, Color tint);            // Draw a part of a texture defined by a rectangle
+RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draw a part of a texture defined by a rectangle with 'pro' parameters
+RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
+
+// Color/pixel related functions
+RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
+RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color
+RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
+RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
+RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
+RLAPI Color ColorFromHSV(float hue, float saturation, float value);         // Get a Color from HSV values, hue [0..360], saturation/value [0..1]
+RLAPI Color ColorTint(Color color, Color tint);                             // Get color multiplied with another color
+RLAPI Color ColorBrightness(Color color, float factor);                     // Get color with brightness correction, brightness factor goes from -1.0f to 1.0f
+RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
+RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
+RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
+RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
+RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
+RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
+RLAPI int GetPixelDataSize(int width, int height, int format);              // Get pixel data size in bytes for certain format
+
+//------------------------------------------------------------------------------------
+// Font Loading and Text Drawing Functions (Module: text)
+//------------------------------------------------------------------------------------
+
+// Font loading/unloading functions
+RLAPI Font GetFontDefault(void);                                                            // Get the default Font
+RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
+RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount);  // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set
+RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
+RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
+RLAPI bool IsFontReady(Font font);                                                          // Check if a font is ready
+RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
+RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
+RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
+RLAPI void UnloadFont(Font font);                                                           // Unload font from GPU memory (VRAM)
+RLAPI bool ExportFontAsCode(Font font, const char *fileName);                               // Export font as code file, returns true on success
+
+// Text drawing functions
+RLAPI void DrawFPS(int posX, int posY);                                                     // Draw current FPS
+RLAPI void DrawText(const char *text, int posX, int posY, int fontSize, Color color);       // Draw text (using default font)
+RLAPI void DrawTextEx(Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text using font and additional parameters
+RLAPI void DrawTextPro(Font font, const char *text, Vector2 position, Vector2 origin, float rotation, float fontSize, float spacing, Color tint); // Draw text using Font and pro parameters (rotation)
+RLAPI void DrawTextCodepoint(Font font, int codepoint, Vector2 position, float fontSize, Color tint); // Draw one character (codepoint)
+RLAPI void DrawTextCodepoints(Font font, const int *codepoints, int codepointCount, Vector2 position, float fontSize, float spacing, Color tint); // Draw multiple character (codepoint)
+
+// Text font info functions
+RLAPI void SetTextLineSpacing(int spacing);                                                 // Set vertical line spacing when drawing with line-breaks
+RLAPI int MeasureText(const char *text, int fontSize);                                      // Measure string width for default font
+RLAPI Vector2 MeasureTextEx(Font font, const char *text, float fontSize, float spacing);    // Measure string size for Font
+RLAPI int GetGlyphIndex(Font font, int codepoint);                                          // Get glyph index position in font for a codepoint (unicode character), fallback to '?' if not found
+RLAPI GlyphInfo GetGlyphInfo(Font font, int codepoint);                                     // Get glyph font info data for a codepoint (unicode character), fallback to '?' if not found
+RLAPI Rectangle GetGlyphAtlasRec(Font font, int codepoint);                                 // Get glyph rectangle in font atlas for a codepoint (unicode character), fallback to '?' if not found
+
+// Text codepoints management functions (unicode characters)
+RLAPI char *LoadUTF8(const int *codepoints, int length);                // Load UTF-8 text encoded from codepoints array
+RLAPI void UnloadUTF8(char *text);                                      // Unload UTF-8 text encoded from codepoints array
+RLAPI int *LoadCodepoints(const char *text, int *count);                // Load all codepoints from a UTF-8 text string, codepoints count returned by parameter
+RLAPI void UnloadCodepoints(int *codepoints);                           // Unload codepoints data from memory
+RLAPI int GetCodepointCount(const char *text);                          // Get total number of codepoints in a UTF-8 encoded string
+RLAPI int GetCodepoint(const char *text, int *codepointSize);           // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
+RLAPI int GetCodepointNext(const char *text, int *codepointSize);       // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
+RLAPI int GetCodepointPrevious(const char *text, int *codepointSize);   // Get previous codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
+RLAPI const char *CodepointToUTF8(int codepoint, int *utf8Size);        // Encode one codepoint into UTF-8 byte array (array length returned as parameter)
+
+// Text strings management functions (no UTF-8 strings, only byte chars)
+// NOTE: Some strings allocate memory internally for returned strings, just be careful!
+RLAPI int TextCopy(char *dst, const char *src);                                             // Copy one string to another, returns bytes copied
+RLAPI bool TextIsEqual(const char *text1, const char *text2);                               // Check if two text string are equal
+RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
+RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
+RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
+RLAPI char *TextReplace(char *text, const char *replace, const char *by);                   // Replace text string (WARNING: memory must be freed!)
+RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
+RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
+RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
+RLAPI void TextAppend(char *text, const char *append, int *position);                       // Append text at specific position and move cursor!
+RLAPI int TextFindIndex(const char *text, const char *find);                                // Find first text occurrence within a string
+RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
+RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
+RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
+RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
+
+//------------------------------------------------------------------------------------
+// Basic 3d Shapes Drawing Functions (Module: models)
+//------------------------------------------------------------------------------------
+
+// Basic geometric 3D shapes drawing functions
+RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);                                    // Draw a line in 3D world space
+RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
+RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
+RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
+RLAPI void DrawTriangleStrip3D(Vector3 *points, int pointCount, Color color);                            // Draw a triangle strip defined by points
+RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
+RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
+RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
+RLAPI void DrawCubeWiresV(Vector3 position, Vector3 size, Color color);                                  // Draw cube wires (Vector version)
+RLAPI void DrawSphere(Vector3 centerPos, float radius, Color color);                                     // Draw sphere
+RLAPI void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color color);            // Draw sphere with extended parameters
+RLAPI void DrawSphereWires(Vector3 centerPos, float radius, int rings, int slices, Color color);         // Draw sphere wires
+RLAPI void DrawCylinder(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone
+RLAPI void DrawCylinderEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder with base at startPos and top at endPos
+RLAPI void DrawCylinderWires(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone wires
+RLAPI void DrawCylinderWiresEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder wires with base at startPos and top at endPos
+RLAPI void DrawCapsule(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw a capsule with the center of its sphere caps at startPos and endPos
+RLAPI void DrawCapsuleWires(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw capsule wireframe with the center of its sphere caps at startPos and endPos
+RLAPI void DrawPlane(Vector3 centerPos, Vector2 size, Color color);                                      // Draw a plane XZ
+RLAPI void DrawRay(Ray ray, Color color);                                                                // Draw a ray line
+RLAPI void DrawGrid(int slices, float spacing);                                                          // Draw a grid (centered at (0, 0, 0))
+
+//------------------------------------------------------------------------------------
+// Model 3d Loading and Drawing Functions (Module: models)
+//------------------------------------------------------------------------------------
+
+// Model management functions
+RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
+RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
+RLAPI bool IsModelReady(Model model);                                                       // Check if a model is ready
+RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
+RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
+
+// Model drawing functions
+RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);               // Draw a model (with texture if set)
+RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
+RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
+RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
+RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
+RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float size, Color tint);   // Draw a billboard texture
+RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
+RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
+
+// Mesh management functions
+RLAPI void UploadMesh(Mesh *mesh, bool dynamic);                                            // Upload mesh vertex data in GPU and provide VAO/VBO ids
+RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize, int offset); // Update mesh vertex data in GPU for a specific buffer index
+RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
+RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
+RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
+RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
+RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
+RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
+
+// Mesh generation functions
+RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
+RLAPI Mesh GenMeshPlane(float width, float length, int resX, int resZ);                     // Generate plane mesh (with subdivisions)
+RLAPI Mesh GenMeshCube(float width, float height, float length);                            // Generate cuboid mesh
+RLAPI Mesh GenMeshSphere(float radius, int rings, int slices);                              // Generate sphere mesh (standard sphere)
+RLAPI Mesh GenMeshHemiSphere(float radius, int rings, int slices);                          // Generate half-sphere mesh (no bottom cap)
+RLAPI Mesh GenMeshCylinder(float radius, float height, int slices);                         // Generate cylinder mesh
+RLAPI Mesh GenMeshCone(float radius, float height, int slices);                             // Generate cone/pyramid mesh
+RLAPI Mesh GenMeshTorus(float radius, float size, int radSeg, int sides);                   // Generate torus mesh
+RLAPI Mesh GenMeshKnot(float radius, float size, int radSeg, int sides);                    // Generate trefoil knot mesh
+RLAPI Mesh GenMeshHeightmap(Image heightmap, Vector3 size);                                 // Generate heightmap mesh from image data
+RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);                               // Generate cubes-based map mesh from image data
+
+// Material loading/unloading functions
+RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
+RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
+RLAPI bool IsMaterialReady(Material material);                                              // Check if a material is ready
+RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
+RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
+RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
+
+// Model animations loading/unloading functions
+RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
+RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose
+RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
+RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
+RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
+
+// Collision detection functions
+RLAPI bool CheckCollisionSpheres(Vector3 center1, float radius1, Vector3 center2, float radius2);   // Check collision between two spheres
+RLAPI bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2);                                 // Check collision between two bounding boxes
+RLAPI bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius);                  // Check collision between box and sphere
+RLAPI RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius);                    // Get collision info between ray and sphere
+RLAPI RayCollision GetRayCollisionBox(Ray ray, BoundingBox box);                                    // Get collision info between ray and box
+RLAPI RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform);                       // Get collision info between ray and mesh
+RLAPI RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3);            // Get collision info between ray and triangle
+RLAPI RayCollision GetRayCollisionQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4);    // Get collision info between ray and quad
+
+//------------------------------------------------------------------------------------
+// Audio Loading and Playing Functions (Module: audio)
+//------------------------------------------------------------------------------------
+typedef void (*AudioCallback)(void *bufferData, unsigned int frames);
+
+// Audio device management functions
+RLAPI void InitAudioDevice(void);                                     // Initialize audio device and context
+RLAPI void CloseAudioDevice(void);                                    // Close the audio device and context
+RLAPI bool IsAudioDeviceReady(void);                                  // Check if audio device has been initialized successfully
+RLAPI void SetMasterVolume(float volume);                             // Set master volume (listener)
+RLAPI float GetMasterVolume(void);                                    // Get master volume (listener)
+
+// Wave/Sound loading/unloading functions
+RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
+RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
+RLAPI bool IsWaveReady(Wave wave);                                    // Checks if wave data is ready
+RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
+RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
+RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
+RLAPI bool IsSoundReady(Sound sound);                                 // Checks if a sound is ready
+RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
+RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
+RLAPI void UnloadSound(Sound sound);                                  // Unload sound
+RLAPI void UnloadSoundAlias(Sound alias);                             // Unload a sound alias (does not deallocate sample data)
+RLAPI bool ExportWave(Wave wave, const char *fileName);               // Export wave data to file, returns true on success
+RLAPI bool ExportWaveAsCode(Wave wave, const char *fileName);         // Export wave sample data to code (.h), returns true on success
+
+// Wave/Sound management functions
+RLAPI void PlaySound(Sound sound);                                    // Play a sound
+RLAPI void StopSound(Sound sound);                                    // Stop playing a sound
+RLAPI void PauseSound(Sound sound);                                   // Pause a sound
+RLAPI void ResumeSound(Sound sound);                                  // Resume a paused sound
+RLAPI bool IsSoundPlaying(Sound sound);                               // Check if a sound is currently playing
+RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set volume for a sound (1.0 is max level)
+RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
+RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
+RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
+RLAPI void WaveCrop(Wave *wave, int initSample, int finalSample);     // Crop a wave to defined samples range
+RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
+RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
+RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
+
+// Music management functions
+RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
+RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
+RLAPI bool IsMusicReady(Music music);                                 // Checks if a music stream is ready
+RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
+RLAPI void PlayMusicStream(Music music);                              // Start music playing
+RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
+RLAPI void UpdateMusicStream(Music music);                            // Updates buffers for music streaming
+RLAPI void StopMusicStream(Music music);                              // Stop music playing
+RLAPI void PauseMusicStream(Music music);                             // Pause music playing
+RLAPI void ResumeMusicStream(Music music);                            // Resume playing paused music
+RLAPI void SeekMusicStream(Music music, float position);              // Seek music to a position (in seconds)
+RLAPI void SetMusicVolume(Music music, float volume);                 // Set volume for music (1.0 is max level)
+RLAPI void SetMusicPitch(Music music, float pitch);                   // Set pitch for a music (1.0 is base level)
+RLAPI void SetMusicPan(Music music, float pan);                       // Set pan for a music (0.5 is center)
+RLAPI float GetMusicTimeLength(Music music);                          // Get music time length (in seconds)
+RLAPI float GetMusicTimePlayed(Music music);                          // Get current music time played (in seconds)
+
+// AudioStream management functions
+RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
+RLAPI bool IsAudioStreamReady(AudioStream stream);                    // Checks if an audio stream is ready
+RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
+RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
+RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
+RLAPI void PlayAudioStream(AudioStream stream);                       // Play audio stream
+RLAPI void PauseAudioStream(AudioStream stream);                      // Pause audio stream
+RLAPI void ResumeAudioStream(AudioStream stream);                     // Resume audio stream
+RLAPI bool IsAudioStreamPlaying(AudioStream stream);                  // Check if audio stream is playing
+RLAPI void StopAudioStream(AudioStream stream);                       // Stop audio stream
+RLAPI void SetAudioStreamVolume(AudioStream stream, float volume);    // Set volume for audio stream (1.0 is max level)
+RLAPI void SetAudioStreamPitch(AudioStream stream, float pitch);      // Set pitch for audio stream (1.0 is base level)
+RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan for audio stream (0.5 is centered)
+RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
+RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
+
+RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as <float>s
+RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
+
+RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as <float>s
+RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // RAYLIB_H
diff --git a/third_party/raylib/include/raymath.h b/third_party/raylib/include/raymath.h
new file mode 100644
index 0000000000..ff60170390
--- /dev/null
+++ b/third_party/raylib/include/raymath.h
@@ -0,0 +1,2190 @@
+/**********************************************************************************************
+*
+*   raymath v1.5 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
+*
+*   CONVENTIONS:
+*     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
+*       math operations performed by the library consider the structure as it was column-major
+*       It is like transposed versions of the matrices are used for all the maths
+*       It benefits some functions making them cache-friendly and also avoids matrix
+*       transpositions sometimes required by OpenGL
+*       Example: In memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2 m3]
+*     - Functions are always self-contained, no function use another raymath function inside,
+*       required code is directly re-implemented inside
+*     - Functions input parameters are always received by value (2 unavoidable exceptions)
+*     - Functions use always a "result" variable for return
+*     - Functions are always defined inline
+*     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
+*     - No compound literals used to make sure libray is compatible with C++
+*
+*   CONFIGURATION:
+*       #define RAYMATH_IMPLEMENTATION
+*           Generates the implementation of the library into the included file.
+*           If not defined, the library is in header only mode and can be included in other headers
+*           or source files without problems. But only ONE file should hold the implementation.
+*
+*       #define RAYMATH_STATIC_INLINE
+*           Define static inline functions code, so #include header suffices for use.
+*           This may use up lots of memory.
+*
+*
+*   LICENSE: zlib/libpng
+*
+*   Copyright (c) 2015-2023 Ramon Santamaria (@raysan5)
+*
+*   This software is provided "as-is", without any express or implied warranty. In no event
+*   will the authors be held liable for any damages arising from the use of this software.
+*
+*   Permission is granted to anyone to use this software for any purpose, including commercial
+*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
+*
+*     1. The origin of this software must not be misrepresented; you must not claim that you
+*     wrote the original software. If you use this software in a product, an acknowledgment
+*     in the product documentation would be appreciated but is not required.
+*
+*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
+*     as being the original software.
+*
+*     3. This notice may not be removed or altered from any source distribution.
+*
+**********************************************************************************************/
+
+#ifndef RAYMATH_H
+#define RAYMATH_H
+
+#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
+    #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
+#endif
+
+// Function specifiers definition
+#if defined(RAYMATH_IMPLEMENTATION)
+    #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
+        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
+    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
+        #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
+    #else
+        #define RMAPI extern inline // Provide external definition
+    #endif
+#elif defined(RAYMATH_STATIC_INLINE)
+    #define RMAPI static inline // Functions may be inlined, no external out-of-line definition
+#else
+    #if defined(__TINYC__)
+        #define RMAPI static inline // plain inline not supported by tinycc (See issue #435)
+    #else
+        #define RMAPI inline        // Functions may be inlined or external definition used
+    #endif
+#endif
+
+//----------------------------------------------------------------------------------
+// Defines and Macros
+//----------------------------------------------------------------------------------
+#ifndef PI
+    #define PI 3.14159265358979323846f
+#endif
+
+#ifndef EPSILON
+    #define EPSILON 0.000001f
+#endif
+
+#ifndef DEG2RAD
+    #define DEG2RAD (PI/180.0f)
+#endif
+
+#ifndef RAD2DEG
+    #define RAD2DEG (180.0f/PI)
+#endif
+
+// Get float vector for Matrix
+#ifndef MatrixToFloat
+    #define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
+#endif
+
+// Get float vector for Vector3
+#ifndef Vector3ToFloat
+    #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
+#endif
+
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+//----------------------------------------------------------------------------------
+#if !defined(RL_VECTOR2_TYPE)
+// Vector2 type
+typedef struct Vector2 {
+    float x;
+    float y;
+} Vector2;
+#define RL_VECTOR2_TYPE
+#endif
+
+#if !defined(RL_VECTOR3_TYPE)
+// Vector3 type
+typedef struct Vector3 {
+    float x;
+    float y;
+    float z;
+} Vector3;
+#define RL_VECTOR3_TYPE
+#endif
+
+#if !defined(RL_VECTOR4_TYPE)
+// Vector4 type
+typedef struct Vector4 {
+    float x;
+    float y;
+    float z;
+    float w;
+} Vector4;
+#define RL_VECTOR4_TYPE
+#endif
+
+#if !defined(RL_QUATERNION_TYPE)
+// Quaternion type
+typedef Vector4 Quaternion;
+#define RL_QUATERNION_TYPE
+#endif
+
+#if !defined(RL_MATRIX_TYPE)
+// Matrix type (OpenGL style 4x4 - right handed, column major)
+typedef struct Matrix {
+    float m0, m4, m8, m12;      // Matrix first row (4 components)
+    float m1, m5, m9, m13;      // Matrix second row (4 components)
+    float m2, m6, m10, m14;     // Matrix third row (4 components)
+    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
+} Matrix;
+#define RL_MATRIX_TYPE
+#endif
+
+// NOTE: Helper types to be used instead of array return types for *ToFloat functions
+typedef struct float3 {
+    float v[3];
+} float3;
+
+typedef struct float16 {
+    float v[16];
+} float16;
+
+#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabs()
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Utils math
+//----------------------------------------------------------------------------------
+
+// Clamp float value
+RMAPI float Clamp(float value, float min, float max)
+{
+    float result = (value < min)? min : value;
+
+    if (result > max) result = max;
+
+    return result;
+}
+
+// Calculate linear interpolation between two floats
+RMAPI float Lerp(float start, float end, float amount)
+{
+    float result = start + amount*(end - start);
+
+    return result;
+}
+
+// Normalize input value within input range
+RMAPI float Normalize(float value, float start, float end)
+{
+    float result = (value - start)/(end - start);
+
+    return result;
+}
+
+// Remap input value within input range to output range
+RMAPI float Remap(float value, float inputStart, float inputEnd, float outputStart, float outputEnd)
+{
+    float result = (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart;
+
+    return result;
+}
+
+// Wrap input value from min to max
+RMAPI float Wrap(float value, float min, float max)
+{
+    float result = value - (max - min)*floorf((value - min)/(max - min));
+
+    return result;
+}
+
+// Check whether two given floats are almost equal
+RMAPI int FloatEquals(float x, float y)
+{
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    int result = (fabsf(x - y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));
+
+    return result;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector2 math
+//----------------------------------------------------------------------------------
+
+// Vector with components value 0.0f
+RMAPI Vector2 Vector2Zero(void)
+{
+    Vector2 result = { 0.0f, 0.0f };
+
+    return result;
+}
+
+// Vector with components value 1.0f
+RMAPI Vector2 Vector2One(void)
+{
+    Vector2 result = { 1.0f, 1.0f };
+
+    return result;
+}
+
+// Add two vectors (v1 + v2)
+RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { v1.x + v2.x, v1.y + v2.y };
+
+    return result;
+}
+
+// Add vector and float value
+RMAPI Vector2 Vector2AddValue(Vector2 v, float add)
+{
+    Vector2 result = { v.x + add, v.y + add };
+
+    return result;
+}
+
+// Subtract two vectors (v1 - v2)
+RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { v1.x - v2.x, v1.y - v2.y };
+
+    return result;
+}
+
+// Subtract vector by float value
+RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub)
+{
+    Vector2 result = { v.x - sub, v.y - sub };
+
+    return result;
+}
+
+// Calculate vector length
+RMAPI float Vector2Length(Vector2 v)
+{
+    float result = sqrtf((v.x*v.x) + (v.y*v.y));
+
+    return result;
+}
+
+// Calculate vector square length
+RMAPI float Vector2LengthSqr(Vector2 v)
+{
+    float result = (v.x*v.x) + (v.y*v.y);
+
+    return result;
+}
+
+// Calculate two vectors dot product
+RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
+{
+    float result = (v1.x*v2.x + v1.y*v2.y);
+
+    return result;
+}
+
+// Calculate distance between two vectors
+RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
+{
+    float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
+
+    return result;
+}
+
+// Calculate square distance between two vectors
+RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2)
+{
+    float result = ((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
+
+    return result;
+}
+
+// Calculate angle between two vectors
+// NOTE: Angle is calculated from origin point (0, 0)
+RMAPI float Vector2Angle(Vector2 v1, Vector2 v2)
+{
+    float result = 0.0f;
+
+    float dot = v1.x*v2.x + v1.y*v2.y;
+    float det = v1.x*v2.y - v1.y*v2.x;
+
+    result = atan2f(det, dot);
+
+    return result;
+}
+
+// Calculate angle defined by a two vectors line
+// NOTE: Parameters need to be normalized
+// Current implementation should be aligned with glm::angle
+RMAPI float Vector2LineAngle(Vector2 start, Vector2 end)
+{
+    float result = 0.0f;
+
+    // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior
+    result = -atan2f(end.y - start.y, end.x - start.x);
+
+    return result;
+}
+
+// Scale vector (multiply by value)
+RMAPI Vector2 Vector2Scale(Vector2 v, float scale)
+{
+    Vector2 result = { v.x*scale, v.y*scale };
+
+    return result;
+}
+
+// Multiply vector by vector
+RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { v1.x*v2.x, v1.y*v2.y };
+
+    return result;
+}
+
+// Negate vector
+RMAPI Vector2 Vector2Negate(Vector2 v)
+{
+    Vector2 result = { -v.x, -v.y };
+
+    return result;
+}
+
+// Divide vector by vector
+RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { v1.x/v2.x, v1.y/v2.y };
+
+    return result;
+}
+
+// Normalize provided vector
+RMAPI Vector2 Vector2Normalize(Vector2 v)
+{
+    Vector2 result = { 0 };
+    float length = sqrtf((v.x*v.x) + (v.y*v.y));
+
+    if (length > 0)
+    {
+        float ilength = 1.0f/length;
+        result.x = v.x*ilength;
+        result.y = v.y*ilength;
+    }
+
+    return result;
+}
+
+// Transforms a Vector2 by a given Matrix
+RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat)
+{
+    Vector2 result = { 0 };
+
+    float x = v.x;
+    float y = v.y;
+    float z = 0;
+
+    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
+    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
+
+    return result;
+}
+
+// Calculate linear interpolation between two vectors
+RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
+{
+    Vector2 result = { 0 };
+
+    result.x = v1.x + amount*(v2.x - v1.x);
+    result.y = v1.y + amount*(v2.y - v1.y);
+
+    return result;
+}
+
+// Calculate reflected vector to normal
+RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
+{
+    Vector2 result = { 0 };
+
+    float dotProduct = (v.x*normal.x + v.y*normal.y); // Dot product
+
+    result.x = v.x - (2.0f*normal.x)*dotProduct;
+    result.y = v.y - (2.0f*normal.y)*dotProduct;
+
+    return result;
+}
+
+// Rotate vector by angle
+RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
+{
+    Vector2 result = { 0 };
+
+    float cosres = cosf(angle);
+    float sinres = sinf(angle);
+
+    result.x = v.x*cosres - v.y*sinres;
+    result.y = v.x*sinres + v.y*cosres;
+
+    return result;
+}
+
+// Move Vector towards target
+RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance)
+{
+    Vector2 result = { 0 };
+
+    float dx = target.x - v.x;
+    float dy = target.y - v.y;
+    float value = (dx*dx) + (dy*dy);
+
+    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+
+    float dist = sqrtf(value);
+
+    result.x = v.x + dx/dist*maxDistance;
+    result.y = v.y + dy/dist*maxDistance;
+
+    return result;
+}
+
+// Invert the given vector
+RMAPI Vector2 Vector2Invert(Vector2 v)
+{
+    Vector2 result = { 1.0f/v.x, 1.0f/v.y };
+
+    return result;
+}
+
+// Clamp the components of the vector between
+// min and max values specified by the given vectors
+RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max)
+{
+    Vector2 result = { 0 };
+
+    result.x = fminf(max.x, fmaxf(min.x, v.x));
+    result.y = fminf(max.y, fmaxf(min.y, v.y));
+
+    return result;
+}
+
+// Clamp the magnitude of the vector between two min and max values
+RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
+{
+    Vector2 result = v;
+
+    float length = (v.x*v.x) + (v.y*v.y);
+    if (length > 0.0f)
+    {
+        length = sqrtf(length);
+
+        if (length < min)
+        {
+            float scale = min/length;
+            result.x = v.x*scale;
+            result.y = v.y*scale;
+        }
+        else if (length > max)
+        {
+            float scale = max/length;
+            result.x = v.x*scale;
+            result.y = v.y*scale;
+        }
+    }
+
+    return result;
+}
+
+// Check whether two given vectors are almost equal
+RMAPI int Vector2Equals(Vector2 p, Vector2 q)
+{
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));
+
+    return result;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector3 math
+//----------------------------------------------------------------------------------
+
+// Vector with components value 0.0f
+RMAPI Vector3 Vector3Zero(void)
+{
+    Vector3 result = { 0.0f, 0.0f, 0.0f };
+
+    return result;
+}
+
+// Vector with components value 1.0f
+RMAPI Vector3 Vector3One(void)
+{
+    Vector3 result = { 1.0f, 1.0f, 1.0f };
+
+    return result;
+}
+
+// Add two vectors
+RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
+
+    return result;
+}
+
+// Add vector and float value
+RMAPI Vector3 Vector3AddValue(Vector3 v, float add)
+{
+    Vector3 result = { v.x + add, v.y + add, v.z + add };
+
+    return result;
+}
+
+// Subtract two vectors
+RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
+
+    return result;
+}
+
+// Subtract vector by float value
+RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub)
+{
+    Vector3 result = { v.x - sub, v.y - sub, v.z - sub };
+
+    return result;
+}
+
+// Multiply vector by scalar
+RMAPI Vector3 Vector3Scale(Vector3 v, float scalar)
+{
+    Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
+
+    return result;
+}
+
+// Multiply vector by vector
+RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
+
+    return result;
+}
+
+// Calculate two vectors cross product
+RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
+
+    return result;
+}
+
+// Calculate one vector perpendicular vector
+RMAPI Vector3 Vector3Perpendicular(Vector3 v)
+{
+    Vector3 result = { 0 };
+
+    float min = (float) fabs(v.x);
+    Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
+
+    if (fabsf(v.y) < min)
+    {
+        min = (float) fabs(v.y);
+        Vector3 tmp = {0.0f, 1.0f, 0.0f};
+        cardinalAxis = tmp;
+    }
+
+    if (fabsf(v.z) < min)
+    {
+        Vector3 tmp = {0.0f, 0.0f, 1.0f};
+        cardinalAxis = tmp;
+    }
+
+    // Cross product between vectors
+    result.x = v.y*cardinalAxis.z - v.z*cardinalAxis.y;
+    result.y = v.z*cardinalAxis.x - v.x*cardinalAxis.z;
+    result.z = v.x*cardinalAxis.y - v.y*cardinalAxis.x;
+
+    return result;
+}
+
+// Calculate vector length
+RMAPI float Vector3Length(const Vector3 v)
+{
+    float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+
+    return result;
+}
+
+// Calculate vector square length
+RMAPI float Vector3LengthSqr(const Vector3 v)
+{
+    float result = v.x*v.x + v.y*v.y + v.z*v.z;
+
+    return result;
+}
+
+// Calculate two vectors dot product
+RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2)
+{
+    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+
+    return result;
+}
+
+// Calculate distance between two vectors
+RMAPI float Vector3Distance(Vector3 v1, Vector3 v2)
+{
+    float result = 0.0f;
+
+    float dx = v2.x - v1.x;
+    float dy = v2.y - v1.y;
+    float dz = v2.z - v1.z;
+    result = sqrtf(dx*dx + dy*dy + dz*dz);
+
+    return result;
+}
+
+// Calculate square distance between two vectors
+RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2)
+{
+    float result = 0.0f;
+
+    float dx = v2.x - v1.x;
+    float dy = v2.y - v1.y;
+    float dz = v2.z - v1.z;
+    result = dx*dx + dy*dy + dz*dz;
+
+    return result;
+}
+
+// Calculate angle between two vectors
+RMAPI float Vector3Angle(Vector3 v1, Vector3 v2)
+{
+    float result = 0.0f;
+
+    Vector3 cross = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
+    float len = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z);
+    float dot = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+    result = atan2f(len, dot);
+
+    return result;
+}
+
+// Negate provided vector (invert direction)
+RMAPI Vector3 Vector3Negate(Vector3 v)
+{
+    Vector3 result = { -v.x, -v.y, -v.z };
+
+    return result;
+}
+
+// Divide vector by vector
+RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
+
+    return result;
+}
+
+// Normalize provided vector
+RMAPI Vector3 Vector3Normalize(Vector3 v)
+{
+    Vector3 result = v;
+
+    float length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+    if (length != 0.0f)
+    {
+        float ilength = 1.0f/length;
+
+        result.x *= ilength;
+        result.y *= ilength;
+        result.z *= ilength;
+    }
+
+    return result;
+}
+
+//Calculate the projection of the vector v1 on to v2
+RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { 0 };
+    
+    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
+
+    float mag = v1dv2/v2dv2;
+
+    result.x = v2.x*mag;
+    result.y = v2.y*mag;
+    result.z = v2.z*mag;
+
+    return result;
+}
+
+//Calculate the rejection of the vector v1 on to v2
+RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { 0 };
+    
+    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
+
+    float mag = v1dv2/v2dv2;
+
+    result.x = v1.x - (v2.x*mag);
+    result.y = v1.y - (v2.y*mag);
+    result.z = v1.z - (v2.z*mag);
+
+    return result;
+}
+
+// Orthonormalize provided vectors
+// Makes vectors normalized and orthogonal to each other
+// Gram-Schmidt function implementation
+RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
+{
+    float length = 0.0f;
+    float ilength = 0.0f;
+
+    // Vector3Normalize(*v1);
+    Vector3 v = *v1;
+    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+    if (length == 0.0f) length = 1.0f;
+    ilength = 1.0f/length;
+    v1->x *= ilength;
+    v1->y *= ilength;
+    v1->z *= ilength;
+
+    // Vector3CrossProduct(*v1, *v2)
+    Vector3 vn1 = { v1->y*v2->z - v1->z*v2->y, v1->z*v2->x - v1->x*v2->z, v1->x*v2->y - v1->y*v2->x };
+
+    // Vector3Normalize(vn1);
+    v = vn1;
+    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+    if (length == 0.0f) length = 1.0f;
+    ilength = 1.0f/length;
+    vn1.x *= ilength;
+    vn1.y *= ilength;
+    vn1.z *= ilength;
+
+    // Vector3CrossProduct(vn1, *v1)
+    Vector3 vn2 = { vn1.y*v1->z - vn1.z*v1->y, vn1.z*v1->x - vn1.x*v1->z, vn1.x*v1->y - vn1.y*v1->x };
+
+    *v2 = vn2;
+}
+
+// Transforms a Vector3 by a given Matrix
+RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat)
+{
+    Vector3 result = { 0 };
+
+    float x = v.x;
+    float y = v.y;
+    float z = v.z;
+
+    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
+    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
+    result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
+
+    return result;
+}
+
+// Transform a vector by quaternion rotation
+RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
+{
+    Vector3 result = { 0 };
+
+    result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
+    result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
+    result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
+
+    return result;
+}
+
+// Rotates a vector around an axis
+RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
+{
+    // Using Euler-Rodrigues Formula
+    // Ref.: https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula
+
+    Vector3 result = v;
+
+    // Vector3Normalize(axis);
+    float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
+    if (length == 0.0f) length = 1.0f;
+    float ilength = 1.0f / length;
+    axis.x *= ilength;
+    axis.y *= ilength;
+    axis.z *= ilength;
+
+    angle /= 2.0f;
+    float a = sinf(angle);
+    float b = axis.x*a;
+    float c = axis.y*a;
+    float d = axis.z*a;
+    a = cosf(angle);
+    Vector3 w = { b, c, d };
+
+    // Vector3CrossProduct(w, v)
+    Vector3 wv = { w.y*v.z - w.z*v.y, w.z*v.x - w.x*v.z, w.x*v.y - w.y*v.x };
+
+    // Vector3CrossProduct(w, wv)
+    Vector3 wwv = { w.y*wv.z - w.z*wv.y, w.z*wv.x - w.x*wv.z, w.x*wv.y - w.y*wv.x };
+
+    // Vector3Scale(wv, 2*a)
+    a *= 2;
+    wv.x *= a;
+    wv.y *= a;
+    wv.z *= a;
+
+    // Vector3Scale(wwv, 2)
+    wwv.x *= 2;
+    wwv.y *= 2;
+    wwv.z *= 2;
+
+    result.x += wv.x;
+    result.y += wv.y;
+    result.z += wv.z;
+
+    result.x += wwv.x;
+    result.y += wwv.y;
+    result.z += wwv.z;
+
+    return result;
+}
+
+// Calculate linear interpolation between two vectors
+RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
+{
+    Vector3 result = { 0 };
+
+    result.x = v1.x + amount*(v2.x - v1.x);
+    result.y = v1.y + amount*(v2.y - v1.y);
+    result.z = v1.z + amount*(v2.z - v1.z);
+
+    return result;
+}
+
+// Calculate reflected vector to normal
+RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
+{
+    Vector3 result = { 0 };
+
+    // I is the original vector
+    // N is the normal of the incident plane
+    // R = I - (2*N*(DotProduct[I, N]))
+
+    float dotProduct = (v.x*normal.x + v.y*normal.y + v.z*normal.z);
+
+    result.x = v.x - (2.0f*normal.x)*dotProduct;
+    result.y = v.y - (2.0f*normal.y)*dotProduct;
+    result.z = v.z - (2.0f*normal.z)*dotProduct;
+
+    return result;
+}
+
+// Get min value for each pair of components
+RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { 0 };
+
+    result.x = fminf(v1.x, v2.x);
+    result.y = fminf(v1.y, v2.y);
+    result.z = fminf(v1.z, v2.z);
+
+    return result;
+}
+
+// Get max value for each pair of components
+RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2)
+{
+    Vector3 result = { 0 };
+
+    result.x = fmaxf(v1.x, v2.x);
+    result.y = fmaxf(v1.y, v2.y);
+    result.z = fmaxf(v1.z, v2.z);
+
+    return result;
+}
+
+// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
+// NOTE: Assumes P is on the plane of the triangle
+RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
+{
+    Vector3 result = { 0 };
+
+    Vector3 v0 = { b.x - a.x, b.y - a.y, b.z - a.z };   // Vector3Subtract(b, a)
+    Vector3 v1 = { c.x - a.x, c.y - a.y, c.z - a.z };   // Vector3Subtract(c, a)
+    Vector3 v2 = { p.x - a.x, p.y - a.y, p.z - a.z };   // Vector3Subtract(p, a)
+    float d00 = (v0.x*v0.x + v0.y*v0.y + v0.z*v0.z);    // Vector3DotProduct(v0, v0)
+    float d01 = (v0.x*v1.x + v0.y*v1.y + v0.z*v1.z);    // Vector3DotProduct(v0, v1)
+    float d11 = (v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);    // Vector3DotProduct(v1, v1)
+    float d20 = (v2.x*v0.x + v2.y*v0.y + v2.z*v0.z);    // Vector3DotProduct(v2, v0)
+    float d21 = (v2.x*v1.x + v2.y*v1.y + v2.z*v1.z);    // Vector3DotProduct(v2, v1)
+
+    float denom = d00*d11 - d01*d01;
+
+    result.y = (d11*d20 - d01*d21)/denom;
+    result.z = (d00*d21 - d01*d20)/denom;
+    result.x = 1.0f - (result.z + result.y);
+
+    return result;
+}
+
+// Projects a Vector3 from screen space into object space
+// NOTE: We are avoiding calling other raymath functions despite available
+RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
+{
+    Vector3 result = { 0 };
+
+    // Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
+    Matrix matViewProj = {      // MatrixMultiply(view, projection);
+        view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
+        view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
+        view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
+        view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
+        view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
+        view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
+        view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
+        view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
+        view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
+        view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
+        view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
+        view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
+        view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
+        view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
+        view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
+        view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
+
+    // Calculate inverted matrix -> MatrixInvert(matViewProj);
+    // Cache the matrix values (speed optimization)
+    float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2, a03 = matViewProj.m3;
+    float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6, a13 = matViewProj.m7;
+    float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10, a23 = matViewProj.m11;
+    float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14, a33 = matViewProj.m15;
+
+    float b00 = a00*a11 - a01*a10;
+    float b01 = a00*a12 - a02*a10;
+    float b02 = a00*a13 - a03*a10;
+    float b03 = a01*a12 - a02*a11;
+    float b04 = a01*a13 - a03*a11;
+    float b05 = a02*a13 - a03*a12;
+    float b06 = a20*a31 - a21*a30;
+    float b07 = a20*a32 - a22*a30;
+    float b08 = a20*a33 - a23*a30;
+    float b09 = a21*a32 - a22*a31;
+    float b10 = a21*a33 - a23*a31;
+    float b11 = a22*a33 - a23*a32;
+
+    // Calculate the invert determinant (inlined to avoid double-caching)
+    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
+
+    Matrix matViewProjInv = {
+        (a11*b11 - a12*b10 + a13*b09)*invDet,
+        (-a01*b11 + a02*b10 - a03*b09)*invDet,
+        (a31*b05 - a32*b04 + a33*b03)*invDet,
+        (-a21*b05 + a22*b04 - a23*b03)*invDet,
+        (-a10*b11 + a12*b08 - a13*b07)*invDet,
+        (a00*b11 - a02*b08 + a03*b07)*invDet,
+        (-a30*b05 + a32*b02 - a33*b01)*invDet,
+        (a20*b05 - a22*b02 + a23*b01)*invDet,
+        (a10*b10 - a11*b08 + a13*b06)*invDet,
+        (-a00*b10 + a01*b08 - a03*b06)*invDet,
+        (a30*b04 - a31*b02 + a33*b00)*invDet,
+        (-a20*b04 + a21*b02 - a23*b00)*invDet,
+        (-a10*b09 + a11*b07 - a12*b06)*invDet,
+        (a00*b09 - a01*b07 + a02*b06)*invDet,
+        (-a30*b03 + a31*b01 - a32*b00)*invDet,
+        (a20*b03 - a21*b01 + a22*b00)*invDet };
+
+    // Create quaternion from source point
+    Quaternion quat = { source.x, source.y, source.z, 1.0f };
+
+    // Multiply quat point by unprojecte matrix
+    Quaternion qtransformed = {     // QuaternionTransform(quat, matViewProjInv)
+        matViewProjInv.m0*quat.x + matViewProjInv.m4*quat.y + matViewProjInv.m8*quat.z + matViewProjInv.m12*quat.w,
+        matViewProjInv.m1*quat.x + matViewProjInv.m5*quat.y + matViewProjInv.m9*quat.z + matViewProjInv.m13*quat.w,
+        matViewProjInv.m2*quat.x + matViewProjInv.m6*quat.y + matViewProjInv.m10*quat.z + matViewProjInv.m14*quat.w,
+        matViewProjInv.m3*quat.x + matViewProjInv.m7*quat.y + matViewProjInv.m11*quat.z + matViewProjInv.m15*quat.w };
+
+    // Normalized world points in vectors
+    result.x = qtransformed.x/qtransformed.w;
+    result.y = qtransformed.y/qtransformed.w;
+    result.z = qtransformed.z/qtransformed.w;
+
+    return result;
+}
+
+// Get Vector3 as float array
+RMAPI float3 Vector3ToFloatV(Vector3 v)
+{
+    float3 buffer = { 0 };
+
+    buffer.v[0] = v.x;
+    buffer.v[1] = v.y;
+    buffer.v[2] = v.z;
+
+    return buffer;
+}
+
+// Invert the given vector
+RMAPI Vector3 Vector3Invert(Vector3 v)
+{
+    Vector3 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z };
+
+    return result;
+}
+
+// Clamp the components of the vector between
+// min and max values specified by the given vectors
+RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max)
+{
+    Vector3 result = { 0 };
+
+    result.x = fminf(max.x, fmaxf(min.x, v.x));
+    result.y = fminf(max.y, fmaxf(min.y, v.y));
+    result.z = fminf(max.z, fmaxf(min.z, v.z));
+
+    return result;
+}
+
+// Clamp the magnitude of the vector between two values
+RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
+{
+    Vector3 result = v;
+
+    float length = (v.x*v.x) + (v.y*v.y) + (v.z*v.z);
+    if (length > 0.0f)
+    {
+        length = sqrtf(length);
+
+        if (length < min)
+        {
+            float scale = min/length;
+            result.x = v.x*scale;
+            result.y = v.y*scale;
+            result.z = v.z*scale;
+        }
+        else if (length > max)
+        {
+            float scale = max/length;
+            result.x = v.x*scale;
+            result.y = v.y*scale;
+            result.z = v.z*scale;
+        }
+    }
+
+    return result;
+}
+
+// Check whether two given vectors are almost equal
+RMAPI int Vector3Equals(Vector3 p, Vector3 q)
+{
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+                 ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+                 ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));
+
+    return result;
+}
+
+// Compute the direction of a refracted ray
+// v: normalized direction of the incoming ray
+// n: normalized normal vector of the interface of two optical media
+// r: ratio of the refractive index of the medium from where the ray comes
+//    to the refractive index of the medium on the other side of the surface
+RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
+{
+    Vector3 result = { 0 };
+
+    float dot = v.x*n.x + v.y*n.y + v.z*n.z;
+    float d = 1.0f - r*r*(1.0f - dot*dot);
+
+    if (d >= 0.0f)
+    {
+        d = sqrtf(d);
+        v.x = r*v.x - (r*dot + d)*n.x;
+        v.y = r*v.y - (r*dot + d)*n.y;
+        v.z = r*v.z - (r*dot + d)*n.z;
+
+        result = v;
+    }
+
+    return result;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Matrix math
+//----------------------------------------------------------------------------------
+
+// Compute matrix determinant
+RMAPI float MatrixDeterminant(Matrix mat)
+{
+    float result = 0.0f;
+
+    // Cache the matrix values (speed optimization)
+    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+
+    result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
+             a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
+             a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
+             a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
+             a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
+             a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
+
+    return result;
+}
+
+// Get the trace of the matrix (sum of the values along the diagonal)
+RMAPI float MatrixTrace(Matrix mat)
+{
+    float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
+
+    return result;
+}
+
+// Transposes provided matrix
+RMAPI Matrix MatrixTranspose(Matrix mat)
+{
+    Matrix result = { 0 };
+
+    result.m0 = mat.m0;
+    result.m1 = mat.m4;
+    result.m2 = mat.m8;
+    result.m3 = mat.m12;
+    result.m4 = mat.m1;
+    result.m5 = mat.m5;
+    result.m6 = mat.m9;
+    result.m7 = mat.m13;
+    result.m8 = mat.m2;
+    result.m9 = mat.m6;
+    result.m10 = mat.m10;
+    result.m11 = mat.m14;
+    result.m12 = mat.m3;
+    result.m13 = mat.m7;
+    result.m14 = mat.m11;
+    result.m15 = mat.m15;
+
+    return result;
+}
+
+// Invert provided matrix
+RMAPI Matrix MatrixInvert(Matrix mat)
+{
+    Matrix result = { 0 };
+
+    // Cache the matrix values (speed optimization)
+    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+
+    float b00 = a00*a11 - a01*a10;
+    float b01 = a00*a12 - a02*a10;
+    float b02 = a00*a13 - a03*a10;
+    float b03 = a01*a12 - a02*a11;
+    float b04 = a01*a13 - a03*a11;
+    float b05 = a02*a13 - a03*a12;
+    float b06 = a20*a31 - a21*a30;
+    float b07 = a20*a32 - a22*a30;
+    float b08 = a20*a33 - a23*a30;
+    float b09 = a21*a32 - a22*a31;
+    float b10 = a21*a33 - a23*a31;
+    float b11 = a22*a33 - a23*a32;
+
+    // Calculate the invert determinant (inlined to avoid double-caching)
+    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
+
+    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
+    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
+    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
+    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
+    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
+    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
+    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
+    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
+    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
+    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
+    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
+    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
+    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
+    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
+    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
+    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
+
+    return result;
+}
+
+// Get identity matrix
+RMAPI Matrix MatrixIdentity(void)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+                      0.0f, 1.0f, 0.0f, 0.0f,
+                      0.0f, 0.0f, 1.0f, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f };
+
+    return result;
+}
+
+// Add two matrices
+RMAPI Matrix MatrixAdd(Matrix left, Matrix right)
+{
+    Matrix result = { 0 };
+
+    result.m0 = left.m0 + right.m0;
+    result.m1 = left.m1 + right.m1;
+    result.m2 = left.m2 + right.m2;
+    result.m3 = left.m3 + right.m3;
+    result.m4 = left.m4 + right.m4;
+    result.m5 = left.m5 + right.m5;
+    result.m6 = left.m6 + right.m6;
+    result.m7 = left.m7 + right.m7;
+    result.m8 = left.m8 + right.m8;
+    result.m9 = left.m9 + right.m9;
+    result.m10 = left.m10 + right.m10;
+    result.m11 = left.m11 + right.m11;
+    result.m12 = left.m12 + right.m12;
+    result.m13 = left.m13 + right.m13;
+    result.m14 = left.m14 + right.m14;
+    result.m15 = left.m15 + right.m15;
+
+    return result;
+}
+
+// Subtract two matrices (left - right)
+RMAPI Matrix MatrixSubtract(Matrix left, Matrix right)
+{
+    Matrix result = { 0 };
+
+    result.m0 = left.m0 - right.m0;
+    result.m1 = left.m1 - right.m1;
+    result.m2 = left.m2 - right.m2;
+    result.m3 = left.m3 - right.m3;
+    result.m4 = left.m4 - right.m4;
+    result.m5 = left.m5 - right.m5;
+    result.m6 = left.m6 - right.m6;
+    result.m7 = left.m7 - right.m7;
+    result.m8 = left.m8 - right.m8;
+    result.m9 = left.m9 - right.m9;
+    result.m10 = left.m10 - right.m10;
+    result.m11 = left.m11 - right.m11;
+    result.m12 = left.m12 - right.m12;
+    result.m13 = left.m13 - right.m13;
+    result.m14 = left.m14 - right.m14;
+    result.m15 = left.m15 - right.m15;
+
+    return result;
+}
+
+// Get two matrix multiplication
+// NOTE: When multiplying matrices... the order matters!
+RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
+{
+    Matrix result = { 0 };
+
+    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
+    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
+    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
+    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
+    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
+    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
+    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
+    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
+    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
+    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
+    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
+    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
+    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
+    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
+    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
+    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
+
+    return result;
+}
+
+// Get translation matrix
+RMAPI Matrix MatrixTranslate(float x, float y, float z)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, x,
+                      0.0f, 1.0f, 0.0f, y,
+                      0.0f, 0.0f, 1.0f, z,
+                      0.0f, 0.0f, 0.0f, 1.0f };
+
+    return result;
+}
+
+// Create rotation matrix from axis and angle
+// NOTE: Angle should be provided in radians
+RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
+{
+    Matrix result = { 0 };
+
+    float x = axis.x, y = axis.y, z = axis.z;
+
+    float lengthSquared = x*x + y*y + z*z;
+
+    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
+    {
+        float ilength = 1.0f/sqrtf(lengthSquared);
+        x *= ilength;
+        y *= ilength;
+        z *= ilength;
+    }
+
+    float sinres = sinf(angle);
+    float cosres = cosf(angle);
+    float t = 1.0f - cosres;
+
+    result.m0 = x*x*t + cosres;
+    result.m1 = y*x*t + z*sinres;
+    result.m2 = z*x*t - y*sinres;
+    result.m3 = 0.0f;
+
+    result.m4 = x*y*t - z*sinres;
+    result.m5 = y*y*t + cosres;
+    result.m6 = z*y*t + x*sinres;
+    result.m7 = 0.0f;
+
+    result.m8 = x*z*t + y*sinres;
+    result.m9 = y*z*t - x*sinres;
+    result.m10 = z*z*t + cosres;
+    result.m11 = 0.0f;
+
+    result.m12 = 0.0f;
+    result.m13 = 0.0f;
+    result.m14 = 0.0f;
+    result.m15 = 1.0f;
+
+    return result;
+}
+
+// Get x-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateX(float angle)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+                      0.0f, 1.0f, 0.0f, 0.0f,
+                      0.0f, 0.0f, 1.0f, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+
+    float cosres = cosf(angle);
+    float sinres = sinf(angle);
+
+    result.m5 = cosres;
+    result.m6 = sinres;
+    result.m9 = -sinres;
+    result.m10 = cosres;
+
+    return result;
+}
+
+// Get y-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateY(float angle)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+                      0.0f, 1.0f, 0.0f, 0.0f,
+                      0.0f, 0.0f, 1.0f, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+
+    float cosres = cosf(angle);
+    float sinres = sinf(angle);
+
+    result.m0 = cosres;
+    result.m2 = -sinres;
+    result.m8 = sinres;
+    result.m10 = cosres;
+
+    return result;
+}
+
+// Get z-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateZ(float angle)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+                      0.0f, 1.0f, 0.0f, 0.0f,
+                      0.0f, 0.0f, 1.0f, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+
+    float cosres = cosf(angle);
+    float sinres = sinf(angle);
+
+    result.m0 = cosres;
+    result.m1 = sinres;
+    result.m4 = -sinres;
+    result.m5 = cosres;
+
+    return result;
+}
+
+
+// Get xyz-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+                      0.0f, 1.0f, 0.0f, 0.0f,
+                      0.0f, 0.0f, 1.0f, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+
+    float cosz = cosf(-angle.z);
+    float sinz = sinf(-angle.z);
+    float cosy = cosf(-angle.y);
+    float siny = sinf(-angle.y);
+    float cosx = cosf(-angle.x);
+    float sinx = sinf(-angle.x);
+
+    result.m0 = cosz*cosy;
+    result.m1 = (cosz*siny*sinx) - (sinz*cosx);
+    result.m2 = (cosz*siny*cosx) + (sinz*sinx);
+
+    result.m4 = sinz*cosy;
+    result.m5 = (sinz*siny*sinx) + (cosz*cosx);
+    result.m6 = (sinz*siny*cosx) - (cosz*sinx);
+
+    result.m8 = -siny;
+    result.m9 = cosy*sinx;
+    result.m10= cosy*cosx;
+
+    return result;
+}
+
+// Get zyx-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateZYX(Vector3 angle)
+{
+    Matrix result = { 0 };
+
+    float cz = cosf(angle.z);
+    float sz = sinf(angle.z);
+    float cy = cosf(angle.y);
+    float sy = sinf(angle.y);
+    float cx = cosf(angle.x);
+    float sx = sinf(angle.x);
+
+    result.m0 = cz*cy;
+    result.m4 = cz*sy*sx - cx*sz;
+    result.m8 = sz*sx + cz*cx*sy;
+    result.m12 = 0;
+
+    result.m1 = cy*sz;
+    result.m5 = cz*cx + sz*sy*sx;
+    result.m9 = cx*sz*sy - cz*sx;
+    result.m13 = 0;
+
+    result.m2 = -sy;
+    result.m6 = cy*sx;
+    result.m10 = cy*cx;
+    result.m14 = 0;
+
+    result.m3 = 0;
+    result.m7 = 0;
+    result.m11 = 0;
+    result.m15 = 1;
+
+    return result;
+}
+
+// Get scaling matrix
+RMAPI Matrix MatrixScale(float x, float y, float z)
+{
+    Matrix result = { x, 0.0f, 0.0f, 0.0f,
+                      0.0f, y, 0.0f, 0.0f,
+                      0.0f, 0.0f, z, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f };
+
+    return result;
+}
+
+// Get perspective projection matrix
+RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
+{
+    Matrix result = { 0 };
+
+    float rl = (float)(right - left);
+    float tb = (float)(top - bottom);
+    float fn = (float)(far - near);
+
+    result.m0 = ((float)near*2.0f)/rl;
+    result.m1 = 0.0f;
+    result.m2 = 0.0f;
+    result.m3 = 0.0f;
+
+    result.m4 = 0.0f;
+    result.m5 = ((float)near*2.0f)/tb;
+    result.m6 = 0.0f;
+    result.m7 = 0.0f;
+
+    result.m8 = ((float)right + (float)left)/rl;
+    result.m9 = ((float)top + (float)bottom)/tb;
+    result.m10 = -((float)far + (float)near)/fn;
+    result.m11 = -1.0f;
+
+    result.m12 = 0.0f;
+    result.m13 = 0.0f;
+    result.m14 = -((float)far*(float)near*2.0f)/fn;
+    result.m15 = 0.0f;
+
+    return result;
+}
+
+// Get perspective projection matrix
+// NOTE: Fovy angle must be provided in radians
+RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane, double farPlane)
+{
+    Matrix result = { 0 };
+
+    double top = nearPlane*tan(fovY*0.5);
+    double bottom = -top;
+    double right = top*aspect;
+    double left = -right;
+
+    // MatrixFrustum(-right, right, -top, top, near, far);
+    float rl = (float)(right - left);
+    float tb = (float)(top - bottom);
+    float fn = (float)(farPlane - nearPlane);
+
+    result.m0 = ((float)nearPlane*2.0f)/rl;
+    result.m5 = ((float)nearPlane*2.0f)/tb;
+    result.m8 = ((float)right + (float)left)/rl;
+    result.m9 = ((float)top + (float)bottom)/tb;
+    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
+    result.m11 = -1.0f;
+    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
+
+    return result;
+}
+
+// Get orthographic projection matrix
+RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top, double nearPlane, double farPlane)
+{
+    Matrix result = { 0 };
+
+    float rl = (float)(right - left);
+    float tb = (float)(top - bottom);
+    float fn = (float)(farPlane - nearPlane);
+
+    result.m0 = 2.0f/rl;
+    result.m1 = 0.0f;
+    result.m2 = 0.0f;
+    result.m3 = 0.0f;
+    result.m4 = 0.0f;
+    result.m5 = 2.0f/tb;
+    result.m6 = 0.0f;
+    result.m7 = 0.0f;
+    result.m8 = 0.0f;
+    result.m9 = 0.0f;
+    result.m10 = -2.0f/fn;
+    result.m11 = 0.0f;
+    result.m12 = -((float)left + (float)right)/rl;
+    result.m13 = -((float)top + (float)bottom)/tb;
+    result.m14 = -((float)farPlane + (float)nearPlane)/fn;
+    result.m15 = 1.0f;
+
+    return result;
+}
+
+// Get camera look-at matrix (view matrix)
+RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
+{
+    Matrix result = { 0 };
+
+    float length = 0.0f;
+    float ilength = 0.0f;
+
+    // Vector3Subtract(eye, target)
+    Vector3 vz = { eye.x - target.x, eye.y - target.y, eye.z - target.z };
+
+    // Vector3Normalize(vz)
+    Vector3 v = vz;
+    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+    if (length == 0.0f) length = 1.0f;
+    ilength = 1.0f/length;
+    vz.x *= ilength;
+    vz.y *= ilength;
+    vz.z *= ilength;
+
+    // Vector3CrossProduct(up, vz)
+    Vector3 vx = { up.y*vz.z - up.z*vz.y, up.z*vz.x - up.x*vz.z, up.x*vz.y - up.y*vz.x };
+
+    // Vector3Normalize(x)
+    v = vx;
+    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+    if (length == 0.0f) length = 1.0f;
+    ilength = 1.0f/length;
+    vx.x *= ilength;
+    vx.y *= ilength;
+    vx.z *= ilength;
+
+    // Vector3CrossProduct(vz, vx)
+    Vector3 vy = { vz.y*vx.z - vz.z*vx.y, vz.z*vx.x - vz.x*vx.z, vz.x*vx.y - vz.y*vx.x };
+
+    result.m0 = vx.x;
+    result.m1 = vy.x;
+    result.m2 = vz.x;
+    result.m3 = 0.0f;
+    result.m4 = vx.y;
+    result.m5 = vy.y;
+    result.m6 = vz.y;
+    result.m7 = 0.0f;
+    result.m8 = vx.z;
+    result.m9 = vy.z;
+    result.m10 = vz.z;
+    result.m11 = 0.0f;
+    result.m12 = -(vx.x*eye.x + vx.y*eye.y + vx.z*eye.z);   // Vector3DotProduct(vx, eye)
+    result.m13 = -(vy.x*eye.x + vy.y*eye.y + vy.z*eye.z);   // Vector3DotProduct(vy, eye)
+    result.m14 = -(vz.x*eye.x + vz.y*eye.y + vz.z*eye.z);   // Vector3DotProduct(vz, eye)
+    result.m15 = 1.0f;
+
+    return result;
+}
+
+// Get float array of matrix data
+RMAPI float16 MatrixToFloatV(Matrix mat)
+{
+    float16 result = { 0 };
+
+    result.v[0] = mat.m0;
+    result.v[1] = mat.m1;
+    result.v[2] = mat.m2;
+    result.v[3] = mat.m3;
+    result.v[4] = mat.m4;
+    result.v[5] = mat.m5;
+    result.v[6] = mat.m6;
+    result.v[7] = mat.m7;
+    result.v[8] = mat.m8;
+    result.v[9] = mat.m9;
+    result.v[10] = mat.m10;
+    result.v[11] = mat.m11;
+    result.v[12] = mat.m12;
+    result.v[13] = mat.m13;
+    result.v[14] = mat.m14;
+    result.v[15] = mat.m15;
+
+    return result;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Quaternion math
+//----------------------------------------------------------------------------------
+
+// Add two quaternions
+RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2)
+{
+    Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};
+
+    return result;
+}
+
+// Add quaternion and float value
+RMAPI Quaternion QuaternionAddValue(Quaternion q, float add)
+{
+    Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};
+
+    return result;
+}
+
+// Subtract two quaternions
+RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2)
+{
+    Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};
+
+    return result;
+}
+
+// Subtract quaternion and float value
+RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub)
+{
+    Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};
+
+    return result;
+}
+
+// Get identity quaternion
+RMAPI Quaternion QuaternionIdentity(void)
+{
+    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
+
+    return result;
+}
+
+// Computes the length of a quaternion
+RMAPI float QuaternionLength(Quaternion q)
+{
+    float result = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+
+    return result;
+}
+
+// Normalize provided quaternion
+RMAPI Quaternion QuaternionNormalize(Quaternion q)
+{
+    Quaternion result = { 0 };
+
+    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+    if (length == 0.0f) length = 1.0f;
+    float ilength = 1.0f/length;
+
+    result.x = q.x*ilength;
+    result.y = q.y*ilength;
+    result.z = q.z*ilength;
+    result.w = q.w*ilength;
+
+    return result;
+}
+
+// Invert provided quaternion
+RMAPI Quaternion QuaternionInvert(Quaternion q)
+{
+    Quaternion result = q;
+
+    float lengthSq = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
+
+    if (lengthSq != 0.0f)
+    {
+        float invLength = 1.0f/lengthSq;
+
+        result.x *= -invLength;
+        result.y *= -invLength;
+        result.z *= -invLength;
+        result.w *= invLength;
+    }
+
+    return result;
+}
+
+// Calculate two quaternion multiplication
+RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
+{
+    Quaternion result = { 0 };
+
+    float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
+    float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
+
+    result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
+    result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
+    result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
+    result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
+
+    return result;
+}
+
+// Scale quaternion by float value
+RMAPI Quaternion QuaternionScale(Quaternion q, float mul)
+{
+    Quaternion result = { 0 };
+
+    result.x = q.x*mul;
+    result.y = q.y*mul;
+    result.z = q.z*mul;
+    result.w = q.w*mul;
+
+    return result;
+}
+
+// Divide two quaternions
+RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2)
+{
+    Quaternion result = { q1.x/q2.x, q1.y/q2.y, q1.z/q2.z, q1.w/q2.w };
+
+    return result;
+}
+
+// Calculate linear interpolation between two quaternions
+RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
+{
+    Quaternion result = { 0 };
+
+    result.x = q1.x + amount*(q2.x - q1.x);
+    result.y = q1.y + amount*(q2.y - q1.y);
+    result.z = q1.z + amount*(q2.z - q1.z);
+    result.w = q1.w + amount*(q2.w - q1.w);
+
+    return result;
+}
+
+// Calculate slerp-optimized interpolation between two quaternions
+RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
+{
+    Quaternion result = { 0 };
+
+    // QuaternionLerp(q1, q2, amount)
+    result.x = q1.x + amount*(q2.x - q1.x);
+    result.y = q1.y + amount*(q2.y - q1.y);
+    result.z = q1.z + amount*(q2.z - q1.z);
+    result.w = q1.w + amount*(q2.w - q1.w);
+
+    // QuaternionNormalize(q);
+    Quaternion q = result;
+    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+    if (length == 0.0f) length = 1.0f;
+    float ilength = 1.0f/length;
+
+    result.x = q.x*ilength;
+    result.y = q.y*ilength;
+    result.z = q.z*ilength;
+    result.w = q.w*ilength;
+
+    return result;
+}
+
+// Calculates spherical linear interpolation between two quaternions
+RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
+{
+    Quaternion result = { 0 };
+
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
+
+    if (cosHalfTheta < 0)
+    {
+        q2.x = -q2.x; q2.y = -q2.y; q2.z = -q2.z; q2.w = -q2.w;
+        cosHalfTheta = -cosHalfTheta;
+    }
+
+    if (fabsf(cosHalfTheta) >= 1.0f) result = q1;
+    else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
+    else
+    {
+        float halfTheta = acosf(cosHalfTheta);
+        float sinHalfTheta = sqrtf(1.0f - cosHalfTheta*cosHalfTheta);
+
+        if (fabsf(sinHalfTheta) < EPSILON)
+        {
+            result.x = (q1.x*0.5f + q2.x*0.5f);
+            result.y = (q1.y*0.5f + q2.y*0.5f);
+            result.z = (q1.z*0.5f + q2.z*0.5f);
+            result.w = (q1.w*0.5f + q2.w*0.5f);
+        }
+        else
+        {
+            float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
+            float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
+
+            result.x = (q1.x*ratioA + q2.x*ratioB);
+            result.y = (q1.y*ratioA + q2.y*ratioB);
+            result.z = (q1.z*ratioA + q2.z*ratioB);
+            result.w = (q1.w*ratioA + q2.w*ratioB);
+        }
+    }
+
+    return result;
+}
+
+// Calculate quaternion based on the rotation from one vector to another
+RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
+{
+    Quaternion result = { 0 };
+
+    float cos2Theta = (from.x*to.x + from.y*to.y + from.z*to.z);    // Vector3DotProduct(from, to)
+    Vector3 cross = { from.y*to.z - from.z*to.y, from.z*to.x - from.x*to.z, from.x*to.y - from.y*to.x }; // Vector3CrossProduct(from, to)
+
+    result.x = cross.x;
+    result.y = cross.y;
+    result.z = cross.z;
+    result.w = 1.0f + cos2Theta;
+
+    // QuaternionNormalize(q);
+    // NOTE: Normalize to essentially nlerp the original and identity to 0.5
+    Quaternion q = result;
+    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+    if (length == 0.0f) length = 1.0f;
+    float ilength = 1.0f/length;
+
+    result.x = q.x*ilength;
+    result.y = q.y*ilength;
+    result.z = q.z*ilength;
+    result.w = q.w*ilength;
+
+    return result;
+}
+
+// Get a quaternion for a given rotation matrix
+RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
+{
+    Quaternion result = { 0 };
+
+    float fourWSquaredMinus1 = mat.m0  + mat.m5 + mat.m10;
+    float fourXSquaredMinus1 = mat.m0  - mat.m5 - mat.m10;
+    float fourYSquaredMinus1 = mat.m5  - mat.m0 - mat.m10;
+    float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
+
+    int biggestIndex = 0;
+    float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
+    if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
+    {
+        fourBiggestSquaredMinus1 = fourXSquaredMinus1;
+        biggestIndex = 1;
+    }
+
+    if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
+    {
+        fourBiggestSquaredMinus1 = fourYSquaredMinus1;
+        biggestIndex = 2;
+    }
+
+    if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
+    {
+        fourBiggestSquaredMinus1 = fourZSquaredMinus1;
+        biggestIndex = 3;
+    }
+
+    float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
+    float mult = 0.25f / biggestVal;
+
+    switch (biggestIndex)
+    {
+        case 0:
+            result.w = biggestVal;
+            result.x = (mat.m6 - mat.m9)*mult;
+            result.y = (mat.m8 - mat.m2)*mult;
+            result.z = (mat.m1 - mat.m4)*mult;
+            break;
+        case 1:
+            result.x = biggestVal;
+            result.w = (mat.m6 - mat.m9)*mult;
+            result.y = (mat.m1 + mat.m4)*mult;
+            result.z = (mat.m8 + mat.m2)*mult;
+            break;
+        case 2:
+            result.y = biggestVal;
+            result.w = (mat.m8 - mat.m2)*mult;
+            result.x = (mat.m1 + mat.m4)*mult;
+            result.z = (mat.m6 + mat.m9)*mult;
+            break;
+        case 3:
+            result.z = biggestVal;
+            result.w = (mat.m1 - mat.m4)*mult;
+            result.x = (mat.m8 + mat.m2)*mult;
+            result.y = (mat.m6 + mat.m9)*mult;
+            break;
+    }
+
+    return result;
+}
+
+// Get a matrix for a given quaternion
+RMAPI Matrix QuaternionToMatrix(Quaternion q)
+{
+    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+                      0.0f, 1.0f, 0.0f, 0.0f,
+                      0.0f, 0.0f, 1.0f, 0.0f,
+                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+
+    float a2 = q.x*q.x;
+    float b2 = q.y*q.y;
+    float c2 = q.z*q.z;
+    float ac = q.x*q.z;
+    float ab = q.x*q.y;
+    float bc = q.y*q.z;
+    float ad = q.w*q.x;
+    float bd = q.w*q.y;
+    float cd = q.w*q.z;
+
+    result.m0 = 1 - 2*(b2 + c2);
+    result.m1 = 2*(ab + cd);
+    result.m2 = 2*(ac - bd);
+
+    result.m4 = 2*(ab - cd);
+    result.m5 = 1 - 2*(a2 + c2);
+    result.m6 = 2*(bc + ad);
+
+    result.m8 = 2*(ac + bd);
+    result.m9 = 2*(bc - ad);
+    result.m10 = 1 - 2*(a2 + b2);
+
+    return result;
+}
+
+// Get rotation quaternion for an angle and axis
+// NOTE: Angle must be provided in radians
+RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
+{
+    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
+
+    float axisLength = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
+
+    if (axisLength != 0.0f)
+    {
+        angle *= 0.5f;
+
+        float length = 0.0f;
+        float ilength = 0.0f;
+
+        // Vector3Normalize(axis)
+        Vector3 v = axis;
+        length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+        if (length == 0.0f) length = 1.0f;
+        ilength = 1.0f/length;
+        axis.x *= ilength;
+        axis.y *= ilength;
+        axis.z *= ilength;
+
+        float sinres = sinf(angle);
+        float cosres = cosf(angle);
+
+        result.x = axis.x*sinres;
+        result.y = axis.y*sinres;
+        result.z = axis.z*sinres;
+        result.w = cosres;
+
+        // QuaternionNormalize(q);
+        Quaternion q = result;
+        length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+        if (length == 0.0f) length = 1.0f;
+        ilength = 1.0f/length;
+        result.x = q.x*ilength;
+        result.y = q.y*ilength;
+        result.z = q.z*ilength;
+        result.w = q.w*ilength;
+    }
+
+    return result;
+}
+
+// Get the rotation angle and axis for a given quaternion
+RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
+{
+    if (fabsf(q.w) > 1.0f)
+    {
+        // QuaternionNormalize(q);
+        float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+        if (length == 0.0f) length = 1.0f;
+        float ilength = 1.0f/length;
+
+        q.x = q.x*ilength;
+        q.y = q.y*ilength;
+        q.z = q.z*ilength;
+        q.w = q.w*ilength;
+    }
+
+    Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
+    float resAngle = 2.0f*acosf(q.w);
+    float den = sqrtf(1.0f - q.w*q.w);
+
+    if (den > EPSILON)
+    {
+        resAxis.x = q.x/den;
+        resAxis.y = q.y/den;
+        resAxis.z = q.z/den;
+    }
+    else
+    {
+        // This occurs when the angle is zero.
+        // Not a problem: just set an arbitrary normalized axis.
+        resAxis.x = 1.0f;
+    }
+
+    *outAxis = resAxis;
+    *outAngle = resAngle;
+}
+
+// Get the quaternion equivalent to Euler angles
+// NOTE: Rotation order is ZYX
+RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
+{
+    Quaternion result = { 0 };
+
+    float x0 = cosf(pitch*0.5f);
+    float x1 = sinf(pitch*0.5f);
+    float y0 = cosf(yaw*0.5f);
+    float y1 = sinf(yaw*0.5f);
+    float z0 = cosf(roll*0.5f);
+    float z1 = sinf(roll*0.5f);
+
+    result.x = x1*y0*z0 - x0*y1*z1;
+    result.y = x0*y1*z0 + x1*y0*z1;
+    result.z = x0*y0*z1 - x1*y1*z0;
+    result.w = x0*y0*z0 + x1*y1*z1;
+
+    return result;
+}
+
+// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
+// NOTE: Angles are returned in a Vector3 struct in radians
+RMAPI Vector3 QuaternionToEuler(Quaternion q)
+{
+    Vector3 result = { 0 };
+
+    // Roll (x-axis rotation)
+    float x0 = 2.0f*(q.w*q.x + q.y*q.z);
+    float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
+    result.x = atan2f(x0, x1);
+
+    // Pitch (y-axis rotation)
+    float y0 = 2.0f*(q.w*q.y - q.z*q.x);
+    y0 = y0 > 1.0f ? 1.0f : y0;
+    y0 = y0 < -1.0f ? -1.0f : y0;
+    result.y = asinf(y0);
+
+    // Yaw (z-axis rotation)
+    float z0 = 2.0f*(q.w*q.z + q.x*q.y);
+    float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
+    result.z = atan2f(z0, z1);
+
+    return result;
+}
+
+// Transform a quaternion given a transformation matrix
+RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
+{
+    Quaternion result = { 0 };
+
+    result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
+    result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
+    result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
+    result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
+
+    return result;
+}
+
+// Check whether two given quaternions are almost equal
+RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
+{
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
+                 (((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+                  ((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+                  ((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+                  ((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
+
+    return result;
+}
+
+#endif  // RAYMATH_H
diff --git a/third_party/raylib/include/rlgl.h b/third_party/raylib/include/rlgl.h
new file mode 100644
index 0000000000..6cf9c7e99d
--- /dev/null
+++ b/third_party/raylib/include/rlgl.h
@@ -0,0 +1,4859 @@
+/**********************************************************************************************
+*
+*   rlgl v4.5 - A multi-OpenGL abstraction layer with an immediate-mode style API
+*
+*   DESCRIPTION:
+*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0)
+*       that provides a pseudo-OpenGL 1.1 immediate-mode style API (rlVertex, rlTranslate, rlRotate...)
+*
+*   ADDITIONAL NOTES:
+*       When choosing an OpenGL backend different than OpenGL 1.1, some internal buffer are
+*       initialized on rlglInit() to accumulate vertex data.
+*
+*       When an internal state change is required all the stored vertex data is renderer in batch,
+*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch.
+*
+*       Some resources are also loaded for convenience, here the complete list:
+*          - Default batch (RLGL.defaultBatch): RenderBatch system to accumulate vertex data
+*          - Default texture (RLGL.defaultTextureId): 1x1 white pixel R8G8B8A8
+*          - Default shader (RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs)
+*
+*       Internal buffer (and resources) must be manually unloaded calling rlglClose().
+*
+*   CONFIGURATION:
+*       #define GRAPHICS_API_OPENGL_11
+*       #define GRAPHICS_API_OPENGL_21
+*       #define GRAPHICS_API_OPENGL_33
+*       #define GRAPHICS_API_OPENGL_43
+*       #define GRAPHICS_API_OPENGL_ES2
+*       #define GRAPHICS_API_OPENGL_ES3
+*           Use selected OpenGL graphics backend, should be supported by platform
+*           Those preprocessor defines are only used on rlgl module, if OpenGL version is
+*           required by any other module, use rlGetVersion() to check it
+*
+*       #define RLGL_IMPLEMENTATION
+*           Generates the implementation of the library into the included file.
+*           If not defined, the library is in header only mode and can be included in other headers
+*           or source files without problems. But only ONE file should hold the implementation.
+*
+*       #define RLGL_RENDER_TEXTURES_HINT
+*           Enable framebuffer objects (fbo) support (enabled by default)
+*           Some GPUs could not support them despite the OpenGL version
+*
+*       #define RLGL_SHOW_GL_DETAILS_INFO
+*           Show OpenGL extensions and capabilities detailed logs on init
+*
+*       #define RLGL_ENABLE_OPENGL_DEBUG_CONTEXT
+*           Enable debug context (only available on OpenGL 4.3)
+*
+*       rlgl capabilities could be customized just defining some internal
+*       values before library inclusion (default values listed):
+*
+*       #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS   8192    // Default internal render batch elements limits
+*       #define RL_DEFAULT_BATCH_BUFFERS              1    // Default number of batch buffers (multi-buffering)
+*       #define RL_DEFAULT_BATCH_DRAWCALLS          256    // Default number of batch draw calls (by state changes: mode, texture)
+*       #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS    4    // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
+*
+*       #define RL_MAX_MATRIX_STACK_SIZE             32    // Maximum size of internal Matrix stack
+*       #define RL_MAX_SHADER_LOCATIONS              32    // Maximum number of shader locations supported
+*       #define RL_CULL_DISTANCE_NEAR              0.01    // Default projection matrix near cull distance
+*       #define RL_CULL_DISTANCE_FAR             1000.0    // Default projection matrix far cull distance
+*
+*       When loading a shader, the following vertex attributes and uniform
+*       location names are tried to be set automatically:
+*
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: 0
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: 1
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: 2
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: 3
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: 4
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: 5
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
+*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
+*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
+*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
+*
+*   DEPENDENCIES:
+*      - OpenGL libraries (depending on platform and OpenGL version selected)
+*      - GLAD OpenGL extensions loading library (only for OpenGL 3.3 Core, 4.3 Core)
+*
+*
+*   LICENSE: zlib/libpng
+*
+*   Copyright (c) 2014-2023 Ramon Santamaria (@raysan5)
+*
+*   This software is provided "as-is", without any express or implied warranty. In no event
+*   will the authors be held liable for any damages arising from the use of this software.
+*
+*   Permission is granted to anyone to use this software for any purpose, including commercial
+*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
+*
+*     1. The origin of this software must not be misrepresented; you must not claim that you
+*     wrote the original software. If you use this software in a product, an acknowledgment
+*     in the product documentation would be appreciated but is not required.
+*
+*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
+*     as being the original software.
+*
+*     3. This notice may not be removed or altered from any source distribution.
+*
+**********************************************************************************************/
+
+#ifndef RLGL_H
+#define RLGL_H
+
+#define RLGL_VERSION  "4.5"
+
+// Function specifiers in case library is build/used as a shared library (Windows)
+// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
+#if defined(_WIN32)
+    #if defined(BUILD_LIBTYPE_SHARED)
+        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
+    #elif defined(USE_LIBTYPE_SHARED)
+        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
+    #endif
+#endif
+
+// Function specifiers definition
+#ifndef RLAPI
+    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
+#endif
+
+// Support TRACELOG macros
+#ifndef TRACELOG
+    #define TRACELOG(level, ...) (void)0
+    #define TRACELOGD(...) (void)0
+#endif
+
+// Allow custom memory allocators
+#ifndef RL_MALLOC
+    #define RL_MALLOC(sz)     malloc(sz)
+#endif
+#ifndef RL_CALLOC
+    #define RL_CALLOC(n,sz)   calloc(n,sz)
+#endif
+#ifndef RL_REALLOC
+    #define RL_REALLOC(n,sz)  realloc(n,sz)
+#endif
+#ifndef RL_FREE
+    #define RL_FREE(p)        free(p)
+#endif
+
+// Security check in case no GRAPHICS_API_OPENGL_* defined
+#if !defined(GRAPHICS_API_OPENGL_11) && \
+    !defined(GRAPHICS_API_OPENGL_21) && \
+    !defined(GRAPHICS_API_OPENGL_33) && \
+    !defined(GRAPHICS_API_OPENGL_43) && \
+    !defined(GRAPHICS_API_OPENGL_ES2) && \
+    !defined(GRAPHICS_API_OPENGL_ES3)
+        #define GRAPHICS_API_OPENGL_33
+#endif
+
+// Security check in case multiple GRAPHICS_API_OPENGL_* defined
+#if defined(GRAPHICS_API_OPENGL_11)
+    #if defined(GRAPHICS_API_OPENGL_21)
+        #undef GRAPHICS_API_OPENGL_21
+    #endif
+    #if defined(GRAPHICS_API_OPENGL_33)
+        #undef GRAPHICS_API_OPENGL_33
+    #endif
+    #if defined(GRAPHICS_API_OPENGL_43)
+        #undef GRAPHICS_API_OPENGL_43
+    #endif
+    #if defined(GRAPHICS_API_OPENGL_ES2)
+        #undef GRAPHICS_API_OPENGL_ES2
+    #endif
+#endif
+
+// OpenGL 2.1 uses most of OpenGL 3.3 Core functionality
+// WARNING: Specific parts are checked with #if defines
+#if defined(GRAPHICS_API_OPENGL_21)
+    #define GRAPHICS_API_OPENGL_33
+#endif
+
+// OpenGL 4.3 uses OpenGL 3.3 Core functionality
+#if defined(GRAPHICS_API_OPENGL_43)
+    #define GRAPHICS_API_OPENGL_33
+#endif
+
+// OpenGL ES 3.0 uses OpenGL ES 2.0 functionality (and more)
+#if defined(GRAPHICS_API_OPENGL_ES3)
+    #define GRAPHICS_API_OPENGL_ES2
+#endif
+
+// Support framebuffer objects by default
+// NOTE: Some driver implementation do not support it, despite they should
+#define RLGL_RENDER_TEXTURES_HINT
+
+//----------------------------------------------------------------------------------
+// Defines and Macros
+//----------------------------------------------------------------------------------
+
+// Default internal render batch elements limits
+#ifndef RL_DEFAULT_BATCH_BUFFER_ELEMENTS
+    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
+        // This is the maximum amount of elements (quads) per batch
+        // NOTE: Be careful with text, every letter maps to a quad
+        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  8192
+    #endif
+    #if defined(GRAPHICS_API_OPENGL_ES2)
+        // We reduce memory sizes for embedded systems (RPI and HTML5)
+        // NOTE: On HTML5 (emscripten) this is allocated on heap,
+        // by default it's only 16MB!...just take care...
+        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  2048
+    #endif
+#endif
+#ifndef RL_DEFAULT_BATCH_BUFFERS
+    #define RL_DEFAULT_BATCH_BUFFERS                 1      // Default number of batch buffers (multi-buffering)
+#endif
+#ifndef RL_DEFAULT_BATCH_DRAWCALLS
+    #define RL_DEFAULT_BATCH_DRAWCALLS             256      // Default number of batch draw calls (by state changes: mode, texture)
+#endif
+#ifndef RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS
+    #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS       4      // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
+#endif
+
+// Internal Matrix stack
+#ifndef RL_MAX_MATRIX_STACK_SIZE
+    #define RL_MAX_MATRIX_STACK_SIZE                32      // Maximum size of Matrix stack
+#endif
+
+// Shader limits
+#ifndef RL_MAX_SHADER_LOCATIONS
+    #define RL_MAX_SHADER_LOCATIONS                 32      // Maximum number of shader locations supported
+#endif
+
+// Projection matrix culling
+#ifndef RL_CULL_DISTANCE_NEAR
+    #define RL_CULL_DISTANCE_NEAR                 0.01      // Default near cull distance
+#endif
+#ifndef RL_CULL_DISTANCE_FAR
+    #define RL_CULL_DISTANCE_FAR                1000.0      // Default far cull distance
+#endif
+
+// Texture parameters (equivalent to OpenGL defines)
+#define RL_TEXTURE_WRAP_S                       0x2802      // GL_TEXTURE_WRAP_S
+#define RL_TEXTURE_WRAP_T                       0x2803      // GL_TEXTURE_WRAP_T
+#define RL_TEXTURE_MAG_FILTER                   0x2800      // GL_TEXTURE_MAG_FILTER
+#define RL_TEXTURE_MIN_FILTER                   0x2801      // GL_TEXTURE_MIN_FILTER
+
+#define RL_TEXTURE_FILTER_NEAREST               0x2600      // GL_NEAREST
+#define RL_TEXTURE_FILTER_LINEAR                0x2601      // GL_LINEAR
+#define RL_TEXTURE_FILTER_MIP_NEAREST           0x2700      // GL_NEAREST_MIPMAP_NEAREST
+#define RL_TEXTURE_FILTER_NEAREST_MIP_LINEAR    0x2702      // GL_NEAREST_MIPMAP_LINEAR
+#define RL_TEXTURE_FILTER_LINEAR_MIP_NEAREST    0x2701      // GL_LINEAR_MIPMAP_NEAREST
+#define RL_TEXTURE_FILTER_MIP_LINEAR            0x2703      // GL_LINEAR_MIPMAP_LINEAR
+#define RL_TEXTURE_FILTER_ANISOTROPIC           0x3000      // Anisotropic filter (custom identifier)
+#define RL_TEXTURE_MIPMAP_BIAS_RATIO            0x4000      // Texture mipmap bias, percentage ratio (custom identifier)
+
+#define RL_TEXTURE_WRAP_REPEAT                  0x2901      // GL_REPEAT
+#define RL_TEXTURE_WRAP_CLAMP                   0x812F      // GL_CLAMP_TO_EDGE
+#define RL_TEXTURE_WRAP_MIRROR_REPEAT           0x8370      // GL_MIRRORED_REPEAT
+#define RL_TEXTURE_WRAP_MIRROR_CLAMP            0x8742      // GL_MIRROR_CLAMP_EXT
+
+// Matrix modes (equivalent to OpenGL)
+#define RL_MODELVIEW                            0x1700      // GL_MODELVIEW
+#define RL_PROJECTION                           0x1701      // GL_PROJECTION
+#define RL_TEXTURE                              0x1702      // GL_TEXTURE
+
+// Primitive assembly draw modes
+#define RL_LINES                                0x0001      // GL_LINES
+#define RL_TRIANGLES                            0x0004      // GL_TRIANGLES
+#define RL_QUADS                                0x0007      // GL_QUADS
+
+// GL equivalent data types
+#define RL_UNSIGNED_BYTE                        0x1401      // GL_UNSIGNED_BYTE
+#define RL_FLOAT                                0x1406      // GL_FLOAT
+
+// GL buffer usage hint
+#define RL_STREAM_DRAW                          0x88E0      // GL_STREAM_DRAW
+#define RL_STREAM_READ                          0x88E1      // GL_STREAM_READ
+#define RL_STREAM_COPY                          0x88E2      // GL_STREAM_COPY
+#define RL_STATIC_DRAW                          0x88E4      // GL_STATIC_DRAW
+#define RL_STATIC_READ                          0x88E5      // GL_STATIC_READ
+#define RL_STATIC_COPY                          0x88E6      // GL_STATIC_COPY
+#define RL_DYNAMIC_DRAW                         0x88E8      // GL_DYNAMIC_DRAW
+#define RL_DYNAMIC_READ                         0x88E9      // GL_DYNAMIC_READ
+#define RL_DYNAMIC_COPY                         0x88EA      // GL_DYNAMIC_COPY
+
+// GL Shader type
+#define RL_FRAGMENT_SHADER                      0x8B30      // GL_FRAGMENT_SHADER
+#define RL_VERTEX_SHADER                        0x8B31      // GL_VERTEX_SHADER
+#define RL_COMPUTE_SHADER                       0x91B9      // GL_COMPUTE_SHADER
+
+// GL blending factors
+#define RL_ZERO                                 0           // GL_ZERO
+#define RL_ONE                                  1           // GL_ONE
+#define RL_SRC_COLOR                            0x0300      // GL_SRC_COLOR
+#define RL_ONE_MINUS_SRC_COLOR                  0x0301      // GL_ONE_MINUS_SRC_COLOR
+#define RL_SRC_ALPHA                            0x0302      // GL_SRC_ALPHA
+#define RL_ONE_MINUS_SRC_ALPHA                  0x0303      // GL_ONE_MINUS_SRC_ALPHA
+#define RL_DST_ALPHA                            0x0304      // GL_DST_ALPHA
+#define RL_ONE_MINUS_DST_ALPHA                  0x0305      // GL_ONE_MINUS_DST_ALPHA
+#define RL_DST_COLOR                            0x0306      // GL_DST_COLOR
+#define RL_ONE_MINUS_DST_COLOR                  0x0307      // GL_ONE_MINUS_DST_COLOR
+#define RL_SRC_ALPHA_SATURATE                   0x0308      // GL_SRC_ALPHA_SATURATE
+#define RL_CONSTANT_COLOR                       0x8001      // GL_CONSTANT_COLOR
+#define RL_ONE_MINUS_CONSTANT_COLOR             0x8002      // GL_ONE_MINUS_CONSTANT_COLOR
+#define RL_CONSTANT_ALPHA                       0x8003      // GL_CONSTANT_ALPHA
+#define RL_ONE_MINUS_CONSTANT_ALPHA             0x8004      // GL_ONE_MINUS_CONSTANT_ALPHA
+
+// GL blending functions/equations
+#define RL_FUNC_ADD                             0x8006      // GL_FUNC_ADD
+#define RL_MIN                                  0x8007      // GL_MIN
+#define RL_MAX                                  0x8008      // GL_MAX
+#define RL_FUNC_SUBTRACT                        0x800A      // GL_FUNC_SUBTRACT
+#define RL_FUNC_REVERSE_SUBTRACT                0x800B      // GL_FUNC_REVERSE_SUBTRACT
+#define RL_BLEND_EQUATION                       0x8009      // GL_BLEND_EQUATION
+#define RL_BLEND_EQUATION_RGB                   0x8009      // GL_BLEND_EQUATION_RGB   // (Same as BLEND_EQUATION)
+#define RL_BLEND_EQUATION_ALPHA                 0x883D      // GL_BLEND_EQUATION_ALPHA
+#define RL_BLEND_DST_RGB                        0x80C8      // GL_BLEND_DST_RGB
+#define RL_BLEND_SRC_RGB                        0x80C9      // GL_BLEND_SRC_RGB
+#define RL_BLEND_DST_ALPHA                      0x80CA      // GL_BLEND_DST_ALPHA
+#define RL_BLEND_SRC_ALPHA                      0x80CB      // GL_BLEND_SRC_ALPHA
+#define RL_BLEND_COLOR                          0x8005      // GL_BLEND_COLOR
+
+
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+//----------------------------------------------------------------------------------
+#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
+    #include <stdbool.h>
+#elif !defined(__cplusplus) && !defined(bool) && !defined(RL_BOOL_TYPE)
+    // Boolean type
+typedef enum bool { false = 0, true = !false } bool;
+#endif
+
+#if !defined(RL_MATRIX_TYPE)
+// Matrix, 4x4 components, column major, OpenGL style, right handed
+typedef struct Matrix {
+    float m0, m4, m8, m12;      // Matrix first row (4 components)
+    float m1, m5, m9, m13;      // Matrix second row (4 components)
+    float m2, m6, m10, m14;     // Matrix third row (4 components)
+    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
+} Matrix;
+#define RL_MATRIX_TYPE
+#endif
+
+// Dynamic vertex buffers (position + texcoords + colors + indices arrays)
+typedef struct rlVertexBuffer {
+    int elementCount;           // Number of elements in the buffer (QUADS)
+
+    float *vertices;            // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
+    float *texcoords;           // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
+    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
+#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
+    unsigned int *indices;      // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES2)
+    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
+#endif
+    unsigned int vaoId;         // OpenGL Vertex Array Object id
+    unsigned int vboId[4];      // OpenGL Vertex Buffer Objects id (4 types of vertex data)
+} rlVertexBuffer;
+
+// Draw call type
+// NOTE: Only texture changes register a new draw, other state-change-related elements are not
+// used at this moment (vaoId, shaderId, matrices), raylib just forces a batch draw call if any
+// of those state-change happens (this is done in core module)
+typedef struct rlDrawCall {
+    int mode;                   // Drawing mode: LINES, TRIANGLES, QUADS
+    int vertexCount;            // Number of vertex of the draw
+    int vertexAlignment;        // Number of vertex required for index alignment (LINES, TRIANGLES)
+    //unsigned int vaoId;       // Vertex array id to be used on the draw -> Using RLGL.currentBatch->vertexBuffer.vaoId
+    //unsigned int shaderId;    // Shader id to be used on the draw -> Using RLGL.currentShaderId
+    unsigned int textureId;     // Texture id to be used on the draw -> Use to create new draw call if changes
+
+    //Matrix projection;        // Projection matrix for this draw -> Using RLGL.projection by default
+    //Matrix modelview;         // Modelview matrix for this draw -> Using RLGL.modelview by default
+} rlDrawCall;
+
+// rlRenderBatch type
+typedef struct rlRenderBatch {
+    int bufferCount;            // Number of vertex buffers (multi-buffering support)
+    int currentBuffer;          // Current buffer tracking in case of multi-buffering
+    rlVertexBuffer *vertexBuffer; // Dynamic buffer(s) for vertex data
+
+    rlDrawCall *draws;          // Draw calls array, depends on textureId
+    int drawCounter;            // Draw calls counter
+    float currentDepth;         // Current depth value for next draw
+} rlRenderBatch;
+
+// OpenGL version
+typedef enum {
+    RL_OPENGL_11 = 1,           // OpenGL 1.1
+    RL_OPENGL_21,               // OpenGL 2.1 (GLSL 120)
+    RL_OPENGL_33,               // OpenGL 3.3 (GLSL 330)
+    RL_OPENGL_43,               // OpenGL 4.3 (using GLSL 330)
+    RL_OPENGL_ES_20,            // OpenGL ES 2.0 (GLSL 100)
+    RL_OPENGL_ES_30             // OpenGL ES 3.0 (GLSL 300 es)
+} rlGlVersion;
+
+// Trace log level
+// NOTE: Organized by priority level
+typedef enum {
+    RL_LOG_ALL = 0,             // Display all logs
+    RL_LOG_TRACE,               // Trace logging, intended for internal use only
+    RL_LOG_DEBUG,               // Debug logging, used for internal debugging, it should be disabled on release builds
+    RL_LOG_INFO,                // Info logging, used for program execution info
+    RL_LOG_WARNING,             // Warning logging, used on recoverable failures
+    RL_LOG_ERROR,               // Error logging, used on unrecoverable failures
+    RL_LOG_FATAL,               // Fatal logging, used to abort program: exit(EXIT_FAILURE)
+    RL_LOG_NONE                 // Disable logging
+} rlTraceLogLevel;
+
+// Texture pixel formats
+// NOTE: Support depends on OpenGL version
+typedef enum {
+    RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1,     // 8 bit per pixel (no alpha)
+    RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,        // 8*2 bpp (2 channels)
+    RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5,            // 16 bpp
+    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8,            // 24 bpp
+    RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,          // 16 bpp (1 bit alpha)
+    RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,          // 16 bpp (4 bit alpha)
+    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,          // 32 bpp
+    RL_PIXELFORMAT_UNCOMPRESSED_R32,               // 32 bpp (1 channel - float)
+    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32,         // 32*3 bpp (3 channels - float)
+    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,      // 32*4 bpp (4 channels - float)
+    RL_PIXELFORMAT_UNCOMPRESSED_R16,               // 16 bpp (1 channel - half float)
+    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16,         // 16*3 bpp (3 channels - half float)
+    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,      // 16*4 bpp (4 channels - half float)
+    RL_PIXELFORMAT_COMPRESSED_DXT1_RGB,            // 4 bpp (no alpha)
+    RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA,           // 4 bpp (1 bit alpha)
+    RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA,           // 8 bpp
+    RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA,           // 8 bpp
+    RL_PIXELFORMAT_COMPRESSED_ETC1_RGB,            // 4 bpp
+    RL_PIXELFORMAT_COMPRESSED_ETC2_RGB,            // 4 bpp
+    RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,       // 8 bpp
+    RL_PIXELFORMAT_COMPRESSED_PVRT_RGB,            // 4 bpp
+    RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA,           // 4 bpp
+    RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,       // 8 bpp
+    RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA        // 2 bpp
+} rlPixelFormat;
+
+// Texture parameters: filter mode
+// NOTE 1: Filtering considers mipmaps if available in the texture
+// NOTE 2: Filter is accordingly set for minification and magnification
+typedef enum {
+    RL_TEXTURE_FILTER_POINT = 0,        // No filter, just pixel approximation
+    RL_TEXTURE_FILTER_BILINEAR,         // Linear filtering
+    RL_TEXTURE_FILTER_TRILINEAR,        // Trilinear filtering (linear with mipmaps)
+    RL_TEXTURE_FILTER_ANISOTROPIC_4X,   // Anisotropic filtering 4x
+    RL_TEXTURE_FILTER_ANISOTROPIC_8X,   // Anisotropic filtering 8x
+    RL_TEXTURE_FILTER_ANISOTROPIC_16X,  // Anisotropic filtering 16x
+} rlTextureFilter;
+
+// Color blending modes (pre-defined)
+typedef enum {
+    RL_BLEND_ALPHA = 0,                 // Blend textures considering alpha (default)
+    RL_BLEND_ADDITIVE,                  // Blend textures adding colors
+    RL_BLEND_MULTIPLIED,                // Blend textures multiplying colors
+    RL_BLEND_ADD_COLORS,                // Blend textures adding colors (alternative)
+    RL_BLEND_SUBTRACT_COLORS,           // Blend textures subtracting colors (alternative)
+    RL_BLEND_ALPHA_PREMULTIPLY,         // Blend premultiplied textures considering alpha
+    RL_BLEND_CUSTOM,                    // Blend textures using custom src/dst factors (use rlSetBlendFactors())
+    RL_BLEND_CUSTOM_SEPARATE            // Blend textures using custom src/dst factors (use rlSetBlendFactorsSeparate())
+} rlBlendMode;
+
+// Shader location point type
+typedef enum {
+    RL_SHADER_LOC_VERTEX_POSITION = 0,  // Shader location: vertex attribute: position
+    RL_SHADER_LOC_VERTEX_TEXCOORD01,    // Shader location: vertex attribute: texcoord01
+    RL_SHADER_LOC_VERTEX_TEXCOORD02,    // Shader location: vertex attribute: texcoord02
+    RL_SHADER_LOC_VERTEX_NORMAL,        // Shader location: vertex attribute: normal
+    RL_SHADER_LOC_VERTEX_TANGENT,       // Shader location: vertex attribute: tangent
+    RL_SHADER_LOC_VERTEX_COLOR,         // Shader location: vertex attribute: color
+    RL_SHADER_LOC_MATRIX_MVP,           // Shader location: matrix uniform: model-view-projection
+    RL_SHADER_LOC_MATRIX_VIEW,          // Shader location: matrix uniform: view (camera transform)
+    RL_SHADER_LOC_MATRIX_PROJECTION,    // Shader location: matrix uniform: projection
+    RL_SHADER_LOC_MATRIX_MODEL,         // Shader location: matrix uniform: model (transform)
+    RL_SHADER_LOC_MATRIX_NORMAL,        // Shader location: matrix uniform: normal
+    RL_SHADER_LOC_VECTOR_VIEW,          // Shader location: vector uniform: view
+    RL_SHADER_LOC_COLOR_DIFFUSE,        // Shader location: vector uniform: diffuse color
+    RL_SHADER_LOC_COLOR_SPECULAR,       // Shader location: vector uniform: specular color
+    RL_SHADER_LOC_COLOR_AMBIENT,        // Shader location: vector uniform: ambient color
+    RL_SHADER_LOC_MAP_ALBEDO,           // Shader location: sampler2d texture: albedo (same as: RL_SHADER_LOC_MAP_DIFFUSE)
+    RL_SHADER_LOC_MAP_METALNESS,        // Shader location: sampler2d texture: metalness (same as: RL_SHADER_LOC_MAP_SPECULAR)
+    RL_SHADER_LOC_MAP_NORMAL,           // Shader location: sampler2d texture: normal
+    RL_SHADER_LOC_MAP_ROUGHNESS,        // Shader location: sampler2d texture: roughness
+    RL_SHADER_LOC_MAP_OCCLUSION,        // Shader location: sampler2d texture: occlusion
+    RL_SHADER_LOC_MAP_EMISSION,         // Shader location: sampler2d texture: emission
+    RL_SHADER_LOC_MAP_HEIGHT,           // Shader location: sampler2d texture: height
+    RL_SHADER_LOC_MAP_CUBEMAP,          // Shader location: samplerCube texture: cubemap
+    RL_SHADER_LOC_MAP_IRRADIANCE,       // Shader location: samplerCube texture: irradiance
+    RL_SHADER_LOC_MAP_PREFILTER,        // Shader location: samplerCube texture: prefilter
+    RL_SHADER_LOC_MAP_BRDF              // Shader location: sampler2d texture: brdf
+} rlShaderLocationIndex;
+
+#define RL_SHADER_LOC_MAP_DIFFUSE       RL_SHADER_LOC_MAP_ALBEDO
+#define RL_SHADER_LOC_MAP_SPECULAR      RL_SHADER_LOC_MAP_METALNESS
+
+// Shader uniform data type
+typedef enum {
+    RL_SHADER_UNIFORM_FLOAT = 0,        // Shader uniform type: float
+    RL_SHADER_UNIFORM_VEC2,             // Shader uniform type: vec2 (2 float)
+    RL_SHADER_UNIFORM_VEC3,             // Shader uniform type: vec3 (3 float)
+    RL_SHADER_UNIFORM_VEC4,             // Shader uniform type: vec4 (4 float)
+    RL_SHADER_UNIFORM_INT,              // Shader uniform type: int
+    RL_SHADER_UNIFORM_IVEC2,            // Shader uniform type: ivec2 (2 int)
+    RL_SHADER_UNIFORM_IVEC3,            // Shader uniform type: ivec3 (3 int)
+    RL_SHADER_UNIFORM_IVEC4,            // Shader uniform type: ivec4 (4 int)
+    RL_SHADER_UNIFORM_SAMPLER2D         // Shader uniform type: sampler2d
+} rlShaderUniformDataType;
+
+// Shader attribute data types
+typedef enum {
+    RL_SHADER_ATTRIB_FLOAT = 0,         // Shader attribute type: float
+    RL_SHADER_ATTRIB_VEC2,              // Shader attribute type: vec2 (2 float)
+    RL_SHADER_ATTRIB_VEC3,              // Shader attribute type: vec3 (3 float)
+    RL_SHADER_ATTRIB_VEC4               // Shader attribute type: vec4 (4 float)
+} rlShaderAttributeDataType;
+
+// Framebuffer attachment type
+// NOTE: By default up to 8 color channels defined, but it can be more
+typedef enum {
+    RL_ATTACHMENT_COLOR_CHANNEL0 = 0,       // Framebuffer attachment type: color 0
+    RL_ATTACHMENT_COLOR_CHANNEL1 = 1,       // Framebuffer attachment type: color 1
+    RL_ATTACHMENT_COLOR_CHANNEL2 = 2,       // Framebuffer attachment type: color 2
+    RL_ATTACHMENT_COLOR_CHANNEL3 = 3,       // Framebuffer attachment type: color 3
+    RL_ATTACHMENT_COLOR_CHANNEL4 = 4,       // Framebuffer attachment type: color 4
+    RL_ATTACHMENT_COLOR_CHANNEL5 = 5,       // Framebuffer attachment type: color 5
+    RL_ATTACHMENT_COLOR_CHANNEL6 = 6,       // Framebuffer attachment type: color 6
+    RL_ATTACHMENT_COLOR_CHANNEL7 = 7,       // Framebuffer attachment type: color 7
+    RL_ATTACHMENT_DEPTH = 100,              // Framebuffer attachment type: depth
+    RL_ATTACHMENT_STENCIL = 200,            // Framebuffer attachment type: stencil
+} rlFramebufferAttachType;
+
+// Framebuffer texture attachment type
+typedef enum {
+    RL_ATTACHMENT_CUBEMAP_POSITIVE_X = 0,   // Framebuffer texture attachment type: cubemap, +X side
+    RL_ATTACHMENT_CUBEMAP_NEGATIVE_X = 1,   // Framebuffer texture attachment type: cubemap, -X side
+    RL_ATTACHMENT_CUBEMAP_POSITIVE_Y = 2,   // Framebuffer texture attachment type: cubemap, +Y side
+    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Y = 3,   // Framebuffer texture attachment type: cubemap, -Y side
+    RL_ATTACHMENT_CUBEMAP_POSITIVE_Z = 4,   // Framebuffer texture attachment type: cubemap, +Z side
+    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Z = 5,   // Framebuffer texture attachment type: cubemap, -Z side
+    RL_ATTACHMENT_TEXTURE2D = 100,          // Framebuffer texture attachment type: texture2d
+    RL_ATTACHMENT_RENDERBUFFER = 200,       // Framebuffer texture attachment type: renderbuffer
+} rlFramebufferAttachTextureType;
+
+// Face culling mode
+typedef enum {
+    RL_CULL_FACE_FRONT = 0,
+    RL_CULL_FACE_BACK
+} rlCullMode;
+
+//------------------------------------------------------------------------------------
+// Functions Declaration - Matrix operations
+//------------------------------------------------------------------------------------
+
+#if defined(__cplusplus)
+extern "C" {            // Prevents name mangling of functions
+#endif
+
+RLAPI void rlMatrixMode(int mode);                    // Choose the current matrix to be transformed
+RLAPI void rlPushMatrix(void);                        // Push the current matrix to stack
+RLAPI void rlPopMatrix(void);                         // Pop latest inserted matrix from stack
+RLAPI void rlLoadIdentity(void);                      // Reset current matrix to identity matrix
+RLAPI void rlTranslatef(float x, float y, float z);   // Multiply the current matrix by a translation matrix
+RLAPI void rlRotatef(float angle, float x, float y, float z);  // Multiply the current matrix by a rotation matrix
+RLAPI void rlScalef(float x, float y, float z);       // Multiply the current matrix by a scaling matrix
+RLAPI void rlMultMatrixf(const float *matf);                // Multiply the current matrix by another matrix
+RLAPI void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar);
+RLAPI void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar);
+RLAPI void rlViewport(int x, int y, int width, int height); // Set the viewport area
+
+//------------------------------------------------------------------------------------
+// Functions Declaration - Vertex level operations
+//------------------------------------------------------------------------------------
+RLAPI void rlBegin(int mode);                         // Initialize drawing mode (how to organize vertex)
+RLAPI void rlEnd(void);                               // Finish vertex providing
+RLAPI void rlVertex2i(int x, int y);                  // Define one vertex (position) - 2 int
+RLAPI void rlVertex2f(float x, float y);              // Define one vertex (position) - 2 float
+RLAPI void rlVertex3f(float x, float y, float z);     // Define one vertex (position) - 3 float
+RLAPI void rlTexCoord2f(float x, float y);            // Define one vertex (texture coordinate) - 2 float
+RLAPI void rlNormal3f(float x, float y, float z);     // Define one vertex (normal) - 3 float
+RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a);  // Define one vertex (color) - 4 byte
+RLAPI void rlColor3f(float x, float y, float z);          // Define one vertex (color) - 3 float
+RLAPI void rlColor4f(float x, float y, float z, float w); // Define one vertex (color) - 4 float
+
+//------------------------------------------------------------------------------------
+// Functions Declaration - OpenGL style functions (common to 1.1, 3.3+, ES2)
+// NOTE: This functions are used to completely abstract raylib code from OpenGL layer,
+// some of them are direct wrappers over OpenGL calls, some others are custom
+//------------------------------------------------------------------------------------
+
+// Vertex buffers state
+RLAPI bool rlEnableVertexArray(unsigned int vaoId);     // Enable vertex array (VAO, if supported)
+RLAPI void rlDisableVertexArray(void);                  // Disable vertex array (VAO, if supported)
+RLAPI void rlEnableVertexBuffer(unsigned int id);       // Enable vertex buffer (VBO)
+RLAPI void rlDisableVertexBuffer(void);                 // Disable vertex buffer (VBO)
+RLAPI void rlEnableVertexBufferElement(unsigned int id);// Enable vertex buffer element (VBO element)
+RLAPI void rlDisableVertexBufferElement(void);          // Disable vertex buffer element (VBO element)
+RLAPI void rlEnableVertexAttribute(unsigned int index); // Enable vertex attribute index
+RLAPI void rlDisableVertexAttribute(unsigned int index);// Disable vertex attribute index
+#if defined(GRAPHICS_API_OPENGL_11)
+RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer);    // Enable attribute state pointer
+RLAPI void rlDisableStatePointer(int vertexAttribType);                 // Disable attribute state pointer
+#endif
+
+// Textures state
+RLAPI void rlActiveTextureSlot(int slot);               // Select and active a texture slot
+RLAPI void rlEnableTexture(unsigned int id);            // Enable texture
+RLAPI void rlDisableTexture(void);                      // Disable texture
+RLAPI void rlEnableTextureCubemap(unsigned int id);     // Enable texture cubemap
+RLAPI void rlDisableTextureCubemap(void);               // Disable texture cubemap
+RLAPI void rlTextureParameters(unsigned int id, int param, int value); // Set texture parameters (filter, wrap)
+RLAPI void rlCubemapParameters(unsigned int id, int param, int value); // Set cubemap parameters (filter, wrap)
+
+// Shader state
+RLAPI void rlEnableShader(unsigned int id);             // Enable shader program
+RLAPI void rlDisableShader(void);                       // Disable shader program
+
+// Framebuffer state
+RLAPI void rlEnableFramebuffer(unsigned int id);        // Enable render texture (fbo)
+RLAPI void rlDisableFramebuffer(void);                  // Disable render texture (fbo), return to default framebuffer
+RLAPI void rlActiveDrawBuffers(int count);              // Activate multiple draw color buffers
+RLAPI void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask); // Blit active framebuffer to main framebuffer
+
+// General render state
+RLAPI void rlEnableColorBlend(void);                     // Enable color blending
+RLAPI void rlDisableColorBlend(void);                   // Disable color blending
+RLAPI void rlEnableDepthTest(void);                     // Enable depth test
+RLAPI void rlDisableDepthTest(void);                    // Disable depth test
+RLAPI void rlEnableDepthMask(void);                     // Enable depth write
+RLAPI void rlDisableDepthMask(void);                    // Disable depth write
+RLAPI void rlEnableBackfaceCulling(void);               // Enable backface culling
+RLAPI void rlDisableBackfaceCulling(void);              // Disable backface culling
+RLAPI void rlSetCullFace(int mode);                     // Set face culling mode
+RLAPI void rlEnableScissorTest(void);                   // Enable scissor test
+RLAPI void rlDisableScissorTest(void);                  // Disable scissor test
+RLAPI void rlScissor(int x, int y, int width, int height); // Scissor test
+RLAPI void rlEnableWireMode(void);                      // Enable wire mode
+RLAPI void rlEnablePointMode(void);                     //  Enable point mode
+RLAPI void rlDisableWireMode(void);                     // Disable wire mode ( and point ) maybe rename
+RLAPI void rlSetLineWidth(float width);                 // Set the line drawing width
+RLAPI float rlGetLineWidth(void);                       // Get the line drawing width
+RLAPI void rlEnableSmoothLines(void);                   // Enable line aliasing
+RLAPI void rlDisableSmoothLines(void);                  // Disable line aliasing
+RLAPI void rlEnableStereoRender(void);                  // Enable stereo rendering
+RLAPI void rlDisableStereoRender(void);                 // Disable stereo rendering
+RLAPI bool rlIsStereoRenderEnabled(void);               // Check if stereo render is enabled
+
+RLAPI void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Clear color buffer with color
+RLAPI void rlClearScreenBuffers(void);                  // Clear used screen buffers (color and depth)
+RLAPI void rlCheckErrors(void);                         // Check and log OpenGL error codes
+RLAPI void rlSetBlendMode(int mode);                    // Set blending mode
+RLAPI void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation); // Set blending mode factor and equation (using OpenGL factors)
+RLAPI void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha); // Set blending mode factors and equations separately (using OpenGL factors)
+
+//------------------------------------------------------------------------------------
+// Functions Declaration - rlgl functionality
+//------------------------------------------------------------------------------------
+// rlgl initialization functions
+RLAPI void rlglInit(int width, int height);             // Initialize rlgl (buffers, shaders, textures, states)
+RLAPI void rlglClose(void);                             // De-initialize rlgl (buffers, shaders, textures)
+RLAPI void rlLoadExtensions(void *loader);              // Load OpenGL extensions (loader function required)
+RLAPI int rlGetVersion(void);                           // Get current OpenGL version
+RLAPI void rlSetFramebufferWidth(int width);            // Set current framebuffer width
+RLAPI int rlGetFramebufferWidth(void);                  // Get default framebuffer width
+RLAPI void rlSetFramebufferHeight(int height);          // Set current framebuffer height
+RLAPI int rlGetFramebufferHeight(void);                 // Get default framebuffer height
+
+RLAPI unsigned int rlGetTextureIdDefault(void);         // Get default texture id
+RLAPI unsigned int rlGetShaderIdDefault(void);          // Get default shader id
+RLAPI int *rlGetShaderLocsDefault(void);                // Get default shader locations
+
+// Render batch management
+// NOTE: rlgl provides a default render batch to behave like OpenGL 1.1 immediate mode
+// but this render batch API is exposed in case of custom batches are required
+RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements);  // Load a render batch system
+RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);                        // Unload render batch system
+RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);                         // Draw render batch data (Update->Draw->Reset)
+RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch);                    // Set the active render batch for rlgl (NULL for default internal)
+RLAPI void rlDrawRenderBatchActive(void);                                   // Update and draw internal render batch
+RLAPI bool rlCheckRenderBatchLimit(int vCount);                             // Check internal buffer overflow for a given number of vertex
+
+RLAPI void rlSetTexture(unsigned int id);               // Set current texture for render batch and check buffers limits
+
+//------------------------------------------------------------------------------------------------------------------------
+
+// Vertex buffers management
+RLAPI unsigned int rlLoadVertexArray(void);                               // Load vertex array (vao) if supported
+RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic);            // Load a vertex buffer attribute
+RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic);     // Load a new attributes element buffer
+RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset);     // Update GPU buffer with new data
+RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset);   // Update vertex buffer elements with new data
+RLAPI void rlUnloadVertexArray(unsigned int vaoId);
+RLAPI void rlUnloadVertexBuffer(unsigned int vboId);
+RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, const void *pointer);
+RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor);
+RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value
+RLAPI void rlDrawVertexArray(int offset, int count);
+RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer);
+RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances);
+RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances);
+
+// Textures management
+RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture in GPU
+RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer);               // Load depth texture/renderbuffer (to be attached to fbo)
+RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format);                        // Load texture cubemap
+RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data);  // Update GPU texture with new data
+RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType);  // Get OpenGL internal formats
+RLAPI const char *rlGetPixelFormatName(unsigned int format);              // Get name string for pixel format
+RLAPI void rlUnloadTexture(unsigned int id);                              // Unload texture from GPU memory
+RLAPI void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps); // Generate mipmap data for selected texture
+RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format);              // Read texture pixel data
+RLAPI unsigned char *rlReadScreenPixels(int width, int height);           // Read screen pixel data (color buffer)
+
+// Framebuffer management (fbo)
+RLAPI unsigned int rlLoadFramebuffer(int width, int height);              // Load an empty framebuffer
+RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel);  // Attach texture/renderbuffer to a framebuffer
+RLAPI bool rlFramebufferComplete(unsigned int id);                        // Verify framebuffer is complete
+RLAPI void rlUnloadFramebuffer(unsigned int id);                          // Delete framebuffer from GPU
+
+// Shaders management
+RLAPI unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode);    // Load shader from code strings
+RLAPI unsigned int rlCompileShader(const char *shaderCode, int type);           // Compile custom shader and return shader id (type: RL_VERTEX_SHADER, RL_FRAGMENT_SHADER, RL_COMPUTE_SHADER)
+RLAPI unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId); // Load custom shader program
+RLAPI void rlUnloadShaderProgram(unsigned int id);                              // Unload shader program
+RLAPI int rlGetLocationUniform(unsigned int shaderId, const char *uniformName); // Get shader location uniform
+RLAPI int rlGetLocationAttrib(unsigned int shaderId, const char *attribName);   // Get shader location attribute
+RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count);   // Set shader value uniform
+RLAPI void rlSetUniformMatrix(int locIndex, Matrix mat);                        // Set shader value matrix
+RLAPI void rlSetUniformSampler(int locIndex, unsigned int textureId);           // Set shader value sampler
+RLAPI void rlSetShader(unsigned int id, int *locs);                             // Set shader currently active (id and locations)
+
+// Compute shader management
+RLAPI unsigned int rlLoadComputeShaderProgram(unsigned int shaderId);           // Load compute shader program
+RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ);  // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
+
+// Shader buffer storage object management (ssbo)
+RLAPI unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint); // Load shader storage buffer object (SSBO)
+RLAPI void rlUnloadShaderBuffer(unsigned int ssboId);                           // Unload shader storage buffer object (SSBO)
+RLAPI void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset); // Update SSBO buffer data
+RLAPI void rlBindShaderBuffer(unsigned int id, unsigned int index);             // Bind SSBO buffer
+RLAPI void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset); // Read SSBO buffer data (GPU->CPU)
+RLAPI void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count); // Copy SSBO data between buffers
+RLAPI unsigned int rlGetShaderBufferSize(unsigned int id);                      // Get SSBO buffer size
+
+// Buffer management
+RLAPI void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly);  // Bind image texture
+
+// Matrix state management
+RLAPI Matrix rlGetMatrixModelview(void);                                  // Get internal modelview matrix
+RLAPI Matrix rlGetMatrixProjection(void);                                 // Get internal projection matrix
+RLAPI Matrix rlGetMatrixTransform(void);                                  // Get internal accumulated transform matrix
+RLAPI Matrix rlGetMatrixProjectionStereo(int eye);                        // Get internal projection matrix for stereo render (selected eye)
+RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye);                        // Get internal view offset matrix for stereo render (selected eye)
+RLAPI void rlSetMatrixProjection(Matrix proj);                            // Set a custom projection matrix (replaces internal projection matrix)
+RLAPI void rlSetMatrixModelview(Matrix view);                             // Set a custom modelview matrix (replaces internal modelview matrix)
+RLAPI void rlSetMatrixProjectionStereo(Matrix right, Matrix left);        // Set eyes projection matrices for stereo rendering
+RLAPI void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left);        // Set eyes view offsets matrices for stereo rendering
+
+// Quick and dirty cube/quad buffers load->draw->unload
+RLAPI void rlLoadDrawCube(void);     // Load and draw a cube
+RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // RLGL_H
+
+/***********************************************************************************
+*
+*   RLGL IMPLEMENTATION
+*
+************************************************************************************/
+
+#if defined(RLGL_IMPLEMENTATION)
+
+#if defined(GRAPHICS_API_OPENGL_11)
+    #if defined(__APPLE__)
+        #include <OpenGL/gl.h>          // OpenGL 1.1 library for OSX
+        #include <OpenGL/glext.h>       // OpenGL extensions library
+    #else
+        // APIENTRY for OpenGL function pointer declarations is required
+        #if !defined(APIENTRY)
+            #if defined(_WIN32)
+                #define APIENTRY __stdcall
+            #else
+                #define APIENTRY
+            #endif
+        #endif
+        // WINGDIAPI definition. Some Windows OpenGL headers need it
+        #if !defined(WINGDIAPI) && defined(_WIN32)
+            #define WINGDIAPI __declspec(dllimport)
+        #endif
+
+        #include <GL/gl.h>              // OpenGL 1.1 library
+    #endif
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_33)
+    #define GLAD_MALLOC RL_MALLOC
+    #define GLAD_FREE RL_FREE
+
+    #define GLAD_GL_IMPLEMENTATION
+    #include "external/glad.h"          // GLAD extensions loading library, includes OpenGL headers
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_ES3)
+    #include <GLES3/gl3.h>              // OpenGL ES 3.0 library
+    #define GL_GLEXT_PROTOTYPES
+    #include <GLES2/gl2ext.h>           // OpenGL ES 2.0 extensions library
+#elif defined(GRAPHICS_API_OPENGL_ES2)
+    // NOTE: OpenGL ES 2.0 can be enabled on PLATFORM_DESKTOP,
+    // in that case, functions are loaded from a custom glad for OpenGL ES 2.0
+    #if defined(PLATFORM_DESKTOP) || defined(PLATFORM_DESKTOP_SDL)
+        #define GLAD_GLES2_IMPLEMENTATION
+        #include "external/glad_gles2.h"
+    #else
+        #define GL_GLEXT_PROTOTYPES
+        //#include <EGL/egl.h>          // EGL library -> not required, platform layer
+        #include <GLES2/gl2.h>          // OpenGL ES 2.0 library
+        #include <GLES2/gl2ext.h>       // OpenGL ES 2.0 extensions library
+    #endif
+
+    // It seems OpenGL ES 2.0 instancing entry points are not defined on Raspberry Pi
+    // provided headers (despite being defined in official Khronos GLES2 headers)
+    #if defined(PLATFORM_DRM)
+    typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount);
+    typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount);
+    typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor);
+    #endif
+#endif
+
+#include <stdlib.h>                     // Required for: malloc(), free()
+#include <string.h>                     // Required for: strcmp(), strlen() [Used in rlglInit(), on extensions loading]
+#include <math.h>                       // Required for: sqrtf(), sinf(), cosf(), floor(), log()
+
+//----------------------------------------------------------------------------------
+// Defines and Macros
+//----------------------------------------------------------------------------------
+#ifndef PI
+    #define PI 3.14159265358979323846f
+#endif
+#ifndef DEG2RAD
+    #define DEG2RAD (PI/180.0f)
+#endif
+#ifndef RAD2DEG
+    #define RAD2DEG (180.0f/PI)
+#endif
+
+#ifndef GL_SHADING_LANGUAGE_VERSION
+    #define GL_SHADING_LANGUAGE_VERSION         0x8B8C
+#endif
+
+#ifndef GL_COMPRESSED_RGB_S3TC_DXT1_EXT
+    #define GL_COMPRESSED_RGB_S3TC_DXT1_EXT     0x83F0
+#endif
+#ifndef GL_COMPRESSED_RGBA_S3TC_DXT1_EXT
+    #define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT    0x83F1
+#endif
+#ifndef GL_COMPRESSED_RGBA_S3TC_DXT3_EXT
+    #define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT    0x83F2
+#endif
+#ifndef GL_COMPRESSED_RGBA_S3TC_DXT5_EXT
+    #define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT    0x83F3
+#endif
+#ifndef GL_ETC1_RGB8_OES
+    #define GL_ETC1_RGB8_OES                    0x8D64
+#endif
+#ifndef GL_COMPRESSED_RGB8_ETC2
+    #define GL_COMPRESSED_RGB8_ETC2             0x9274
+#endif
+#ifndef GL_COMPRESSED_RGBA8_ETC2_EAC
+    #define GL_COMPRESSED_RGBA8_ETC2_EAC        0x9278
+#endif
+#ifndef GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG
+    #define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG  0x8C00
+#endif
+#ifndef GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG
+    #define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02
+#endif
+#ifndef GL_COMPRESSED_RGBA_ASTC_4x4_KHR
+    #define GL_COMPRESSED_RGBA_ASTC_4x4_KHR     0x93b0
+#endif
+#ifndef GL_COMPRESSED_RGBA_ASTC_8x8_KHR
+    #define GL_COMPRESSED_RGBA_ASTC_8x8_KHR     0x93b7
+#endif
+
+#ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
+    #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT   0x84FF
+#endif
+#ifndef GL_TEXTURE_MAX_ANISOTROPY_EXT
+    #define GL_TEXTURE_MAX_ANISOTROPY_EXT       0x84FE
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_11)
+    #define GL_UNSIGNED_SHORT_5_6_5             0x8363
+    #define GL_UNSIGNED_SHORT_5_5_5_1           0x8034
+    #define GL_UNSIGNED_SHORT_4_4_4_4           0x8033
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_21)
+    #define GL_LUMINANCE                        0x1909
+    #define GL_LUMINANCE_ALPHA                  0x190A
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_ES2)
+    #define glClearDepth                 glClearDepthf
+    #if !defined(GRAPHICS_API_OPENGL_ES3)
+        #define GL_READ_FRAMEBUFFER         GL_FRAMEBUFFER
+        #define GL_DRAW_FRAMEBUFFER         GL_FRAMEBUFFER
+    #endif
+#endif
+
+// Default shader vertex attribute names to set location points
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: 0
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: 1
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: 2
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: 3
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: 4
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: 5
+#endif
+
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MVP
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
+#endif
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
+#endif
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
+#endif
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
+#endif
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
+#endif
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
+#endif
+#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0
+    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
+#endif
+#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1
+    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
+#endif
+#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2
+    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
+#endif
+
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+//----------------------------------------------------------------------------------
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+typedef struct rlglData {
+    rlRenderBatch *currentBatch;            // Current render batch
+    rlRenderBatch defaultBatch;             // Default internal render batch
+
+    struct {
+        int vertexCounter;                  // Current active render batch vertex counter (generic, used for all batches)
+        float texcoordx, texcoordy;         // Current active texture coordinate (added on glVertex*())
+        float normalx, normaly, normalz;    // Current active normal (added on glVertex*())
+        unsigned char colorr, colorg, colorb, colora;   // Current active color (added on glVertex*())
+
+        int currentMatrixMode;              // Current matrix mode
+        Matrix *currentMatrix;              // Current matrix pointer
+        Matrix modelview;                   // Default modelview matrix
+        Matrix projection;                  // Default projection matrix
+        Matrix transform;                   // Transform matrix to be used with rlTranslate, rlRotate, rlScale
+        bool transformRequired;             // Require transform matrix application to current draw-call vertex (if required)
+        Matrix stack[RL_MAX_MATRIX_STACK_SIZE];// Matrix stack for push/pop
+        int stackCounter;                   // Matrix stack counter
+
+        unsigned int defaultTextureId;      // Default texture used on shapes/poly drawing (required by shader)
+        unsigned int activeTextureId[RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS];    // Active texture ids to be enabled on batch drawing (0 active by default)
+        unsigned int defaultVShaderId;      // Default vertex shader id (used by default shader program)
+        unsigned int defaultFShaderId;      // Default fragment shader id (used by default shader program)
+        unsigned int defaultShaderId;       // Default shader program id, supports vertex color and diffuse texture
+        int *defaultShaderLocs;             // Default shader locations pointer to be used on rendering
+        unsigned int currentShaderId;       // Current shader id to be used on rendering (by default, defaultShaderId)
+        int *currentShaderLocs;             // Current shader locations pointer to be used on rendering (by default, defaultShaderLocs)
+
+        bool stereoRender;                  // Stereo rendering flag
+        Matrix projectionStereo[2];         // VR stereo rendering eyes projection matrices
+        Matrix viewOffsetStereo[2];         // VR stereo rendering eyes view offset matrices
+
+        // Blending variables
+        int currentBlendMode;               // Blending mode active
+        int glBlendSrcFactor;               // Blending source factor
+        int glBlendDstFactor;               // Blending destination factor
+        int glBlendEquation;                // Blending equation
+        int glBlendSrcFactorRGB;            // Blending source RGB factor
+        int glBlendDestFactorRGB;           // Blending destination RGB factor
+        int glBlendSrcFactorAlpha;          // Blending source alpha factor
+        int glBlendDestFactorAlpha;         // Blending destination alpha factor
+        int glBlendEquationRGB;             // Blending equation for RGB
+        int glBlendEquationAlpha;           // Blending equation for alpha
+        bool glCustomBlendModeModified;     // Custom blending factor and equation modification status
+
+        int framebufferWidth;               // Current framebuffer width
+        int framebufferHeight;              // Current framebuffer height
+
+    } State;            // Renderer state
+    struct {
+        bool vao;                           // VAO support (OpenGL ES2 could not support VAO extension) (GL_ARB_vertex_array_object)
+        bool instancing;                    // Instancing supported (GL_ANGLE_instanced_arrays, GL_EXT_draw_instanced + GL_EXT_instanced_arrays)
+        bool texNPOT;                       // NPOT textures full support (GL_ARB_texture_non_power_of_two, GL_OES_texture_npot)
+        bool texDepth;                      // Depth textures supported (GL_ARB_depth_texture, GL_OES_depth_texture)
+        bool texDepthWebGL;                 // Depth textures supported WebGL specific (GL_WEBGL_depth_texture)
+        bool texFloat32;                    // float textures support (32 bit per channel) (GL_OES_texture_float)
+        bool texFloat16;                    // half float textures support (16 bit per channel) (GL_OES_texture_half_float)
+        bool texCompDXT;                    // DDS texture compression support (GL_EXT_texture_compression_s3tc, GL_WEBGL_compressed_texture_s3tc, GL_WEBKIT_WEBGL_compressed_texture_s3tc)
+        bool texCompETC1;                   // ETC1 texture compression support (GL_OES_compressed_ETC1_RGB8_texture, GL_WEBGL_compressed_texture_etc1)
+        bool texCompETC2;                   // ETC2/EAC texture compression support (GL_ARB_ES3_compatibility)
+        bool texCompPVRT;                   // PVR texture compression support (GL_IMG_texture_compression_pvrtc)
+        bool texCompASTC;                   // ASTC texture compression support (GL_KHR_texture_compression_astc_hdr, GL_KHR_texture_compression_astc_ldr)
+        bool texMirrorClamp;                // Clamp mirror wrap mode supported (GL_EXT_texture_mirror_clamp)
+        bool texAnisoFilter;                // Anisotropic texture filtering support (GL_EXT_texture_filter_anisotropic)
+        bool computeShader;                 // Compute shaders support (GL_ARB_compute_shader)
+        bool ssbo;                          // Shader storage buffer object support (GL_ARB_shader_storage_buffer_object)
+
+        float maxAnisotropyLevel;           // Maximum anisotropy level supported (minimum is 2.0f)
+        int maxDepthBits;                   // Maximum bits for depth component
+
+    } ExtSupported;     // Extensions supported flags
+} rlglData;
+
+typedef void *(*rlglLoadProc)(const char *name);   // OpenGL extension functions loader signature (same as GLADloadproc)
+
+#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
+
+//----------------------------------------------------------------------------------
+// Global Variables Definition
+//----------------------------------------------------------------------------------
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+static rlglData RLGL = { 0 };
+#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
+
+#if defined(GRAPHICS_API_OPENGL_ES2) && !defined(GRAPHICS_API_OPENGL_ES3)
+// NOTE: VAO functionality is exposed through extensions (OES)
+static PFNGLGENVERTEXARRAYSOESPROC glGenVertexArrays = NULL;
+static PFNGLBINDVERTEXARRAYOESPROC glBindVertexArray = NULL;
+static PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArrays = NULL;
+
+// NOTE: Instancing functionality could also be available through extension
+static PFNGLDRAWARRAYSINSTANCEDEXTPROC glDrawArraysInstanced = NULL;
+static PFNGLDRAWELEMENTSINSTANCEDEXTPROC glDrawElementsInstanced = NULL;
+static PFNGLVERTEXATTRIBDIVISOREXTPROC glVertexAttribDivisor = NULL;
+#endif
+
+//----------------------------------------------------------------------------------
+// Module specific Functions Declaration
+//----------------------------------------------------------------------------------
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+static void rlLoadShaderDefault(void);      // Load default shader
+static void rlUnloadShaderDefault(void);    // Unload default shader
+#if defined(RLGL_SHOW_GL_DETAILS_INFO)
+static const char *rlGetCompressedFormatName(int format); // Get compressed format official GL identifier name
+#endif  // RLGL_SHOW_GL_DETAILS_INFO
+#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
+
+static int rlGetPixelDataSize(int width, int height, int format);   // Get pixel data size in bytes (image or texture)
+
+// Auxiliar matrix math functions
+static Matrix rlMatrixIdentity(void);                       // Get identity matrix
+static Matrix rlMatrixMultiply(Matrix left, Matrix right);  // Multiply two matrices
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Matrix operations
+//----------------------------------------------------------------------------------
+
+#if defined(GRAPHICS_API_OPENGL_11)
+// Fallback to OpenGL 1.1 function calls
+//---------------------------------------
+void rlMatrixMode(int mode)
+{
+    switch (mode)
+    {
+        case RL_PROJECTION: glMatrixMode(GL_PROJECTION); break;
+        case RL_MODELVIEW: glMatrixMode(GL_MODELVIEW); break;
+        case RL_TEXTURE: glMatrixMode(GL_TEXTURE); break;
+        default: break;
+    }
+}
+
+void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
+{
+    glFrustum(left, right, bottom, top, znear, zfar);
+}
+
+void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
+{
+    glOrtho(left, right, bottom, top, znear, zfar);
+}
+
+void rlPushMatrix(void) { glPushMatrix(); }
+void rlPopMatrix(void) { glPopMatrix(); }
+void rlLoadIdentity(void) { glLoadIdentity(); }
+void rlTranslatef(float x, float y, float z) { glTranslatef(x, y, z); }
+void rlRotatef(float angle, float x, float y, float z) { glRotatef(angle, x, y, z); }
+void rlScalef(float x, float y, float z) { glScalef(x, y, z); }
+void rlMultMatrixf(const float *matf) { glMultMatrixf(matf); }
+#endif
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+// Choose the current matrix to be transformed
+void rlMatrixMode(int mode)
+{
+    if (mode == RL_PROJECTION) RLGL.State.currentMatrix = &RLGL.State.projection;
+    else if (mode == RL_MODELVIEW) RLGL.State.currentMatrix = &RLGL.State.modelview;
+    //else if (mode == RL_TEXTURE) // Not supported
+
+    RLGL.State.currentMatrixMode = mode;
+}
+
+// Push the current matrix into RLGL.State.stack
+void rlPushMatrix(void)
+{
+    if (RLGL.State.stackCounter >= RL_MAX_MATRIX_STACK_SIZE) TRACELOG(RL_LOG_ERROR, "RLGL: Matrix stack overflow (RL_MAX_MATRIX_STACK_SIZE)");
+
+    if (RLGL.State.currentMatrixMode == RL_MODELVIEW)
+    {
+        RLGL.State.transformRequired = true;
+        RLGL.State.currentMatrix = &RLGL.State.transform;
+    }
+
+    RLGL.State.stack[RLGL.State.stackCounter] = *RLGL.State.currentMatrix;
+    RLGL.State.stackCounter++;
+}
+
+// Pop lattest inserted matrix from RLGL.State.stack
+void rlPopMatrix(void)
+{
+    if (RLGL.State.stackCounter > 0)
+    {
+        Matrix mat = RLGL.State.stack[RLGL.State.stackCounter - 1];
+        *RLGL.State.currentMatrix = mat;
+        RLGL.State.stackCounter--;
+    }
+
+    if ((RLGL.State.stackCounter == 0) && (RLGL.State.currentMatrixMode == RL_MODELVIEW))
+    {
+        RLGL.State.currentMatrix = &RLGL.State.modelview;
+        RLGL.State.transformRequired = false;
+    }
+}
+
+// Reset current matrix to identity matrix
+void rlLoadIdentity(void)
+{
+    *RLGL.State.currentMatrix = rlMatrixIdentity();
+}
+
+// Multiply the current matrix by a translation matrix
+void rlTranslatef(float x, float y, float z)
+{
+    Matrix matTranslation = {
+        1.0f, 0.0f, 0.0f, x,
+        0.0f, 1.0f, 0.0f, y,
+        0.0f, 0.0f, 1.0f, z,
+        0.0f, 0.0f, 0.0f, 1.0f
+    };
+
+    // NOTE: We transpose matrix with multiplication order
+    *RLGL.State.currentMatrix = rlMatrixMultiply(matTranslation, *RLGL.State.currentMatrix);
+}
+
+// Multiply the current matrix by a rotation matrix
+// NOTE: The provided angle must be in degrees
+void rlRotatef(float angle, float x, float y, float z)
+{
+    Matrix matRotation = rlMatrixIdentity();
+
+    // Axis vector (x, y, z) normalization
+    float lengthSquared = x*x + y*y + z*z;
+    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
+    {
+        float inverseLength = 1.0f/sqrtf(lengthSquared);
+        x *= inverseLength;
+        y *= inverseLength;
+        z *= inverseLength;
+    }
+
+    // Rotation matrix generation
+    float sinres = sinf(DEG2RAD*angle);
+    float cosres = cosf(DEG2RAD*angle);
+    float t = 1.0f - cosres;
+
+    matRotation.m0 = x*x*t + cosres;
+    matRotation.m1 = y*x*t + z*sinres;
+    matRotation.m2 = z*x*t - y*sinres;
+    matRotation.m3 = 0.0f;
+
+    matRotation.m4 = x*y*t - z*sinres;
+    matRotation.m5 = y*y*t + cosres;
+    matRotation.m6 = z*y*t + x*sinres;
+    matRotation.m7 = 0.0f;
+
+    matRotation.m8 = x*z*t + y*sinres;
+    matRotation.m9 = y*z*t - x*sinres;
+    matRotation.m10 = z*z*t + cosres;
+    matRotation.m11 = 0.0f;
+
+    matRotation.m12 = 0.0f;
+    matRotation.m13 = 0.0f;
+    matRotation.m14 = 0.0f;
+    matRotation.m15 = 1.0f;
+
+    // NOTE: We transpose matrix with multiplication order
+    *RLGL.State.currentMatrix = rlMatrixMultiply(matRotation, *RLGL.State.currentMatrix);
+}
+
+// Multiply the current matrix by a scaling matrix
+void rlScalef(float x, float y, float z)
+{
+    Matrix matScale = {
+        x, 0.0f, 0.0f, 0.0f,
+        0.0f, y, 0.0f, 0.0f,
+        0.0f, 0.0f, z, 0.0f,
+        0.0f, 0.0f, 0.0f, 1.0f
+    };
+
+    // NOTE: We transpose matrix with multiplication order
+    *RLGL.State.currentMatrix = rlMatrixMultiply(matScale, *RLGL.State.currentMatrix);
+}
+
+// Multiply the current matrix by another matrix
+void rlMultMatrixf(const float *matf)
+{
+    // Matrix creation from array
+    Matrix mat = { matf[0], matf[4], matf[8], matf[12],
+                   matf[1], matf[5], matf[9], matf[13],
+                   matf[2], matf[6], matf[10], matf[14],
+                   matf[3], matf[7], matf[11], matf[15] };
+
+    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, mat);
+}
+
+// Multiply the current matrix by a perspective matrix generated by parameters
+void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
+{
+    Matrix matFrustum = { 0 };
+
+    float rl = (float)(right - left);
+    float tb = (float)(top - bottom);
+    float fn = (float)(zfar - znear);
+
+    matFrustum.m0 = ((float) znear*2.0f)/rl;
+    matFrustum.m1 = 0.0f;
+    matFrustum.m2 = 0.0f;
+    matFrustum.m3 = 0.0f;
+
+    matFrustum.m4 = 0.0f;
+    matFrustum.m5 = ((float) znear*2.0f)/tb;
+    matFrustum.m6 = 0.0f;
+    matFrustum.m7 = 0.0f;
+
+    matFrustum.m8 = ((float)right + (float)left)/rl;
+    matFrustum.m9 = ((float)top + (float)bottom)/tb;
+    matFrustum.m10 = -((float)zfar + (float)znear)/fn;
+    matFrustum.m11 = -1.0f;
+
+    matFrustum.m12 = 0.0f;
+    matFrustum.m13 = 0.0f;
+    matFrustum.m14 = -((float)zfar*(float)znear*2.0f)/fn;
+    matFrustum.m15 = 0.0f;
+
+    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matFrustum);
+}
+
+// Multiply the current matrix by an orthographic matrix generated by parameters
+void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
+{
+    // NOTE: If left-right and top-botton values are equal it could create a division by zero,
+    // response to it is platform/compiler dependant
+    Matrix matOrtho = { 0 };
+
+    float rl = (float)(right - left);
+    float tb = (float)(top - bottom);
+    float fn = (float)(zfar - znear);
+
+    matOrtho.m0 = 2.0f/rl;
+    matOrtho.m1 = 0.0f;
+    matOrtho.m2 = 0.0f;
+    matOrtho.m3 = 0.0f;
+    matOrtho.m4 = 0.0f;
+    matOrtho.m5 = 2.0f/tb;
+    matOrtho.m6 = 0.0f;
+    matOrtho.m7 = 0.0f;
+    matOrtho.m8 = 0.0f;
+    matOrtho.m9 = 0.0f;
+    matOrtho.m10 = -2.0f/fn;
+    matOrtho.m11 = 0.0f;
+    matOrtho.m12 = -((float)left + (float)right)/rl;
+    matOrtho.m13 = -((float)top + (float)bottom)/tb;
+    matOrtho.m14 = -((float)zfar + (float)znear)/fn;
+    matOrtho.m15 = 1.0f;
+
+    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matOrtho);
+}
+#endif
+
+// Set the viewport area (transformation from normalized device coordinates to window coordinates)
+// NOTE: We store current viewport dimensions
+void rlViewport(int x, int y, int width, int height)
+{
+    glViewport(x, y, width, height);
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vertex level operations
+//----------------------------------------------------------------------------------
+#if defined(GRAPHICS_API_OPENGL_11)
+// Fallback to OpenGL 1.1 function calls
+//---------------------------------------
+void rlBegin(int mode)
+{
+    switch (mode)
+    {
+        case RL_LINES: glBegin(GL_LINES); break;
+        case RL_TRIANGLES: glBegin(GL_TRIANGLES); break;
+        case RL_QUADS: glBegin(GL_QUADS); break;
+        default: break;
+    }
+}
+
+void rlEnd() { glEnd(); }
+void rlVertex2i(int x, int y) { glVertex2i(x, y); }
+void rlVertex2f(float x, float y) { glVertex2f(x, y); }
+void rlVertex3f(float x, float y, float z) { glVertex3f(x, y, z); }
+void rlTexCoord2f(float x, float y) { glTexCoord2f(x, y); }
+void rlNormal3f(float x, float y, float z) { glNormal3f(x, y, z); }
+void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a) { glColor4ub(r, g, b, a); }
+void rlColor3f(float x, float y, float z) { glColor3f(x, y, z); }
+void rlColor4f(float x, float y, float z, float w) { glColor4f(x, y, z, w); }
+#endif
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+// Initialize drawing mode (how to organize vertex)
+void rlBegin(int mode)
+{
+    // Draw mode can be RL_LINES, RL_TRIANGLES and RL_QUADS
+    // NOTE: In all three cases, vertex are accumulated over default internal vertex buffer
+    if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode != mode)
+    {
+        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
+        {
+            // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
+            // that way, following QUADS drawing will keep aligned with index processing
+            // It implies adding some extra alignment vertex at the end of the draw,
+            // those vertex are not processed but they are considered as an additional offset
+            // for the next set of vertex to be drawn
+            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
+            else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
+            else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
+
+            if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
+            {
+                RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
+                RLGL.currentBatch->drawCounter++;
+            }
+        }
+
+        if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
+
+        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = mode;
+        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
+        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = RLGL.State.defaultTextureId;
+    }
+}
+
+// Finish vertex providing
+void rlEnd(void)
+{
+    // NOTE: Depth increment is dependant on rlOrtho(): z-near and z-far values,
+    // as well as depth buffer bit-depth (16bit or 24bit or 32bit)
+    // Correct increment formula would be: depthInc = (zfar - znear)/pow(2, bits)
+    RLGL.currentBatch->currentDepth += (1.0f/20000.0f);
+}
+
+// Define one vertex (position)
+// NOTE: Vertex position data is the basic information required for drawing
+void rlVertex3f(float x, float y, float z)
+{
+    float tx = x;
+    float ty = y;
+    float tz = z;
+
+    // Transform provided vector if required
+    if (RLGL.State.transformRequired)
+    {
+        tx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z + RLGL.State.transform.m12;
+        ty = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z + RLGL.State.transform.m13;
+        tz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z + RLGL.State.transform.m14;
+    }
+
+    // WARNING: We can't break primitives when launching a new batch.
+    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices.
+    // We must check current draw.mode when a new vertex is required and finish the batch only if the draw.mode draw.vertexCount is %2, %3 or %4
+    if (RLGL.State.vertexCounter > (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4 - 4))
+    {
+        if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) &&
+            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%2 == 0))
+        {
+            // Reached the maximum number of vertices for RL_LINES drawing
+            // Launch a draw call but keep current state for next vertices comming
+            // NOTE: We add +1 vertex to the check for security
+            rlCheckRenderBatchLimit(2 + 1);
+        }
+        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) &&
+            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%3 == 0))
+        {
+            rlCheckRenderBatchLimit(3 + 1);
+        }
+        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_QUADS) &&
+            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4 == 0))
+        {
+            rlCheckRenderBatchLimit(4 + 1);
+        }
+    }
+
+    // Add vertices
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter] = tx;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 1] = ty;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 2] = tz;
+
+    // Add current texcoord
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter] = RLGL.State.texcoordx;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter + 1] = RLGL.State.texcoordy;
+
+    // WARNING: By default rlVertexBuffer struct does not store normals
+
+    // Add current color
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter] = RLGL.State.colorr;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 1] = RLGL.State.colorg;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 2] = RLGL.State.colorb;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 3] = RLGL.State.colora;
+
+    RLGL.State.vertexCounter++;
+    RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount++;
+}
+
+// Define one vertex (position)
+void rlVertex2f(float x, float y)
+{
+    rlVertex3f(x, y, RLGL.currentBatch->currentDepth);
+}
+
+// Define one vertex (position)
+void rlVertex2i(int x, int y)
+{
+    rlVertex3f((float)x, (float)y, RLGL.currentBatch->currentDepth);
+}
+
+// Define one vertex (texture coordinate)
+// NOTE: Texture coordinates are limited to QUADS only
+void rlTexCoord2f(float x, float y)
+{
+    RLGL.State.texcoordx = x;
+    RLGL.State.texcoordy = y;
+}
+
+// Define one vertex (normal)
+// NOTE: Normals limited to TRIANGLES only?
+void rlNormal3f(float x, float y, float z)
+{
+    RLGL.State.normalx = x;
+    RLGL.State.normaly = y;
+    RLGL.State.normalz = z;
+}
+
+// Define one vertex (color)
+void rlColor4ub(unsigned char x, unsigned char y, unsigned char z, unsigned char w)
+{
+    RLGL.State.colorr = x;
+    RLGL.State.colorg = y;
+    RLGL.State.colorb = z;
+    RLGL.State.colora = w;
+}
+
+// Define one vertex (color)
+void rlColor4f(float r, float g, float b, float a)
+{
+    rlColor4ub((unsigned char)(r*255), (unsigned char)(g*255), (unsigned char)(b*255), (unsigned char)(a*255));
+}
+
+// Define one vertex (color)
+void rlColor3f(float x, float y, float z)
+{
+    rlColor4ub((unsigned char)(x*255), (unsigned char)(y*255), (unsigned char)(z*255), 255);
+}
+
+#endif
+
+//--------------------------------------------------------------------------------------
+// Module Functions Definition - OpenGL style functions (common to 1.1, 3.3+, ES2)
+//--------------------------------------------------------------------------------------
+
+// Set current texture to use
+void rlSetTexture(unsigned int id)
+{
+    if (id == 0)
+    {
+#if defined(GRAPHICS_API_OPENGL_11)
+        rlDisableTexture();
+#else
+        // NOTE: If quads batch limit is reached, we force a draw call and next batch starts
+        if (RLGL.State.vertexCounter >=
+            RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4)
+        {
+            rlDrawRenderBatch(RLGL.currentBatch);
+        }
+#endif
+    }
+    else
+    {
+#if defined(GRAPHICS_API_OPENGL_11)
+        rlEnableTexture(id);
+#else
+        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId != id)
+        {
+            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
+            {
+                // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
+                // that way, following QUADS drawing will keep aligned with index processing
+                // It implies adding some extra alignment vertex at the end of the draw,
+                // those vertex are not processed but they are considered as an additional offset
+                // for the next set of vertex to be drawn
+                if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
+                else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
+                else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
+
+                if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
+                {
+                    RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
+
+                    RLGL.currentBatch->drawCounter++;
+                }
+            }
+
+            if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
+
+            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = id;
+            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
+        }
+#endif
+    }
+}
+
+// Select and active a texture slot
+void rlActiveTextureSlot(int slot)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glActiveTexture(GL_TEXTURE0 + slot);
+#endif
+}
+
+// Enable texture
+void rlEnableTexture(unsigned int id)
+{
+#if defined(GRAPHICS_API_OPENGL_11)
+    glEnable(GL_TEXTURE_2D);
+#endif
+    glBindTexture(GL_TEXTURE_2D, id);
+}
+
+// Disable texture
+void rlDisableTexture(void)
+{
+#if defined(GRAPHICS_API_OPENGL_11)
+    glDisable(GL_TEXTURE_2D);
+#endif
+    glBindTexture(GL_TEXTURE_2D, 0);
+}
+
+// Enable texture cubemap
+void rlEnableTextureCubemap(unsigned int id)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
+#endif
+}
+
+// Disable texture cubemap
+void rlDisableTextureCubemap(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
+#endif
+}
+
+// Set texture parameters (wrap mode/filter mode)
+void rlTextureParameters(unsigned int id, int param, int value)
+{
+    glBindTexture(GL_TEXTURE_2D, id);
+
+#if !defined(GRAPHICS_API_OPENGL_11)
+    // Reset anisotropy filter, in case it was set
+    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
+#endif
+
+    switch (param)
+    {
+        case RL_TEXTURE_WRAP_S:
+        case RL_TEXTURE_WRAP_T:
+        {
+            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
+            {
+#if !defined(GRAPHICS_API_OPENGL_11)
+                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_2D, param, value);
+                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
+#endif
+            }
+            else glTexParameteri(GL_TEXTURE_2D, param, value);
+
+        } break;
+        case RL_TEXTURE_MAG_FILTER:
+        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_2D, param, value); break;
+        case RL_TEXTURE_FILTER_ANISOTROPIC:
+        {
+#if !defined(GRAPHICS_API_OPENGL_11)
+            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
+            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
+            {
+                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
+                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
+            }
+            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
+#endif
+        } break;
+#if defined(GRAPHICS_API_OPENGL_33)
+        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_LOD_BIAS, value/100.0f);
+#endif
+        default: break;
+    }
+
+    glBindTexture(GL_TEXTURE_2D, 0);
+}
+
+// Set cubemap parameters (wrap mode/filter mode)
+void rlCubemapParameters(unsigned int id, int param, int value)
+{
+#if !defined(GRAPHICS_API_OPENGL_11)
+    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
+
+    // Reset anisotropy filter, in case it was set
+    glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
+
+    switch (param)
+    {
+        case RL_TEXTURE_WRAP_S:
+        case RL_TEXTURE_WRAP_T:
+        {
+            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
+            {
+                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
+                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
+            }
+            else glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
+
+        } break;
+        case RL_TEXTURE_MAG_FILTER:
+        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value); break;
+        case RL_TEXTURE_FILTER_ANISOTROPIC:
+        {
+            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
+            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
+            {
+                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
+                glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
+            }
+            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
+        } break;
+#if defined(GRAPHICS_API_OPENGL_33)
+        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_LOD_BIAS, value/100.0f);
+#endif
+        default: break;
+    }
+
+    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
+#endif
+}
+
+// Enable shader program
+void rlEnableShader(unsigned int id)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
+    glUseProgram(id);
+#endif
+}
+
+// Disable shader program
+void rlDisableShader(void)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
+    glUseProgram(0);
+#endif
+}
+
+// Enable rendering to texture (fbo)
+void rlEnableFramebuffer(unsigned int id)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glBindFramebuffer(GL_FRAMEBUFFER, id);
+#endif
+}
+
+// Disable rendering to texture
+void rlDisableFramebuffer(void)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+#endif
+}
+
+// Blit active framebuffer to main framebuffer
+void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glBlitFramebuffer(srcX, srcY, srcWidth, srcHeight, dstX, dstY, dstWidth, dstHeight, bufferMask, GL_NEAREST);
+#endif
+}
+
+// Activate multiple draw color buffers
+// NOTE: One color buffer is always active by default
+void rlActiveDrawBuffers(int count)
+{
+#if ((defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT))
+    // NOTE: Maximum number of draw buffers supported is implementation dependant,
+    // it can be queried with glGet*() but it must be at least 8
+    //GLint maxDrawBuffers = 0;
+    //glGetIntegerv(GL_MAX_DRAW_BUFFERS, &maxDrawBuffers);
+
+    if (count > 0)
+    {
+        if (count > 8) TRACELOG(LOG_WARNING, "GL: Max color buffers limited to 8");
+        else
+        {
+            unsigned int buffers[8] = {
+#if defined(GRAPHICS_API_OPENGL_ES3)
+                GL_COLOR_ATTACHMENT0_EXT,
+                GL_COLOR_ATTACHMENT1_EXT,
+                GL_COLOR_ATTACHMENT2_EXT,
+                GL_COLOR_ATTACHMENT3_EXT,
+                GL_COLOR_ATTACHMENT4_EXT,
+                GL_COLOR_ATTACHMENT5_EXT,
+                GL_COLOR_ATTACHMENT6_EXT,
+                GL_COLOR_ATTACHMENT7_EXT,
+#else
+                GL_COLOR_ATTACHMENT0,
+                GL_COLOR_ATTACHMENT1,
+                GL_COLOR_ATTACHMENT2,
+                GL_COLOR_ATTACHMENT3,
+                GL_COLOR_ATTACHMENT4,
+                GL_COLOR_ATTACHMENT5,
+                GL_COLOR_ATTACHMENT6,
+                GL_COLOR_ATTACHMENT7,
+#endif
+            };
+
+#if defined(GRAPHICS_API_OPENGL_ES3)
+            glDrawBuffersEXT(count, buffers);
+#else
+            glDrawBuffers(count, buffers);
+#endif
+        }
+    }
+    else TRACELOG(LOG_WARNING, "GL: One color buffer active by default");
+#endif
+}
+
+//----------------------------------------------------------------------------------
+// General render state configuration
+//----------------------------------------------------------------------------------
+
+// Enable color blending
+void rlEnableColorBlend(void) { glEnable(GL_BLEND); }
+
+// Disable color blending
+void rlDisableColorBlend(void) { glDisable(GL_BLEND); }
+
+// Enable depth test
+void rlEnableDepthTest(void) { glEnable(GL_DEPTH_TEST); }
+
+// Disable depth test
+void rlDisableDepthTest(void) { glDisable(GL_DEPTH_TEST); }
+
+// Enable depth write
+void rlEnableDepthMask(void) { glDepthMask(GL_TRUE); }
+
+// Disable depth write
+void rlDisableDepthMask(void) { glDepthMask(GL_FALSE); }
+
+// Enable backface culling
+void rlEnableBackfaceCulling(void) { glEnable(GL_CULL_FACE); }
+
+// Disable backface culling
+void rlDisableBackfaceCulling(void) { glDisable(GL_CULL_FACE); }
+
+// Set face culling mode
+void rlSetCullFace(int mode)
+{
+    switch (mode)
+    {
+        case RL_CULL_FACE_BACK: glCullFace(GL_BACK); break;
+        case RL_CULL_FACE_FRONT: glCullFace(GL_FRONT); break;
+        default: break;
+    }
+}
+
+// Enable scissor test
+void rlEnableScissorTest(void) { glEnable(GL_SCISSOR_TEST); }
+
+// Disable scissor test
+void rlDisableScissorTest(void) { glDisable(GL_SCISSOR_TEST); }
+
+// Scissor test
+void rlScissor(int x, int y, int width, int height) { glScissor(x, y, width, height); }
+
+// Enable wire mode
+void rlEnableWireMode(void)
+{
+#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
+    // NOTE: glPolygonMode() not available on OpenGL ES
+    glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
+#endif
+}
+
+void rlEnablePointMode(void)
+{
+#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
+    // NOTE: glPolygonMode() not available on OpenGL ES
+    glPolygonMode(GL_FRONT_AND_BACK, GL_POINT);
+    glEnable(GL_PROGRAM_POINT_SIZE);
+#endif
+}
+// Disable wire mode
+void rlDisableWireMode(void)
+{
+#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
+    // NOTE: glPolygonMode() not available on OpenGL ES
+    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+#endif
+}
+
+// Set the line drawing width
+void rlSetLineWidth(float width) { glLineWidth(width); }
+
+// Get the line drawing width
+float rlGetLineWidth(void)
+{
+    float width = 0;
+    glGetFloatv(GL_LINE_WIDTH, &width);
+    return width;
+}
+
+// Enable line aliasing
+void rlEnableSmoothLines(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
+    glEnable(GL_LINE_SMOOTH);
+#endif
+}
+
+// Disable line aliasing
+void rlDisableSmoothLines(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
+    glDisable(GL_LINE_SMOOTH);
+#endif
+}
+
+// Enable stereo rendering
+void rlEnableStereoRender(void)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
+    RLGL.State.stereoRender = true;
+#endif
+}
+
+// Disable stereo rendering
+void rlDisableStereoRender(void)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
+    RLGL.State.stereoRender = false;
+#endif
+}
+
+// Check if stereo render is enabled
+bool rlIsStereoRenderEnabled(void)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
+    return RLGL.State.stereoRender;
+#else
+    return false;
+#endif
+}
+
+// Clear color buffer with color
+void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
+{
+    // Color values clamp to 0.0f(0) and 1.0f(255)
+    float cr = (float)r/255;
+    float cg = (float)g/255;
+    float cb = (float)b/255;
+    float ca = (float)a/255;
+
+    glClearColor(cr, cg, cb, ca);
+}
+
+// Clear used screen buffers (color and depth)
+void rlClearScreenBuffers(void)
+{
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear used buffers: Color and Depth (Depth is used for 3D)
+    //glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);     // Stencil buffer not used...
+}
+
+// Check and log OpenGL error codes
+void rlCheckErrors()
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    int check = 1;
+    while (check)
+    {
+        const GLenum err = glGetError();
+        switch (err)
+        {
+            case GL_NO_ERROR: check = 0; break;
+            case 0x0500: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_ENUM"); break;
+            case 0x0501: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_VALUE"); break;
+            case 0x0502: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_OPERATION"); break;
+            case 0x0503: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_OVERFLOW"); break;
+            case 0x0504: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_UNDERFLOW"); break;
+            case 0x0505: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_OUT_OF_MEMORY"); break;
+            case 0x0506: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_FRAMEBUFFER_OPERATION"); break;
+            default: TRACELOG(RL_LOG_WARNING, "GL: Error detected: Unknown error code: %x", err); break;
+        }
+    }
+#endif
+}
+
+// Set blend mode
+void rlSetBlendMode(int mode)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if ((RLGL.State.currentBlendMode != mode) || ((mode == RL_BLEND_CUSTOM || mode == RL_BLEND_CUSTOM_SEPARATE) && RLGL.State.glCustomBlendModeModified))
+    {
+        rlDrawRenderBatch(RLGL.currentBatch);
+
+        switch (mode)
+        {
+            case RL_BLEND_ALPHA: glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
+            case RL_BLEND_ADDITIVE: glBlendFunc(GL_SRC_ALPHA, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
+            case RL_BLEND_MULTIPLIED: glBlendFunc(GL_DST_COLOR, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
+            case RL_BLEND_ADD_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
+            case RL_BLEND_SUBTRACT_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_SUBTRACT); break;
+            case RL_BLEND_ALPHA_PREMULTIPLY: glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
+            case RL_BLEND_CUSTOM:
+            {
+                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactors()
+                glBlendFunc(RLGL.State.glBlendSrcFactor, RLGL.State.glBlendDstFactor); glBlendEquation(RLGL.State.glBlendEquation);
+
+            } break;
+            case RL_BLEND_CUSTOM_SEPARATE:
+            {
+                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactorsSeparate()
+                glBlendFuncSeparate(RLGL.State.glBlendSrcFactorRGB, RLGL.State.glBlendDestFactorRGB, RLGL.State.glBlendSrcFactorAlpha, RLGL.State.glBlendDestFactorAlpha);
+                glBlendEquationSeparate(RLGL.State.glBlendEquationRGB, RLGL.State.glBlendEquationAlpha);
+
+            } break;
+            default: break;
+        }
+
+        RLGL.State.currentBlendMode = mode;
+        RLGL.State.glCustomBlendModeModified = false;
+    }
+#endif
+}
+
+// Set blending mode factor and equation
+void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if ((RLGL.State.glBlendSrcFactor != glSrcFactor) ||
+        (RLGL.State.glBlendDstFactor != glDstFactor) ||
+        (RLGL.State.glBlendEquation != glEquation))
+    {
+        RLGL.State.glBlendSrcFactor = glSrcFactor;
+        RLGL.State.glBlendDstFactor = glDstFactor;
+        RLGL.State.glBlendEquation = glEquation;
+
+        RLGL.State.glCustomBlendModeModified = true;
+    }
+#endif
+}
+
+// Set blending mode factor and equation separately for RGB and alpha
+void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if ((RLGL.State.glBlendSrcFactorRGB != glSrcRGB) ||
+        (RLGL.State.glBlendDestFactorRGB != glDstRGB) ||
+        (RLGL.State.glBlendSrcFactorAlpha != glSrcAlpha) ||
+        (RLGL.State.glBlendDestFactorAlpha != glDstAlpha) ||
+        (RLGL.State.glBlendEquationRGB != glEqRGB) ||
+        (RLGL.State.glBlendEquationAlpha != glEqAlpha))
+    {
+        RLGL.State.glBlendSrcFactorRGB = glSrcRGB;
+        RLGL.State.glBlendDestFactorRGB = glDstRGB;
+        RLGL.State.glBlendSrcFactorAlpha = glSrcAlpha;
+        RLGL.State.glBlendDestFactorAlpha = glDstAlpha;
+        RLGL.State.glBlendEquationRGB = glEqRGB;
+        RLGL.State.glBlendEquationAlpha = glEqAlpha;
+
+        RLGL.State.glCustomBlendModeModified = true;
+    }
+#endif
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - OpenGL Debug
+//----------------------------------------------------------------------------------
+#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
+static void GLAPIENTRY rlDebugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
+{
+    // Ignore non-significant error/warning codes (NVidia drivers)
+    // NOTE: Here there are the details with a sample output:
+    // - #131169 - Framebuffer detailed info: The driver allocated storage for renderbuffer 2. (severity: low)
+    // - #131185 - Buffer detailed info: Buffer object 1 (bound to GL_ELEMENT_ARRAY_BUFFER_ARB, usage hint is GL_ENUM_88e4)
+    //             will use VIDEO memory as the source for buffer object operations. (severity: low)
+    // - #131218 - Program/shader state performance warning: Vertex shader in program 7 is being recompiled based on GL state. (severity: medium)
+    // - #131204 - Texture state usage warning: The texture object (0) bound to texture image unit 0 does not have
+    //             a defined base level and cannot be used for texture mapping. (severity: low)
+    if ((id == 131169) || (id == 131185) || (id == 131218) || (id == 131204)) return;
+
+    const char *msgSource = NULL;
+    switch (source)
+    {
+        case GL_DEBUG_SOURCE_API: msgSource = "API"; break;
+        case GL_DEBUG_SOURCE_WINDOW_SYSTEM: msgSource = "WINDOW_SYSTEM"; break;
+        case GL_DEBUG_SOURCE_SHADER_COMPILER: msgSource = "SHADER_COMPILER"; break;
+        case GL_DEBUG_SOURCE_THIRD_PARTY: msgSource = "THIRD_PARTY"; break;
+        case GL_DEBUG_SOURCE_APPLICATION: msgSource = "APPLICATION"; break;
+        case GL_DEBUG_SOURCE_OTHER: msgSource = "OTHER"; break;
+        default: break;
+    }
+
+    const char *msgType = NULL;
+    switch (type)
+    {
+        case GL_DEBUG_TYPE_ERROR: msgType = "ERROR"; break;
+        case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR: msgType = "DEPRECATED_BEHAVIOR"; break;
+        case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR: msgType = "UNDEFINED_BEHAVIOR"; break;
+        case GL_DEBUG_TYPE_PORTABILITY: msgType = "PORTABILITY"; break;
+        case GL_DEBUG_TYPE_PERFORMANCE: msgType = "PERFORMANCE"; break;
+        case GL_DEBUG_TYPE_MARKER: msgType = "MARKER"; break;
+        case GL_DEBUG_TYPE_PUSH_GROUP: msgType = "PUSH_GROUP"; break;
+        case GL_DEBUG_TYPE_POP_GROUP: msgType = "POP_GROUP"; break;
+        case GL_DEBUG_TYPE_OTHER: msgType = "OTHER"; break;
+        default: break;
+    }
+
+    const char *msgSeverity = "DEFAULT";
+    switch (severity)
+    {
+        case GL_DEBUG_SEVERITY_LOW: msgSeverity = "LOW"; break;
+        case GL_DEBUG_SEVERITY_MEDIUM: msgSeverity = "MEDIUM"; break;
+        case GL_DEBUG_SEVERITY_HIGH: msgSeverity = "HIGH"; break;
+        case GL_DEBUG_SEVERITY_NOTIFICATION: msgSeverity = "NOTIFICATION"; break;
+        default: break;
+    }
+
+    TRACELOG(LOG_WARNING, "GL: OpenGL debug message: %s", message);
+    TRACELOG(LOG_WARNING, "    > Type: %s", msgType);
+    TRACELOG(LOG_WARNING, "    > Source = %s", msgSource);
+    TRACELOG(LOG_WARNING, "    > Severity = %s", msgSeverity);
+}
+#endif
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - rlgl functionality
+//----------------------------------------------------------------------------------
+
+// Initialize rlgl: OpenGL extensions, default buffers/shaders/textures, OpenGL states
+void rlglInit(int width, int height)
+{
+    // Enable OpenGL debug context if required
+#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
+    if ((glDebugMessageCallback != NULL) && (glDebugMessageControl != NULL))
+    {
+        glDebugMessageCallback(rlDebugMessageCallback, 0);
+        // glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_ERROR, GL_DEBUG_SEVERITY_HIGH, 0, 0, GL_TRUE);
+
+        // Debug context options:
+        //  - GL_DEBUG_OUTPUT - Faster version but not useful for breakpoints
+        //  - GL_DEBUG_OUTPUT_SYNCHRONUS - Callback is in sync with errors, so a breakpoint can be placed on the callback in order to get a stacktrace for the GL error
+        glEnable(GL_DEBUG_OUTPUT);
+        glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
+    }
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // Init default white texture
+    unsigned char pixels[4] = { 255, 255, 255, 255 };   // 1 pixel RGBA (4 bytes)
+    RLGL.State.defaultTextureId = rlLoadTexture(pixels, 1, 1, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8, 1);
+
+    if (RLGL.State.defaultTextureId != 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture loaded successfully", RLGL.State.defaultTextureId);
+    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load default texture");
+
+    // Init default Shader (customized for GL 3.3 and ES2)
+    // Loaded: RLGL.State.defaultShaderId + RLGL.State.defaultShaderLocs
+    rlLoadShaderDefault();
+    RLGL.State.currentShaderId = RLGL.State.defaultShaderId;
+    RLGL.State.currentShaderLocs = RLGL.State.defaultShaderLocs;
+
+    // Init default vertex arrays buffers
+    RLGL.defaultBatch = rlLoadRenderBatch(RL_DEFAULT_BATCH_BUFFERS, RL_DEFAULT_BATCH_BUFFER_ELEMENTS);
+    RLGL.currentBatch = &RLGL.defaultBatch;
+
+    // Init stack matrices (emulating OpenGL 1.1)
+    for (int i = 0; i < RL_MAX_MATRIX_STACK_SIZE; i++) RLGL.State.stack[i] = rlMatrixIdentity();
+
+    // Init internal matrices
+    RLGL.State.transform = rlMatrixIdentity();
+    RLGL.State.projection = rlMatrixIdentity();
+    RLGL.State.modelview = rlMatrixIdentity();
+    RLGL.State.currentMatrix = &RLGL.State.modelview;
+#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
+
+    // Initialize OpenGL default states
+    //----------------------------------------------------------
+    // Init state: Depth test
+    glDepthFunc(GL_LEQUAL);                                 // Type of depth testing to apply
+    glDisable(GL_DEPTH_TEST);                               // Disable depth testing for 2D (only used for 3D)
+
+    // Init state: Blending mode
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);      // Color blending function (how colors are mixed)
+    glEnable(GL_BLEND);                                     // Enable color blending (required to work with transparencies)
+
+    // Init state: Culling
+    // NOTE: All shapes/models triangles are drawn CCW
+    glCullFace(GL_BACK);                                    // Cull the back face (default)
+    glFrontFace(GL_CCW);                                    // Front face are defined counter clockwise (default)
+    glEnable(GL_CULL_FACE);                                 // Enable backface culling
+
+    // Init state: Cubemap seamless
+#if defined(GRAPHICS_API_OPENGL_33)
+    glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);                 // Seamless cubemaps (not supported on OpenGL ES 2.0)
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_11)
+    // Init state: Color hints (deprecated in OpenGL 3.0+)
+    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);      // Improve quality of color and texture coordinate interpolation
+    glShadeModel(GL_SMOOTH);                                // Smooth shading between vertex (vertex colors interpolation)
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // Store screen size into global variables
+    RLGL.State.framebufferWidth = width;
+    RLGL.State.framebufferHeight = height;
+
+    TRACELOG(RL_LOG_INFO, "RLGL: Default OpenGL state initialized successfully");
+    //----------------------------------------------------------
+#endif
+
+    // Init state: Color/Depth buffers clear
+    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);                   // Set clear color (black)
+    glClearDepth(1.0f);                                     // Set clear depth value (default)
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear color and depth buffers (depth buffer required for 3D)
+}
+
+// Vertex Buffer Object deinitialization (memory free)
+void rlglClose(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    rlUnloadRenderBatch(RLGL.defaultBatch);
+
+    rlUnloadShaderDefault();          // Unload default shader
+
+    glDeleteTextures(1, &RLGL.State.defaultTextureId); // Unload default texture
+    TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture unloaded successfully", RLGL.State.defaultTextureId);
+#endif
+}
+
+// Load OpenGL extensions
+// NOTE: External loader function must be provided
+void rlLoadExtensions(void *loader)
+{
+#if defined(GRAPHICS_API_OPENGL_33)     // Also defined for GRAPHICS_API_OPENGL_21
+    // NOTE: glad is generated and contains only required OpenGL 3.3 Core extensions (and lower versions)
+    if (gladLoadGL((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL extensions");
+    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL extensions loaded successfully");
+
+    // Get number of supported extensions
+    GLint numExt = 0;
+    glGetIntegerv(GL_NUM_EXTENSIONS, &numExt);
+    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
+
+#if defined(RLGL_SHOW_GL_DETAILS_INFO)
+    // Get supported extensions list
+    // WARNING: glGetStringi() not available on OpenGL 2.1
+    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
+    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", glGetStringi(GL_EXTENSIONS, i));
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_21)
+    // Register supported extensions flags
+    // Optional OpenGL 2.1 extensions
+    RLGL.ExtSupported.vao = GLAD_GL_ARB_vertex_array_object;
+    RLGL.ExtSupported.instancing = (GLAD_GL_EXT_draw_instanced && GLAD_GL_ARB_instanced_arrays);
+    RLGL.ExtSupported.texNPOT = GLAD_GL_ARB_texture_non_power_of_two;
+    RLGL.ExtSupported.texFloat32 = GLAD_GL_ARB_texture_float;
+    RLGL.ExtSupported.texFloat16 = GLAD_GL_ARB_texture_float;
+    RLGL.ExtSupported.texDepth = GLAD_GL_ARB_depth_texture;
+    RLGL.ExtSupported.maxDepthBits = 32;
+    RLGL.ExtSupported.texAnisoFilter = GLAD_GL_EXT_texture_filter_anisotropic;
+    RLGL.ExtSupported.texMirrorClamp = GLAD_GL_EXT_texture_mirror_clamp;
+#else
+    // Register supported extensions flags
+    // OpenGL 3.3 extensions supported by default (core)
+    RLGL.ExtSupported.vao = true;
+    RLGL.ExtSupported.instancing = true;
+    RLGL.ExtSupported.texNPOT = true;
+    RLGL.ExtSupported.texFloat32 = true;
+    RLGL.ExtSupported.texFloat16 = true;
+    RLGL.ExtSupported.texDepth = true;
+    RLGL.ExtSupported.maxDepthBits = 32;
+    RLGL.ExtSupported.texAnisoFilter = true;
+    RLGL.ExtSupported.texMirrorClamp = true;
+#endif
+
+    // Optional OpenGL 3.3 extensions
+    RLGL.ExtSupported.texCompASTC = GLAD_GL_KHR_texture_compression_astc_hdr && GLAD_GL_KHR_texture_compression_astc_ldr;
+    RLGL.ExtSupported.texCompDXT = GLAD_GL_EXT_texture_compression_s3tc;  // Texture compression: DXT
+    RLGL.ExtSupported.texCompETC2 = GLAD_GL_ARB_ES3_compatibility;        // Texture compression: ETC2/EAC
+    #if defined(GRAPHICS_API_OPENGL_43)
+    RLGL.ExtSupported.computeShader = GLAD_GL_ARB_compute_shader;
+    RLGL.ExtSupported.ssbo = GLAD_GL_ARB_shader_storage_buffer_object;
+    #endif
+
+#endif  // GRAPHICS_API_OPENGL_33
+
+#if defined(GRAPHICS_API_OPENGL_ES3)
+    // Register supported extensions flags
+    // OpenGL ES 3.0 extensions supported by default (or it should be)
+    RLGL.ExtSupported.vao = true;
+    RLGL.ExtSupported.instancing = true;
+    RLGL.ExtSupported.texNPOT = true;
+    RLGL.ExtSupported.texFloat32 = true;
+    RLGL.ExtSupported.texFloat16 = true;
+    RLGL.ExtSupported.texDepth = true;
+    RLGL.ExtSupported.texDepthWebGL = true;
+    RLGL.ExtSupported.maxDepthBits = 24;
+    RLGL.ExtSupported.texAnisoFilter = true;
+    RLGL.ExtSupported.texMirrorClamp = true;
+    // TODO: Check for additional OpenGL ES 3.0 supported extensions:
+    //RLGL.ExtSupported.texCompDXT = true;
+    //RLGL.ExtSupported.texCompETC1 = true;
+    //RLGL.ExtSupported.texCompETC2 = true;
+    //RLGL.ExtSupported.texCompPVRT = true;
+    //RLGL.ExtSupported.texCompASTC = true;
+    //RLGL.ExtSupported.maxAnisotropyLevel = true;
+    //RLGL.ExtSupported.computeShader = true;
+    //RLGL.ExtSupported.ssbo = true;
+
+#elif defined(GRAPHICS_API_OPENGL_ES2)
+
+    #if defined(PLATFORM_DESKTOP) || defined(PLATFORM_DESKTOP_SDL)
+    // TODO: Support GLAD loader for OpenGL ES 3.0
+    if (gladLoadGLES2((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL ES2.0 functions");
+    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL ES 2.0 loaded successfully");
+    #endif
+
+    // Get supported extensions list
+    GLint numExt = 0;
+    const char **extList = RL_MALLOC(512*sizeof(const char *)); // Allocate 512 strings pointers (2 KB)
+    const char *extensions = (const char *)glGetString(GL_EXTENSIONS);  // One big const string
+
+    // NOTE: We have to duplicate string because glGetString() returns a const string
+    int size = strlen(extensions) + 1;      // Get extensions string size in bytes
+    char *extensionsDup = (char *)RL_CALLOC(size, sizeof(char));
+    strcpy(extensionsDup, extensions);
+    extList[numExt] = extensionsDup;
+
+    for (int i = 0; i < size; i++)
+    {
+        if (extensionsDup[i] == ' ')
+        {
+            extensionsDup[i] = '\0';
+            numExt++;
+            extList[numExt] = &extensionsDup[i + 1];
+        }
+    }
+
+    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
+
+#if defined(RLGL_SHOW_GL_DETAILS_INFO)
+    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
+    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", extList[i]);
+#endif
+
+    // Check required extensions
+    for (int i = 0; i < numExt; i++)
+    {
+        // Check VAO support
+        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has VAO support as core feature
+        if (strcmp(extList[i], (const char *)"GL_OES_vertex_array_object") == 0)
+        {
+            // The extension is supported by our hardware and driver, try to get related functions pointers
+            // NOTE: emscripten does not support VAOs natively, it uses emulation and it reduces overall performance...
+            glGenVertexArrays = (PFNGLGENVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glGenVertexArraysOES");
+            glBindVertexArray = (PFNGLBINDVERTEXARRAYOESPROC)((rlglLoadProc)loader)("glBindVertexArrayOES");
+            glDeleteVertexArrays = (PFNGLDELETEVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glDeleteVertexArraysOES");
+            //glIsVertexArray = (PFNGLISVERTEXARRAYOESPROC)loader("glIsVertexArrayOES");     // NOTE: Fails in WebGL, omitted
+
+            if ((glGenVertexArrays != NULL) && (glBindVertexArray != NULL) && (glDeleteVertexArrays != NULL)) RLGL.ExtSupported.vao = true;
+        }
+
+        // Check instanced rendering support
+        if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)         // Web ANGLE
+        {
+            glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
+            glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
+            glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
+
+            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
+        }
+        else
+        {
+            if ((strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0) &&     // Standard EXT
+                (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0))
+            {
+                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
+                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
+                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
+
+                if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
+            }
+        }
+
+        // Check NPOT textures support
+        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has NPOT textures full support as core feature
+        if (strcmp(extList[i], (const char *)"GL_OES_texture_npot") == 0) RLGL.ExtSupported.texNPOT = true;
+
+        // Check texture float support
+        if (strcmp(extList[i], (const char *)"GL_OES_texture_float") == 0) RLGL.ExtSupported.texFloat32 = true;
+        if (strcmp(extList[i], (const char *)"GL_OES_texture_half_float") == 0) RLGL.ExtSupported.texFloat16 = true;
+
+        // Check depth texture support
+        if (strcmp(extList[i], (const char *)"GL_OES_depth_texture") == 0) RLGL.ExtSupported.texDepth = true;
+        if (strcmp(extList[i], (const char *)"GL_WEBGL_depth_texture") == 0) RLGL.ExtSupported.texDepthWebGL = true;    // WebGL requires unsized internal format
+        if (RLGL.ExtSupported.texDepthWebGL) RLGL.ExtSupported.texDepth = true;
+
+        if (strcmp(extList[i], (const char *)"GL_OES_depth24") == 0) RLGL.ExtSupported.maxDepthBits = 24;   // Not available on WebGL
+        if (strcmp(extList[i], (const char *)"GL_OES_depth32") == 0) RLGL.ExtSupported.maxDepthBits = 32;   // Not available on WebGL
+
+        // Check texture compression support: DXT
+        if ((strcmp(extList[i], (const char *)"GL_EXT_texture_compression_s3tc") == 0) ||
+            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_s3tc") == 0) ||
+            (strcmp(extList[i], (const char *)"GL_WEBKIT_WEBGL_compressed_texture_s3tc") == 0)) RLGL.ExtSupported.texCompDXT = true;
+
+        // Check texture compression support: ETC1
+        if ((strcmp(extList[i], (const char *)"GL_OES_compressed_ETC1_RGB8_texture") == 0) ||
+            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_etc1") == 0)) RLGL.ExtSupported.texCompETC1 = true;
+
+        // Check texture compression support: ETC2/EAC
+        if (strcmp(extList[i], (const char *)"GL_ARB_ES3_compatibility") == 0) RLGL.ExtSupported.texCompETC2 = true;
+
+        // Check texture compression support: PVR
+        if (strcmp(extList[i], (const char *)"GL_IMG_texture_compression_pvrtc") == 0) RLGL.ExtSupported.texCompPVRT = true;
+
+        // Check texture compression support: ASTC
+        if (strcmp(extList[i], (const char *)"GL_KHR_texture_compression_astc_hdr") == 0) RLGL.ExtSupported.texCompASTC = true;
+
+        // Check anisotropic texture filter support
+        if (strcmp(extList[i], (const char *)"GL_EXT_texture_filter_anisotropic") == 0) RLGL.ExtSupported.texAnisoFilter = true;
+
+        // Check clamp mirror wrap mode support
+        if (strcmp(extList[i], (const char *)"GL_EXT_texture_mirror_clamp") == 0) RLGL.ExtSupported.texMirrorClamp = true;
+    }
+
+    // Free extensions pointers
+    RL_FREE(extList);
+    RL_FREE(extensionsDup);    // Duplicated string must be deallocated
+#endif  // GRAPHICS_API_OPENGL_ES2
+
+    // Check OpenGL information and capabilities
+    //------------------------------------------------------------------------------
+    // Show current OpenGL and GLSL version
+    TRACELOG(RL_LOG_INFO, "GL: OpenGL device information:");
+    TRACELOG(RL_LOG_INFO, "    > Vendor:   %s", glGetString(GL_VENDOR));
+    TRACELOG(RL_LOG_INFO, "    > Renderer: %s", glGetString(GL_RENDERER));
+    TRACELOG(RL_LOG_INFO, "    > Version:  %s", glGetString(GL_VERSION));
+    TRACELOG(RL_LOG_INFO, "    > GLSL:     %s", glGetString(GL_SHADING_LANGUAGE_VERSION));
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // NOTE: Anisotropy levels capability is an extension
+    #ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
+        #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF
+    #endif
+    glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &RLGL.ExtSupported.maxAnisotropyLevel);
+
+#if defined(RLGL_SHOW_GL_DETAILS_INFO)
+    // Show some OpenGL GPU capabilities
+    TRACELOG(RL_LOG_INFO, "GL: OpenGL capabilities:");
+    GLint capability = 0;
+    glGetIntegerv(GL_MAX_TEXTURE_SIZE, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_SIZE: %i", capability);
+    glGetIntegerv(GL_MAX_CUBE_MAP_TEXTURE_SIZE, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_CUBE_MAP_TEXTURE_SIZE: %i", capability);
+    glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_IMAGE_UNITS: %i", capability);
+    glGetIntegerv(GL_MAX_VERTEX_ATTRIBS, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIBS: %i", capability);
+    #if !defined(GRAPHICS_API_OPENGL_ES2)
+    glGetIntegerv(GL_MAX_UNIFORM_BLOCK_SIZE, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_BLOCK_SIZE: %i", capability);
+    glGetIntegerv(GL_MAX_DRAW_BUFFERS, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_DRAW_BUFFERS: %i", capability);
+    if (RLGL.ExtSupported.texAnisoFilter) TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_MAX_ANISOTROPY: %.0f", RLGL.ExtSupported.maxAnisotropyLevel);
+    #endif
+    glGetIntegerv(GL_NUM_COMPRESSED_TEXTURE_FORMATS, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_NUM_COMPRESSED_TEXTURE_FORMATS: %i", capability);
+    GLint *compFormats = (GLint *)RL_CALLOC(capability, sizeof(GLint));
+    glGetIntegerv(GL_COMPRESSED_TEXTURE_FORMATS, compFormats);
+    for (int i = 0; i < capability; i++) TRACELOG(RL_LOG_INFO, "        %s", rlGetCompressedFormatName(compFormats[i]));
+    RL_FREE(compFormats);
+
+#if defined(GRAPHICS_API_OPENGL_43)
+    glGetIntegerv(GL_MAX_VERTEX_ATTRIB_BINDINGS, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIB_BINDINGS: %i", capability);
+    glGetIntegerv(GL_MAX_UNIFORM_LOCATIONS, &capability);
+    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_LOCATIONS: %i", capability);
+#endif  // GRAPHICS_API_OPENGL_43
+#else   // RLGL_SHOW_GL_DETAILS_INFO
+
+    // Show some basic info about GL supported features
+    if (RLGL.ExtSupported.vao) TRACELOG(RL_LOG_INFO, "GL: VAO extension detected, VAO functions loaded successfully");
+    else TRACELOG(RL_LOG_WARNING, "GL: VAO extension not found, VAO not supported");
+    if (RLGL.ExtSupported.texNPOT) TRACELOG(RL_LOG_INFO, "GL: NPOT textures extension detected, full NPOT textures supported");
+    else TRACELOG(RL_LOG_WARNING, "GL: NPOT textures extension not found, limited NPOT support (no-mipmaps, no-repeat)");
+    if (RLGL.ExtSupported.texCompDXT) TRACELOG(RL_LOG_INFO, "GL: DXT compressed textures supported");
+    if (RLGL.ExtSupported.texCompETC1) TRACELOG(RL_LOG_INFO, "GL: ETC1 compressed textures supported");
+    if (RLGL.ExtSupported.texCompETC2) TRACELOG(RL_LOG_INFO, "GL: ETC2/EAC compressed textures supported");
+    if (RLGL.ExtSupported.texCompPVRT) TRACELOG(RL_LOG_INFO, "GL: PVRT compressed textures supported");
+    if (RLGL.ExtSupported.texCompASTC) TRACELOG(RL_LOG_INFO, "GL: ASTC compressed textures supported");
+    if (RLGL.ExtSupported.computeShader) TRACELOG(RL_LOG_INFO, "GL: Compute shaders supported");
+    if (RLGL.ExtSupported.ssbo) TRACELOG(RL_LOG_INFO, "GL: Shader storage buffer objects supported");
+#endif  // RLGL_SHOW_GL_DETAILS_INFO
+
+#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
+}
+
+// Get current OpenGL version
+int rlGetVersion(void)
+{
+    int glVersion = 0;
+#if defined(GRAPHICS_API_OPENGL_11)
+    glVersion = RL_OPENGL_11;
+#endif
+#if defined(GRAPHICS_API_OPENGL_21)
+    glVersion = RL_OPENGL_21;
+#elif defined(GRAPHICS_API_OPENGL_43)
+    glVersion = RL_OPENGL_43;
+#elif defined(GRAPHICS_API_OPENGL_33)
+    glVersion = RL_OPENGL_33;
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES3)
+    glVersion = RL_OPENGL_ES_30;
+#elif defined(GRAPHICS_API_OPENGL_ES2)
+    glVersion = RL_OPENGL_ES_20;
+#endif
+
+    return glVersion;
+}
+
+// Set current framebuffer width
+void rlSetFramebufferWidth(int width)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    RLGL.State.framebufferWidth = width;
+#endif
+}
+
+// Set current framebuffer height
+void rlSetFramebufferHeight(int height)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    RLGL.State.framebufferHeight = height;
+#endif
+}
+
+// Get default framebuffer width
+int rlGetFramebufferWidth(void)
+{
+    int width = 0;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    width = RLGL.State.framebufferWidth;
+#endif
+    return width;
+}
+
+// Get default framebuffer height
+int rlGetFramebufferHeight(void)
+{
+    int height = 0;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    height = RLGL.State.framebufferHeight;
+#endif
+    return height;
+}
+
+// Get default internal texture (white texture)
+// NOTE: Default texture is a 1x1 pixel UNCOMPRESSED_R8G8B8A8
+unsigned int rlGetTextureIdDefault(void)
+{
+    unsigned int id = 0;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    id = RLGL.State.defaultTextureId;
+#endif
+    return id;
+}
+
+// Get default shader id
+unsigned int rlGetShaderIdDefault(void)
+{
+    unsigned int id = 0;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    id = RLGL.State.defaultShaderId;
+#endif
+    return id;
+}
+
+// Get default shader locs
+int *rlGetShaderLocsDefault(void)
+{
+    int *locs = NULL;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    locs = RLGL.State.defaultShaderLocs;
+#endif
+    return locs;
+}
+
+// Render batch management
+//------------------------------------------------------------------------------------------------
+// Load render batch
+rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
+{
+    rlRenderBatch batch = { 0 };
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // Initialize CPU (RAM) vertex buffers (position, texcoord, color data and indexes)
+    //--------------------------------------------------------------------------------------------
+    batch.vertexBuffer = (rlVertexBuffer *)RL_MALLOC(numBuffers*sizeof(rlVertexBuffer));
+
+    for (int i = 0; i < numBuffers; i++)
+    {
+        batch.vertexBuffer[i].elementCount = bufferElements;
+
+        batch.vertexBuffer[i].vertices = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
+        batch.vertexBuffer[i].texcoords = (float *)RL_MALLOC(bufferElements*2*4*sizeof(float));       // 2 float by texcoord, 4 texcoord by quad
+        batch.vertexBuffer[i].colors = (unsigned char *)RL_MALLOC(bufferElements*4*4*sizeof(unsigned char));   // 4 float by color, 4 colors by quad
+#if defined(GRAPHICS_API_OPENGL_33)
+        batch.vertexBuffer[i].indices = (unsigned int *)RL_MALLOC(bufferElements*6*sizeof(unsigned int));      // 6 int by quad (indices)
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES2)
+        batch.vertexBuffer[i].indices = (unsigned short *)RL_MALLOC(bufferElements*6*sizeof(unsigned short));  // 6 int by quad (indices)
+#endif
+
+        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].vertices[j] = 0.0f;
+        for (int j = 0; j < (2*4*bufferElements); j++) batch.vertexBuffer[i].texcoords[j] = 0.0f;
+        for (int j = 0; j < (4*4*bufferElements); j++) batch.vertexBuffer[i].colors[j] = 0;
+
+        int k = 0;
+
+        // Indices can be initialized right now
+        for (int j = 0; j < (6*bufferElements); j += 6)
+        {
+            batch.vertexBuffer[i].indices[j] = 4*k;
+            batch.vertexBuffer[i].indices[j + 1] = 4*k + 1;
+            batch.vertexBuffer[i].indices[j + 2] = 4*k + 2;
+            batch.vertexBuffer[i].indices[j + 3] = 4*k;
+            batch.vertexBuffer[i].indices[j + 4] = 4*k + 2;
+            batch.vertexBuffer[i].indices[j + 5] = 4*k + 3;
+
+            k++;
+        }
+
+        RLGL.State.vertexCounter = 0;
+    }
+
+    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in RAM (CPU)");
+    //--------------------------------------------------------------------------------------------
+
+    // Upload to GPU (VRAM) vertex data and initialize VAOs/VBOs
+    //--------------------------------------------------------------------------------------------
+    for (int i = 0; i < numBuffers; i++)
+    {
+        if (RLGL.ExtSupported.vao)
+        {
+            // Initialize Quads VAO
+            glGenVertexArrays(1, &batch.vertexBuffer[i].vaoId);
+            glBindVertexArray(batch.vertexBuffer[i].vaoId);
+        }
+
+        // Quads - Vertex buffers binding and attributes enable
+        // Vertex position buffer (shader-location = 0)
+        glGenBuffers(1, &batch.vertexBuffer[i].vboId[0]);
+        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[0]);
+        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].vertices, GL_DYNAMIC_DRAW);
+        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
+        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
+
+        // Vertex texcoord buffer (shader-location = 1)
+        glGenBuffers(1, &batch.vertexBuffer[i].vboId[1]);
+        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[1]);
+        glBufferData(GL_ARRAY_BUFFER, bufferElements*2*4*sizeof(float), batch.vertexBuffer[i].texcoords, GL_DYNAMIC_DRAW);
+        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
+        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
+
+        // Vertex color buffer (shader-location = 3)
+        glGenBuffers(1, &batch.vertexBuffer[i].vboId[2]);
+        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[2]);
+        glBufferData(GL_ARRAY_BUFFER, bufferElements*4*4*sizeof(unsigned char), batch.vertexBuffer[i].colors, GL_DYNAMIC_DRAW);
+        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
+        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
+
+        // Fill index buffer
+        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
+        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
+#if defined(GRAPHICS_API_OPENGL_33)
+        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(int), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES2)
+        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(short), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
+#endif
+    }
+
+    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in VRAM (GPU)");
+
+    // Unbind the current VAO
+    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
+    //--------------------------------------------------------------------------------------------
+
+    // Init draw calls tracking system
+    //--------------------------------------------------------------------------------------------
+    batch.draws = (rlDrawCall *)RL_MALLOC(RL_DEFAULT_BATCH_DRAWCALLS*sizeof(rlDrawCall));
+
+    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
+    {
+        batch.draws[i].mode = RL_QUADS;
+        batch.draws[i].vertexCount = 0;
+        batch.draws[i].vertexAlignment = 0;
+        //batch.draws[i].vaoId = 0;
+        //batch.draws[i].shaderId = 0;
+        batch.draws[i].textureId = RLGL.State.defaultTextureId;
+        //batch.draws[i].RLGL.State.projection = rlMatrixIdentity();
+        //batch.draws[i].RLGL.State.modelview = rlMatrixIdentity();
+    }
+
+    batch.bufferCount = numBuffers;    // Record buffer count
+    batch.drawCounter = 1;             // Reset draws counter
+    batch.currentDepth = -1.0f;         // Reset depth value
+    //--------------------------------------------------------------------------------------------
+#endif
+
+    return batch;
+}
+
+// Unload default internal buffers vertex data from CPU and GPU
+void rlUnloadRenderBatch(rlRenderBatch batch)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // Unbind everything
+    glBindBuffer(GL_ARRAY_BUFFER, 0);
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+    // Unload all vertex buffers data
+    for (int i = 0; i < batch.bufferCount; i++)
+    {
+        // Unbind VAO attribs data
+        if (RLGL.ExtSupported.vao)
+        {
+            glBindVertexArray(batch.vertexBuffer[i].vaoId);
+            glDisableVertexAttribArray(0);
+            glDisableVertexAttribArray(1);
+            glDisableVertexAttribArray(2);
+            glDisableVertexAttribArray(3);
+            glBindVertexArray(0);
+        }
+
+        // Delete VBOs from GPU (VRAM)
+        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[0]);
+        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[1]);
+        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[2]);
+        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[3]);
+
+        // Delete VAOs from GPU (VRAM)
+        if (RLGL.ExtSupported.vao) glDeleteVertexArrays(1, &batch.vertexBuffer[i].vaoId);
+
+        // Free vertex arrays memory from CPU (RAM)
+        RL_FREE(batch.vertexBuffer[i].vertices);
+        RL_FREE(batch.vertexBuffer[i].texcoords);
+        RL_FREE(batch.vertexBuffer[i].colors);
+        RL_FREE(batch.vertexBuffer[i].indices);
+    }
+
+    // Unload arrays
+    RL_FREE(batch.vertexBuffer);
+    RL_FREE(batch.draws);
+#endif
+}
+
+// Draw render batch
+// NOTE: We require a pointer to reset batch and increase current buffer (multi-buffer)
+void rlDrawRenderBatch(rlRenderBatch *batch)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // Update batch vertex buffers
+    //------------------------------------------------------------------------------------------------------------
+    // NOTE: If there is not vertex data, buffers doesn't need to be updated (vertexCount > 0)
+    // TODO: If no data changed on the CPU arrays --> No need to re-update GPU arrays (use a change detector flag?)
+    if (RLGL.State.vertexCounter > 0)
+    {
+        // Activate elements VAO
+        if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
+
+        // Vertex positions buffer
+        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
+        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].vertices);
+        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].vertices, GL_DYNAMIC_DRAW);  // Update all buffer
+
+        // Texture coordinates buffer
+        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
+        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*2*sizeof(float), batch->vertexBuffer[batch->currentBuffer].texcoords);
+        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*2*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].texcoords, GL_DYNAMIC_DRAW); // Update all buffer
+
+        // Colors buffer
+        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
+        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*4*sizeof(unsigned char), batch->vertexBuffer[batch->currentBuffer].colors);
+        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*4*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].colors, GL_DYNAMIC_DRAW);    // Update all buffer
+
+        // NOTE: glMapBuffer() causes sync issue.
+        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job.
+        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer().
+        // If you do that, the previous data in PBO will be discarded and glMapBuffer() returns a new
+        // allocated pointer immediately even if GPU is still working with the previous data.
+
+        // Another option: map the buffer object into client's memory
+        // Probably this code could be moved somewhere else...
+        // batch->vertexBuffer[batch->currentBuffer].vertices = (float *)glMapBuffer(GL_ARRAY_BUFFER, GL_READ_WRITE);
+        // if (batch->vertexBuffer[batch->currentBuffer].vertices)
+        // {
+            // Update vertex data
+        // }
+        // glUnmapBuffer(GL_ARRAY_BUFFER);
+
+        // Unbind the current VAO
+        if (RLGL.ExtSupported.vao) glBindVertexArray(0);
+    }
+    //------------------------------------------------------------------------------------------------------------
+
+    // Draw batch vertex buffers (considering VR stereo if required)
+    //------------------------------------------------------------------------------------------------------------
+    Matrix matProjection = RLGL.State.projection;
+    Matrix matModelView = RLGL.State.modelview;
+
+    int eyeCount = 1;
+    if (RLGL.State.stereoRender) eyeCount = 2;
+
+    for (int eye = 0; eye < eyeCount; eye++)
+    {
+        if (eyeCount == 2)
+        {
+            // Setup current eye viewport (half screen width)
+            rlViewport(eye*RLGL.State.framebufferWidth/2, 0, RLGL.State.framebufferWidth/2, RLGL.State.framebufferHeight);
+
+            // Set current eye view offset to modelview matrix
+            rlSetMatrixModelview(rlMatrixMultiply(matModelView, RLGL.State.viewOffsetStereo[eye]));
+            // Set current eye projection matrix
+            rlSetMatrixProjection(RLGL.State.projectionStereo[eye]);
+        }
+
+        // Draw buffers
+        if (RLGL.State.vertexCounter > 0)
+        {
+            // Set current shader and upload current MVP matrix
+            glUseProgram(RLGL.State.currentShaderId);
+
+            // Create modelview-projection matrix and upload to shader
+            Matrix matMVP = rlMatrixMultiply(RLGL.State.modelview, RLGL.State.projection);
+            float matMVPfloat[16] = {
+                matMVP.m0, matMVP.m1, matMVP.m2, matMVP.m3,
+                matMVP.m4, matMVP.m5, matMVP.m6, matMVP.m7,
+                matMVP.m8, matMVP.m9, matMVP.m10, matMVP.m11,
+                matMVP.m12, matMVP.m13, matMVP.m14, matMVP.m15
+            };
+            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, matMVPfloat);
+
+            if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
+            else
+            {
+                // Bind vertex attrib: position (shader-location = 0)
+                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
+                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
+                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
+
+                // Bind vertex attrib: texcoord (shader-location = 1)
+                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
+                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
+                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
+
+                // Bind vertex attrib: color (shader-location = 3)
+                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
+                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
+                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
+
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
+            }
+
+            // Setup some default shader values
+            glUniform4f(RLGL.State.currentShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE], 1.0f, 1.0f, 1.0f, 1.0f);
+            glUniform1i(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE], 0);  // Active default sampler2D: texture0
+
+            // Activate additional sampler textures
+            // Those additional textures will be common for all draw calls of the batch
+            for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
+            {
+                if (RLGL.State.activeTextureId[i] > 0)
+                {
+                    glActiveTexture(GL_TEXTURE0 + 1 + i);
+                    glBindTexture(GL_TEXTURE_2D, RLGL.State.activeTextureId[i]);
+                }
+            }
+
+            // Activate default sampler2D texture0 (one texture is always active for default batch shader)
+            // NOTE: Batch system accumulates calls by texture0 changes, additional textures are enabled for all the draw calls
+            glActiveTexture(GL_TEXTURE0);
+
+            for (int i = 0, vertexOffset = 0; i < batch->drawCounter; i++)
+            {
+                // Bind current draw call texture, activated as GL_TEXTURE0 and Bound to sampler2D texture0 by default
+                glBindTexture(GL_TEXTURE_2D, batch->draws[i].textureId);
+
+                if ((batch->draws[i].mode == RL_LINES) || (batch->draws[i].mode == RL_TRIANGLES)) glDrawArrays(batch->draws[i].mode, vertexOffset, batch->draws[i].vertexCount);
+                else
+                {
+#if defined(GRAPHICS_API_OPENGL_33)
+                    // We need to define the number of indices to be processed: elementCount*6
+                    // NOTE: The final parameter tells the GPU the offset in bytes from the
+                    // start of the index buffer to the location of the first index to process
+                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_INT, (GLvoid *)(vertexOffset/4*6*sizeof(GLuint)));
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES2)
+                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_SHORT, (GLvoid *)(vertexOffset/4*6*sizeof(GLushort)));
+#endif
+                }
+
+                vertexOffset += (batch->draws[i].vertexCount + batch->draws[i].vertexAlignment);
+            }
+
+            if (!RLGL.ExtSupported.vao)
+            {
+                glBindBuffer(GL_ARRAY_BUFFER, 0);
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+            }
+
+            glBindTexture(GL_TEXTURE_2D, 0);    // Unbind textures
+        }
+
+        if (RLGL.ExtSupported.vao) glBindVertexArray(0); // Unbind VAO
+
+        glUseProgram(0);    // Unbind shader program
+    }
+
+    // Restore viewport to default measures
+    if (eyeCount == 2) rlViewport(0, 0, RLGL.State.framebufferWidth, RLGL.State.framebufferHeight);
+    //------------------------------------------------------------------------------------------------------------
+
+    // Reset batch buffers
+    //------------------------------------------------------------------------------------------------------------
+    // Reset vertex counter for next frame
+    RLGL.State.vertexCounter = 0;
+
+    // Reset depth for next draw
+    batch->currentDepth = -1.0f;
+
+    // Restore projection/modelview matrices
+    RLGL.State.projection = matProjection;
+    RLGL.State.modelview = matModelView;
+
+    // Reset RLGL.currentBatch->draws array
+    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
+    {
+        batch->draws[i].mode = RL_QUADS;
+        batch->draws[i].vertexCount = 0;
+        batch->draws[i].textureId = RLGL.State.defaultTextureId;
+    }
+
+    // Reset active texture units for next batch
+    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) RLGL.State.activeTextureId[i] = 0;
+
+    // Reset draws counter to one draw for the batch
+    batch->drawCounter = 1;
+    //------------------------------------------------------------------------------------------------------------
+
+    // Change to next buffer in the list (in case of multi-buffering)
+    batch->currentBuffer++;
+    if (batch->currentBuffer >= batch->bufferCount) batch->currentBuffer = 0;
+#endif
+}
+
+// Set the active render batch for rlgl
+void rlSetRenderBatchActive(rlRenderBatch *batch)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    rlDrawRenderBatch(RLGL.currentBatch);
+
+    if (batch != NULL) RLGL.currentBatch = batch;
+    else RLGL.currentBatch = &RLGL.defaultBatch;
+#endif
+}
+
+// Update and draw internal render batch
+void rlDrawRenderBatchActive(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
+#endif
+}
+
+// Check internal buffer overflow for a given number of vertex
+// and force a rlRenderBatch draw call if required
+bool rlCheckRenderBatchLimit(int vCount)
+{
+    bool overflow = false;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if ((RLGL.State.vertexCounter + vCount) >=
+        (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4))
+    {
+        overflow = true;
+
+        // Store current primitive drawing mode and texture id
+        int currentMode = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode;
+        int currentTexture = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId;
+
+        rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
+
+        // Restore state of last batch so we can continue adding vertices
+        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = currentMode;
+        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = currentTexture;
+    }
+#endif
+
+    return overflow;
+}
+
+// Textures data management
+//-----------------------------------------------------------------------------------------
+// Convert image data to OpenGL texture (returns OpenGL valid Id)
+unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount)
+{
+    unsigned int id = 0;
+
+    glBindTexture(GL_TEXTURE_2D, 0);    // Free any old binding
+
+    // Check texture format support by OpenGL 1.1 (compressed textures not supported)
+#if defined(GRAPHICS_API_OPENGL_11)
+    if (format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
+    {
+        TRACELOG(RL_LOG_WARNING, "GL: OpenGL 1.1 does not support GPU compressed texture formats");
+        return id;
+    }
+#else
+    if ((!RLGL.ExtSupported.texCompDXT) && ((format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA) ||
+        (format == RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA)))
+    {
+        TRACELOG(RL_LOG_WARNING, "GL: DXT compressed texture format not supported");
+        return id;
+    }
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if ((!RLGL.ExtSupported.texCompETC1) && (format == RL_PIXELFORMAT_COMPRESSED_ETC1_RGB))
+    {
+        TRACELOG(RL_LOG_WARNING, "GL: ETC1 compressed texture format not supported");
+        return id;
+    }
+
+    if ((!RLGL.ExtSupported.texCompETC2) && ((format == RL_PIXELFORMAT_COMPRESSED_ETC2_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA)))
+    {
+        TRACELOG(RL_LOG_WARNING, "GL: ETC2 compressed texture format not supported");
+        return id;
+    }
+
+    if ((!RLGL.ExtSupported.texCompPVRT) && ((format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA)))
+    {
+        TRACELOG(RL_LOG_WARNING, "GL: PVRT compressed texture format not supported");
+        return id;
+    }
+
+    if ((!RLGL.ExtSupported.texCompASTC) && ((format == RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)))
+    {
+        TRACELOG(RL_LOG_WARNING, "GL: ASTC compressed texture format not supported");
+        return id;
+    }
+#endif
+#endif  // GRAPHICS_API_OPENGL_11
+
+    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+
+    glGenTextures(1, &id);              // Generate texture id
+
+    glBindTexture(GL_TEXTURE_2D, id);
+
+    int mipWidth = width;
+    int mipHeight = height;
+    int mipOffset = 0;          // Mipmap data offset, only used for tracelog
+
+    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
+    unsigned char *dataPtr = NULL;
+    if (data != NULL) dataPtr = (unsigned char *)data;
+
+    // Load the different mipmap levels
+    for (int i = 0; i < mipmapCount; i++)
+    {
+        unsigned int mipSize = rlGetPixelDataSize(mipWidth, mipHeight, format);
+
+        unsigned int glInternalFormat, glFormat, glType;
+        rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
+
+        TRACELOGD("TEXTURE: Load mipmap level %i (%i x %i), size: %i, offset: %i", i, mipWidth, mipHeight, mipSize, mipOffset);
+
+        if (glInternalFormat != 0)
+        {
+            if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, glFormat, glType, dataPtr);
+#if !defined(GRAPHICS_API_OPENGL_11)
+            else glCompressedTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, mipSize, dataPtr);
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_33)
+            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
+            {
+                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
+                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
+            }
+            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
+            {
+#if defined(GRAPHICS_API_OPENGL_21)
+                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
+#elif defined(GRAPHICS_API_OPENGL_33)
+                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
+#endif
+                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
+            }
+#endif
+        }
+
+        mipWidth /= 2;
+        mipHeight /= 2;
+        mipOffset += mipSize;       // Increment offset position to next mipmap
+        if (data != NULL) dataPtr += mipSize;         // Increment data pointer to next mipmap
+
+        // Security check for NPOT textures
+        if (mipWidth < 1) mipWidth = 1;
+        if (mipHeight < 1) mipHeight = 1;
+    }
+
+    // Texture parameters configuration
+    // NOTE: glTexParameteri does NOT affect texture uploading, just the way it's used
+#if defined(GRAPHICS_API_OPENGL_ES2)
+    // NOTE: OpenGL ES 2.0 with no GL_OES_texture_npot support (i.e. WebGL) has limited NPOT support, so CLAMP_TO_EDGE must be used
+    if (RLGL.ExtSupported.texNPOT)
+    {
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
+    }
+    else
+    {
+        // NOTE: If using negative texture coordinates (LoadOBJ()), it does not work!
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);       // Set texture to clamp on x-axis
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);       // Set texture to clamp on y-axis
+    }
+#else
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
+#endif
+
+    // Magnification and minification filters
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
+
+#if defined(GRAPHICS_API_OPENGL_33)
+    if (mipmapCount > 1)
+    {
+        // Activate Trilinear filtering if mipmaps are available
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+    }
+#endif
+
+    // At this point we have the texture loaded in GPU and texture parameters configured
+
+    // NOTE: If mipmaps were not in data, they are not generated automatically
+
+    // Unbind current texture
+    glBindTexture(GL_TEXTURE_2D, 0);
+
+    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Texture loaded successfully (%ix%i | %s | %i mipmaps)", id, width, height, rlGetPixelFormatName(format), mipmapCount);
+    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load texture");
+
+    return id;
+}
+
+// Load depth texture/renderbuffer (to be attached to fbo)
+// WARNING: OpenGL ES 2.0 requires GL_OES_depth_texture and WebGL requires WEBGL_depth_texture extensions
+unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer)
+{
+    unsigned int id = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // In case depth textures not supported, we force renderbuffer usage
+    if (!RLGL.ExtSupported.texDepth) useRenderBuffer = true;
+
+    // NOTE: We let the implementation to choose the best bit-depth
+    // Possible formats: GL_DEPTH_COMPONENT16, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT32 and GL_DEPTH_COMPONENT32F
+    unsigned int glInternalFormat = GL_DEPTH_COMPONENT;
+
+#if (defined(GRAPHICS_API_OPENGL_ES2) || defined(GRAPHICS_API_OPENGL_ES3))
+    // WARNING: WebGL platform requires unsized internal format definition (GL_DEPTH_COMPONENT)
+    // while other platforms using OpenGL ES 2.0 require/support sized internal formats depending on the GPU capabilities
+    if (!RLGL.ExtSupported.texDepthWebGL || useRenderBuffer)
+    {
+        if (RLGL.ExtSupported.maxDepthBits == 32) glInternalFormat = GL_DEPTH_COMPONENT32_OES;
+        else if (RLGL.ExtSupported.maxDepthBits == 24) glInternalFormat = GL_DEPTH_COMPONENT24_OES;
+        else glInternalFormat = GL_DEPTH_COMPONENT16;
+    }
+#endif
+
+    if (!useRenderBuffer && RLGL.ExtSupported.texDepth)
+    {
+        glGenTextures(1, &id);
+        glBindTexture(GL_TEXTURE_2D, id);
+        glTexImage2D(GL_TEXTURE_2D, 0, glInternalFormat, width, height, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
+
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+        glBindTexture(GL_TEXTURE_2D, 0);
+
+        TRACELOG(RL_LOG_INFO, "TEXTURE: Depth texture loaded successfully");
+    }
+    else
+    {
+        // Create the renderbuffer that will serve as the depth attachment for the framebuffer
+        // NOTE: A renderbuffer is simpler than a texture and could offer better performance on embedded devices
+        glGenRenderbuffers(1, &id);
+        glBindRenderbuffer(GL_RENDERBUFFER, id);
+        glRenderbufferStorage(GL_RENDERBUFFER, glInternalFormat, width, height);
+
+        glBindRenderbuffer(GL_RENDERBUFFER, 0);
+
+        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Depth renderbuffer loaded successfully (%i bits)", id, (RLGL.ExtSupported.maxDepthBits >= 24)? RLGL.ExtSupported.maxDepthBits : 16);
+    }
+#endif
+
+    return id;
+}
+
+// Load texture cubemap
+// NOTE: Cubemap data is expected to be 6 images in a single data array (one after the other),
+// expected the following convention: +X, -X, +Y, -Y, +Z, -Z
+unsigned int rlLoadTextureCubemap(const void *data, int size, int format)
+{
+    unsigned int id = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    unsigned int dataSize = rlGetPixelDataSize(size, size, format);
+
+    glGenTextures(1, &id);
+    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
+
+    unsigned int glInternalFormat, glFormat, glType;
+    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
+
+    if (glInternalFormat != 0)
+    {
+        // Load cubemap faces
+        for (unsigned int i = 0; i < 6; i++)
+        {
+            if (data == NULL)
+            {
+                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
+                {
+                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) || (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32)
+                            || (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) || (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16))
+                        TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
+                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, size, size, 0, glFormat, glType, NULL);
+                }
+                else TRACELOG(RL_LOG_WARNING, "TEXTURES: Empty cubemap creation does not support compressed format");
+            }
+            else
+            {
+                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, size, size, 0, glFormat, glType, (unsigned char *)data + i*dataSize);
+                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, size, size, 0, dataSize, (unsigned char *)data + i*dataSize);
+            }
+
+#if defined(GRAPHICS_API_OPENGL_33)
+            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
+            {
+                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
+                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
+            }
+            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
+            {
+#if defined(GRAPHICS_API_OPENGL_21)
+                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
+#elif defined(GRAPHICS_API_OPENGL_33)
+                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
+#endif
+                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
+            }
+#endif
+        }
+    }
+
+    // Set cubemap texture sampling parameters
+    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+#if defined(GRAPHICS_API_OPENGL_33)
+    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);  // Flag not supported on OpenGL ES 2.0
+#endif
+
+    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
+#endif
+
+    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Cubemap texture loaded successfully (%ix%i)", id, size, size);
+    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load cubemap texture");
+
+    return id;
+}
+
+// Update already loaded texture in GPU with new data
+// NOTE: We don't know safely if internal texture format is the expected one...
+void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data)
+{
+    glBindTexture(GL_TEXTURE_2D, id);
+
+    unsigned int glInternalFormat, glFormat, glType;
+    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
+
+    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
+    {
+        glTexSubImage2D(GL_TEXTURE_2D, 0, offsetX, offsetY, width, height, glFormat, glType, data);
+    }
+    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to update for current texture format (%i)", id, format);
+}
+
+// Get OpenGL internal formats and data type from raylib PixelFormat
+void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType)
+{
+    *glInternalFormat = 0;
+    *glFormat = 0;
+    *glType = 0;
+
+    switch (format)
+    {
+    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_21) || defined(GRAPHICS_API_OPENGL_ES2)
+        // NOTE: on OpenGL ES 2.0 (WebGL), internalFormat must match format and options allowed are: GL_LUMINANCE, GL_RGB, GL_RGBA
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_LUMINANCE_ALPHA; *glFormat = GL_LUMINANCE_ALPHA; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
+        #if !defined(GRAPHICS_API_OPENGL_11)
+        #if defined(GRAPHICS_API_OPENGL_ES3)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F_EXT; *glFormat = GL_RED_EXT; *glType = GL_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F_EXT; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F_EXT; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F_EXT; *glFormat = GL_RED_EXT; *glType = GL_HALF_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F_EXT; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F_EXT; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
+        #else
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_FLOAT; break;            // NOTE: Requires extension OES_texture_float
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_FLOAT; break;                  // NOTE: Requires extension OES_texture_float
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;             // NOTE: Requires extension OES_texture_float
+        #if defined(GRAPHICS_API_OPENGL_21)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_ARB; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_ARB; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_ARB; break;
+        #else // defined(GRAPHICS_API_OPENGL_ES2)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_OES; break;   // NOTE: Requires extension OES_texture_half_float
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_OES; break;         // NOTE: Requires extension OES_texture_half_float
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_OES; break;    // NOTE: Requires extension OES_texture_half_float
+        #endif
+        #endif
+        #endif
+    #elif defined(GRAPHICS_API_OPENGL_33)
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_R8; *glFormat = GL_RED; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_RG8; *glFormat = GL_RG; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB565; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB8; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGB5_A1; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA4; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA8; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F; *glFormat = GL_RED; *glType = GL_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F; *glFormat = GL_RED; *glType = GL_HALF_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
+    #endif
+    #if !defined(GRAPHICS_API_OPENGL_11)
+        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGB_S3TC_DXT1_EXT; break;
+        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT1_EXT; break;
+        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT3_EXT; break;
+        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT5_EXT; break;
+        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: if (RLGL.ExtSupported.texCompETC1) *glInternalFormat = GL_ETC1_RGB8_OES; break;                      // NOTE: Requires OpenGL ES 2.0 or OpenGL 4.3
+        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGB8_ETC2; break;               // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
+        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGBA8_ETC2_EAC; break;     // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
+        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG; break;    // NOTE: Requires PowerVR GPU
+        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG; break;  // NOTE: Requires PowerVR GPU
+        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_4x4_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
+        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_8x8_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
+    #endif
+        default: TRACELOG(RL_LOG_WARNING, "TEXTURE: Current format not supported (%i)", format); break;
+    }
+}
+
+// Unload texture from GPU memory
+void rlUnloadTexture(unsigned int id)
+{
+    glDeleteTextures(1, &id);
+}
+
+// Generate mipmap data for selected texture
+// NOTE: Only supports GPU mipmap generation
+void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindTexture(GL_TEXTURE_2D, id);
+
+    // Check if texture is power-of-two (POT)
+    bool texIsPOT = false;
+
+    if (((width > 0) && ((width & (width - 1)) == 0)) &&
+        ((height > 0) && ((height & (height - 1)) == 0))) texIsPOT = true;
+
+    if ((texIsPOT) || (RLGL.ExtSupported.texNPOT))
+    {
+        //glHint(GL_GENERATE_MIPMAP_HINT, GL_DONT_CARE);   // Hint for mipmaps generation algorithm: GL_FASTEST, GL_NICEST, GL_DONT_CARE
+        glGenerateMipmap(GL_TEXTURE_2D);    // Generate mipmaps automatically
+
+        #define MIN(a,b) (((a)<(b))? (a):(b))
+        #define MAX(a,b) (((a)>(b))? (a):(b))
+
+        *mipmaps = 1 + (int)floor(log(MAX(width, height))/log(2));
+        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Mipmaps generated automatically, total: %i", id, *mipmaps);
+    }
+    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to generate mipmaps", id);
+
+    glBindTexture(GL_TEXTURE_2D, 0);
+#else
+    TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] GPU mipmap generation not supported", id);
+#endif
+}
+
+
+// Read texture pixel data
+void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
+{
+    void *pixels = NULL;
+
+#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
+    glBindTexture(GL_TEXTURE_2D, id);
+
+    // NOTE: Using texture id, we can retrieve some texture info (but not on OpenGL ES 2.0)
+    // Possible texture info: GL_TEXTURE_RED_SIZE, GL_TEXTURE_GREEN_SIZE, GL_TEXTURE_BLUE_SIZE, GL_TEXTURE_ALPHA_SIZE
+    //int width, height, format;
+    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_WIDTH, &width);
+    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &height);
+    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_INTERNAL_FORMAT, &format);
+
+    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding.
+    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting.
+    // GL_PACK_ALIGNMENT affects operations that read from OpenGL memory (glReadPixels, glGetTexImage, etc.)
+    // GL_UNPACK_ALIGNMENT affects operations that write to OpenGL memory (glTexImage, etc.)
+    glPixelStorei(GL_PACK_ALIGNMENT, 1);
+
+    unsigned int glInternalFormat, glFormat, glType;
+    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
+    unsigned int size = rlGetPixelDataSize(width, height, format);
+
+    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
+    {
+        pixels = RL_MALLOC(size);
+        glGetTexImage(GL_TEXTURE_2D, 0, glFormat, glType, pixels);
+    }
+    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Data retrieval not suported for pixel format (%i)", id, format);
+
+    glBindTexture(GL_TEXTURE_2D, 0);
+#endif
+
+#if defined(GRAPHICS_API_OPENGL_ES2)
+    // glGetTexImage() is not available on OpenGL ES 2.0
+    // Texture width and height are required on OpenGL ES 2.0. There is no way to get it from texture id.
+    // Two possible Options:
+    // 1 - Bind texture to color fbo attachment and glReadPixels()
+    // 2 - Create an fbo, activate it, render quad with texture, glReadPixels()
+    // We are using Option 1, just need to care for texture format on retrieval
+    // NOTE: This behaviour could be conditioned by graphic driver...
+    unsigned int fboId = rlLoadFramebuffer(width, height);
+
+    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
+    glBindTexture(GL_TEXTURE_2D, 0);
+
+    // Attach our texture to FBO
+    glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, id, 0);
+
+    // We read data as RGBA because FBO texture is configured as RGBA, despite binding another texture format
+    pixels = (unsigned char *)RL_MALLOC(rlGetPixelDataSize(width, height, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8));
+    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
+
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+
+    // Clean up temporal fbo
+    rlUnloadFramebuffer(fboId);
+#endif
+
+    return pixels;
+}
+
+// Read screen pixel data (color buffer)
+unsigned char *rlReadScreenPixels(int width, int height)
+{
+    unsigned char *screenData = (unsigned char *)RL_CALLOC(width*height*4, sizeof(unsigned char));
+
+    // NOTE 1: glReadPixels returns image flipped vertically -> (0,0) is the bottom left corner of the framebuffer
+    // NOTE 2: We are getting alpha channel! Be careful, it can be transparent if not cleared properly!
+    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, screenData);
+
+    // Flip image vertically!
+    unsigned char *imgData = (unsigned char *)RL_MALLOC(width*height*4*sizeof(unsigned char));
+
+    for (int y = height - 1; y >= 0; y--)
+    {
+        for (int x = 0; x < (width*4); x++)
+        {
+            imgData[((height - 1) - y)*width*4 + x] = screenData[(y*width*4) + x];  // Flip line
+
+            // Set alpha component value to 255 (no trasparent image retrieval)
+            // NOTE: Alpha value has already been applied to RGB in framebuffer, we don't need it!
+            if (((x + 1)%4) == 0) imgData[((height - 1) - y)*width*4 + x] = 255;
+        }
+    }
+
+    RL_FREE(screenData);
+
+    return imgData;     // NOTE: image data should be freed
+}
+
+// Framebuffer management (fbo)
+//-----------------------------------------------------------------------------------------
+// Load a framebuffer to be used for rendering
+// NOTE: No textures attached
+unsigned int rlLoadFramebuffer(int width, int height)
+{
+    unsigned int fboId = 0;
+
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glGenFramebuffers(1, &fboId);       // Create the framebuffer object
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);   // Unbind any framebuffer
+#endif
+
+    return fboId;
+}
+
+// Attach color buffer texture to an fbo (unloads previous attachment)
+// NOTE: Attach type: 0-Color, 1-Depth renderbuffer, 2-Depth texture
+void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
+
+    switch (attachType)
+    {
+        case RL_ATTACHMENT_COLOR_CHANNEL0:
+        case RL_ATTACHMENT_COLOR_CHANNEL1:
+        case RL_ATTACHMENT_COLOR_CHANNEL2:
+        case RL_ATTACHMENT_COLOR_CHANNEL3:
+        case RL_ATTACHMENT_COLOR_CHANNEL4:
+        case RL_ATTACHMENT_COLOR_CHANNEL5:
+        case RL_ATTACHMENT_COLOR_CHANNEL6:
+        case RL_ATTACHMENT_COLOR_CHANNEL7:
+        {
+            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_2D, texId, mipLevel);
+            else if (texType == RL_ATTACHMENT_RENDERBUFFER) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_RENDERBUFFER, texId);
+            else if (texType >= RL_ATTACHMENT_CUBEMAP_POSITIVE_X) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_CUBE_MAP_POSITIVE_X + texType, texId, mipLevel);
+
+        } break;
+        case RL_ATTACHMENT_DEPTH:
+        {
+            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
+            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, texId);
+
+        } break;
+        case RL_ATTACHMENT_STENCIL:
+        {
+            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
+            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, texId);
+
+        } break;
+        default: break;
+    }
+
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+#endif
+}
+
+// Verify render texture is complete
+bool rlFramebufferComplete(unsigned int id)
+{
+    bool result = false;
+
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glBindFramebuffer(GL_FRAMEBUFFER, id);
+
+    GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+
+    if (status != GL_FRAMEBUFFER_COMPLETE)
+    {
+        switch (status)
+        {
+            case GL_FRAMEBUFFER_UNSUPPORTED: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer is unsupported", id); break;
+            case GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete attachment", id); break;
+#if defined(GRAPHICS_API_OPENGL_ES2)
+            case GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete dimensions", id); break;
+#endif
+            case GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has a missing attachment", id); break;
+            default: break;
+        }
+    }
+
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+
+    result = (status == GL_FRAMEBUFFER_COMPLETE);
+#endif
+
+    return result;
+}
+
+// Unload framebuffer from GPU memory
+// NOTE: All attached textures/cubemaps/renderbuffers are also deleted
+void rlUnloadFramebuffer(unsigned int id)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    // Query depth attachment to automatically delete texture/renderbuffer
+    int depthType = 0, depthId = 0;
+    glBindFramebuffer(GL_FRAMEBUFFER, id);   // Bind framebuffer to query depth texture type
+    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE, &depthType);
+
+    // TODO: Review warning retrieving object name in WebGL
+    // WARNING: WebGL: INVALID_ENUM: getFramebufferAttachmentParameter: invalid parameter name
+    // https://registry.khronos.org/webgl/specs/latest/1.0/
+    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME, &depthId);
+
+    unsigned int depthIdU = (unsigned int)depthId;
+    if (depthType == GL_RENDERBUFFER) glDeleteRenderbuffers(1, &depthIdU);
+    else if (depthType == GL_TEXTURE) glDeleteTextures(1, &depthIdU);
+
+    // NOTE: If a texture object is deleted while its image is attached to the *currently bound* framebuffer,
+    // the texture image is automatically detached from the currently bound framebuffer.
+
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+    glDeleteFramebuffers(1, &id);
+
+    TRACELOG(RL_LOG_INFO, "FBO: [ID %i] Unloaded framebuffer from VRAM (GPU)", id);
+#endif
+}
+
+// Vertex data management
+//-----------------------------------------------------------------------------------------
+// Load a new attributes buffer
+unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic)
+{
+    unsigned int id = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glGenBuffers(1, &id);
+    glBindBuffer(GL_ARRAY_BUFFER, id);
+    glBufferData(GL_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
+#endif
+
+    return id;
+}
+
+// Load a new attributes element buffer
+unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic)
+{
+    unsigned int id = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glGenBuffers(1, &id);
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
+    glBufferData(GL_ELEMENT_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
+#endif
+
+    return id;
+}
+
+// Enable vertex buffer (VBO)
+void rlEnableVertexBuffer(unsigned int id)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindBuffer(GL_ARRAY_BUFFER, id);
+#endif
+}
+
+// Disable vertex buffer (VBO)
+void rlDisableVertexBuffer(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindBuffer(GL_ARRAY_BUFFER, 0);
+#endif
+}
+
+// Enable vertex buffer element (VBO element)
+void rlEnableVertexBufferElement(unsigned int id)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
+#endif
+}
+
+// Disable vertex buffer element (VBO element)
+void rlDisableVertexBufferElement(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+#endif
+}
+
+// Update vertex buffer with new data
+// NOTE: dataSize and offset must be provided in bytes
+void rlUpdateVertexBuffer(unsigned int id, const void *data, int dataSize, int offset)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindBuffer(GL_ARRAY_BUFFER, id);
+    glBufferSubData(GL_ARRAY_BUFFER, offset, dataSize, data);
+#endif
+}
+
+// Update vertex buffer elements with new data
+// NOTE: dataSize and offset must be provided in bytes
+void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
+    glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, offset, dataSize, data);
+#endif
+}
+
+// Enable vertex array object (VAO)
+bool rlEnableVertexArray(unsigned int vaoId)
+{
+    bool result = false;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if (RLGL.ExtSupported.vao)
+    {
+        glBindVertexArray(vaoId);
+        result = true;
+    }
+#endif
+    return result;
+}
+
+// Disable vertex array object (VAO)
+void rlDisableVertexArray(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
+#endif
+}
+
+// Enable vertex attribute index
+void rlEnableVertexAttribute(unsigned int index)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glEnableVertexAttribArray(index);
+#endif
+}
+
+// Disable vertex attribute index
+void rlDisableVertexAttribute(unsigned int index)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glDisableVertexAttribArray(index);
+#endif
+}
+
+// Draw vertex array
+void rlDrawVertexArray(int offset, int count)
+{
+    glDrawArrays(GL_TRIANGLES, offset, count);
+}
+
+// Draw vertex array elements
+void rlDrawVertexArrayElements(int offset, int count, const void *buffer)
+{
+    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
+    unsigned short *bufferPtr = (unsigned short *)buffer;
+    if (offset > 0) bufferPtr += offset;
+
+    glDrawElements(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr);
+}
+
+// Draw vertex array instanced
+void rlDrawVertexArrayInstanced(int offset, int count, int instances)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glDrawArraysInstanced(GL_TRIANGLES, 0, count, instances);
+#endif
+}
+
+// Draw vertex array elements instanced
+void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
+    unsigned short *bufferPtr = (unsigned short *)buffer;
+    if (offset > 0) bufferPtr += offset;
+
+    glDrawElementsInstanced(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr, instances);
+#endif
+}
+
+#if defined(GRAPHICS_API_OPENGL_11)
+// Enable vertex state pointer
+void rlEnableStatePointer(int vertexAttribType, void *buffer)
+{
+    if (buffer != NULL) glEnableClientState(vertexAttribType);
+    switch (vertexAttribType)
+    {
+        case GL_VERTEX_ARRAY: glVertexPointer(3, GL_FLOAT, 0, buffer); break;
+        case GL_TEXTURE_COORD_ARRAY: glTexCoordPointer(2, GL_FLOAT, 0, buffer); break;
+        case GL_NORMAL_ARRAY: if (buffer != NULL) glNormalPointer(GL_FLOAT, 0, buffer); break;
+        case GL_COLOR_ARRAY: if (buffer != NULL) glColorPointer(4, GL_UNSIGNED_BYTE, 0, buffer); break;
+        //case GL_INDEX_ARRAY: if (buffer != NULL) glIndexPointer(GL_SHORT, 0, buffer); break; // Indexed colors
+        default: break;
+    }
+}
+
+// Disable vertex state pointer
+void rlDisableStatePointer(int vertexAttribType)
+{
+    glDisableClientState(vertexAttribType);
+}
+#endif
+
+// Load vertex array object (VAO)
+unsigned int rlLoadVertexArray(void)
+{
+    unsigned int vaoId = 0;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if (RLGL.ExtSupported.vao)
+    {
+        glGenVertexArrays(1, &vaoId);
+    }
+#endif
+    return vaoId;
+}
+
+// Set vertex attribute
+void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, const void *pointer)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glVertexAttribPointer(index, compSize, type, normalized, stride, pointer);
+#endif
+}
+
+// Set vertex attribute divisor
+void rlSetVertexAttributeDivisor(unsigned int index, int divisor)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glVertexAttribDivisor(index, divisor);
+#endif
+}
+
+// Unload vertex array object (VAO)
+void rlUnloadVertexArray(unsigned int vaoId)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if (RLGL.ExtSupported.vao)
+    {
+        glBindVertexArray(0);
+        glDeleteVertexArrays(1, &vaoId);
+        TRACELOG(RL_LOG_INFO, "VAO: [ID %i] Unloaded vertex array data from VRAM (GPU)", vaoId);
+    }
+#endif
+}
+
+// Unload vertex buffer (VBO)
+void rlUnloadVertexBuffer(unsigned int vboId)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glDeleteBuffers(1, &vboId);
+    //TRACELOG(RL_LOG_INFO, "VBO: Unloaded vertex data from VRAM (GPU)");
+#endif
+}
+
+// Shaders management
+//-----------------------------------------------------------------------------------------------
+// Load shader from code strings
+// NOTE: If shader string is NULL, using default vertex/fragment shaders
+unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode)
+{
+    unsigned int id = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    unsigned int vertexShaderId = 0;
+    unsigned int fragmentShaderId = 0;
+
+    // Compile vertex shader (if provided)
+    if (vsCode != NULL) vertexShaderId = rlCompileShader(vsCode, GL_VERTEX_SHADER);
+    // In case no vertex shader was provided or compilation failed, we use default vertex shader
+    if (vertexShaderId == 0) vertexShaderId = RLGL.State.defaultVShaderId;
+
+    // Compile fragment shader (if provided)
+    if (fsCode != NULL) fragmentShaderId = rlCompileShader(fsCode, GL_FRAGMENT_SHADER);
+    // In case no fragment shader was provided or compilation failed, we use default fragment shader
+    if (fragmentShaderId == 0) fragmentShaderId = RLGL.State.defaultFShaderId;
+
+    // In case vertex and fragment shader are the default ones, no need to recompile, we can just assign the default shader program id
+    if ((vertexShaderId == RLGL.State.defaultVShaderId) && (fragmentShaderId == RLGL.State.defaultFShaderId)) id = RLGL.State.defaultShaderId;
+    else
+    {
+        // One of or both shader are new, we need to compile a new shader program
+        id = rlLoadShaderProgram(vertexShaderId, fragmentShaderId);
+
+        // We can detach and delete vertex/fragment shaders (if not default ones)
+        // NOTE: We detach shader before deletion to make sure memory is freed
+        if (vertexShaderId != RLGL.State.defaultVShaderId)
+        {
+            // WARNING: Shader program linkage could fail and returned id is 0
+            if (id > 0) glDetachShader(id, vertexShaderId);
+            glDeleteShader(vertexShaderId);
+        }
+        if (fragmentShaderId != RLGL.State.defaultFShaderId)
+        {
+            // WARNING: Shader program linkage could fail and returned id is 0
+            if (id > 0) glDetachShader(id, fragmentShaderId);
+            glDeleteShader(fragmentShaderId);
+        }
+
+        // In case shader program loading failed, we assign default shader
+        if (id == 0)
+        {
+            // In case shader loading fails, we return the default shader
+            TRACELOG(RL_LOG_WARNING, "SHADER: Failed to load custom shader code, using default shader");
+            id = RLGL.State.defaultShaderId;
+        }
+        /*
+        else
+        {
+            // Get available shader uniforms
+            // NOTE: This information is useful for debug...
+            int uniformCount = -1;
+            glGetProgramiv(id, GL_ACTIVE_UNIFORMS, &uniformCount);
+
+            for (int i = 0; i < uniformCount; i++)
+            {
+                int namelen = -1;
+                int num = -1;
+                char name[256] = { 0 };     // Assume no variable names longer than 256
+                GLenum type = GL_ZERO;
+
+                // Get the name of the uniforms
+                glGetActiveUniform(id, i, sizeof(name) - 1, &namelen, &num, &type, name);
+
+                name[namelen] = 0;
+                TRACELOGD("SHADER: [ID %i] Active uniform (%s) set at location: %i", id, name, glGetUniformLocation(id, name));
+            }
+        }
+        */
+    }
+#endif
+
+    return id;
+}
+
+// Compile custom shader and return shader id
+unsigned int rlCompileShader(const char *shaderCode, int type)
+{
+    unsigned int shader = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    shader = glCreateShader(type);
+    glShaderSource(shader, 1, &shaderCode, NULL);
+
+    GLint success = 0;
+    glCompileShader(shader);
+    glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
+
+    if (success == GL_FALSE)
+    {
+        switch (type)
+        {
+            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile vertex shader code", shader); break;
+            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile fragment shader code", shader); break;
+            //case GL_GEOMETRY_SHADER:
+        #if defined(GRAPHICS_API_OPENGL_43)
+            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile compute shader code", shader); break;
+        #endif
+            default: break;
+        }
+
+        int maxLength = 0;
+        glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &maxLength);
+
+        if (maxLength > 0)
+        {
+            int length = 0;
+            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
+            glGetShaderInfoLog(shader, maxLength, &length, log);
+            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Compile error: %s", shader, log);
+            RL_FREE(log);
+        }
+    }
+    else
+    {
+        switch (type)
+        {
+            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Vertex shader compiled successfully", shader); break;
+            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Fragment shader compiled successfully", shader); break;
+            //case GL_GEOMETRY_SHADER:
+        #if defined(GRAPHICS_API_OPENGL_43)
+            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader compiled successfully", shader); break;
+        #endif
+            default: break;
+        }
+    }
+#endif
+
+    return shader;
+}
+
+// Load custom shader strings and return program id
+unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
+{
+    unsigned int program = 0;
+
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    GLint success = 0;
+    program = glCreateProgram();
+
+    glAttachShader(program, vShaderId);
+    glAttachShader(program, fShaderId);
+
+    // NOTE: Default attribute shader locations must be Bound before linking
+    glBindAttribLocation(program, 0, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
+    glBindAttribLocation(program, 1, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
+    glBindAttribLocation(program, 2, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
+    glBindAttribLocation(program, 3, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
+    glBindAttribLocation(program, 4, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
+    glBindAttribLocation(program, 5, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
+
+    // NOTE: If some attrib name is no found on the shader, it locations becomes -1
+
+    glLinkProgram(program);
+
+    // NOTE: All uniform variables are intitialised to 0 when a program links
+
+    glGetProgramiv(program, GL_LINK_STATUS, &success);
+
+    if (success == GL_FALSE)
+    {
+        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link shader program", program);
+
+        int maxLength = 0;
+        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
+
+        if (maxLength > 0)
+        {
+            int length = 0;
+            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
+            glGetProgramInfoLog(program, maxLength, &length, log);
+            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
+            RL_FREE(log);
+        }
+
+        glDeleteProgram(program);
+
+        program = 0;
+    }
+    else
+    {
+        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
+        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero.
+        //GLint binarySize = 0;
+        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
+
+        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Program shader loaded successfully", program);
+    }
+#endif
+    return program;
+}
+
+// Unload shader program
+void rlUnloadShaderProgram(unsigned int id)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    glDeleteProgram(id);
+
+    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Unloaded shader program data from VRAM (GPU)", id);
+#endif
+}
+
+// Get shader location uniform
+int rlGetLocationUniform(unsigned int shaderId, const char *uniformName)
+{
+    int location = -1;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    location = glGetUniformLocation(shaderId, uniformName);
+
+    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader uniform: %s", shaderId, uniformName);
+    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader uniform (%s) set at location: %i", shaderId, uniformName, location);
+#endif
+    return location;
+}
+
+// Get shader location attribute
+int rlGetLocationAttrib(unsigned int shaderId, const char *attribName)
+{
+    int location = -1;
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    location = glGetAttribLocation(shaderId, attribName);
+
+    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader attribute: %s", shaderId, attribName);
+    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader attribute (%s) set at location: %i", shaderId, attribName, location);
+#endif
+    return location;
+}
+
+// Set shader value uniform
+void rlSetUniform(int locIndex, const void *value, int uniformType, int count)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    switch (uniformType)
+    {
+        case RL_SHADER_UNIFORM_FLOAT: glUniform1fv(locIndex, count, (float *)value); break;
+        case RL_SHADER_UNIFORM_VEC2: glUniform2fv(locIndex, count, (float *)value); break;
+        case RL_SHADER_UNIFORM_VEC3: glUniform3fv(locIndex, count, (float *)value); break;
+        case RL_SHADER_UNIFORM_VEC4: glUniform4fv(locIndex, count, (float *)value); break;
+        case RL_SHADER_UNIFORM_INT: glUniform1iv(locIndex, count, (int *)value); break;
+        case RL_SHADER_UNIFORM_IVEC2: glUniform2iv(locIndex, count, (int *)value); break;
+        case RL_SHADER_UNIFORM_IVEC3: glUniform3iv(locIndex, count, (int *)value); break;
+        case RL_SHADER_UNIFORM_IVEC4: glUniform4iv(locIndex, count, (int *)value); break;
+        case RL_SHADER_UNIFORM_SAMPLER2D: glUniform1iv(locIndex, count, (int *)value); break;
+        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set uniform value, data type not recognized");
+    }
+#endif
+}
+
+// Set shader value attribute
+void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    switch (attribType)
+    {
+        case RL_SHADER_ATTRIB_FLOAT: if (count == 1) glVertexAttrib1fv(locIndex, (float *)value); break;
+        case RL_SHADER_ATTRIB_VEC2: if (count == 2) glVertexAttrib2fv(locIndex, (float *)value); break;
+        case RL_SHADER_ATTRIB_VEC3: if (count == 3) glVertexAttrib3fv(locIndex, (float *)value); break;
+        case RL_SHADER_ATTRIB_VEC4: if (count == 4) glVertexAttrib4fv(locIndex, (float *)value); break;
+        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set attrib default value, data type not recognized");
+    }
+#endif
+}
+
+// Set shader value uniform matrix
+void rlSetUniformMatrix(int locIndex, Matrix mat)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    float matfloat[16] = {
+        mat.m0, mat.m1, mat.m2, mat.m3,
+        mat.m4, mat.m5, mat.m6, mat.m7,
+        mat.m8, mat.m9, mat.m10, mat.m11,
+        mat.m12, mat.m13, mat.m14, mat.m15
+    };
+    glUniformMatrix4fv(locIndex, 1, false, matfloat);
+#endif
+}
+
+// Set shader value uniform sampler
+void rlSetUniformSampler(int locIndex, unsigned int textureId)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // Check if texture is already active
+    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) if (RLGL.State.activeTextureId[i] == textureId) return;
+
+    // Register a new active texture for the internal batch system
+    // NOTE: Default texture is always activated as GL_TEXTURE0
+    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
+    {
+        if (RLGL.State.activeTextureId[i] == 0)
+        {
+            glUniform1i(locIndex, 1 + i);              // Activate new texture unit
+            RLGL.State.activeTextureId[i] = textureId; // Save texture id for binding on drawing
+            break;
+        }
+    }
+#endif
+}
+
+// Set shader currently active (id and locations)
+void rlSetShader(unsigned int id, int *locs)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    if (RLGL.State.currentShaderId != id)
+    {
+        rlDrawRenderBatch(RLGL.currentBatch);
+        RLGL.State.currentShaderId = id;
+        RLGL.State.currentShaderLocs = locs;
+    }
+#endif
+}
+
+// Load compute shader program
+unsigned int rlLoadComputeShaderProgram(unsigned int shaderId)
+{
+    unsigned int program = 0;
+
+#if defined(GRAPHICS_API_OPENGL_43)
+    GLint success = 0;
+    program = glCreateProgram();
+    glAttachShader(program, shaderId);
+    glLinkProgram(program);
+
+    // NOTE: All uniform variables are intitialised to 0 when a program links
+
+    glGetProgramiv(program, GL_LINK_STATUS, &success);
+
+    if (success == GL_FALSE)
+    {
+        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link compute shader program", program);
+
+        int maxLength = 0;
+        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
+
+        if (maxLength > 0)
+        {
+            int length = 0;
+            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
+            glGetProgramInfoLog(program, maxLength, &length, log);
+            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
+            RL_FREE(log);
+        }
+
+        glDeleteProgram(program);
+
+        program = 0;
+    }
+    else
+    {
+        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
+        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero.
+        //GLint binarySize = 0;
+        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
+
+        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader program loaded successfully", program);
+    }
+#endif
+
+    return program;
+}
+
+// Dispatch compute shader (equivalent to *draw* for graphics pilepine)
+void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    glDispatchCompute(groupX, groupY, groupZ);
+#endif
+}
+
+// Load shader storage buffer object (SSBO)
+unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint)
+{
+    unsigned int ssbo = 0;
+
+#if defined(GRAPHICS_API_OPENGL_43)
+    glGenBuffers(1, &ssbo);
+    glBindBuffer(GL_SHADER_STORAGE_BUFFER, ssbo);
+    glBufferData(GL_SHADER_STORAGE_BUFFER, size, data, usageHint? usageHint : RL_STREAM_COPY);
+    if (data == NULL) glClearBufferData(GL_SHADER_STORAGE_BUFFER, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE, NULL);    // Clear buffer data to 0
+    glBindBuffer(GL_SHADER_STORAGE_BUFFER, 0);
+#endif
+
+    return ssbo;
+}
+
+// Unload shader storage buffer object (SSBO)
+void rlUnloadShaderBuffer(unsigned int ssboId)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    glDeleteBuffers(1, &ssboId);
+#endif
+}
+
+// Update SSBO buffer data
+void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
+    glBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, dataSize, data);
+#endif
+}
+
+// Get SSBO buffer size
+unsigned int rlGetShaderBufferSize(unsigned int id)
+{
+    long long size = 0;
+
+#if defined(GRAPHICS_API_OPENGL_43)
+    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
+    glGetInteger64v(GL_SHADER_STORAGE_BUFFER_SIZE, &size);
+#endif
+
+    return (size > 0)? (unsigned int)size : 0;
+}
+
+// Read SSBO buffer data (GPU->CPU)
+void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
+    glGetBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, count, dest);
+#endif
+}
+
+// Bind SSBO buffer
+void rlBindShaderBuffer(unsigned int id, unsigned int index)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    glBindBufferBase(GL_SHADER_STORAGE_BUFFER, index, id);
+#endif
+}
+
+// Copy SSBO buffer data
+void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    glBindBuffer(GL_COPY_READ_BUFFER, srcId);
+    glBindBuffer(GL_COPY_WRITE_BUFFER, destId);
+    glCopyBufferSubData(GL_COPY_READ_BUFFER, GL_COPY_WRITE_BUFFER, srcOffset, destOffset, count);
+#endif
+}
+
+// Bind image texture
+void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly)
+{
+#if defined(GRAPHICS_API_OPENGL_43)
+    unsigned int glInternalFormat = 0, glFormat = 0, glType = 0;
+
+    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
+    glBindImageTexture(index, id, 0, 0, 0, readonly? GL_READ_ONLY : GL_READ_WRITE, glInternalFormat);
+#endif
+}
+
+// Matrix state management
+//-----------------------------------------------------------------------------------------
+// Get internal modelview matrix
+Matrix rlGetMatrixModelview(void)
+{
+    Matrix matrix = rlMatrixIdentity();
+#if defined(GRAPHICS_API_OPENGL_11)
+    float mat[16];
+    glGetFloatv(GL_MODELVIEW_MATRIX, mat);
+    matrix.m0 = mat[0];
+    matrix.m1 = mat[1];
+    matrix.m2 = mat[2];
+    matrix.m3 = mat[3];
+    matrix.m4 = mat[4];
+    matrix.m5 = mat[5];
+    matrix.m6 = mat[6];
+    matrix.m7 = mat[7];
+    matrix.m8 = mat[8];
+    matrix.m9 = mat[9];
+    matrix.m10 = mat[10];
+    matrix.m11 = mat[11];
+    matrix.m12 = mat[12];
+    matrix.m13 = mat[13];
+    matrix.m14 = mat[14];
+    matrix.m15 = mat[15];
+#else
+    matrix = RLGL.State.modelview;
+#endif
+    return matrix;
+}
+
+// Get internal projection matrix
+Matrix rlGetMatrixProjection(void)
+{
+#if defined(GRAPHICS_API_OPENGL_11)
+    float mat[16];
+    glGetFloatv(GL_PROJECTION_MATRIX,mat);
+    Matrix m;
+    m.m0 = mat[0];
+    m.m1 = mat[1];
+    m.m2 = mat[2];
+    m.m3 = mat[3];
+    m.m4 = mat[4];
+    m.m5 = mat[5];
+    m.m6 = mat[6];
+    m.m7 = mat[7];
+    m.m8 = mat[8];
+    m.m9 = mat[9];
+    m.m10 = mat[10];
+    m.m11 = mat[11];
+    m.m12 = mat[12];
+    m.m13 = mat[13];
+    m.m14 = mat[14];
+    m.m15 = mat[15];
+    return m;
+#else
+    return RLGL.State.projection;
+#endif
+}
+
+// Get internal accumulated transform matrix
+Matrix rlGetMatrixTransform(void)
+{
+    Matrix mat = rlMatrixIdentity();
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    // TODO: Consider possible transform matrices in the RLGL.State.stack
+    // Is this the right order? or should we start with the first stored matrix instead of the last one?
+    //Matrix matStackTransform = rlMatrixIdentity();
+    //for (int i = RLGL.State.stackCounter; i > 0; i--) matStackTransform = rlMatrixMultiply(RLGL.State.stack[i], matStackTransform);
+    mat = RLGL.State.transform;
+#endif
+    return mat;
+}
+
+// Get internal projection matrix for stereo render (selected eye)
+RLAPI Matrix rlGetMatrixProjectionStereo(int eye)
+{
+    Matrix mat = rlMatrixIdentity();
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    mat = RLGL.State.projectionStereo[eye];
+#endif
+    return mat;
+}
+
+// Get internal view offset matrix for stereo render (selected eye)
+RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye)
+{
+    Matrix mat = rlMatrixIdentity();
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    mat = RLGL.State.viewOffsetStereo[eye];
+#endif
+    return mat;
+}
+
+// Set a custom modelview matrix (replaces internal modelview matrix)
+void rlSetMatrixModelview(Matrix view)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    RLGL.State.modelview = view;
+#endif
+}
+
+// Set a custom projection matrix (replaces internal projection matrix)
+void rlSetMatrixProjection(Matrix projection)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    RLGL.State.projection = projection;
+#endif
+}
+
+// Set eyes projection matrices for stereo rendering
+void rlSetMatrixProjectionStereo(Matrix right, Matrix left)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    RLGL.State.projectionStereo[0] = right;
+    RLGL.State.projectionStereo[1] = left;
+#endif
+}
+
+// Set eyes view offsets matrices for stereo rendering
+void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    RLGL.State.viewOffsetStereo[0] = right;
+    RLGL.State.viewOffsetStereo[1] = left;
+#endif
+}
+
+// Load and draw a quad in NDC
+void rlLoadDrawQuad(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    unsigned int quadVAO = 0;
+    unsigned int quadVBO = 0;
+
+    float vertices[] = {
+         // Positions         Texcoords
+        -1.0f,  1.0f, 0.0f,   0.0f, 1.0f,
+        -1.0f, -1.0f, 0.0f,   0.0f, 0.0f,
+         1.0f,  1.0f, 0.0f,   1.0f, 1.0f,
+         1.0f, -1.0f, 0.0f,   1.0f, 0.0f,
+    };
+
+    // Gen VAO to contain VBO
+    glGenVertexArrays(1, &quadVAO);
+    glBindVertexArray(quadVAO);
+
+    // Gen and fill vertex buffer (VBO)
+    glGenBuffers(1, &quadVBO);
+    glBindBuffer(GL_ARRAY_BUFFER, quadVBO);
+    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), &vertices, GL_STATIC_DRAW);
+
+    // Bind vertex attributes (position, texcoords)
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
+
+    // Draw quad
+    glBindVertexArray(quadVAO);
+    glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+    glBindVertexArray(0);
+
+    // Delete buffers (VBO and VAO)
+    glDeleteBuffers(1, &quadVBO);
+    glDeleteVertexArrays(1, &quadVAO);
+#endif
+}
+
+// Load and draw a cube in NDC
+void rlLoadDrawCube(void)
+{
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    unsigned int cubeVAO = 0;
+    unsigned int cubeVBO = 0;
+
+    float vertices[] = {
+         // Positions          Normals               Texcoords
+        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
+         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
+         1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 0.0f,
+         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
+        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
+        -1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 1.0f,
+        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
+         1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 0.0f,
+         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
+         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
+        -1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 1.0f,
+        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
+        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
+        -1.0f,  1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
+        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
+        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
+        -1.0f, -1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
+        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
+         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
+         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
+         1.0f,  1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
+         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
+         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
+         1.0f, -1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
+        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
+         1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 1.0f,
+         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
+         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
+        -1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 0.0f,
+        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
+        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
+         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
+         1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 1.0f,
+         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
+        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
+        -1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 0.0f
+    };
+
+    // Gen VAO to contain VBO
+    glGenVertexArrays(1, &cubeVAO);
+    glBindVertexArray(cubeVAO);
+
+    // Gen and fill vertex buffer (VBO)
+    glGenBuffers(1, &cubeVBO);
+    glBindBuffer(GL_ARRAY_BUFFER, cubeVBO);
+    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
+
+    // Bind vertex attributes (position, normals, texcoords)
+    glBindVertexArray(cubeVAO);
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
+    glEnableVertexAttribArray(1);
+    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
+    glEnableVertexAttribArray(2);
+    glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
+    glBindBuffer(GL_ARRAY_BUFFER, 0);
+    glBindVertexArray(0);
+
+    // Draw cube
+    glBindVertexArray(cubeVAO);
+    glDrawArrays(GL_TRIANGLES, 0, 36);
+    glBindVertexArray(0);
+
+    // Delete VBO and VAO
+    glDeleteBuffers(1, &cubeVBO);
+    glDeleteVertexArrays(1, &cubeVAO);
+#endif
+}
+
+// Get name string for pixel format
+const char *rlGetPixelFormatName(unsigned int format)
+{
+    switch (format)
+    {
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: return "GRAYSCALE"; break;         // 8 bit per pixel (no alpha)
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: return "GRAY_ALPHA"; break;       // 8*2 bpp (2 channels)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: return "R5G6B5"; break;               // 16 bpp
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: return "R8G8B8"; break;               // 24 bpp
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: return "R5G5B5A1"; break;           // 16 bpp (1 bit alpha)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: return "R4G4B4A4"; break;           // 16 bpp (4 bit alpha)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: return "R8G8B8A8"; break;           // 32 bpp
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32: return "R32"; break;                     // 32 bpp (1 channel - float)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: return "R32G32B32"; break;         // 32*3 bpp (3 channels - float)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: return "R32G32B32A32"; break;   // 32*4 bpp (4 channels - float)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16: return "R16"; break;                     // 16 bpp (1 channel - half float)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: return "R16G16B16"; break;         // 16*3 bpp (3 channels - half float)
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: return "R16G16B16A16"; break;   // 16*4 bpp (4 channels - half float)
+        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: return "DXT1_RGB"; break;             // 4 bpp (no alpha)
+        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: return "DXT1_RGBA"; break;           // 4 bpp (1 bit alpha)
+        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: return "DXT3_RGBA"; break;           // 8 bpp
+        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: return "DXT5_RGBA"; break;           // 8 bpp
+        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: return "ETC1_RGB"; break;             // 4 bpp
+        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: return "ETC2_RGB"; break;             // 4 bpp
+        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: return "ETC2_RGBA"; break;       // 8 bpp
+        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: return "PVRT_RGB"; break;             // 4 bpp
+        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: return "PVRT_RGBA"; break;           // 4 bpp
+        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: return "ASTC_4x4_RGBA"; break;   // 8 bpp
+        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: return "ASTC_8x8_RGBA"; break;   // 2 bpp
+        default: return "UNKNOWN"; break;
+    }
+}
+
+//----------------------------------------------------------------------------------
+// Module specific Functions Definition
+//----------------------------------------------------------------------------------
+#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+// Load default shader (just vertex positioning and texture coloring)
+// NOTE: This shader program is used for internal buffers
+// NOTE: Loaded: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
+static void rlLoadShaderDefault(void)
+{
+    RLGL.State.defaultShaderLocs = (int *)RL_CALLOC(RL_MAX_SHADER_LOCATIONS, sizeof(int));
+
+    // NOTE: All locations must be reseted to -1 (no location)
+    for (int i = 0; i < RL_MAX_SHADER_LOCATIONS; i++) RLGL.State.defaultShaderLocs[i] = -1;
+
+    // Vertex shader directly defined, no external file required
+    const char *defaultVShaderCode =
+#if defined(GRAPHICS_API_OPENGL_21)
+    "#version 120                       \n"
+    "attribute vec3 vertexPosition;     \n"
+    "attribute vec2 vertexTexCoord;     \n"
+    "attribute vec4 vertexColor;        \n"
+    "varying vec2 fragTexCoord;         \n"
+    "varying vec4 fragColor;            \n"
+#elif defined(GRAPHICS_API_OPENGL_33)
+    "#version 330                       \n"
+    "in vec3 vertexPosition;            \n"
+    "in vec2 vertexTexCoord;            \n"
+    "in vec4 vertexColor;               \n"
+    "out vec2 fragTexCoord;             \n"
+    "out vec4 fragColor;                \n"
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES2)
+    "#version 100                       \n"
+    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL) (on some browsers)
+    "attribute vec3 vertexPosition;     \n"
+    "attribute vec2 vertexTexCoord;     \n"
+    "attribute vec4 vertexColor;        \n"
+    "varying vec2 fragTexCoord;         \n"
+    "varying vec4 fragColor;            \n"
+#endif
+    "uniform mat4 mvp;                  \n"
+    "void main()                        \n"
+    "{                                  \n"
+    "    fragTexCoord = vertexTexCoord; \n"
+    "    fragColor = vertexColor;       \n"
+    "    gl_Position = mvp*vec4(vertexPosition, 1.0); \n"
+    "}                                  \n";
+
+    // Fragment shader directly defined, no external file required
+    const char *defaultFShaderCode =
+#if defined(GRAPHICS_API_OPENGL_21)
+    "#version 120                       \n"
+    "varying vec2 fragTexCoord;         \n"
+    "varying vec4 fragColor;            \n"
+    "uniform sampler2D texture0;        \n"
+    "uniform vec4 colDiffuse;           \n"
+    "void main()                        \n"
+    "{                                  \n"
+    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
+    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
+    "}                                  \n";
+#elif defined(GRAPHICS_API_OPENGL_33)
+    "#version 330       \n"
+    "in vec2 fragTexCoord;              \n"
+    "in vec4 fragColor;                 \n"
+    "out vec4 finalColor;               \n"
+    "uniform sampler2D texture0;        \n"
+    "uniform vec4 colDiffuse;           \n"
+    "void main()                        \n"
+    "{                                  \n"
+    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
+    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
+    "}                                  \n";
+#endif
+#if defined(GRAPHICS_API_OPENGL_ES2)
+    "#version 100                       \n"
+    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL)
+    "varying vec2 fragTexCoord;         \n"
+    "varying vec4 fragColor;            \n"
+    "uniform sampler2D texture0;        \n"
+    "uniform vec4 colDiffuse;           \n"
+    "void main()                        \n"
+    "{                                  \n"
+    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
+    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
+    "}                                  \n";
+#endif
+
+    // NOTE: Compiled vertex/fragment shaders are not deleted,
+    // they are kept for re-use as default shaders in case some shader loading fails
+    RLGL.State.defaultVShaderId = rlCompileShader(defaultVShaderCode, GL_VERTEX_SHADER);     // Compile default vertex shader
+    RLGL.State.defaultFShaderId = rlCompileShader(defaultFShaderCode, GL_FRAGMENT_SHADER);   // Compile default fragment shader
+
+    RLGL.State.defaultShaderId = rlLoadShaderProgram(RLGL.State.defaultVShaderId, RLGL.State.defaultFShaderId);
+
+    if (RLGL.State.defaultShaderId > 0)
+    {
+        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader loaded successfully", RLGL.State.defaultShaderId);
+
+        // Set default shader locations: attributes locations
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, "vertexPosition");
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, "vertexTexCoord");
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, "vertexColor");
+
+        // Set default shader locations: uniform locations
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP]  = glGetUniformLocation(RLGL.State.defaultShaderId, "mvp");
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, "colDiffuse");
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, "texture0");
+    }
+    else TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to load default shader", RLGL.State.defaultShaderId);
+}
+
+// Unload default shader
+// NOTE: Unloads: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
+static void rlUnloadShaderDefault(void)
+{
+    glUseProgram(0);
+
+    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultVShaderId);
+    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultFShaderId);
+    glDeleteShader(RLGL.State.defaultVShaderId);
+    glDeleteShader(RLGL.State.defaultFShaderId);
+
+    glDeleteProgram(RLGL.State.defaultShaderId);
+
+    RL_FREE(RLGL.State.defaultShaderLocs);
+
+    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader unloaded successfully", RLGL.State.defaultShaderId);
+}
+
+#if defined(RLGL_SHOW_GL_DETAILS_INFO)
+// Get compressed format official GL identifier name
+static const char *rlGetCompressedFormatName(int format)
+{
+    switch (format)
+    {
+        // GL_EXT_texture_compression_s3tc
+        case 0x83F0: return "GL_COMPRESSED_RGB_S3TC_DXT1_EXT"; break;
+        case 0x83F1: return "GL_COMPRESSED_RGBA_S3TC_DXT1_EXT"; break;
+        case 0x83F2: return "GL_COMPRESSED_RGBA_S3TC_DXT3_EXT"; break;
+        case 0x83F3: return "GL_COMPRESSED_RGBA_S3TC_DXT5_EXT"; break;
+        // GL_3DFX_texture_compression_FXT1
+        case 0x86B0: return "GL_COMPRESSED_RGB_FXT1_3DFX"; break;
+        case 0x86B1: return "GL_COMPRESSED_RGBA_FXT1_3DFX"; break;
+        // GL_IMG_texture_compression_pvrtc
+        case 0x8C00: return "GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG"; break;
+        case 0x8C01: return "GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG"; break;
+        case 0x8C02: return "GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG"; break;
+        case 0x8C03: return "GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG"; break;
+        // GL_OES_compressed_ETC1_RGB8_texture
+        case 0x8D64: return "GL_ETC1_RGB8_OES"; break;
+        // GL_ARB_texture_compression_rgtc
+        case 0x8DBB: return "GL_COMPRESSED_RED_RGTC1"; break;
+        case 0x8DBC: return "GL_COMPRESSED_SIGNED_RED_RGTC1"; break;
+        case 0x8DBD: return "GL_COMPRESSED_RG_RGTC2"; break;
+        case 0x8DBE: return "GL_COMPRESSED_SIGNED_RG_RGTC2"; break;
+        // GL_ARB_texture_compression_bptc
+        case 0x8E8C: return "GL_COMPRESSED_RGBA_BPTC_UNORM_ARB"; break;
+        case 0x8E8D: return "GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB"; break;
+        case 0x8E8E: return "GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB"; break;
+        case 0x8E8F: return "GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB"; break;
+        // GL_ARB_ES3_compatibility
+        case 0x9274: return "GL_COMPRESSED_RGB8_ETC2"; break;
+        case 0x9275: return "GL_COMPRESSED_SRGB8_ETC2"; break;
+        case 0x9276: return "GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
+        case 0x9277: return "GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
+        case 0x9278: return "GL_COMPRESSED_RGBA8_ETC2_EAC"; break;
+        case 0x9279: return "GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC"; break;
+        case 0x9270: return "GL_COMPRESSED_R11_EAC"; break;
+        case 0x9271: return "GL_COMPRESSED_SIGNED_R11_EAC"; break;
+        case 0x9272: return "GL_COMPRESSED_RG11_EAC"; break;
+        case 0x9273: return "GL_COMPRESSED_SIGNED_RG11_EAC"; break;
+        // GL_KHR_texture_compression_astc_hdr
+        case 0x93B0: return "GL_COMPRESSED_RGBA_ASTC_4x4_KHR"; break;
+        case 0x93B1: return "GL_COMPRESSED_RGBA_ASTC_5x4_KHR"; break;
+        case 0x93B2: return "GL_COMPRESSED_RGBA_ASTC_5x5_KHR"; break;
+        case 0x93B3: return "GL_COMPRESSED_RGBA_ASTC_6x5_KHR"; break;
+        case 0x93B4: return "GL_COMPRESSED_RGBA_ASTC_6x6_KHR"; break;
+        case 0x93B5: return "GL_COMPRESSED_RGBA_ASTC_8x5_KHR"; break;
+        case 0x93B6: return "GL_COMPRESSED_RGBA_ASTC_8x6_KHR"; break;
+        case 0x93B7: return "GL_COMPRESSED_RGBA_ASTC_8x8_KHR"; break;
+        case 0x93B8: return "GL_COMPRESSED_RGBA_ASTC_10x5_KHR"; break;
+        case 0x93B9: return "GL_COMPRESSED_RGBA_ASTC_10x6_KHR"; break;
+        case 0x93BA: return "GL_COMPRESSED_RGBA_ASTC_10x8_KHR"; break;
+        case 0x93BB: return "GL_COMPRESSED_RGBA_ASTC_10x10_KHR"; break;
+        case 0x93BC: return "GL_COMPRESSED_RGBA_ASTC_12x10_KHR"; break;
+        case 0x93BD: return "GL_COMPRESSED_RGBA_ASTC_12x12_KHR"; break;
+        case 0x93D0: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR"; break;
+        case 0x93D1: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR"; break;
+        case 0x93D2: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR"; break;
+        case 0x93D3: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR"; break;
+        case 0x93D4: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR"; break;
+        case 0x93D5: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR"; break;
+        case 0x93D6: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR"; break;
+        case 0x93D7: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR"; break;
+        case 0x93D8: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR"; break;
+        case 0x93D9: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR"; break;
+        case 0x93DA: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR"; break;
+        case 0x93DB: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR"; break;
+        case 0x93DC: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR"; break;
+        case 0x93DD: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR"; break;
+        default: return "GL_COMPRESSED_UNKNOWN"; break;
+    }
+}
+#endif  // RLGL_SHOW_GL_DETAILS_INFO
+
+#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
+
+// Get pixel data size in bytes (image or texture)
+// NOTE: Size depends on pixel format
+static int rlGetPixelDataSize(int width, int height, int format)
+{
+    int dataSize = 0;       // Size in bytes
+    int bpp = 0;            // Bits per pixel
+
+    switch (format)
+    {
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: bpp = 8; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA:
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5:
+        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1:
+        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: bpp = 16; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: bpp = 32; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: bpp = 24; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32: bpp = 32; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: bpp = 32*3; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: bpp = 32*4; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16: bpp = 16; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: bpp = 16*3; break;
+        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: bpp = 16*4; break;
+        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB:
+        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA:
+        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB:
+        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB:
+        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB:
+        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: bpp = 4; break;
+        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA:
+        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA:
+        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA:
+        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: bpp = 8; break;
+        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: bpp = 2; break;
+        default: break;
+    }
+
+    dataSize = width*height*bpp/8;  // Total data size in bytes
+
+    // Most compressed formats works on 4x4 blocks,
+    // if texture is smaller, minimum dataSize is 8 or 16
+    if ((width < 4) && (height < 4))
+    {
+        if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) && (format < RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA)) dataSize = 8;
+        else if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) && (format < RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)) dataSize = 16;
+    }
+
+    return dataSize;
+}
+
+// Auxiliar math functions
+
+// Get identity matrix
+static Matrix rlMatrixIdentity(void)
+{
+    Matrix result = {
+        1.0f, 0.0f, 0.0f, 0.0f,
+        0.0f, 1.0f, 0.0f, 0.0f,
+        0.0f, 0.0f, 1.0f, 0.0f,
+        0.0f, 0.0f, 0.0f, 1.0f
+    };
+
+    return result;
+}
+
+// Get two matrix multiplication
+// NOTE: When multiplying matrices... the order matters!
+static Matrix rlMatrixMultiply(Matrix left, Matrix right)
+{
+    Matrix result = { 0 };
+
+    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
+    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
+    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
+    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
+    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
+    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
+    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
+    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
+    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
+    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
+    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
+    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
+    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
+    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
+    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
+    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
+
+    return result;
+}
+
+#endif  // RLGL_IMPLEMENTATION
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
new file mode 100644
index 0000000000..2bb6f985d9
--- /dev/null
+++ b/third_party/raylib/larch64/libraylib.a
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac99ffbab698b99a47019ff02ff839f7536c32996b5e7aa827ef4820b288212
+size 10630538
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
new file mode 100755
index 0000000000..3e51185743
--- /dev/null
+++ b/third_party/raylib/setup.sh
@@ -0,0 +1,36 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR
+
+ARCHNAME=$(uname -m)
+if [ -f /TICI ]; then
+  ARCHNAME="larch64"
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ARCHNAME="Darwin"
+fi
+
+if [ ! -d raylib_repo ]; then
+  git clone https://github.com/raysan5/raylib.git raylib_repo
+fi
+
+cd raylib_repo
+git fetch --tags origin 5.0
+git checkout 5.0
+
+git clean -xdff .
+mkdir build
+cd build
+cmake ..
+make -j$(nproc)
+
+INSTALL_DIR="$DIR/$ARCHNAME"
+rm -rf $INSTALL_DIR
+mkdir -p $INSTALL_DIR
+
+rm -rf $DIR/include
+cp $DIR/raylib_repo/build/raylib/libraylib.a $INSTALL_DIR/
+cp -r $DIR/raylib_repo/build/raylib/include $DIR
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
new file mode 100644
index 0000000000..28aa5b21de
--- /dev/null
+++ b/third_party/raylib/x86_64/libraylib.a
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c07c718e411baefd74fd761d18f18fcc681ccd606d477118acff96732d21791
+size 10233524

From a529422db054ddbcad0bdacd456ffbf99a5f2d81 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 26 Aug 2024 00:44:18 +0800
Subject: [PATCH 0480/1243] ui: add prefix PRIME_TYPE_ to PrimeType enum values
 (#33371)

Add Prefix PRIME_TYPE_ to PrimeType Enum Values
old-commit-hash: 4bb00a042a7f0e60f42d4311805921b41395de83
---
 selfdrive/ui/qt/network/networking.cc   |  2 +-
 selfdrive/ui/qt/network/wifi_manager.cc |  2 +-
 selfdrive/ui/qt/offroad/settings.cc     |  4 ++--
 selfdrive/ui/qt/widgets/prime.cc        |  2 +-
 selfdrive/ui/ui.h                       | 20 ++++++++++----------
 5 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index d7cdddff44..250fa0fbf8 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -205,7 +205,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);
 
   connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) {
-    bool gsmVisible = prime_type == PrimeType::NONE || prime_type == PrimeType::LITE;
+    bool gsmVisible = prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE;
     roamingToggle->setVisible(gsmVisible);
     editApnButton->setVisible(gsmVisible);
     meteredToggle->setVisible(gsmVisible);
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index 717da47096..b0c9535273 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -446,7 +446,7 @@ void WifiManager::addTetheringConnection() {
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
   int prime_type = uiState()->primeType();
-  int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE);
+  int ipv4_forward = (prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE);
 
   if (!ipv4_forward) {
     QTimer::singleShot(5000, this, [=] {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index dc60d40e48..1c17fdcdf7 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -248,7 +248,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(translateBtn);
 
   QObject::connect(uiState(), &UIState::primeTypeChanged, [this] (PrimeType type) {
-    pair_device->setVisible(type == PrimeType::UNPAIRED);
+    pair_device->setVisible(type == PrimeType::PRIME_TYPE_UNPAIRED);
   });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
@@ -336,7 +336,7 @@ void DevicePanel::poweroff() {
 }
 
 void DevicePanel::showEvent(QShowEvent *event) {
-  pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED);
+  pair_device->setVisible(uiState()->primeType() == PrimeType::PRIME_TYPE_UNPAIRED);
   ListWidget::showEvent(event);
 }
 
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 25712c26c7..f86258ea4f 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -267,7 +267,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
   QJsonObject json = doc.object();
   bool is_paired = json["is_paired"].toBool();
   PrimeType prime_type = static_cast<PrimeType>(json["prime_type"].toInt());
-  uiState()->setPrimeType(is_paired ? prime_type : PrimeType::UNPAIRED);
+  uiState()->setPrimeType(is_paired ? prime_type : PrimeType::PRIME_TYPE_UNPAIRED);
 
   if (!is_paired) {
     mainLayout->setCurrentIndex(0);
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 237abe1224..4efdad8ac0 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -53,14 +53,14 @@ typedef enum UIStatus {
 } UIStatus;
 
 enum PrimeType {
-  UNKNOWN = -2,
-  UNPAIRED = -1,
-  NONE = 0,
-  MAGENTA = 1,
-  LITE = 2,
-  BLUE = 3,
-  MAGENTA_NEW = 4,
-  PURPLE = 5,
+  PRIME_TYPE_UNKNOWN = -2,
+  PRIME_TYPE_UNPAIRED = -1,
+  PRIME_TYPE_NONE = 0,
+  PRIME_TYPE_MAGENTA = 1,
+  PRIME_TYPE_LITE = 2,
+  PRIME_TYPE_BLUE = 3,
+  PRIME_TYPE_MAGENTA_NEW = 4,
+  PRIME_TYPE_PURPLE = 5,
 };
 
 const QColor bg_colors [] = {
@@ -115,7 +115,7 @@ public:
 
   void setPrimeType(PrimeType type);
   inline PrimeType primeType() const { return prime_type; }
-  inline bool hasPrime() const { return prime_type > PrimeType::NONE; }
+  inline bool hasPrime() const { return prime_type > PrimeType::PRIME_TYPE_NONE; }
 
   int fb_w = 0, fb_h = 0;
 
@@ -140,7 +140,7 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
-  PrimeType prime_type = PrimeType::UNKNOWN;
+  PrimeType prime_type = PrimeType::PRIME_TYPE_UNKNOWN;
 };
 
 UIState *uiState();

From fc08a6ebeff5da3b15b45cd5741fa40ce43497aa Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 26 Aug 2024 09:32:57 -0700
Subject: [PATCH 0481/1243] [bot] Update Python packages (#33377)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
old-commit-hash: 8b074d3ed651717d3eb23e73a9930df7790568e6
---
 msgq_repo    |   2 +-
 opendbc_repo |   2 +-
 uv.lock      | 232 ++++++++++++++++++++++++++-------------------------
 3 files changed, 122 insertions(+), 114 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 23cb05a80d..cff3a551f2 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 23cb05a80dec50a52f2e0fa7f7870ae920b3f2e8
+Subproject commit cff3a551f29d7b508aba2495706e093d04f6a00e
diff --git a/opendbc_repo b/opendbc_repo
index 06c51c1db4..f6f0674d19 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 06c51c1db49c3b4ffb9144ba010b84ce186d5c5b
+Subproject commit f6f0674d1986af6690fc50a523d7f8c25e77238c
diff --git a/uv.lock b/uv.lock
index ddc6f0b64c..db52d5c336 100644
--- a/uv.lock
+++ b/uv.lock
@@ -772,11 +772,11 @@ wheels = [
 
 [[package]]
 name = "idna"
-version = "3.7"
+version = "3.8"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/21/ed/f86a79a07470cb07819390452f178b3bef1d375f2ec021ecfc709fc7cf07/idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc", size = 189575 }
+sdist = { url = "https://files.pythonhosted.org/packages/e8/ac/e349c5e6d4543326c6883ee9491e3921e0d07b55fdf3cce184b40d63e72a/idna-3.8.tar.gz", hash = "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603", size = 189467 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e5/3e/741d8c82801c347547f8a2a06aa57dbb1992be9e948df2ea0eda2c8b79e8/idna-3.7-py3-none-any.whl", hash = "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0", size = 66836 },
+    { url = "https://files.pythonhosted.org/packages/22/7e/d71db821f177828df9dea8c42ac46473366f191be53080e552e628aad991/idna-3.8-py3-none-any.whl", hash = "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac", size = 66894 },
 ]
 
 [[package]]
@@ -1236,25 +1236,25 @@ wheels = [
 
 [[package]]
 name = "mypy"
-version = "1.11.1"
+version = "1.11.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "mypy-extensions" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b6/9c/a4b3bda53823439cf395db8ecdda6229a83f9bf201714a68a15190bb2919/mypy-1.11.1.tar.gz", hash = "sha256:f404a0b069709f18bbdb702eb3dcfe51910602995de00bd39cea3050b5772d08", size = 3078369 }
+sdist = { url = "https://files.pythonhosted.org/packages/5c/86/5d7cbc4974fd564550b80fbb8103c05501ea11aa7835edf3351d90095896/mypy-1.11.2.tar.gz", hash = "sha256:7f9993ad3e0ffdc95c2a14b66dee63729f021968bff8ad911867579c65d13a79", size = 3078806 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0b/b1/62d8ce619493a5364dda4f410912aa12c27126926e8fb8393edca0664640/mypy-1.11.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:7b6343d338390bb946d449677726edf60102a1c96079b4f002dedff375953fc5", size = 10858723 },
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-    { url = "https://files.pythonhosted.org/packages/4d/7f/77feb389d91603f55b3c4e3e16ccf8752bce007ed73ca921e42c9a5dff12/mypy-1.11.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:886c9dbecc87b9516eff294541bf7f3655722bf22bb898ee06985cd7269898de", size = 12420213 },
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 [[package]]
@@ -4496,11 +4496,11 @@ wheels = [
 
 [[package]]
 name = "pyparsing"
-version = "3.1.2"
+version = "3.1.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/46/3a/31fd28064d016a2182584d579e033ec95b809d8e220e74c4af6f0f2e8842/pyparsing-3.1.2.tar.gz", hash = "sha256:a1bac0ce561155ecc3ed78ca94d3c9378656ad4c94c1270de543f621420f94ad", size = 889571 }
+sdist = { url = "https://files.pythonhosted.org/packages/83/08/13f3bce01b2061f2bbd582c9df82723de943784cf719a35ac886c652043a/pyparsing-3.1.4.tar.gz", hash = "sha256:f86ec8d1a83f11977c9a6ea7598e8c27fc5cddfa5b07ea2241edbbde1d7bc032", size = 900231 }
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 [[package]]
@@ -4584,12 +4584,12 @@ sdist = { url = "https://files.pythonhosted.org/packages/cb/04/2ba023d5f771b645f
 
 [[package]]
 name = "pyscreeze"
-version = "0.1.30"
+version = "1.0.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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 [[package]]
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 [[package]]
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 ]
 
 [[package]]

From f15d85beb1099a263633679b2e0245b8ed2846fa Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 26 Aug 2024 10:51:25 -0700
Subject: [PATCH 0482/1243] Increase fetch depth for submodules (#33378)

4000
old-commit-hash: 431fd666fe58a1400dc1d23d14a77c26a4de0744
---
 release/check-submodules.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 48850deaf8..895f8fe1e0 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 3000 origin master
+  git -C $submodule fetch --depth 4000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

From 2ea4a8f48eb321c9b554e5eab2b2db394d0ddd8a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 26 Aug 2024 11:52:41 -0700
Subject: [PATCH 0483/1243] car helpers file (#33379)

* helpers file

* clean up
old-commit-hash: 6d392a2e7bca7fa69e5bca990b45ce90f988a1ca
---
 selfdrive/car/card.py    | 69 +-------------------------------------
 selfdrive/car/helpers.py | 72 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 73 insertions(+), 68 deletions(-)
 create mode 100644 selfdrive/car/helpers.py

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 1ef7a44eff..4a205f15c4 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
-import capnp
 import os
 import time
-from typing import Any
 
 import cereal.messaging as messaging
 
@@ -21,10 +19,10 @@ from opendbc.car.car_helpers import get_car
 from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
+from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
 
 EventName = car.CarEvent.EventName
 
@@ -61,71 +59,6 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   return can_recv, can_send
 
 
-def is_dataclass(obj):
-  """Similar to dataclasses.is_dataclass without instance type check checking"""
-  return hasattr(obj, _FIELDS)
-
-
-def _asdictref_inner(obj) -> dict[str, Any] | Any:
-  if is_dataclass(obj):
-    ret = {}
-    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-      ret[field] = _asdictref_inner(getattr(obj, field))
-    return ret
-  elif isinstance(obj, (tuple, list)):
-    return type(obj)(_asdictref_inner(v) for v in obj)
-  else:
-    return obj
-
-
-def asdictref(obj) -> dict[str, Any]:
-  """
-  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
-  Note that the resulting dict will contain references to the original struct as a result
-  """
-  if not is_dataclass(obj):
-    raise TypeError("asdictref() should be called on dataclass instances")
-
-  return _asdictref_inner(obj)
-
-
-def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParams):
-    del struct_dict['lateralTuning']
-    struct_capnp = car.CarParams.new_message(**struct_dict)
-
-    # this is the only union, special handling
-    which = struct.lateralTuning.which()
-    struct_capnp.lateralTuning.init(which)
-    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
-    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
-  elif isinstance(struct, structs.CarState):
-    struct_capnp = car.CarState.new_message(**struct_dict)
-  elif isinstance(struct, structs.CarControl.Actuators):
-    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
-  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
-  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
-
-  return struct_dataclass
-
-
 class Car:
   CI: CarInterfaceBase
   CP: structs.CarParams
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
new file mode 100644
index 0000000000..f4d8993468
--- /dev/null
+++ b/selfdrive/car/helpers.py
@@ -0,0 +1,72 @@
+import capnp
+from typing import Any
+
+from cereal import car
+from opendbc.car import structs
+
+_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
+
+
+def is_dataclass(obj):
+  """Similar to dataclasses.is_dataclass without instance type check checking"""
+  return hasattr(obj, _FIELDS)
+
+
+def _asdictref_inner(obj) -> dict[str, Any] | Any:
+  if is_dataclass(obj):
+    ret = {}
+    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
+      ret[field] = _asdictref_inner(getattr(obj, field))
+    return ret
+  elif isinstance(obj, (tuple, list)):
+    return type(obj)(_asdictref_inner(v) for v in obj)
+  else:
+    return obj
+
+
+def asdictref(obj) -> dict[str, Any]:
+  """
+  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
+  Note that the resulting dict will contain references to the original struct as a result
+  """
+  if not is_dataclass(obj):
+    raise TypeError("asdictref() should be called on dataclass instances")
+
+  return _asdictref_inner(obj)
+
+
+def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder:
+  struct_dict = asdictref(struct)
+
+  if isinstance(struct, structs.CarParams):
+    del struct_dict['lateralTuning']
+    struct_capnp = car.CarParams.new_message(**struct_dict)
+
+    # this is the only union, special handling
+    which = struct.lateralTuning.which()
+    struct_capnp.lateralTuning.init(which)
+    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
+    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
+  elif isinstance(struct, structs.CarState):
+    struct_capnp = car.CarState.new_message(**struct_dict)
+  elif isinstance(struct, structs.CarControl.Actuators):
+    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
+  else:
+    raise ValueError(f"Unsupported struct type: {type(struct)}")
+
+  return struct_capnp
+
+
+def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
+  # TODO: recursively handle any car struct as needed
+  def remove_deprecated(s: dict) -> dict:
+    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
+
+  struct_dict = struct.to_dict()
+  struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
+
+  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
+  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
+  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
+
+  return struct_dataclass

From 696d4c8450f445579c193c7bfd4d541b401e825b Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Mon, 26 Aug 2024 17:09:40 -0400
Subject: [PATCH 0484/1243] sim: fix code formatting (#33381)

sim: fix code
old-commit-hash: f37ee559fa802a1178aa71057cbb2d9609b4ad45
---
 tools/sim/lib/simulated_car.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 6d324e4780..acb77d93fe 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -23,8 +23,7 @@ class SimulatedCar:
   @staticmethod
   def get_car_can_parser():
     dbc_f = 'honda_civic_ex_2022_can_generated'
-    checks = [
-    ]
+    checks = []
     return CANParser(dbc_f, checks, 0)
 
   def send_can_messages(self, simulator_state: SimulatorState):

From 55bae8feef1b9bbe53d4b9e999e2268b89b44ece Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 26 Aug 2024 17:12:01 -0700
Subject: [PATCH 0485/1243] openpilot isn't required for a car port PR (#33383)

* disable car docs diff

* mv routes.py

* bump opendbc
old-commit-hash: 48bceb2bbfcb8c096c6bf170114f2da0cd00b3bb
---
 .github/workflows/selfdrive_tests.yaml        |   3 +-
 opendbc_repo                                  |   2 +-
 selfdrive/car/tests/routes.py                 | 294 ------------------
 selfdrive/car/tests/test_models.py            |   2 +-
 .../debug/check_can_parser_performance.py     |   2 +-
 selfdrive/test/update_ci_routes.py            |   2 +-
 tools/car_porting/test_car_model.py           |   2 +-
 7 files changed, 7 insertions(+), 300 deletions(-)
 delete mode 100755 selfdrive/car/tests/routes.py

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 479a4ff21d..b2831118f6 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -281,7 +281,8 @@ jobs:
   car_docs_diff:
     name: PR comments
     runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
+    #if: github.event_name == 'pull_request'
+    if: false  # TODO: run this in opendbc?
     steps:
       - uses: actions/checkout@v4
         with:
diff --git a/opendbc_repo b/opendbc_repo
index f6f0674d19..81fcc40cc7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f6f0674d1986af6690fc50a523d7f8c25e77238c
+Subproject commit 81fcc40cc7c175b8aa00ba0cb9e7cdc83b178159
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
deleted file mode 100755
index fcd55fa86d..0000000000
--- a/selfdrive/car/tests/routes.py
+++ /dev/null
@@ -1,294 +0,0 @@
-#!/usr/bin/env python3
-from typing import NamedTuple
-
-from opendbc.car.chrysler.values import CAR as CHRYSLER
-from opendbc.car.gm.values import CAR as GM
-from opendbc.car.ford.values import CAR as FORD
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.hyundai.values import CAR as HYUNDAI
-from opendbc.car.nissan.values import CAR as NISSAN
-from opendbc.car.mazda.values import CAR as MAZDA
-from opendbc.car.subaru.values import CAR as SUBARU
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.values import Platform
-from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
-from opendbc.car.body.values import CAR as COMMA
-
-# TODO: add routes for these cars
-non_tested_cars = [
-  FORD.FORD_F_150_MK14,
-  GM.CADILLAC_ATS,
-  GM.HOLDEN_ASTRA,
-  GM.CHEVROLET_MALIBU,
-  HYUNDAI.GENESIS_G90,
-  HONDA.HONDA_ODYSSEY_CHN,
-  VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
-  SUBARU.SUBARU_FORESTER_HYBRID,
-]
-
-
-class CarTestRoute(NamedTuple):
-  route: str
-  car_model: Platform | None
-  segment: int | None = None
-
-
-routes = [
-  CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.COMMA_BODY),
-
-  CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
-  CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),  # 2017
-  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
-  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
-  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
-  CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.CHRYSLER_PACIFICA_2020),
-  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN),
-  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6),
-  CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
-
-  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1),
-  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4),
-  CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6),
-  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
-  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
-  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
-  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
-  CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
-  #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
-
-  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),
-  CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
-  CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
-  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.CHEVROLET_EQUINOX),
-  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.CADILLAC_ESCALADE),
-  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV),
-  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019),
-  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT),
-  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1),
-  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14),  # Bolt EV
-  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO),
-  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER),
-
-  CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
-  CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.HONDA_CIVIC),
-  CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.HONDA_CRV_EU),
-  CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.HONDA_CRV),
-  CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.HONDA_CRV_HYBRID),
-  CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.HONDA_FIT),
-  CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.HONDA_FREED),
-  CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HONDA_HRV),
-  CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HONDA_HRV_3G),
-  CarTestRoute("147613502316e718/00000001--dd141a3140", HONDA.HONDA_HRV_3G),  # Brazilian model
-  CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
-  CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.HONDA_ACCORD),  # 1.5T
-  CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.HONDA_ACCORD),  # 2.0T
-  CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.HONDA_ACCORD),  # 2021 with new style HUD msgs
-  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.HONDA_ACCORD),  # hybrid
-  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
-  CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
-  CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
-  CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
-  CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
-  CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),
-  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.HONDA_PILOT),  # Passport
-  CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.HONDA_CIVIC_BOSCH),
-  CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
-  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
-  CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
-  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
-
-  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
-  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
-  CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
-  CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
-  CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
-  CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
-  CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
-  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
-  CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
-  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
-  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
-  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
-  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1),
-  CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
-  CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
-  CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
-  CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
-  CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
-  CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
-  CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
-  CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
-  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
-  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
-  CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
-  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
-  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
-  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
-  CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
-  CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
-  CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
-  CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN),  # plug-in hybrid
-  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
-  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # HDA2
-  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # HDA2
-  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
-  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
-  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV),  # openpilot longitudinal enabled
-  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.HYUNDAI_IONIQ_EV_2020),
-  CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.HYUNDAI_IONIQ_EV_LTD),
-  CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ),
-  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ),  # openpilot longitudinal enabled
-  CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
-  CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
-  CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
-  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
-  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
-  CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
-  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
-  CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
-  CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
-  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
-  CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
-  CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
-  CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
-  CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
-  CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
-  CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
-  CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
-  CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
-  CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
-  CarTestRoute("23349923ba5c4e3b|2023-12-02--08-51-54", HYUNDAI.KIA_NIRO_PHEV_2022),
-  CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
-  CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
-  CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
-  CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
-  CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # openpilot longitudinal
-  CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # hybrid
-  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
-  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
-  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
-  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
-  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
-  CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
-  CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
-
-  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2),
-  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.TOYOTA_ALPHARD_TSS2),  # hybrid
-  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.TOYOTA_AVALON),
-  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.TOYOTA_AVALON_2019),
-  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.TOYOTA_AVALON_2019),  # hybrid
-  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.TOYOTA_AVALON_TSS2),
-  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.TOYOTA_AVALON_TSS2),  # hybrid
-  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.TOYOTA_CAMRY),
-  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.TOYOTA_CAMRY),  # openpilot longitudinal, with radar CAN filter
-  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY),  # hybrid
-  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2),
-  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2),  # hybrid
-  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
-  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2),
-  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2),  # hybrid
-  CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS),
-  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4),
-  CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
-  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2),
-  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022),
-  CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023),
-  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2),  # hybrid
-  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
-  CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
-  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
-  CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
-  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
-  CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
-  CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
-  CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
-  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX),  # hybrid
-  CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
-  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2),  # hybrid
-  CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
-  CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX),  # hybrid
-  CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
-  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
-  CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
-  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.TOYOTA_HIGHLANDER_TSS2),
-  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.TOYOTA_HIGHLANDER_TSS2),  # hybrid
-  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.TOYOTA_HIGHLANDER),
-  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.TOYOTA_HIGHLANDER),  # hybrid
-  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.TOYOTA_SIENNA),
-  CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
-  CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
-  CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.TOYOTA_PRIUS_TSS2),
-  CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.TOYOTA_MIRAI),
-  CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
-  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
-  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
-  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
-  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
-  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
-
-  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
-  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
-  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
-  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # Stock ACC
-  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # openpilot longitudinal
-  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7),
-  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8),
-  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS),
-  CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.VOLKSWAGEN_POLO_MK6),
-  CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.VOLKSWAGEN_SHARAN_MK2),
-  CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.VOLKSWAGEN_TAOS_MK1),
-  CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.VOLKSWAGEN_TCROSS_MK1),
-  CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.VOLKSWAGEN_TIGUAN_MK2),
-  CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.VOLKSWAGEN_TOURAN_MK2),
-  CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.VOLKSWAGEN_TRANSPORTER_T61),
-  CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.VOLKSWAGEN_TROC_MK1),
-  CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
-  CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
-  CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
-  CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
-  CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_ATECA_MK1),  # Leon
-  CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
-  CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
-  CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
-  CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
-  CarTestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
-  CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_KAMIQ_MK1),  # Scala
-  CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
-
-  CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT),
-  CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER),
-  CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.SUBARU_IMPREZA),
-  CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.SUBARU_IMPREZA_2020),
-  CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.SUBARU_IMPREZA),  # openpilot longitudinal
-  # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
-  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.SUBARU_OUTBACK, segment=10),
-  CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.SUBARU_LEGACY, segment=3),
-  CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.SUBARU_CROSSTREK_HYBRID, segment=2),
-  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.SUBARU_FORESTER_2022, segment=4),
-  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.SUBARU_OUTBACK_2023, segment=7),
-  CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.SUBARU_ASCENT_2023, segment=7),
-  # Pre-global, dashcam
-  CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.SUBARU_FORESTER_PREGLOBAL),
-  CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.SUBARU_LEGACY_PREGLOBAL),
-  CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.SUBARU_OUTBACK_PREGLOBAL),
-  CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018),
-
-  CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.NISSAN_XTRAIL),
-  CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.NISSAN_LEAF),
-  CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.NISSAN_LEAF_IC),
-  CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.NISSAN_ROGUE),
-  CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.NISSAN_ALTIMA),
-
-  CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.MAZDA_CX5),
-  CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.MAZDA_CX9),
-  CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA_3),
-  CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA_6),
-  CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
-  CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
-
-  # Segments that test specific issues
-  # Controls mismatch due to standstill threshold
-  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
-]
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index dfb1712ab4..7016adbd51 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -19,7 +19,7 @@ from opendbc.car.fingerprints import all_known_cars, MIGRATION
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
-from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.card import Car, convert_to_capnp
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index a5155f0126..2bddd362ae 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -4,7 +4,7 @@ import time
 from tqdm import tqdm
 
 from cereal import car
-from openpilot.selfdrive.car.tests.routes import CarTestRoute
+from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index a9f4494ffd..2bf06b4860 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -7,7 +7,7 @@ from collections.abc import Iterable
 
 from tqdm import tqdm
 
-from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
+from opendbc.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.tools.lib.azure_container import AzureContainer
 from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index cf0be1a80a..6f274aaf69 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -3,7 +3,7 @@ import argparse
 import sys
 import unittest # noqa: TID251
 
-from openpilot.selfdrive.car.tests.routes import CarTestRoute
+from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
 from openpilot.tools.lib.route import SegmentName
 

From 81fc1be18924d8cc3dc7e06ecfe16f050ffe25ee Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 28 Aug 2024 02:34:28 +0800
Subject: [PATCH 0486/1243] ui: fix memory corruption by using std::vector for
 PubMaster initialization (#33390)

Fix memory Corruption Issue
old-commit-hash: 1c19cbc437ad7fdb84f039272bc482440eb41895
---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 2 +-
 selfdrive/ui/qt/sidebar.cc                 | 2 +-
 selfdrive/ui/ui.cc                         | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index c7ffa9b410..865b2599cc 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -11,7 +11,7 @@
 
 // Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
-  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
+  pm = std::make_unique<PubMaster>(std::vector<const char*>{"uiDebug"});
 
   main_layout = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 52d618ab48..7a93534da9 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -37,7 +37,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
 
-  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
+  pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 6de0babc7b..19ea61f15a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -240,7 +240,7 @@ void UIState::updateStatus() {
 }
 
 UIState::UIState(QObject *parent) : QObject(parent) {
-  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
+  sm = std::make_unique<SubMaster>(std::vector<const char*>{
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "clocks",

From 854d03a8191893d9414789619e9062d81fc8d35a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 27 Aug 2024 12:03:50 -0700
Subject: [PATCH 0487/1243] manager: remove LastUpdateTime default

old-commit-hash: 39c64d44a183663bbd83fb942eb036df5be8195e
---
 common/time.py            | 2 +-
 system/manager/manager.py | 2 --
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/common/time.py b/common/time.py
index 5379faf22a..60233e17fd 100644
--- a/common/time.py
+++ b/common/time.py
@@ -1,7 +1,7 @@
 import datetime
 from pathlib import Path
 
-_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+_MIN_DATE = datetime.datetime(year=2024, month=8, day=26)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 2a173ac90e..2f652e798b 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -41,8 +41,6 @@ def manager_init() -> None:
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
-  if not PC:
-    default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))
 
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)

From 484aaf4307eb632c2b9cb21403011027a90e7126 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 27 Aug 2024 12:05:03 -0700
Subject: [PATCH 0488/1243] no PC anymore

old-commit-hash: 4e2624783fd5b102301cea3a812609cda8f6f552
---
 system/manager/manager.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/manager/manager.py b/system/manager/manager.py
index 2f652e798b..9ebbdf422d 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -10,7 +10,7 @@ import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes

From 11f2d56f5e9e4e995cca153dbb086f9259198a3c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 27 Aug 2024 19:22:09 -0700
Subject: [PATCH 0489/1243] ubuntu: remove extra packages

old-commit-hash: 5d3f8bb04b7cd7f83d1c20e6b579361b6e303615
---
 Dockerfile.openpilot_base            |  2 +-
 tools/install_ubuntu_dependencies.sh | 27 ---------------------------
 2 files changed, 1 insertion(+), 28 deletions(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index a5028d4347..6dbd249c23 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 1b4fa0581a..be5c479c36 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -66,21 +66,6 @@ function install_ubuntu_common_requirements() {
     libqt5opengl5-dev
 }
 
-# Install extra packages
-function install_extra_packages() {
-  echo "Installing extra packages..."
-  $SUDO apt-get install -y --no-install-recommends \
-    libreadline-dev \
-    libdw1 \
-    autoconf \
-    libtool \
-    bzip2 \
-    libarchive-dev \
-    libncursesw5-dev \
-    libportaudio2 \
-    locales
-}
-
 # Install Ubuntu 24.04 LTS packages
 function install_ubuntu_lts_latest_requirements() {
   install_ubuntu_common_requirements
@@ -129,18 +114,6 @@ if [ -f "/etc/os-release" ]; then
       fi
   esac
 
-  # Install extra packages
-  if [[ -z "$INSTALL_EXTRA_PACKAGES" && -n "$INTERACTIVE" ]]; then
-    read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r
-    echo ""
-    if [[ $REPLY =~ ^[Yy]$ ]]; then
-      INSTALL_EXTRA_PACKAGES="yes"
-    fi
-  fi
-  if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then
-    install_extra_packages
-  fi
-
   if [[ -d "/etc/udev/rules.d/" ]]; then
     # Setup panda udev rules
     $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF

From 0ffba0068ac1168a4d1eb8d5d290773f271e70a3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 27 Aug 2024 19:42:44 -0700
Subject: [PATCH 0490/1243] git rewrite (#33392)

old-commit-hash: 0656521268a3d92919d336a6d3e00393295d4932
---
 scripts/git_rewrite/rewrite.sh | 50 ++++++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100755 scripts/git_rewrite/rewrite.sh

diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
new file mode 100755
index 0000000000..5f489a7e37
--- /dev/null
+++ b/scripts/git_rewrite/rewrite.sh
@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+git clone https://github.com/commaai/openpilot
+cp -r openpilot openpilot_backup
+cd openpilot
+
+git checkout master
+
+# delete all refs except master
+git for-each-ref --format='delete %(refname)' | grep -v '\/master$' | git update-ref --stdin
+
+# re-tag to master
+declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
+for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
+
+# get master root commit
+ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
+
+# link master and devel
+git replace --graft $ROOT_COMMIT v0.7.1
+git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: https://github.com/commaai/openpilot/commit/" + h)'
+
+# clean replace refs
+git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
+
+# validate
+tail -n +2 ".git/filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'diff <(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) <(git ls-tree -r $1 | sha1sum) || exit 255'
+
+# cleanup
+git reflog expire --expire=now --all
+git gc --prune=now --aggressive
+
+# get all lfs files
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git lfs fetch --all
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git lfs fetch --all
+
+# add new files to lfs
+git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+
+# set new lfs endpoint
+git config lfs.url https://gitlab.com/commaai/openpilot_rewrite_lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot_rewrite_lfs.git
+
+# push all branch+tag (scary stuff...)
+git push -f --set-upstream git@github.com:maxime-desroches/tinypilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

From b7fd2efca6ab7c6ad85a03050fb1e34d87359ad7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 27 Aug 2024 19:47:46 -0700
Subject: [PATCH 0491/1243] Update rewrite.sh old-commit-hash:
 0af58e1820109c05b6d19f6b063f31ed4e50db24

---
 scripts/git_rewrite/rewrite.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
index 5f489a7e37..c3cdf28c33 100755
--- a/scripts/git_rewrite/rewrite.sh
+++ b/scripts/git_rewrite/rewrite.sh
@@ -21,7 +21,7 @@ ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
 
 # link master and devel
 git replace --graft $ROOT_COMMIT v0.7.1
-git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: https://github.com/commaai/openpilot/commit/" + h)'
+git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
 
 # clean replace refs
 git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin

From 180cc975c71c06667599ef5a5b6582b0bee4e74d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 27 Aug 2024 20:11:12 -0700
Subject: [PATCH 0492/1243] bump msgq

old-commit-hash: 756d64e2c3a38983caa56cefd55e58fb663332c6
---
 msgq_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/msgq_repo b/msgq_repo
index cff3a551f2..cdcf84f44a 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit cff3a551f29d7b508aba2495706e093d04f6a00e
+Subproject commit cdcf84f44a4edd40f7aa4d06eb95550ac64b3b37

From bc12a73c5a27f142ee4c29178f8c90ec4d594296 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 27 Aug 2024 22:32:10 -0700
Subject: [PATCH 0493/1243] git rewrite: backup old repo (#33393)

backup
old-commit-hash: 8aff0ce9c7c6ade5c44073cfef0353e02915a8c4
---
 scripts/git_rewrite/rewrite.sh | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
index c3cdf28c33..85dfccc840 100755
--- a/scripts/git_rewrite/rewrite.sh
+++ b/scripts/git_rewrite/rewrite.sh
@@ -3,16 +3,20 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-git clone https://github.com/commaai/openpilot
-cp -r openpilot openpilot_backup
-cd openpilot
+git clone --bare https://github.com/commaai/openpilot
+cp -r openpilot.git openpilot_backup
+cd openpilot.git
 
-git checkout master
+# backup old repo
+git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/master:refs/heads/master
+git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/*:refs/heads/*
+git push git@github.com:maxime-desroches/openpilot_archive.git +refs/tags/*:refs/tags/*
+git push --mirror git@github.com:maxime-desroches/openpilot_archive.git
 
 # delete all refs except master
 git for-each-ref --format='delete %(refname)' | grep -v '\/master$' | git update-ref --stdin
 
-# re-tag to master
+# re-tag old releases on master
 declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
 for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
 
@@ -23,11 +27,11 @@ ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
 git replace --graft $ROOT_COMMIT v0.7.1
 git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
 
-# clean replace refs
+# delete replace refs
 git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
 
 # validate
-tail -n +2 ".git/filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'diff <(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) <(git ls-tree -r $1 | sha1sum) || exit 255'
+tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'diff <(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) <(git ls-tree -r $1 | sha1sum) || exit 255'
 
 # cleanup
 git reflog expire --expire=now --all

From 3e3726120909584c06e24d3abdc776ee2ef269f2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 29 Aug 2024 02:13:05 +0800
Subject: [PATCH 0494/1243] ci: add onroad alerts to ui report (#33394)

* add onroad alerts to ui report

* print
old-commit-hash: 5fe1f5fa87fa27a7f17296ff27c892c6d69716ae
---
 .github/workflows/ui_preview.yaml |  5 +++++
 selfdrive/ui/tests/test_ui/run.py | 27 ++++++++++++++++++++++++++-
 2 files changed, 31 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index c678abb276..73efc890f9 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,6 +84,11 @@ jobs:
               </tr>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_small.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_mid.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
               </tr>
             </table>
           comment_tag: run_id_screenshots
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 6286517ee6..9bb904f533 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -95,12 +95,37 @@ def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
   click(500, 500)
 
+
+def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.ControlsState.AlertStatus.normal):
+  print(f'setup onroad alert, size: {size}')
+  setup_onroad(click, pm)
+  dat = messaging.new_message('controlsState')
+  cs = dat.controlsState
+  cs.alertText1 = text1
+  cs.alertText2 = text2
+  cs.alertSize = size
+  cs.alertStatus = status
+  cs.alertType = "test_onorad_alert"
+  pm.send('controlsState', dat)
+
+def setup_onroad_alert_small(click, pm: PubMaster):
+  setup_onroad_alert(click, pm, 'This is a small alert message', '', log.ControlsState.AlertSize.small)
+
+def setup_onroad_alert_mid(click, pm: PubMaster):
+  setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.ControlsState.AlertSize.mid)
+
+def setup_onroad_alert_full(click, pm: PubMaster):
+  setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.ControlsState.AlertSize.full)
+
 CASES = {
   "homescreen": setup_homescreen,
   "settings_device": setup_settings_device,
   "settings_network": setup_settings_network,
   "onroad": setup_onroad,
-  "onroad_sidebar": setup_onroad_sidebar
+  "onroad_sidebar": setup_onroad_sidebar,
+  "onroad_alert_small": setup_onroad_alert_small,
+  "onroad_alert_mid": setup_onroad_alert_mid,
+  "onroad_alert_full": setup_onroad_alert_full,
 }
 
 TEST_DIR = pathlib.Path(__file__).parent

From 4f7e5b5b3ebf7a7b913860c9bbe2ca674b3dd0ed Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 28 Aug 2024 11:34:36 -0700
Subject: [PATCH 0495/1243] bump rednose

old-commit-hash: 8b7e28d3a181e937ad57da7616d5e509ae7b7b1d
---
 rednose_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rednose_repo b/rednose_repo
index 023a6195db..90c891fe89 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0
+Subproject commit 90c891fe8972e6e205c69f894c688cc12ef5ecb6

From 333ceca8f6ba17413977c01f30a55e99a53020e3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 28 Aug 2024 11:53:27 -0700
Subject: [PATCH 0496/1243] git rewrite: ignore release branches
 old-commit-hash: 2f71c94847353adc9daf8a0e1148e120b1bd625d

---
 scripts/git_rewrite/rewrite.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
index 85dfccc840..6c00597c8e 100755
--- a/scripts/git_rewrite/rewrite.sh
+++ b/scripts/git_rewrite/rewrite.sh
@@ -13,8 +13,8 @@ git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/*:ref
 git push git@github.com:maxime-desroches/openpilot_archive.git +refs/tags/*:refs/tags/*
 git push --mirror git@github.com:maxime-desroches/openpilot_archive.git
 
-# delete all refs except master
-git for-each-ref --format='delete %(refname)' | grep -v '\/master$' | git update-ref --stdin
+# ignore all release branches
+git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
 
 # re-tag old releases on master
 declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )

From 4c8547cfe43384219b7bf1919e5ae27a5189b95b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 28 Aug 2024 11:53:31 -0700
Subject: [PATCH 0497/1243] cleanup duplicate serial docs

old-commit-hash: d7f4fbc1c26a5fb23e2303b4fbf5ddb22fe852d6
---
 docs/how-to/connect-to-comma.md               |  2 +-
 .../{serial/connect.sh => scripts/serial.sh}  |  0
 tools/serial/README.md                        | 21 -------------------
 3 files changed, 1 insertion(+), 22 deletions(-)
 rename tools/{serial/connect.sh => scripts/serial.sh} (100%)
 delete mode 100644 tools/serial/README.md

diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index d9c0c701c8..67327fbaaf 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -7,7 +7,7 @@ A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) compu
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
 Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
-On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
 
diff --git a/tools/serial/connect.sh b/tools/scripts/serial.sh
similarity index 100%
rename from tools/serial/connect.sh
rename to tools/scripts/serial.sh
diff --git a/tools/serial/README.md b/tools/serial/README.md
deleted file mode 100644
index 6a2950a1da..0000000000
--- a/tools/serial/README.md
+++ /dev/null
@@ -1,21 +0,0 @@
-# comma serial
-
-The comma serial gets you access to a low level serial console on your comma three, while providing a stable 12V to power the device.
-
-The serial is available on the [comma shop](https://comma.ai/shop/products/comma-serial).
-
-## setup
-
-* Connect all three cables to the serial
-* Connect the USB A to your computer
-* Connect the USB-C to the OBD-C port on your comma three
-
-## usage
-
-```
-sudo screen /dev/ttyUSB0 115200
-```
-or use `connect.sh` to run the previous command in a loop.
-
-
-The username and password are both `comma`.

From d21917ffb3aea4e31dcc37a12db6f68482ab9c8a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 29 Aug 2024 05:00:01 +0800
Subject: [PATCH 0498/1243] ci: add all onroad hud elements to ui report
 (#33395)

* add model

* merge master

* make static analysis happy
old-commit-hash: 341e7a4384f3c3d16a1668c2e21c8e75f598d4d3
---
 selfdrive/ui/tests/test_ui/run.py | 86 ++++++++++++++-----------------
 1 file changed, 38 insertions(+), 48 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 9bb904f533..e2ca7a7742 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -1,4 +1,5 @@
 from collections import namedtuple
+import capnp
 import pathlib
 import shutil
 import sys
@@ -9,38 +10,26 @@ import os
 import pywinctl
 import time
 
-from cereal import messaging, car, log
+from cereal import messaging, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+from openpilot.tools.lib.logreader import LogReader
 
 UI_DELAY = 0.5 # may be slower on CI?
+TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
-NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
-
-EventName = car.CarEvent.EventName
-EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
-
+CAM = DEVICE_CAMERAS[("tici", "ar0231")]
+DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder | None] = dict.fromkeys(
+  ["deviceState", "pandaStates", "controlsState", "liveCalibration",
+  "modelV2", "radarState", "driverMonitoringState",
+  "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState"], None)
 
 def setup_common(click, pm: PubMaster):
   Params().put("DongleId", "123456789012345")
-  dat = messaging.new_message('deviceState')
-  dat.deviceState.started = True
-  dat.deviceState.networkType = NetworkType.cell4G
-  dat.deviceState.networkStrength = NetworkStrength.moderate
-  dat.deviceState.freeSpacePercent = 80
-  dat.deviceState.memoryUsagePercent = 2
-  dat.deviceState.cpuTempC = [2,]*3
-  dat.deviceState.gpuTempC = [2,]*3
-  dat.deviceState.cpuUsagePercent = [2,]*8
-
-  pm.send("deviceState", dat)
+  pm.send('deviceState', DATA['deviceState'])
 
 def setup_homescreen(click, pm: PubMaster):
   setup_common(click, pm)
@@ -59,37 +48,30 @@ def setup_settings_network(click, pm: PubMaster):
 def setup_onroad(click, pm: PubMaster):
   setup_common(click, pm)
 
-  dat = messaging.new_message('pandaStates', 1)
-  dat.pandaStates[0].ignitionLine = True
-  dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
-
-  pm.send("pandaStates", dat)
+  vipc_server = VisionIpcServer("camerad")
 
-  d = DEVICE_CAMERAS[("tici", "ar0231")]
-  server = VisionIpcServer("camerad")
-  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height)
-  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height)
-  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height)
-  server.start_listener()
+  streams = [(VisionStreamType.VISION_STREAM_ROAD, CAM.fcam),
+             (VisionStreamType.VISION_STREAM_DRIVER, CAM.dcam),
+             (VisionStreamType.VISION_STREAM_WIDE_ROAD, CAM.ecam)]
+  for stream_type, cam in streams:
+    vipc_server.create_buffers(stream_type, 40, False, cam.width, cam.height)
 
-  time.sleep(0.5) # give time for vipc server to start
+  vipc_server.start_listener()
 
-  IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
-  IMG_BYTES = IMG.flatten().tobytes()
+  packet_id = 0
+  for _ in range(10):
+    for service, data in DATA.items():
+      if data:
+        data.clear_write_flag()
+        pm.send(service, data)
 
-  cams = ('roadCameraState', 'wideRoadCameraState')
+    for stream_type, cam in streams:
+      IMG = np.zeros((int(cam.width*1.5), cam.height), dtype=np.uint8)
+      IMG_BYTES = IMG.flatten().tobytes()
+      packet_id = packet_id + 1
+      vipc_server.send(stream_type, IMG_BYTES, packet_id, packet_id, packet_id)
 
-  frame_id = 0
-  for cam in cams:
-    msg = messaging.new_message(cam)
-    cs = getattr(msg, cam)
-    cs.frameId = frame_id
-    cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-    cs.timestampEof = int((frame_id * DT_MDL) * 1e9)
-    cam_meta = meta_from_camera_state(cam)
-
-    pm.send(msg.which(), msg)
-    server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof)
+    time.sleep(0.05)
 
 def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
@@ -141,7 +123,7 @@ class TestUI:
 
   def setup(self):
     self.sm = SubMaster(["uiDebug"])
-    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState'])
+    self.pm = PubMaster(list(DATA.keys()))
     while not self.sm.valid["uiDebug"]:
       self.sm.update(1)
     time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
@@ -195,6 +177,14 @@ def create_screenshots():
 
   SCREENSHOTS_DIR.mkdir(parents=True)
 
+  lr = list(LogReader(f'{TEST_ROUTE}/1/q'))
+  for event in lr:
+    if event.which() in DATA:
+      DATA[event.which()] = event.as_builder()
+
+    if all(DATA.values()):
+      break
+
   t = TestUI()
   for name, setup in CASES.items():
     t.test_ui(name, setup)

From 51fb5009f19cca33ee251dbdcd873910fc26aa65 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 29 Aug 2024 05:19:33 +0800
Subject: [PATCH 0499/1243] bridge: implement MSGQ to ZMQ bridge with
 subscriber-based publishing (#32862)

implement MSGQ to ZMQ bridge with subscriber-based publishing

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 2faa08c2d685583ac0856f8391c905380d7e6a66
---
 cereal/SConscript               |   2 +-
 cereal/messaging/bridge.cc      | 101 ++++++++++--------------
 cereal/messaging/msgq_to_zmq.cc | 134 ++++++++++++++++++++++++++++++++
 cereal/messaging/msgq_to_zmq.h  |  37 +++++++++
 4 files changed, 212 insertions(+), 62 deletions(-)
 create mode 100644 cereal/messaging/msgq_to_zmq.cc
 create mode 100644 cereal/messaging/msgq_to_zmq.h

diff --git a/cereal/SConscript b/cereal/SConscript
index ce3a9ff8f8..a58a9490ce 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, common])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index 8619c1e226..93af988358 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -1,25 +1,10 @@
-#include <algorithm>
 #include <cassert>
-#include <csignal>
-#include <iostream>
-#include <map>
-#include <string>
-
-typedef void (*sighandler_t)(int sig);
 
+#include "cereal/messaging/msgq_to_zmq.h"
 #include "cereal/services.h"
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "common/util.h"
 
-std::atomic<bool> do_exit = false;
-static void set_do_exit(int sig) {
-  do_exit = true;
-}
-
-void sigpipe_handler(int sig) {
-  assert(sig == SIGPIPE);
-  std::cout << "SIGPIPE received" << std::endl;
-}
+ExitHandler do_exit;
 
 static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
@@ -34,41 +19,22 @@ static std::vector<std::string> get_services(std::string whitelist_str, bool zmq
   return service_list;
 }
 
-int main(int argc, char** argv) {
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
-
-  bool zmq_to_msgq = argc > 2;
-  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
+void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  MsgqToZmq bridge;
+  bridge.run(endpoints, ip);
+}
 
-  Poller *poller;
-  Context *pub_context;
-  Context *sub_context;
-  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
-    poller = new ZMQPoller();
-    pub_context = new MSGQContext();
-    sub_context = new ZMQContext();
-  } else {
-    poller = new MSGQPoller();
-    pub_context = new ZMQContext();
-    sub_context = new MSGQContext();
-  }
+void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;
 
-  std::map<SubSocket*, PubSocket*> sub2pub;
-  for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) {
-    PubSocket * pub_sock;
-    SubSocket * sub_sock;
-    if (zmq_to_msgq) {
-      pub_sock = new MSGQPubSocket();
-      sub_sock = new ZMQSubSocket();
-    } else {
-      pub_sock = new ZMQPubSocket();
-      sub_sock = new MSGQSubSocket();
-    }
-    pub_sock->connect(pub_context, endpoint);
-    sub_sock->connect(sub_context, endpoint, ip, false);
+  for (auto endpoint : endpoints) {
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
+    sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);
     sub2pub[sub_sock] = pub_sock;
@@ -76,17 +42,30 @@ int main(int argc, char** argv) {
 
   while (!do_exit) {
     for (auto sub_sock : poller->poll(100)) {
-      Message * msg = sub_sock->receive();
-      if (msg == NULL) continue;
-      int ret;
-      do {
-        ret = sub2pub[sub_sock]->sendMessage(msg);
-      } while (ret == -1 && errno == EINTR && !do_exit);
-      assert(ret >= 0 || do_exit);
-      delete msg;
-
-      if (do_exit) break;
+      std::unique_ptr<Message> msg(sub_sock->receive(true));
+      if (msg) {
+        sub2pub[sub_sock]->sendMessage(msg.get());
+      }
     }
   }
+
+  // Clean up allocated sockets
+  for (auto &[sub_sock, pub_sock] : sub2pub) {
+    delete sub_sock;
+    delete pub_sock;
+  }
+}
+
+int main(int argc, char **argv) {
+  bool is_zmq_to_msgq = argc > 2;
+  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
+  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
+
+  if (is_zmq_to_msgq) {
+    zmq_to_msgq(endpoints, ip);
+  } else {
+    msgq_to_zmq(endpoints, ip);
+  }
   return 0;
 }
diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc
new file mode 100644
index 0000000000..87ce02ac4d
--- /dev/null
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -0,0 +1,134 @@
+#include "cereal/messaging/msgq_to_zmq.h"
+
+#include <cassert>
+
+#include "common/util.h"
+
+extern ExitHandler do_exit;
+
+static std::string recv_zmq_msg(void *sock) {
+  zmq_msg_t msg;
+  zmq_msg_init(&msg);
+  std::string ret;
+  if (zmq_msg_recv(&msg, sock, 0) > 0) {
+    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
+  zmq_context = std::make_unique<ZMQContext>();
+  msgq_context = std::make_unique<MSGQContext>();
+
+  // Create ZMQPubSockets for each endpoint
+  for (auto endpoint : endpoints) {
+    auto &socket_pair = socket_pairs.emplace_back();
+    socket_pair.endpoint = endpoint;
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
+    if (ret != 0) {
+      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
+      return;
+    }
+  }
+
+  // Start ZMQ monitoring thread to monitor socket events
+  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
+
+  while (!do_exit) {
+    {
+      std::unique_lock lk(mutex);
+      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
+      if (do_exit) break;
+
+      for (auto sub_sock : msgq_poller->poll(100)) {
+        std::unique_ptr<Message> msg(sub_sock->receive(true));
+        while (msg && sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
+          if (errno != EINTR) break;
+        }
+      }
+    }
+    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
+  }
+
+  thread.join();
+}
+
+void MsgqToZmq::zmqMonitorThread() {
+  std::vector<zmq_pollitem_t> pollitems;
+
+  // Set up ZMQ monitor for each pub socket
+  for (int i = 0; i < socket_pairs.size(); ++i) {
+    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+
+    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
+    zmq_connect(monitor_socket, addr.c_str());
+    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
+  }
+
+  while (!do_exit) {
+    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
+    if (ret < 0) {
+      if (errno == EINTR) {
+        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
+        // to reduce CPU usage during retry attempts.
+        util::sleep_for(200);
+      }
+      continue;
+    }
+
+    for (int i = 0; i < pollitems.size(); ++i) {
+      if (pollitems[i].revents & ZMQ_POLLIN) {
+        // First frame in message contains event number and value
+        std::string frame = recv_zmq_msg(pollitems[i].socket);
+        if (frame.empty()) continue;
+
+        uint16_t event_type = *(uint16_t *)(frame.data());
+
+        // Second frame in message contains event address
+        frame = recv_zmq_msg(pollitems[i].socket);
+        if (frame.empty()) continue;
+
+        std::unique_lock lk(mutex);
+        auto &pair = socket_pairs[i];
+        if (event_type & ZMQ_EVENT_ACCEPTED) {
+          printf("socket [%s] connected\n", pair.endpoint.c_str());
+          if (++pair.connected_clients == 1) {
+            // Create new MSGQ subscriber socket and map to ZMQ publisher
+            pair.sub_sock = std::make_unique<MSGQSubSocket>();
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
+            registerSockets();
+          }
+        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
+          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
+          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
+            // Remove MSGQ subscriber socket from mapping and reset it
+            sub2pub.erase(pair.sub_sock.get());
+            pair.sub_sock.reset(nullptr);
+            registerSockets();
+          }
+        }
+        cv.notify_one();
+      }
+    }
+  }
+
+  // Clean up monitor sockets
+  for (int i = 0; i < pollitems.size(); ++i) {
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_close(pollitems[i].socket);
+  }
+  cv.notify_one();
+}
+
+void MsgqToZmq::registerSockets() {
+  msgq_poller = std::make_unique<MSGQPoller>();
+  for (const auto &socket_pair : socket_pairs) {
+    if (socket_pair.sub_sock) {
+      msgq_poller->registerSocket(socket_pair.sub_sock.get());
+    }
+  }
+}
diff --git a/cereal/messaging/msgq_to_zmq.h b/cereal/messaging/msgq_to_zmq.h
new file mode 100644
index 0000000000..ebdbe5df69
--- /dev/null
+++ b/cereal/messaging/msgq_to_zmq.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <condition_variable>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#define private public
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_zmq.h"
+
+class MsgqToZmq {
+public:
+  MsgqToZmq() {}
+  void run(const std::vector<std::string> &endpoints, const std::string &ip);
+
+protected:
+  void registerSockets();
+  void zmqMonitorThread();
+
+  struct SocketPair {
+    std::string endpoint;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<MSGQSubSocket> sub_sock;
+    int connected_clients = 0;
+  };
+
+  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
+  std::mutex mutex;
+  std::condition_variable cv;
+  std::unique_ptr<MSGQPoller> msgq_poller;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::vector<SocketPair> socket_pairs;
+};

From 5cdd421db154b3b955b9f8846212c4e65aaf5c9a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 30 Aug 2024 03:11:51 +0800
Subject: [PATCH 0500/1243] ci: add cameras to ui reports (#33401)

add cameras
old-commit-hash: db5c0419ce566d1d44d1fdbcea438776a4f28bd0
---
 .github/workflows/ui_preview.yaml |  8 ++++--
 selfdrive/ui/tests/test_ui/run.py | 47 +++++++++++++++++++++----------
 2 files changed, 38 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 73efc890f9..9036bc44ea 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -76,11 +76,15 @@ jobs:
             <table>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
               </tr>
               <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide_sidebar.png"></td>
               </tr>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index e2ca7a7742..c10a591d2e 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -14,15 +14,17 @@ from cereal import messaging, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.route import Route
 
 UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
-CAM = DEVICE_CAMERAS[("tici", "ar0231")]
-DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder | None] = dict.fromkeys(
+STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
+DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["deviceState", "pandaStates", "controlsState", "liveCalibration",
   "modelV2", "radarState", "driverMonitoringState",
   "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState"], None)
@@ -50,33 +52,36 @@ def setup_onroad(click, pm: PubMaster):
 
   vipc_server = VisionIpcServer("camerad")
 
-  streams = [(VisionStreamType.VISION_STREAM_ROAD, CAM.fcam),
-             (VisionStreamType.VISION_STREAM_DRIVER, CAM.dcam),
-             (VisionStreamType.VISION_STREAM_WIDE_ROAD, CAM.ecam)]
-  for stream_type, cam in streams:
-    vipc_server.create_buffers(stream_type, 40, False, cam.width, cam.height)
 
+  for stream_type, cam, _ in STREAMS:
+    vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
   vipc_server.start_listener()
 
   packet_id = 0
-  for _ in range(10):
+  for _ in range(30):
     for service, data in DATA.items():
       if data:
         data.clear_write_flag()
         pm.send(service, data)
 
-    for stream_type, cam in streams:
-      IMG = np.zeros((int(cam.width*1.5), cam.height), dtype=np.uint8)
-      IMG_BYTES = IMG.flatten().tobytes()
-      packet_id = packet_id + 1
-      vipc_server.send(stream_type, IMG_BYTES, packet_id, packet_id, packet_id)
+    packet_id = packet_id + 1
+    for stream_type, _, image in STREAMS:
+      vipc_server.send(stream_type, image, packet_id, packet_id, packet_id)
 
     time.sleep(0.05)
 
+def setup_onroad_wide(click, pm: PubMaster):
+  DATA['controlsState'].controlsState.experimentalMode = True
+  DATA["carState"].carState.vEgo = 1
+  setup_onroad(click, pm)
+
 def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
   click(500, 500)
 
+def setup_onroad_wide_sidebar(click, pm: PubMaster):
+  setup_onroad_wide(click, pm)
+  click(500, 500)
 
 def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.ControlsState.AlertStatus.normal):
   print(f'setup onroad alert, size: {size}')
@@ -105,6 +110,8 @@ CASES = {
   "settings_network": setup_settings_network,
   "onroad": setup_onroad,
   "onroad_sidebar": setup_onroad_sidebar,
+  "onroad_wide": setup_onroad_wide,
+  "onroad_wide_sidebar": setup_onroad_wide_sidebar,
   "onroad_alert_small": setup_onroad_alert_small,
   "onroad_alert_mid": setup_onroad_alert_mid,
   "onroad_alert_full": setup_onroad_alert_full,
@@ -177,7 +184,10 @@ def create_screenshots():
 
   SCREENSHOTS_DIR.mkdir(parents=True)
 
-  lr = list(LogReader(f'{TEST_ROUTE}/1/q'))
+  route = Route(TEST_ROUTE)
+
+  segnum = 2
+  lr = LogReader(route.qlog_paths()[segnum])
   for event in lr:
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
@@ -185,6 +195,13 @@ def create_screenshots():
     if all(DATA.values()):
       break
 
+  cam = DEVICE_CAMERAS[("tici", "ar0231")]
+  road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
+
+  wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
+
   t = TestUI()
   for name, setup in CASES.items():
     t.test_ui(name, setup)

From c51889b05e1953dabb2c333c5a67cff60640f81f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 30 Aug 2024 03:24:21 +0800
Subject: [PATCH 0501/1243] ui: remove deprecated Qt ui_snapshot (#33402)

remove ui_snapshot
old-commit-hash: ac5cd06a3aa9dbbe26425bdbe0e2caab3861cf98
---
 selfdrive/ui/SConscript           |  1 -
 selfdrive/ui/tests/.gitignore     |  1 -
 selfdrive/ui/tests/ui_snapshot.cc | 66 -------------------------------
 selfdrive/ui/tests/ui_snapshot.h  |  5 ---
 4 files changed, 73 deletions(-)
 delete mode 100644 selfdrive/ui/tests/ui_snapshot.cc
 delete mode 100644 selfdrive/ui/tests/ui_snapshot.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 63a795e0b7..2ee8a9dbac 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -66,7 +66,6 @@ qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
 if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
-  qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs)
 
 if GetOption('extras') and arch != "Darwin":
   qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 8e0147f988..06dad47fea 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,4 +1,3 @@
 test
 test_translations
-ui_snapshot
 test_ui/report
\ No newline at end of file
diff --git a/selfdrive/ui/tests/ui_snapshot.cc b/selfdrive/ui/tests/ui_snapshot.cc
deleted file mode 100644
index 14e0fab835..0000000000
--- a/selfdrive/ui/tests/ui_snapshot.cc
+++ /dev/null
@@ -1,66 +0,0 @@
-#include "selfdrive/ui/tests/ui_snapshot.h"
-
-#include <QApplication>
-#include <QCommandLineParser>
-#include <QDir>
-#include <QImage>
-#include <QPainter>
-
-#include "selfdrive/ui/qt/home.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/window.h"
-#include "selfdrive/ui/ui.h"
-
-void saveWidgetAsImage(QWidget *widget, const QString &fileName) {
-  QImage image(widget->size(), QImage::Format_ARGB32);
-  QPainter painter(&image);
-  widget->render(&painter);
-  image.save(fileName);
-}
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-
-  QApplication app(argc, argv);
-
-  QCommandLineParser parser;
-  parser.setApplicationDescription("Take a snapshot of the UI.");
-  parser.addHelpOption();
-  parser.addOption(QCommandLineOption(QStringList() << "o"
-                                                    << "output",
-                                      "Output image file path. The file's suffix is used to "
-                                      "determine the format. Supports PNG and JPEG formats. "
-                                      "Defaults to \"snapshot.png\".",
-                                      "file", "snapshot.png"));
-  parser.process(app);
-
-  const QString output = parser.value("output");
-  if (output.isEmpty()) {
-    qCritical() << "No output file specified";
-    return 1;
-  }
-
-  auto current = QDir::current();
-
-  // change working directory to find assets
-  if (!QDir::setCurrent(QCoreApplication::applicationDirPath() + QDir::separator() + "..")) {
-    qCritical() << "Failed to set current directory";
-    return 1;
-  }
-
-  MainWindow w;
-  w.setFixedSize(2160, 1080);
-  w.show();
-  app.installEventFilter(&w);
-
-  // restore working directory
-  QDir::setCurrent(current.absolutePath());
-
-  // wait for the UI to update
-  QObject::connect(uiState(), &UIState::uiUpdate, [&](const UIState &s) {
-    saveWidgetAsImage(&w, output);
-    app.quit();
-  });
-
-  return app.exec();
-}
diff --git a/selfdrive/ui/tests/ui_snapshot.h b/selfdrive/ui/tests/ui_snapshot.h
deleted file mode 100644
index b4699f6af5..0000000000
--- a/selfdrive/ui/tests/ui_snapshot.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#pragma once
-
-#include <QWidget>
-
-void saveWidgetAsImage(QWidget *widget, const QString &fileName);

From 1af4686ea00fed14f6aca9cd9f2ac594eec6213b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 30 Aug 2024 03:48:46 +0800
Subject: [PATCH 0502/1243] ui: fix Incorrect path in .gitignore for
 test_ui/report (#33403)

fix gitignore
old-commit-hash: 5bfad234421b3945065000eef82292261588868d
---
 selfdrive/ui/tests/.gitignore | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 06dad47fea..91898ac59a 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,3 +1,3 @@
 test
 test_translations
-test_ui/report
\ No newline at end of file
+test_ui/report_1
\ No newline at end of file

From a0a322c4566723657627ca3a9b87929eb95b1610 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 30 Aug 2024 03:49:31 +0800
Subject: [PATCH 0503/1243] bridge: drain each socket up to a fixed number
 (#33400)

drain each socket up to a fixed number
old-commit-hash: 930fa182998c4b458f05ed43224e4ec8f092dc2e
---
 cereal/messaging/msgq_to_zmq.cc | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc
index 87ce02ac4d..a130f7dd04 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -6,6 +6,9 @@
 
 extern ExitHandler do_exit;
 
+// Max messages to process per socket per poll
+constexpr int MAX_MESSAGES_PER_SOCKET = 50;
+
 static std::string recv_zmq_msg(void *sock) {
   zmq_msg_t msg;
   zmq_msg_init(&msg);
@@ -22,7 +25,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
   msgq_context = std::make_unique<MSGQContext>();
 
   // Create ZMQPubSockets for each endpoint
-  for (auto endpoint : endpoints) {
+  for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
     socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
@@ -36,6 +39,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
   // Start ZMQ monitoring thread to monitor socket events
   std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
 
+  // Main loop for processing messages
   while (!do_exit) {
     {
       std::unique_lock lk(mutex);
@@ -43,9 +47,14 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
       if (do_exit) break;
 
       for (auto sub_sock : msgq_poller->poll(100)) {
-        std::unique_ptr<Message> msg(sub_sock->receive(true));
-        while (msg && sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
-          if (errno != EINTR) break;
+        // Process messages for each socket
+        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
+          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
+          if (!msg) break;
+
+          while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
+            if (errno != EINTR) break;
+          }
         }
       }
     }

From 6bb9e72c64961a565aa0931ac5983cf35e77cf06 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Thu, 29 Aug 2024 17:25:33 -0400
Subject: [PATCH 0504/1243] Add gas/brake press probs to ModelDataV2 (#33382)

* Add gas/brake press probs to ModelDataV2

* Updated model_replay_ref_commit
old-commit-hash: 40fb90a8a2da60d05ef8762d55caedd1d4bde008
---
 cereal/log.capnp                              |  2 ++
 selfdrive/modeld/constants.py                 | 19 ++++++++++---------
 selfdrive/modeld/fill_model_msg.py            |  2 ++
 .../process_replay/model_replay_ref_commit    |  2 +-
 4 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3e9fd3b311..29e462e1c6 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1010,6 +1010,8 @@ struct ModelDataV2 {
     brake3MetersPerSecondSquaredProbs @4 :List(Float32);
     brake4MetersPerSecondSquaredProbs @5 :List(Float32);
     brake5MetersPerSecondSquaredProbs @6 :List(Float32);
+    gasPressProbs @7 :List(Float32);
+    brakePressProbs @8 :List(Float32);
   }
 
   struct Pose {
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 871685797a..4d2888d231 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -72,13 +72,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 36, 7)
-  BRAKE_DISENGAGE = slice(2, 36, 7)
-  STEER_OVERRIDE = slice(3, 36, 7)
-  HARD_BRAKE_3 = slice(4, 36, 7)
-  HARD_BRAKE_4 = slice(5, 36, 7)
-  HARD_BRAKE_5 = slice(6, 36, 7)
-  GAS_PRESS = slice(7, 36, 7)
+  GAS_DISENGAGE = slice(1, 41, 8)
+  BRAKE_DISENGAGE = slice(2, 41, 8)
+  STEER_OVERRIDE = slice(3, 41, 8)
+  HARD_BRAKE_3 = slice(4, 41, 8)
+  HARD_BRAKE_4 = slice(5, 41, 8)
+  HARD_BRAKE_5 = slice(6, 41, 8)
+  GAS_PRESS = slice(7, 41, 8)
+  BRAKE_PRESS = slice(8, 41, 8)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(36, 48, 2)
-  RIGHT_BLINKER = slice(37, 48, 2)
+  LEFT_BLINKER = slice(41, 53, 2)
+  RIGHT_BLINKER = slice(42, 53, 2)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 03f6d1b016..1c7ae49580 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -156,6 +156,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 0b253017f5..237713622b 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-01e8432830805165527d1dbadd5f009d19430b39
\ No newline at end of file
+8726813f978d6baf519055f3105350cd071741f3
\ No newline at end of file

From 786aff27daa16e087a8d650449e90e01e81775c0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 29 Aug 2024 21:51:55 -0700
Subject: [PATCH 0505/1243] azure_container: pass the filename explicitely when
 using get_url (#33407)

* Pass filename explicitely when using azure container

* Do not update segments in test_processes

* openpilotci_source_zst

* Fix static analysisc
old-commit-hash: b5958ebb600f503f585a1080236a0f26b4f5c6a0
---
 selfdrive/test/process_replay/model_replay.py   |  8 ++++----
 selfdrive/test/process_replay/test_processes.py |  4 ++--
 selfdrive/test/process_replay/test_regen.py     |  6 +++---
 tools/lib/azure_container.py                    |  5 ++---
 tools/lib/logreader.py                          | 13 +++++++++----
 tools/replay/unlog_ci_segment.py                |  4 ++--
 6 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index a58a58107e..4402ca31d6 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -73,11 +73,11 @@ if __name__ == "__main__":
   ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
 
   # load logs
-  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT)))
+  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
   frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
   }
 
   log_msgs = []
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index fbd23adf89..faad05c0f2 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -86,7 +86,7 @@ def run_test_process(data):
 
 def get_log_data(segment):
   r, n = segment.rsplit("--", 1)
-  with FileReader(get_url(r, n)) as f:
+  with FileReader(get_url(r, n, "rlog.bz2")) as f:
     return (segment, f.read())
 
 
@@ -199,7 +199,7 @@ if __name__ == "__main__":
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
-          ref_log_path = get_url(*segment.rsplit("--", 1))
+          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.bz2")
         else:
           ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
index 17fefcb497..6c4b48c8d5 100644
--- a/selfdrive/test/process_replay/test_regen.py
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -15,13 +15,13 @@ TESTED_SEGMENTS = [
 
 
 def ci_setup_data_readers(route, sidx):
-  lr = LogReader(get_url(route, sidx, "rlog"))
+  lr = LogReader(get_url(route, sidx, "rlog.bz2"))
   frs = {
-    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
+    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
     'driverCameraState': DummyFrameReader.zero_dcamera()
   }
   if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
+    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))
 
   return lr, frs
 
diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py
index a5d650e98f..7ba2e1515f 100644
--- a/tools/lib/azure_container.py
+++ b/tools/lib/azure_container.py
@@ -53,9 +53,8 @@ class AzureContainer:
     key = get_container_sas(self.ACCOUNT, self.CONTAINER)
     return client, key
 
-  def get_url(self, route_name: str, segment_num, log_type="rlog") -> str:
-    ext = "hevc" if log_type.endswith('camera') else "bz2"
-    return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
+  def get_url(self, route_name: str, segment_num: str, filename: str) -> str:
+    return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{filename}"
 
   def upload_bytes(self, data: bytes | IO, blob_name: str, overwrite=False) -> str:
     from azure.storage.blob import BlobClient
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 815bd4b796..c12b14ebd4 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -163,13 +163,17 @@ def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst")
   return internal_source(sr, mode, file_ext)
 
 
-def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
-  rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs]
-  qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs]
+def openpilotci_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
+  rlog_paths = [get_url(sr.route_name, seg, f"rlog.{file_ext}") for seg in sr.seg_idxs]
+  qlog_paths = [get_url(sr.route_name, seg, f"qlog.{file_ext}") for seg in sr.seg_idxs]
 
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
 
+def openpilotci_source_zst(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+  return openpilotci_source(sr, mode, "zst")
+
+
 def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   return [get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]
 
@@ -201,7 +205,8 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source, testing_closet_source,]
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, openpilotci_source_zst,
+                           comma_api_source, comma_car_segments_source, testing_closet_source,]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py
index a2011f6876..adc0b19e9b 100755
--- a/tools/replay/unlog_ci_segment.py
+++ b/tools/replay/unlog_ci_segment.py
@@ -24,8 +24,8 @@ def input_ready():
 def replay(route, segment, loop):
   route = route.replace('|', '/')
 
-  lr = LogReader(get_url(route, segment))
-  fr = FrameReader(get_url(route, segment, "fcamera"), readahead=True)
+  lr = LogReader(get_url(route, segment, "rlog.bz2"))
+  fr = FrameReader(get_url(route, segment, "fcamera.hevc"), readahead=True)
 
   # Build mapping from frameId to segmentId from roadEncodeIdx, type == fullHEVC
   msgs = [m for m in lr if m.which() not in IGNORE]

From 012162e81679c823893cd35087718065ae930d52 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 30 Aug 2024 02:07:16 -0700
Subject: [PATCH 0506/1243] Deprecate liveLocationKalman (#33405)

* Remove usages of llk

* Deprecate it

* Add scenarios back

* Fix orientationNED valid

* Regenerate

* Increase tolerances and update segment

* Remove calibration
old-commit-hash: 282eae3c309c32a293f26ed82cb623afe0fe5ca7
---
 cereal/log.capnp                              |   4 +-
 cereal/services.py                            |   1 -
 selfdrive/locationd/locationd.cc              | 122 +++---------------
 selfdrive/locationd/locationd.h               |   8 +-
 .../test/test_locationd_scenarios.py          |  50 +++----
 .../test/process_replay/process_replay.py     |   2 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 .../test/process_replay/test_processes.py     |  38 +++---
 selfdrive/test/test_onroad.py                 |   2 +-
 9 files changed, 62 insertions(+), 167 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 29e462e1c6..077dddd897 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2331,7 +2331,6 @@ struct Event {
     onroadEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
-    liveLocationKalman @72 :LiveLocationKalman;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2404,7 +2403,7 @@ struct Event {
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
     liveMpcDEPRECATED @36 :LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
+    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
     orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
     liveUIDEPRECATED @14 :Legacy.LiveUI;
     sensorEventDEPRECATED @4 :SensorEventData;
@@ -2441,5 +2440,6 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
+    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index f7aaa377a9..7d0a7d380a 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -48,7 +48,6 @@ _services: dict[str, tuple] = {
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
-  "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 0.2, 1),
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 5607871f5f..e1e5cd1bb2 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -17,9 +17,6 @@ const double TRANS_SANITY_CHECK = 200.0;  // m/s
 const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
 const double ALTITUDE_SANITY_CHECK = 10000; // m
 const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
-const double VALID_TIME_SINCE_RESET = 1.0; // s
-const double VALID_POS_STD = 50.0; // m
-const double MAX_RESET_TRACKER = 5.0;
 const double SANE_GPS_UNCERTAINTY = 1500.0; // m
 const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
 const double RESET_TRACKER_DECAY = 0.99995;
@@ -68,13 +65,7 @@ static Quaterniond vector2quat(const VectorXd& vec) {
   return Quaterniond(vec(0), vec(1), vec(2), vec(3));
 }
 
-static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) {
-  meas.setValue(kj::arrayPtr(val.data(), val.size()));
-  meas.setStd(kj::arrayPtr(std.data(), std.size()));
-  meas.setValid(valid);
-}
-
-static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXf& val, const VectorXf& std, bool valid) {
+static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) {
   meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]);
   meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]);
   meas.setValid(valid);
@@ -107,31 +98,7 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) {
   this->configure_gnss_source(gnss_source);
 }
 
-void Localizer::build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation) {
-  // Just copy the values from liveLocation to livePose for now
-  VectorXf orientation_ned = float32list2vector(liveLocation.getOrientationNED().getValue()), orientation_ned_std = float32list2vector(liveLocation.getOrientationNED().getStd());
-  init_xyz_measurement(livePose.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
-  VectorXf velocity_device = float32list2vector(liveLocation.getVelocityDevice().getValue()), velocity_device_std = float32list2vector(liveLocation.getVelocityDevice().getStd());
-  init_xyz_measurement(livePose.initVelocityDevice(), velocity_device, velocity_device_std, true);
-  VectorXf acceleration_device = float32list2vector(liveLocation.getAccelerationDevice().getValue()), acceleration_device_std = float32list2vector(liveLocation.getAccelerationDevice().getStd());
-  init_xyz_measurement(livePose.initAccelerationDevice(), acceleration_device, acceleration_device_std, true);
-  VectorXf ang_velocity_device = float32list2vector(liveLocation.getAngularVelocityDevice().getValue()), ang_velocity_device_std = float32list2vector(liveLocation.getAngularVelocityDevice().getStd());
-  init_xyz_measurement(livePose.initAngularVelocityDevice(), ang_velocity_device, ang_velocity_device_std, true);
-
-  if (DEBUG) {
-    VectorXd filter_state = float64list2vector(liveLocation.getFilterState().getValue()), filter_state_std = float64list2vector(liveLocation.getFilterState().getStd());
-    cereal::LivePose::FilterState::Builder filter_state_builder = livePose.initFilterState();
-    filter_state_builder.setValue(kj::arrayPtr(filter_state.data(), filter_state.size()));
-    filter_state_builder.setStd(kj::arrayPtr(filter_state_std.data(), filter_state_std.size()));
-    filter_state_builder.setValid(true);
-  }
-
-  livePose.setInputsOK(liveLocation.getInputsOK());
-  livePose.setPosenetOK(liveLocation.getPosenetOK());
-  livePose.setSensorsOK(liveLocation.getSensorsOK());
-}
-
-void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
+void Localizer::build_live_pose(cereal::LivePose::Builder& fix) {
   VectorXd predicted_state = this->kf->get_x();
   MatrixXdr predicted_cov = this->kf->get_P();
   VectorXd predicted_std = predicted_cov.diagonal().array().sqrt();
@@ -141,20 +108,12 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   VectorXd fix_ecef_std = predicted_std.segment<STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START);
   VectorXd vel_ecef = predicted_state.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
   VectorXd vel_ecef_std = predicted_std.segment<STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START);
-  VectorXd fix_pos_geo_vec = this->get_position_geodetic();
   VectorXd orientation_ecef = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
   VectorXd orientation_ecef_std = predicted_std.segment<STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START);
   MatrixXdr orientation_ecef_cov = predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
   MatrixXdr device_from_ecef = euler2rot(orientation_ecef).transpose();
-  VectorXd calibrated_orientation_ecef = rot2euler((this->calib_from_device * device_from_ecef).transpose());
-
-  VectorXd acc_calib = this->calib_from_device * predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
-  MatrixXdr acc_calib_cov = predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START);
-  VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt();
-  VectorXd ang_vel_calib = this->calib_from_device * predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
 
   MatrixXdr vel_angular_cov = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
-  VectorXd ang_vel_calib_std = rotate_cov(this->calib_from_device, vel_angular_cov).diagonal().array().sqrt();
 
   VectorXd vel_device = device_from_ecef * vel_ecef;
   VectorXd device_from_ecef_eul = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START))).transpose();
@@ -173,12 +132,8 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
   VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
 
-  VectorXd vel_calib = this->calib_from_device * vel_device;
-  VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
-
   VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
   VectorXd orientation_ned_std = rotate_cov(this->converter->ecef2ned_matrix, orientation_ecef_cov).diagonal().array().sqrt();
-  VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef);
   VectorXd nextfix_ecef = fix_ecef + vel_ecef;
   VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
 
@@ -188,26 +143,16 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   VectorXd angVelocityDevice = predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
   VectorXd angVelocityDeviceErr = predicted_std.segment<STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START);
 
-  Vector3d nans = Vector3d(NAN, NAN, NAN);
-
-  // TODO fill in NED and Calibrated stds
   // write measurements to msg
-  init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, this->gps_mode);
-  init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, this->gps_mode);
-  init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, this->gps_mode);
-  init_measurement(fix.initVelocityNED(), ned_vel, nans, this->gps_mode);
-  init_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
-  init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
-  init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, this->gps_mode);
-  init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated && this->gps_mode);
-  init_measurement(fix.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
-  init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated && this->gps_mode);
-  init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
-  init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
-  init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
-  init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
+  init_xyz_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
+  init_xyz_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
+  init_xyz_measurement(fix.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
+  init_xyz_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
   if (DEBUG) {
-    init_measurement(fix.initFilterState(), predicted_state, predicted_std, true);
+    cereal::LivePose::FilterState::Builder filter_state_builder = fix.initFilterState();
+    filter_state_builder.setValue(kj::arrayPtr(predicted_state.data(), predicted_state.size()));
+    filter_state_builder.setStd(kj::arrayPtr(predicted_std.data(), predicted_std.size()));
+    filter_state_builder.setValid(true);
   }
 
   double old_mean = 0.0, new_mean = 0.0;
@@ -224,26 +169,7 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   new_mean /= POSENET_STD_HIST_HALF;
   // experimentally found these values, no false positives in 20k minutes of driving
   bool std_spike = (new_mean / old_mean > 4.0 && new_mean > 7.0);
-
   fix.setPosenetOK(!(std_spike && this->car_speed > 5.0));
-  fix.setDeviceStable(!this->device_fell);
-  fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER);
-  fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff);
-  this->device_fell = false;
-
-  //fix.setGpsWeek(this->time.week);
-  //fix.setGpsTimeOfWeek(this->time.tow);
-  fix.setUnixTimestampMillis(this->unix_timestamp_millis);
-
-  double time_since_reset = this->kf->get_filter_time() - this->last_reset_time;
-  fix.setTimeSinceReset(time_since_reset);
-  if (fix_ecef_std.norm() < VALID_POS_STD && this->calibrated && time_since_reset > VALID_TIME_SINCE_RESET) {
-    fix.setStatus(cereal::LiveLocationKalman::Status::VALID);
-  } else if (fix_ecef_std.norm() < VALID_POS_STD && time_since_reset > VALID_TIME_SINCE_RESET) {
-    fix.setStatus(cereal::LiveLocationKalman::Status::UNCALIBRATED);
-  } else {
-    fix.setStatus(cereal::LiveLocationKalman::Status::UNINITIALIZED);
-  }
 }
 
 VectorXd Localizer::get_position_geodetic() {
@@ -651,26 +577,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
   this->update_reset_tracker();
 }
 
-void Localizer::build_location_message(
-  MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid) {
-  cereal::Event::Builder evt = msg_builder.initEvent();
-  evt.setValid(msgValid);
-  cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
-  this->build_live_location(liveLoc);
-  liveLoc.setSensorsOK(sensorsOK);
-  liveLoc.setGpsOK(gpsOK);
-  liveLoc.setInputsOK(inputsOK);
-}
-
 void Localizer::build_pose_message(
-  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
+  MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
   cereal::Event::Builder evt = msg_builder.initEvent();
   evt.setValid(msgValid);
   cereal::LivePose::Builder livePose = evt.initLivePose();
-
-  cereal::LiveLocationKalman::Reader location_msg = location_msg_builder.getRoot<cereal::Event>().getLiveLocationKalman().asReader();
-  this->build_live_pose(livePose, location_msg);
-
+  this->build_live_pose(livePose);
   livePose.setSensorsOK(sensorsOK);
   livePose.setInputsOK(inputsOK);
 }
@@ -744,7 +656,7 @@ int Localizer::locationd_thread() {
                                                           "carState", "accelerometer", "gyroscope"};
 
   SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
-  PubMaster pm({"liveLocationKalman", "livePose"});
+  PubMaster pm({"livePose"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
@@ -778,12 +690,8 @@ int Localizer::locationd_thread() {
         this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
       }
 
-      MessageBuilder location_msg_builder, pose_msg_builder;
-      this->build_location_message(location_msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
-      this->build_pose_message(pose_msg_builder, location_msg_builder, inputsOK, sensorsOK, filterInitialized);
-
-      kj::ArrayPtr<capnp::byte> location_bytes = location_msg_builder.toBytes();
-      pm.send("liveLocationKalman", location_bytes.begin(), location_bytes.size());
+      MessageBuilder pose_msg_builder;
+      this->build_pose_message(pose_msg_builder, inputsOK, sensorsOK, filterInitialized);
 
       kj::ArrayPtr<capnp::byte> pose_bytes = pose_msg_builder.toBytes();
       pm.send("livePose", pose_bytes.begin(), pose_bytes.size());
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index 615f31c9d0..f59b7d4bda 100644
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -45,12 +45,9 @@ public:
   bool are_inputs_ok();
   void observation_timings_invalid_reset();
 
-  void build_location_message(
-    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
   void build_pose_message(
-  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
-  void build_live_location(cereal::LiveLocationKalman::Builder& fix);
-  void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation);
+    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
+  void build_live_pose(cereal::LivePose::Builder& fix);
 
   Eigen::VectorXd get_position_geodetic();
   Eigen::VectorXd get_state();
@@ -83,7 +80,6 @@ private:
 
   int64_t unix_timestamp_millis = 0;
   double reset_tracker = 0.0;
-  bool device_fell = false;
   bool gps_mode = false;
   double first_valid_log_time = NAN;
   double ttff = NAN;
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index ca52bffeea..bacb2a10a7 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -7,12 +7,12 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
 
-TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4"
+# TODO find a new segment to test
+TEST_ROUTE = "4019fff6e54cf1c7|00000123--4bc0d95ef6/5"
 GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
 SELECT_COMPARE_FIELDS = {
-  'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
-  'roll': ['orientationNED', 'value', 0],
-  'gps_flag': ['gpsOK'],
+  'yaw_rate': ['angularVelocityDevice', 'z'],
+  'roll': ['orientationNED', 'x'],
   'inputs_flag': ['inputsOK'],
   'sensors_flag': ['sensorsOK'],
 }
@@ -37,9 +37,9 @@ def get_select_fields_data(logs):
     for key in keys:
       val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
     return val
-  llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman']
+  lp = [x.livePose for x in logs if x.which() == 'livePose']
   data = defaultdict(list)
-  for msg in llk:
+  for msg in lp:
     for key, fields in SELECT_COMPARE_FIELDS.items():
       data[key].append(get_nested_keys(msg, fields))
   for key in data:
@@ -116,8 +116,8 @@ class TestLocationdScenarios:
       - roll: unchanged
     """
     orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
 
   def test_gps_off(self):
     """
@@ -128,9 +128,8 @@ class TestLocationdScenarios:
       - gpsOK: False
     """
     orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    assert np.all(replayed_data['gps_flag'] == 0.0)
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
 
   def test_gps_off_midway(self):
     """
@@ -138,12 +137,10 @@ class TestLocationdScenarios:
     Expected Result:
       - yaw_rate: unchanged
       - roll:
-      - gpsOK: True for the first half, False for the second half
     """
     orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    assert np.diff(replayed_data['gps_flag'])[512] == -1.0
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
 
   def test_gps_on_midway(self):
     """
@@ -151,12 +148,10 @@ class TestLocationdScenarios:
     Expected Result:
       - yaw_rate: unchanged
       - roll:
-      - gpsOK: False for the first half, True for the second half
     """
     orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))
-    assert np.diff(replayed_data['gps_flag'])[505] == 1.0
 
   def test_gps_tunnel(self):
     """
@@ -164,13 +159,10 @@ class TestLocationdScenarios:
     Expected Result:
       - yaw_rate: unchanged
       - roll:
-      - gpsOK: False for the middle section, True for the rest
     """
     orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    assert np.diff(replayed_data['gps_flag'])[213] == -1.0
-    assert np.diff(replayed_data['gps_flag'])[805] == 1.0
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
 
   def test_gyro_off(self):
     """
@@ -194,10 +186,10 @@ class TestLocationdScenarios:
       - inputsOK: False for some time after the spike, True for the rest
     """
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[694] == 1.0
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[696] == 1.0
 
   def test_accel_off(self):
     """
@@ -219,5 +211,5 @@ class TestLocationdScenarios:
     Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
     """
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index da0197b256..7997612e25 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -547,7 +547,7 @@ CONFIGS = [
       "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
       "liveCalibration", "carState", "gpsLocation"
     ],
-    subs=["liveLocationKalman", "livePose"],
+    subs=["livePose"],
     ignore=["logMonoTime"],
     config_callback=locationd_config_pubsub_callback,
     tolerance=NUMPY_TOLERANCE,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e580430a36..bc635df7dd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fa4965a27dee4449ad8b255f9f7674d69327b6f7
\ No newline at end of file
+51a1a4716fdd6d58fc69c586aaa62c5c25a3d93e
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index faad05c0f2..702de4f7d1 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -40,23 +40,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen34ECCE11CA1|2024-07-29--22-55-10--0"),
-  ("HYUNDAI", "regenC713CE6FA82|2024-07-29--22-56-31--0"),
-  ("HYUNDAI2", "regenD81F3A374A7|2024-07-29--22-58-45--0"),
-  ("TOYOTA", "regenE6D76723DC2|2024-07-29--23-00-08--0"),
-  ("TOYOTA2", "regen198859A572C|2024-07-29--23-01-31--0"),
-  ("TOYOTA3", "regenDF1EB621A66|2024-07-29--23-03-49--0"),
-  ("HONDA", "regen0FE7C4758B5|2024-07-29--23-05-14--0"),
-  ("HONDA2", "regen510A1F60E60|2024-07-29--23-06-39--0"),
-  ("CHRYSLER", "regenDACF082E83B|2024-07-29--23-08-01--0"),
-  ("RAM", "regen8BFB7E62F52|2024-07-29--23-10-14--0"),
-  ("SUBARU", "regen4EE2D45369E|2024-07-29--23-12-31--0"),
-  ("GM", "regenB38D92E6A4D|2024-07-29--23-13-54--0"),
-  ("GM2", "regenC5488470F1A|2024-07-29--23-16-09--0"),
-  ("NISSAN", "regenE5400EB4689|2024-07-29--23-17-30--0"),
-  ("VOLKSWAGEN", "regenD0B5635A8B9|2024-07-29--23-18-54--0"),
-  ("MAZDA", "regen57F8511F082|2024-07-29--23-21-09--0"),
-  ("FORD", "regen5708620AA2E|2024-07-29--23-23-20--0"),
+  ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
+  ("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
+  ("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"),
+  ("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
+  ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
+  ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
+  ("HONDA", "regenC8F0D6ADC5C|2024-08-30--02-54-01--0"),
+  ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
+  ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
+  ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
+  ("SUBARU", "regenAA1FF48CF1F|2024-08-30--03-06-45--0"),
+  ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
+  ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
+  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
+  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
+  ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
+  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -86,7 +86,7 @@ def run_test_process(data):
 
 def get_log_data(segment):
   r, n = segment.rsplit("--", 1)
-  with FileReader(get_url(r, n, "rlog.bz2")) as f:
+  with FileReader(get_url(r, n, "rlog.zst")) as f:
     return (segment, f.read())
 
 
@@ -199,7 +199,7 @@ if __name__ == "__main__":
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
-          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.bz2")
+          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
         else:
           ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 61b0e28483..63ef2a7a4c 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -91,7 +91,7 @@ TIMINGS = {
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
-  "liveLocationKalman": [2.5, 0.35],
+  "livePose": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
 

From f81c369acd9774c8801b34179e3330e8d628ec48 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 30 Aug 2024 16:56:33 -0400
Subject: [PATCH 0507/1243] ui: update arabic translations (#33411)

Update main_ar.ts
old-commit-hash: fea01767d98b68d64bf36fb1cb09fcbf74b76ae2
---
 selfdrive/ui/translations/main_ar.ts | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 645a63a493..0116f3c152 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -493,7 +493,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>لقطات عن بُعد</translation>
     </message>
 </context>
 <context>
@@ -1060,15 +1060,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>ستتحول واجهة القيادة إلى الكاميرا الواسعة المواجهة للطريق عند السرعات المنخفضة لعرض بعض المنعطفات بشكل أفضل. كما سيتم عرض شعار وضع التجريبي في الزاوية العلوية اليمنى.</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
+        <translation>مراقبة السائق المستمرة</translation>
     </message>
     <message>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation type="unfinished"></translation>
+        <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً.</translation>
     </message>
 </context>
 <context>

From 9f1d49ef321286e84fcabb8575be74a7f5f665d6 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Fri, 30 Aug 2024 20:39:14 -0300
Subject: [PATCH 0508/1243] small typo on run.py (#33413)

old-commit-hash: a51b83b4d85be3fcf9b43bd0ac7c27449366710a
---
 selfdrive/ui/tests/test_ui/run.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index c10a591d2e..892307bc03 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -92,7 +92,7 @@ def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.Cont
   cs.alertText2 = text2
   cs.alertSize = size
   cs.alertStatus = status
-  cs.alertType = "test_onorad_alert"
+  cs.alertType = "test_onroad_alert"
   pm.send('controlsState', dat)
 
 def setup_onroad_alert_small(click, pm: PubMaster):

From 13acd5c84f7308bf27d571635adfd632dacb52c7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 30 Aug 2024 18:40:32 -0700
Subject: [PATCH 0509/1243] joystickd: non-linear response function

old-commit-hash: f037d2216aa343d4573cd56b32300c378bc61a60
---
 tools/joystick/joystickd.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 6b85be8777..aa32b6def3 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -10,6 +10,8 @@ from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
 from openpilot.tools.lib.kbhit import KBHit
 
+JS_EXPO = 0.4
+
 
 class Keyboard:
   def __init__(self):
@@ -67,6 +69,7 @@ class Joystick:
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm
       self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0.  # center can be noisy, deadzone of 5%
     else:
       return False

From b96b60fa6ce983e27c6ac0bc3dce2505049c7206 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 30 Aug 2024 18:42:28 -0700
Subject: [PATCH 0510/1243] joystickd: lower deadzone

old-commit-hash: 0a737d9a2e703b79a9fff83eb3847496323216b7
---
 tools/joystick/joystickd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index aa32b6def3..231e964781 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -70,7 +70,7 @@ class Joystick:
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm
-      self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0.  # center can be noisy, deadzone of 5%
+      self.axes_values[event[0]] = norm if abs(norm) > 0.02 else 0.  # center can be noisy, deadzone of 2%
     else:
       return False
     return True

From 574b94c1719af827cb2f522ffc7ef7441bf9f621 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 31 Aug 2024 10:51:18 +0800
Subject: [PATCH 0511/1243] ci: add driver camera to ui report (#33409)

add driver camera
old-commit-hash: 338b69be11fa83bf822c08eab56119dd44e98f2a
---
 .github/workflows/ui_preview.yaml |  4 ++++
 selfdrive/ui/tests/test_ui/run.py | 19 +++++++++++++------
 2 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 9036bc44ea..f0eaaa9038 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -94,6 +94,10 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_mid.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
               </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/driver_camera.png"></td>
+                <td></td>
+              </tr>
             </table>
           comment_tag: run_id_screenshots
           pr_number: ${{ github.event.number }}
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 892307bc03..5a05b1f28a 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -26,8 +26,8 @@ TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["deviceState", "pandaStates", "controlsState", "liveCalibration",
-  "modelV2", "radarState", "driverMonitoringState",
-  "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState"], None)
+  "modelV2", "radarState", "driverMonitoringState", "carState",
+  "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
 def setup_common(click, pm: PubMaster):
   Params().put("DongleId", "123456789012345")
@@ -42,8 +42,6 @@ def setup_settings_device(click, pm: PubMaster):
   click(100, 100)
 
 def setup_settings_network(click, pm: PubMaster):
-  setup_common(click, pm)
-
   setup_settings_device(click, pm)
   click(300, 600)
 
@@ -51,8 +49,6 @@ def setup_onroad(click, pm: PubMaster):
   setup_common(click, pm)
 
   vipc_server = VisionIpcServer("camerad")
-
-
   for stream_type, cam, _ in STREAMS:
     vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
   vipc_server.start_listener()
@@ -83,6 +79,13 @@ def setup_onroad_wide_sidebar(click, pm: PubMaster):
   setup_onroad_wide(click, pm)
   click(500, 500)
 
+def setup_driver_camera(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(1950, 435)
+  DATA['deviceState'].deviceState.started = False
+  setup_onroad(click, pm)
+  DATA['deviceState'].deviceState.started = True
+
 def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.ControlsState.AlertStatus.normal):
   print(f'setup onroad alert, size: {size}')
   setup_onroad(click, pm)
@@ -115,6 +118,7 @@ CASES = {
   "onroad_alert_small": setup_onroad_alert_small,
   "onroad_alert_mid": setup_onroad_alert_mid,
   "onroad_alert_full": setup_onroad_alert_full,
+  "driver_camera": setup_driver_camera
 }
 
 TEST_DIR = pathlib.Path(__file__).parent
@@ -202,6 +206,9 @@ def create_screenshots():
   wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
   STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
 
+  driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+  STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
+
   t = TestUI()
   for name, setup in CASES.items():
     t.test_ui(name, setup)

From 6a36e1d05f3cb5cc1077264cd165668623e47b7a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 30 Aug 2024 20:08:03 -0700
Subject: [PATCH 0512/1243] reduce metadrive size (#33391)

* minimal

* uv.lock

* remove anisotropic filtering

* new wheel
old-commit-hash: 629dcdcfca5a408b3812b23198797a13367961b0
---
 pyproject.toml                                |   2 +-
 .../sim/bridge/metadrive/metadrive_bridge.py  |   5 +-
 uv.lock                                       | 436 ++++++------------
 3 files changed, 154 insertions(+), 289 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index df6ba3f7cc..b1e511b3ff 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -99,7 +99,7 @@ dev = [
   "inputs",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator@git+https://github.com/commaai/metadrive@main ; platform_machine != 'aarch64'",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "parameterized >=0.8, <0.9",
   #"pprofile",
   "pyautogui",
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index 74dc1210b9..b8dc94cf86 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -69,6 +69,7 @@ class MetaDriveBridge(SimulatorBridge):
       use_render=self.should_render,
       vehicle_config=dict(
         enable_reverse=False,
+        render_vehicle=False,
         image_source="rgb_road",
       ),
       sensors=sensors,
@@ -84,7 +85,9 @@ class MetaDriveBridge(SimulatorBridge):
       map_config=create_map(),
       decision_repeat=1,
       physics_world_step_size=self.TICKS_PER_FRAME/100,
-      preload_models=False
+      preload_models=False,
+      show_logo=False,
+      anisotropic_filtering=False
     )
 
     return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
diff --git a/uv.lock b/uv.lock
index db52d5c336..b56355a704 100644
--- a/uv.lock
+++ b/uv.lock
@@ -367,7 +367,7 @@ name = "coloredlogs"
 version = "15.0.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "humanfriendly" },
+    { name = "humanfriendly", marker = "platform_system != 'Darwin'" },
 ]
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 wheels = [
@@ -376,33 +376,51 @@ wheels = [
 
 [[package]]
 name = "contourpy"
-version = "1.2.1"
+version = "1.3.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "numpy" },
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 [[package]]

From ae967130704c85c3027677fbcfb86c34c999c026 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 30 Aug 2024 22:30:49 -0700
Subject: [PATCH 0513/1243] joystick: perform deadzone first

old-commit-hash: fc425042ab7d13939bf7aa053ddb7477d7ab8bd5
---
 tools/joystick/joystickd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 231e964781..17f220001a 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -69,8 +69,8 @@ class Joystick:
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
-      norm = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm
-      self.axes_values[event[0]] = norm if abs(norm) > 0.02 else 0.  # center can be noisy, deadzone of 2%
+      norm = norm if abs(norm) > 0.02 else 0.  # center can be noisy, deadzone of 2%
+      self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm  # less action near center for fine control
     else:
       return False
     return True

From aec6547cf112906b2481541d107946092ea267a8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 30 Aug 2024 22:54:42 -0700
Subject: [PATCH 0514/1243] joystickd: works with game controller on device
 (#33414)

* state what we support

* more

* wording
old-commit-hash: dae88e1ffb3e10170d8dcc3eed2683155ce597a2
---
 tools/joystick/joystickd.py | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 17f220001a..bb8f483835 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -40,16 +40,13 @@ class Keyboard:
 
 
 class Joystick:
-  def __init__(self, gamepad=False):
-    # TODO: find a way to get this from API, perhaps "inputs" doesn't support it
-    if gamepad:
-      self.cancel_button = 'BTN_NORTH'  # (BTN_NORTH=X, ABS_RZ=Right Trigger)
-      accel_axis = 'ABS_Y'
-      steer_axis = 'ABS_RX'
-    else:
-      self.cancel_button = 'BTN_TRIGGER'
-      accel_axis = 'ABS_Y'
-      steer_axis = 'ABS_RX'
+  def __init__(self):
+    # This class supports a PlayStation 5 DualSense controller on the comma 3X
+    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
+    # TODO: the mapping can also be wrong on PC depending on the driver
+    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
+    accel_axis = 'ABS_Y'
+    steer_axis = 'ABS_Z'
     self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
     self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
     self.axes_values = {accel_axis: 0., steer_axis: 0.}
@@ -87,18 +84,20 @@ def send_thread(joystick):
     print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
     rk.keep_time()
 
+
 def joystick_thread(joystick):
   Params().put_bool('JoystickDebugMode', True)
   threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
   while True:
     joystick.update()
 
+
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
-                                               'openpilot must be offroad before starting joysticked.',
+                                               'openpilot must be offroad before starting joystickd. This tool supports ' +
+                                               'a PlayStation 5 DualSense controller on the comma 3X.',
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
-  parser.add_argument('--gamepad', action='store_true', help='Use gamepad configuration instead of joystick')
   args = parser.parse_args()
 
   if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ:
@@ -114,6 +113,7 @@ if __name__ == '__main__':
     print('- `C`: Cancel cruise control')
   else:
     print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
+    print('If not running on a comma device, the mapping may need to be adjusted.')
 
-  joystick = Keyboard() if args.keyboard else Joystick(args.gamepad)
+  joystick = Keyboard() if args.keyboard else Joystick()
   joystick_thread(joystick)

From 1e037a37038fa5ed536c3180881513b183399371 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sat, 31 Aug 2024 14:39:00 -0300
Subject: [PATCH 0515/1243] Bot comment only for first timers (#33412)

* Wellcome comment just for first timers

* Update auto_pr_review.yaml

https://github.com/actions/first-interaction/blob/main/README.md
old-commit-hash: 0a1b6c705d2bd0cd8c8e76391b9c1e4d29049140
---
 .github/workflows/auto_pr_review.yaml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 447e559c90..eaaca56060 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -35,11 +35,12 @@ jobs:
         already-exists-comment: "Your PR should be made against the `master` branch"
 
     # Welcome comment
-    - name: comment
-      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+    - name: "First timers PR"
+      uses: actions/first-interaction@v1
       if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
       with:
-        message: |
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
@@ -49,5 +50,4 @@ jobs:
               * all the tests are passing
               * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant
-        comment_tag: run_id
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      

From fecf6134ef67dcf6eb735b458b29a60f86bd5248 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 31 Aug 2024 16:49:29 -0700
Subject: [PATCH 0516/1243] move PID controller to common/ (#33419)

old-commit-hash: f59a1bf00344432acad686f4813069e7c0c063b6
---
 {selfdrive/controls/lib => common}/pid.py   | 0
 selfdrive/controls/lib/latcontrol_pid.py    | 2 +-
 selfdrive/controls/lib/latcontrol_torque.py | 2 +-
 selfdrive/controls/lib/longcontrol.py       | 2 +-
 system/hardware/fan_controller.py           | 2 +-
 5 files changed, 4 insertions(+), 4 deletions(-)
 rename {selfdrive/controls/lib => common}/pid.py (100%)

diff --git a/selfdrive/controls/lib/pid.py b/common/pid.py
similarity index 100%
rename from selfdrive/controls/lib/pid.py
rename to common/pid.py
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 5b29958b69..d7edd39f8a 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -2,7 +2,7 @@ import math
 
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 
 
 class LatControlPID(LatControl):
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 1c4fd7979e..55a37c1f4b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -4,7 +4,7 @@ from cereal import log
 from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index efeb76c4a8..e18ee0c279 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -2,7 +2,7 @@ from cereal import car
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index f32133f6bf..f72e183cde 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -4,7 +4,7 @@ from abc import ABC, abstractmethod
 from openpilot.common.realtime import DT_HW
 from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 
 class BaseFanController(ABC):
   @abstractmethod

From 5144cb05384fe6787d4bf82d191306e36a5f277a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 31 Aug 2024 17:24:50 -0700
Subject: [PATCH 0517/1243] ui: gc experiments

old-commit-hash: 42f8875901de9d9ca64765e758e8564b79afeeb2
---
 selfdrive/ui/SConscript |  3 --
 selfdrive/ui/mui.cc     | 50 --------------------------
 selfdrive/ui/ui.py      | 77 -----------------------------------------
 3 files changed, 130 deletions(-)
 delete mode 100644 selfdrive/ui/mui.cc
 delete mode 100755 selfdrive/ui/ui.py

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 2ee8a9dbac..cfdaf87b7d 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -83,9 +83,6 @@ if GetOption('extras') and arch != "Darwin":
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
-  # build mui
-  qt_env.Program("mui", ["mui.cc"], LIBS=qt_libs)
-
   # build installers
   senv = qt_env.Clone()
   senv['LINKFLAGS'].append('-Wl,-strip-debug')
diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc
deleted file mode 100644
index 98029ee311..0000000000
--- a/selfdrive/ui/mui.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-#include <QTimer>
-
-#include "cereal/messaging/messaging.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/qt_window.h"
-
-int main(int argc, char *argv[]) {
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  w.setStyleSheet("background-color: black;");
-
-  // our beautiful UI
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-  QLabel *label = new QLabel("〇");
-  layout->addWidget(label, 0, Qt::AlignCenter);
-
-  QTimer timer;
-  QObject::connect(&timer, &QTimer::timeout, [=]() {
-    static SubMaster sm({"deviceState", "controlsState"});
-
-    bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
-                       sm["deviceState"].getDeviceState().getStarted();
-    sm.update(0);
-
-    bool onroad = sm.allAliveAndValid({"deviceState"}) &&
-                  sm["deviceState"].getDeviceState().getStarted();
-
-    if (onroad) {
-      label->setText("〇");
-      auto cs = sm["controlsState"].getControlsState();
-      UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
-      label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
-    } else {
-      label->setText("offroad");
-      label->setStyleSheet("color: grey; font-size: 40px;");
-    }
-
-    if ((onroad != onroad_prev) || sm.frame < 2) {
-      Hardware::set_brightness(50);
-      Hardware::set_display_power(onroad);
-    }
-  });
-  timer.start(50);
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
deleted file mode 100755
index 660495b1de..0000000000
--- a/selfdrive/ui/ui.py
+++ /dev/null
@@ -1,77 +0,0 @@
-#!/usr/bin/env python3
-import os
-import signal
-
-signal.signal(signal.SIGINT, signal.SIG_DFL)
-
-import cereal.messaging as messaging
-from openpilot.system.hardware import HARDWARE
-
-from PyQt5.QtCore import Qt, QTimer
-from PyQt5.QtWidgets import QLabel, QWidget, QVBoxLayout, QStackedLayout, QApplication
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-
-if __name__ == "__main__":
-  app = QApplication([])
-  win = QWidget()
-  set_main_window(win)
-
-  bg = QLabel("", alignment=Qt.AlignCenter)
-
-  alert1 = QLabel()
-  alert2 = QLabel()
-  vlayout = QVBoxLayout()
-  vlayout.addWidget(alert1, alignment=Qt.AlignCenter)
-  vlayout.addWidget(alert2, alignment=Qt.AlignCenter)
-
-  tmp = QWidget()
-  tmp.setLayout(vlayout)
-
-  stack = QStackedLayout(win)
-  stack.addWidget(tmp)
-  stack.addWidget(bg)
-  stack.setStackingMode(QStackedLayout.StackAll)
-
-  win.setObjectName("win")
-  win.setStyleSheet("""
-    #win {
-      background-color: black;
-    }
-    QLabel {
-      color: white;
-      font-size: 40px;
-    }
-  """)
-
-  sm = messaging.SubMaster(['deviceState', 'controlsState'])
-
-  def update():
-    sm.update(0)
-
-    onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started
-    if onroad:
-      cs = sm['controlsState']
-      color = ("grey" if str(cs.state) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
-      bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1")
-      bg.setStyleSheet(f"font-size: 100px; background-color: {color};")
-      bg.show()
-
-      alert1.setText(cs.alertText1)
-      alert2.setText(cs.alertText2)
-
-      if not sm.alive['controlsState']:
-        alert1.setText("waiting for controls...")
-    else:
-      bg.hide()
-      alert1.setText("")
-      alert2.setText("offroad")
-
-    HARDWARE.set_screen_brightness(100 if onroad else 40)
-    os.system("echo 0 > /sys/class/backlight/panel0-backlight/bl_power")
-
-  timer = QTimer()
-  timer.timeout.connect(update)
-  timer.start(50)
-
-  app.exec_()

From 60549c9557cd91c9aec39e43d49c76c7ce33e3fe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 31 Aug 2024 17:58:02 -0700
Subject: [PATCH 0518/1243] controlsd: deprecate alertBlinkingRate (#33422)

* controlsd: deprecate alertBlinkingRate

* simplify

* update refs
old-commit-hash: f4e101c67d2e65863683a6d22a2cc80819308f08
---
 cereal/log.capnp                         | 2 +-
 selfdrive/controls/controlsd.py          | 1 -
 selfdrive/controls/lib/events.py         | 8 +++-----
 selfdrive/debug/cycle_alerts.py          | 1 -
 selfdrive/test/process_replay/ref_commit | 2 +-
 5 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 077dddd897..57b56d5229 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -713,7 +713,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertText2 @25 :Text;
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
-  alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   engageable @41 :Bool;  # can OP be engaged?
@@ -865,6 +864,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
   vPidDEPRECATED @2 :Float32;
+  alertBlinkingRateDEPRECATED @42 :Float32;
 }
 
 struct DrivingModelData {
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fac978b970..7c6a3b4a11 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -746,7 +746,6 @@ class Controls:
       controlsState.alertText2 = current_alert.alert_text_2
       controlsState.alertSize = current_alert.alert_size
       controlsState.alertStatus = current_alert.alert_status
-      controlsState.alertBlinkingRate = current_alert.alert_rate
       controlsState.alertType = current_alert.alert_type
       controlsState.alertSound = current_alert.audible_alert
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 588e638c95..fa6528f659 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -116,7 +116,6 @@ class Alert:
                visual_alert: car.CarControl.HUDControl.VisualAlert,
                audible_alert: car.CarControl.HUDControl.AudibleAlert,
                duration: float,
-               alert_rate: float = 0.,
                creation_delay: float = 0.):
 
     self.alert_text_1 = alert_text_1
@@ -129,7 +128,6 @@ class Alert:
 
     self.duration = int(duration / DT_CTRL)
 
-    self.alert_rate = alert_rate
     self.creation_delay = creation_delay
 
     self.alert_type = ""
@@ -456,7 +454,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Touch Steering Wheel: No Face Detected",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
   EventName.promptDriverUnresponsive: {
@@ -500,7 +498,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Steer Left to Start Lane Change Once Safe",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.preLaneChangeRight: {
@@ -508,7 +506,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Steer Right to Start Lane Change Once Safe",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.laneChangeBlocked: {
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index efe01b7d7e..afd3fb9a25 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -108,7 +108,6 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.controlsState.alertText2 = alert.alert_text_2
           dat.controlsState.alertSize = alert.alert_size
           dat.controlsState.alertStatus = alert.alert_status
-          dat.controlsState.alertBlinkingRate = alert.alert_rate
           dat.controlsState.alertType = alert.alert_type
           dat.controlsState.alertSound = alert.audible_alert
         pm.send('controlsState', dat)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index bc635df7dd..e2bd658ef5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-51a1a4716fdd6d58fc69c586aaa62c5c25a3d93e
\ No newline at end of file
+a8b4c81ec1df5135ae448c8273ce14c1a98b1bfc
\ No newline at end of file

From 1b2bc44227a9e8fd4a70612a9bbe78a633b68e0d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 31 Aug 2024 18:48:17 -0700
Subject: [PATCH 0519/1243] controlsd: split out state/alerts into
 selfdriveState (#33421)

* setup selfdriveState

* little more

* update refs

* migration

* all too slow
old-commit-hash: 87051803abc2a35f0260eec8976c487b877c694b
---
 cereal/log.capnp                              | 86 +++++++++++--------
 cereal/services.py                            |  1 +
 selfdrive/controls/controlsd.py               | 23 ++++-
 selfdrive/controls/lib/events.py              |  8 +-
 selfdrive/controls/tests/test_alerts.py       |  2 +-
 selfdrive/controls/tests/test_startup.py      |  4 +-
 .../controls/tests/test_state_machine.py      |  2 +-
 selfdrive/debug/cycle_alerts.py               | 20 ++---
 selfdrive/test/process_replay/migration.py    | 18 ++++
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/test_onroad.py                 |  4 +-
 selfdrive/ui/qt/offroad/settings.cc           |  4 +-
 selfdrive/ui/qt/onroad/alerts.cc              | 40 ++++-----
 selfdrive/ui/qt/onroad/alerts.h               | 12 +--
 selfdrive/ui/qt/onroad/annotated_camera.cc    |  6 +-
 selfdrive/ui/qt/onroad/buttons.cc             |  2 +-
 selfdrive/ui/soundd.py                        | 10 +--
 selfdrive/ui/tests/test_soundd.py             | 10 +--
 selfdrive/ui/tests/test_ui/run.py             | 21 ++---
 selfdrive/ui/ui.cc                            | 12 +--
 selfdrive/ui/ui.h                             |  2 +-
 tools/cabana/videowidget.cc                   |  8 +-
 tools/cabana/videowidget.h                    |  2 +-
 tools/replay/replay.cc                        | 16 ++--
 25 files changed, 187 insertions(+), 130 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 57b56d5229..4742473318 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -684,18 +684,53 @@ struct LiveTracks {
   oncoming @9 :Bool;
 }
 
+struct SelfdriveState {
+  # high level system state
+  state @0 :OpenpilotState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  engageable @9 :Bool;  # can OP be engaged?
+
+  # UI alerts
+  alertText1 @3 :Text;
+  alertText2 @4 :Text;
+  alertStatus @5 :AlertStatus;
+  alertSize @6 :AlertSize;
+  alertType @7 :Text;
+  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+
+  # configurable driving settings
+  experimentalMode @10 :Bool;
+  personality @11 :LongitudinalPersonality;
+
+  enum OpenpilotState @0xdbe58b96d2d1ac61 {
+    disabled @0;
+    preEnabled @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;  # superset of overriding with steering or accelerator
+  }
+
+  enum AlertStatus @0xa0d0dcd113193c62 {
+    normal @0;
+    userPrompt @1;
+    critical @2;
+  }
+
+  enum AlertSize @0xe98bb99d6e985f64 {
+    none @0;
+    small @1;
+    mid @2;
+    full @3;
+  }
+}
+
 struct ControlsState @0x97ff69c53601abf1 {
+  cumLagMs @15 :Float32;
   startMonoTime @48 :UInt64;
   longitudinalPlanMonoTime @28 :UInt64;
   lateralPlanMonoTime @50 :UInt64;
 
-  state @31 :OpenpilotState;
-  enabled @19 :Bool;
-  active @36 :Bool;
-
-  experimentalMode @64 :Bool;
-  personality @66 :LongitudinalPersonality;
-
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;  # actual set speed
@@ -706,18 +741,21 @@ struct ControlsState @0x97ff69c53601abf1 {
   aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-  forceDecel @51 :Bool;
 
-  # UI alerts
+  # TODO: remove these, they're now in selfdriveState
   alertText1 @24 :Text;
   alertText2 @25 :Text;
-  alertStatus @38 :AlertStatus;
-  alertSize @39 :AlertSize;
+  alertStatus @38 :SelfdriveState.AlertStatus;
+  alertSize @39 :SelfdriveState.AlertSize;
   alertType @44 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   engageable @41 :Bool;  # can OP be engaged?
-
-  cumLagMs @15 :Float32;
+  forceDecel @51 :Bool;
+  state @31 :SelfdriveState.OpenpilotState;
+  enabled @19 :Bool;
+  active @36 :Bool;
+  experimentalMode @64 :Bool;
+  personality @66 :LongitudinalPersonality;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -730,27 +768,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     lqrStateDEPRECATED @55 :LateralLQRState;
   }
 
-  enum OpenpilotState @0xdbe58b96d2d1ac61 {
-    disabled @0;
-    preEnabled @1;
-    enabled @2;
-    softDisabling @3;
-    overriding @4;  # superset of overriding with steering or accelerator
-  }
-
-  enum AlertStatus {
-    normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid priority alert that might require user intervention
-    critical @2;     # high priority alert that needs immediate user intervention
-  }
-
-  enum AlertSize {
-    none @0;    # don't display the alert
-    small @1;   # small box
-    mid @2;     # mid screen
-    full @3;    # full screen
-  }
-
   struct LateralINDIState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -2300,6 +2317,7 @@ struct Event {
     gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
+    selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
     gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
diff --git a/cereal/services.py b/cereal/services.py
index 7d0a7d380a..b50e47be60 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -24,6 +24,7 @@ _services: dict[str, tuple] = {
   "deviceState": (True, 2., 1),
   "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
+  "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7c6a3b4a11..cd957c731a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -44,7 +44,7 @@ TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
-State = log.ControlsState.OpenpilotState
+State = log.SelfdriveState.OpenpilotState
 PandaType = log.PandaState.PandaType
 Desire = log.Desire
 LaneChangeState = log.LaneChangeState
@@ -78,7 +78,7 @@ class Controls:
     self.branch = get_short_branch()
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'controlsState', 'carControl', 'onroadEvents'])
 
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
@@ -781,6 +781,25 @@ class Controls:
 
     self.pm.send('controlsState', dat)
 
+    # selfdriveState
+    ss_msg = messaging.new_message('selfdriveState')
+    ss_msg.valid = CS.canValid
+    ss = ss_msg.selfdriveState
+    if current_alert:
+      ss.alertText1 = current_alert.alert_text_1
+      ss.alertText2 = current_alert.alert_text_2
+      ss.alertSize = current_alert.alert_size
+      ss.alertStatus = current_alert.alert_status
+      ss.alertType = current_alert.alert_type
+      ss.alertSound = current_alert.audible_alert
+    ss.enabled = self.enabled
+    ss.active = self.active
+    ss.state = self.state
+    ss.engageable = not self.events.contains(ET.NO_ENTRY)
+    ss.experimentalMode = self.experimental_mode
+    ss.personality = self.personality
+    self.pm.send('selfdriveState', ss_msg)
+
     # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
       ce_send = messaging.new_message('onroadEvents', len(self.events))
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index fa6528f659..2ef4774e87 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -12,8 +12,8 @@ from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
-AlertSize = log.ControlsState.AlertSize
-AlertStatus = log.ControlsState.AlertStatus
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 EventName = car.CarEvent.EventName
@@ -110,8 +110,8 @@ class Alert:
   def __init__(self,
                alert_text_1: str,
                alert_text_2: str,
-               alert_status: log.ControlsState.AlertStatus,
-               alert_size: log.ControlsState.AlertSize,
+               alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize,
                priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
                audible_alert: car.CarControl.HUDControl.AudibleAlert,
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 38dc045949..d315d70565 100644
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -12,7 +12,7 @@ from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
-AlertSize = log.ControlsState.AlertSize
+AlertSize = log.SelfdriveState.AlertSize
 
 OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")
 
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 077d289021..bfe117062e 100644
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -59,7 +59,7 @@ CX5_FW_VERSIONS = [
   (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
 ])
 def test_startup_alert(expected_event, car_model, fw_versions, brand):
-  controls_sock = messaging.sub_sock("controlsState")
+  controls_sock = messaging.sub_sock("selfdriveState")
   pm = messaging.PubMaster(['can', 'pandaStates'])
 
   params = Params()
@@ -114,7 +114,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
 
     ctrls = messaging.drain_sock(controls_sock)
     if len(ctrls):
-      event_name = ctrls[0].controlsState.alertType.split("/")[0]
+      event_name = ctrls[0].selfdriveState.alertType.split("/")[0]
       assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
       break
   else:
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index a480aa8d2b..3926b88eb2 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -6,7 +6,7 @@ from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
                                           AudibleAlert, EVENTS
 
-State = log.ControlsState.OpenpilotState
+State = log.SelfdriveState.OpenpilotState
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index afd3fb9a25..6ab9ab8733 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -57,7 +57,7 @@ def cycle_alerts(duration=200, is_metric=False):
                             'driverMonitoringState', 'longitudinalPlan', 'livePose',
                             'managerState'] + cameras)
 
-  pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
+  pm = messaging.PubMaster(['selfdriveState', 'pandaStates', 'deviceState'])
 
   events = Events()
   AM = AlertManager()
@@ -100,17 +100,17 @@ def cycle_alerts(duration=200, is_metric=False):
       print(alert)
       for _ in range(duration):
         dat = messaging.new_message()
-        dat.init('controlsState')
-        dat.controlsState.enabled = False
+        dat.init('selfdriveState')
+        dat.selfdriveState.enabled = False
 
         if alert:
-          dat.controlsState.alertText1 = alert.alert_text_1
-          dat.controlsState.alertText2 = alert.alert_text_2
-          dat.controlsState.alertSize = alert.alert_size
-          dat.controlsState.alertStatus = alert.alert_status
-          dat.controlsState.alertType = alert.alert_type
-          dat.controlsState.alertSound = alert.audible_alert
-        pm.send('controlsState', dat)
+          dat.selfdriveState.alertText1 = alert.alert_text_1
+          dat.selfdriveState.alertText2 = alert.alert_text_2
+          dat.selfdriveState.alertSize = alert.alert_size
+          dat.selfdriveState.alertStatus = alert.alert_status
+          dat.selfdriveState.alertType = alert.alert_type
+          dat.selfdriveState.alertSound = alert.audible_alert
+        pm.send('selfdriveState', dat)
 
         dat = messaging.new_message()
         dat.init('deviceState')
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 52ed82a7cc..c1f60959e2 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -15,6 +15,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   msgs = migrate_gpsLocation(msgs)
   msgs = migrate_deviceState(msgs)
   msgs = migrate_carOutput(msgs)
+  msgs = migrate_selfdriveState(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -26,6 +27,23 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   return msgs
 
 
+def migrate_selfdriveState(lr):
+  ret = []
+  for msg in lr:
+    if msg.which() == 'controlsState':
+      m = messaging.new_message('selfdriveState')
+      m.valid = msg.valid
+      m.logMonoTime = msg.logMonoTime
+      ss = m.selfdriveState
+      for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
+                    "alertStatus", "alertSize", "alertType", "alertSound", "experimentalMode",
+                    "personality"):
+        setattr(ss, field, getattr(msg.controlsState, field))
+      ret.append(m.as_reader())
+    ret.append(msg)
+  return ret
+
+
 def migrate_managerState(lr):
   all_msgs = []
   for msg in lr:
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 7997612e25..c11f684690 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -489,7 +489,7 @@ CONFIGS = [
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
       "gpsLocationExternal", "gpsLocation",
     ],
-    subs=["controlsState", "carControl", "onroadEvents"],
+    subs=["selfdriveState", "controlsState", "carControl", "onroadEvents"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e2bd658ef5..5ed9bddaed 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a8b4c81ec1df5135ae448c8273ce14c1a98b1bfc
\ No newline at end of file
+ab4983de4477d648e5c36447debfd6735dfc466f
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 63ef2a7a4c..0d6c0ba214 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -416,8 +416,8 @@ class TestOnroad:
     startup_alert = None
     for msg in self.lrs[0]:
       # can't use onroadEvents because the first msg can be dropped while loggerd is starting up
-      if msg.which() == "controlsState":
-        startup_alert = msg.controlsState.alertText1
+      if msg.which() == "selfdriveState":
+        startup_alert = msg.selfdriveState.alertText1
         break
     expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
     assert startup_alert == expected, "wrong startup alert"
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 1c17fdcdf7..fc92a471d6 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -111,8 +111,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 void TogglesPanel::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
-  if (sm.updated("controlsState")) {
-    auto personality = sm["controlsState"].getControlsState().getPersonality();
+  if (sm.updated("selfdriveState")) {
+    auto personality = sm["selfdriveState"].getSelfdriveState().getPersonality();
     if (personality != s.scene.personality && s.scene.started && isVisible()) {
       long_personality_setting->setCheckedButton(static_cast<int>(personality));
     }
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index 0235c5ff42..d5d2e6c0de 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -19,8 +19,8 @@ void OnroadAlerts::clear() {
 }
 
 OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
-  const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-  const uint64_t controls_frame = sm.rcv_frame("controlsState");
+  const cereal::SelfdriveState::Reader &cs = sm["selfdriveState"].getSelfdriveState();
+  const uint64_t controls_frame = sm.rcv_frame("selfdriveState");
 
   Alert a = {};
   if (controls_frame >= started_frame) {  // Don't get old alert.
@@ -28,26 +28,26 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started
          cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
   }
 
-  if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+  if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
     const int CONTROLS_TIMEOUT = 5;
-    const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
+    const int controls_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
 
     // Handle controls timeout
     if (controls_frame < started_frame) {
-      // car is started, but controlsState hasn't been seen at all
+      // car is started, but selfdriveState hasn't been seen at all
       a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
-           "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-           cereal::ControlsState::AlertStatus::NORMAL};
+           "controlsWaiting", cereal::SelfdriveState::AlertSize::MID,
+           cereal::SelfdriveState::AlertStatus::NORMAL};
     } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
       // car is started, but controls is lagging or died
       if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
         a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
-             "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-             cereal::ControlsState::AlertStatus::CRITICAL};
+             "controlsUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
+             cereal::SelfdriveState::AlertStatus::CRITICAL};
       } else {
         a = {tr("Controls Unresponsive"), tr("Reboot Device"),
-             "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-             cereal::ControlsState::AlertStatus::NORMAL};
+             "controlsUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
+             cereal::SelfdriveState::AlertStatus::NORMAL};
       }
     }
   }
@@ -55,19 +55,19 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started
 }
 
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
-  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
+  if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
     return;
   }
-  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
-    {cereal::ControlsState::AlertSize::SMALL, 271},
-    {cereal::ControlsState::AlertSize::MID, 420},
-    {cereal::ControlsState::AlertSize::FULL, height()},
+  static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
+    {cereal::SelfdriveState::AlertSize::SMALL, 271},
+    {cereal::SelfdriveState::AlertSize::MID, 420},
+    {cereal::SelfdriveState::AlertSize::FULL, height()},
   };
   int h = alert_heights[alert.size];
 
   int margin = 40;
   int radius = 30;
-  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+  if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
     margin = 0;
     radius = 0;
   }
@@ -94,15 +94,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   const QPoint c = r.center();
   p.setPen(QColor(0xff, 0xff, 0xff));
   p.setRenderHint(QPainter::TextAntialiasing);
-  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
     p.setFont(InterFont(74, QFont::DemiBold));
     p.drawText(r, Qt::AlignCenter, alert.text1);
-  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
     p.setFont(InterFont(88, QFont::Bold));
     p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
     p.setFont(InterFont(66));
     p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
-  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
     bool l = alert.text1.length() > 15;
     p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
     p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h
index 1f76ba305b..de38d8ffc3 100644
--- a/selfdrive/ui/qt/onroad/alerts.h
+++ b/selfdrive/ui/qt/onroad/alerts.h
@@ -17,18 +17,18 @@ protected:
     QString text1;
     QString text2;
     QString type;
-    cereal::ControlsState::AlertSize size;
-    cereal::ControlsState::AlertStatus status;
+    cereal::SelfdriveState::AlertSize size;
+    cereal::SelfdriveState::AlertStatus status;
 
     bool equal(const Alert &other) const {
       return text1 == other.text1 && text2 == other.text2 && type == other.type;
     }
   };
 
-  const QMap<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
-    {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
-    {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
-    {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
+  const QMap<cereal::SelfdriveState::AlertStatus, QColor> alert_colors = {
+    {cereal::SelfdriveState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+    {cereal::SelfdriveState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+    {cereal::SelfdriveState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
   };
 
   void paintEvent(QPaintEvent*) override;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 865b2599cc..3eb74c9bfc 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -48,7 +48,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
 
   speedUnit = is_metric ? tr("km/h") : tr("mph");
-  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
+  hideBottomIcons = (sm["selfdriveState"].getSelfdriveState().getAlertSize() != cereal::SelfdriveState::AlertSize::NONE);
   status = s.status;
 
   // update engageability/experimental mode button
@@ -170,7 +170,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // paint path
   QLinearGradient bg(0, height(), 0, 0);
-  if (sm["controlsState"].getControlsState().getExperimentalMode()) {
+  if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
     // The first half of track_vertices are the points for the right side of the path
     const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
     const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
@@ -318,7 +318,7 @@ void AnnotatedCameraWidget::paintGL() {
       } else if (v_ego > 15) {
         wide_cam_requested = false;
       }
-      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
+      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
       // for replay of old routes, never go to widecam
       wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 92bcea11b5..2c2cc672b9 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -33,7 +33,7 @@ void ExperimentalButton::changeMode() {
 }
 
 void ExperimentalButton::updateState(const UIState &s) {
-  const auto cs = (*s.sm)["controlsState"].getControlsState();
+  const auto cs = (*s.sm)["selfdriveState"].getSelfdriveState();
   bool eng = cs.getEngageable() || cs.getEnabled();
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
     engageable = eng;
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 0550a7db9e..4055fcfd35 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -41,10 +41,10 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 }
 
 def check_controls_timeout_alert(sm):
-  controls_missing = time.monotonic() - sm.recv_time['controlsState']
+  controls_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
   if controls_missing > CONTROLS_TIMEOUT:
-    if sm['controlsState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
+    if sm['selfdriveState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
       return True
 
   return False
@@ -111,8 +111,8 @@ class Soundd:
       self.current_sound_frame = 0
 
   def get_audible_alert(self, sm):
-    if sm.updated['controlsState']:
-      new_alert = sm['controlsState'].alertSound.raw
+    if sm.updated['selfdriveState']:
+      new_alert = sm['selfdriveState'].alertSound.raw
       self.update_alert(new_alert)
     elif check_controls_timeout_alert(sm):
       self.update_alert(AudibleAlert.warningImmediate)
@@ -136,7 +136,7 @@ class Soundd:
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['controlsState', 'microphone'])
+    sm = messaging.SubMaster(['selfdriveState', 'microphone'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index 468bc92cca..f40af8696a 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -10,14 +10,14 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 class TestSoundd:
   def test_check_controls_timeout_alert(self):
-    sm = SubMaster(['controlsState'])
-    pm = PubMaster(['controlsState'])
+    sm = SubMaster(['selfdriveState'])
+    pm = PubMaster(['selfdriveState'])
 
     for _ in range(100):
-      cs = messaging.new_message('controlsState')
-      cs.controlsState.enabled = True
+      cs = messaging.new_message('selfdriveState')
+      cs.selfdriveState.enabled = True
 
-      pm.send("controlsState", cs)
+      pm.send("selfdriveState", cs)
 
       time.sleep(0.01)
 
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 5a05b1f28a..0ab11d57b0 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -16,6 +16,7 @@ from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.process_replay.migration import migrate_selfdriveState
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
@@ -25,7 +26,7 @@ TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
-  ["deviceState", "pandaStates", "controlsState", "liveCalibration",
+  ["deviceState", "pandaStates", "selfdriveState", "liveCalibration",
   "modelV2", "radarState", "driverMonitoringState", "carState",
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
@@ -67,7 +68,7 @@ def setup_onroad(click, pm: PubMaster):
     time.sleep(0.05)
 
 def setup_onroad_wide(click, pm: PubMaster):
-  DATA['controlsState'].controlsState.experimentalMode = True
+  DATA['selfdriveState'].selfdriveState.experimentalMode = True
   DATA["carState"].carState.vEgo = 1
   setup_onroad(click, pm)
 
@@ -86,26 +87,26 @@ def setup_driver_camera(click, pm: PubMaster):
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True
 
-def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.ControlsState.AlertStatus.normal):
+def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.SelfdriveState.AlertStatus.normal):
   print(f'setup onroad alert, size: {size}')
   setup_onroad(click, pm)
-  dat = messaging.new_message('controlsState')
-  cs = dat.controlsState
+  dat = messaging.new_message('selfdriveState')
+  cs = dat.selfdriveState
   cs.alertText1 = text1
   cs.alertText2 = text2
   cs.alertSize = size
   cs.alertStatus = status
   cs.alertType = "test_onroad_alert"
-  pm.send('controlsState', dat)
+  pm.send('selfdriveState', dat)
 
 def setup_onroad_alert_small(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, 'This is a small alert message', '', log.ControlsState.AlertSize.small)
+  setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
 
 def setup_onroad_alert_mid(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.ControlsState.AlertSize.mid)
+  setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.SelfdriveState.AlertSize.mid)
 
 def setup_onroad_alert_full(click, pm: PubMaster):
-  setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.ControlsState.AlertSize.full)
+  setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
 CASES = {
   "homescreen": setup_homescreen,
@@ -192,7 +193,7 @@ def create_screenshots():
 
   segnum = 2
   lr = LogReader(route.qlog_paths()[segnum])
-  for event in lr:
+  for event in migrate_selfdriveState(lr):
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 19ea61f15a..8613eb2f2f 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -217,13 +217,13 @@ void ui_update_params(UIState *s) {
 }
 
 void UIState::updateStatus() {
-  if (scene.started && sm->updated("controlsState")) {
-    auto controls_state = (*sm)["controlsState"].getControlsState();
-    auto state = controls_state.getState();
-    if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
+  if (scene.started && sm->updated("selfdriveState")) {
+    auto ss = (*sm)["selfdriveState"].getSelfdriveState();
+    auto state = ss .getState();
+    if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
-      status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
   }
 
@@ -243,7 +243,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster>(std::vector<const char*>{
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "clocks",
+    "wideRoadCameraState", "managerState", "selfdriveState",
   });
 
   Params params;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 4efdad8ac0..2e3bd3927f 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -110,7 +110,7 @@ public:
   UIState(QObject* parent = 0);
   void updateStatus();
   inline bool engaged() const {
-    return scene.started && (*sm)["controlsState"].getControlsState().getEnabled();
+    return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 
   void setPrimeType(PrimeType type);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 8d2f8674b3..899023f2c7 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -279,9 +279,9 @@ void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
       }
     } else if (e.which == cereal::Event::Which::CONTROLS_STATE) {
       capnp::FlatArrayMessageReader reader(e.data);
-      auto cs = reader.getRoot<cereal::Event>().getControlsState();
+      auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
       if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
-          cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
+          cs.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) {
         std::lock_guard lk(mutex);
         alerts.emplace(e.mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
       }
@@ -397,9 +397,9 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
   }
   if (alert_info.text1.size() > 0) {
     QColor color = timeline_colors[(int)TimelineType::AlertInfo];
-    if (alert_info.status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
+    if (alert_info.status == cereal::SelfdriveState::AlertStatus::USER_PROMPT) {
       color = timeline_colors[(int)TimelineType::AlertWarning];
-    } else if (alert_info.status == cereal::ControlsState::AlertStatus::CRITICAL) {
+    } else if (alert_info.status == cereal::SelfdriveState::AlertStatus::CRITICAL) {
       color = timeline_colors[(int)TimelineType::AlertCritical];
     }
     color.setAlphaF(0.5);
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 1e793e9d1d..76364083a8 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -18,7 +18,7 @@
 #include "tools/replay/logreader.h"
 
 struct AlertInfo {
-  cereal::ControlsState::AlertStatus status;
+  cereal::SelfdriveState::AlertStatus status;
   QString text1;
   QString text2;
 };
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 4fea879f8b..b7c55294fd 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -153,15 +153,15 @@ void Replay::buildTimeline() {
   uint64_t engaged_begin = 0;
   bool engaged = false;
 
-  auto alert_status = cereal::ControlsState::AlertStatus::NORMAL;
-  auto alert_size = cereal::ControlsState::AlertSize::NONE;
+  auto alert_status = cereal::SelfdriveState::AlertStatus::NORMAL;
+  auto alert_size = cereal::SelfdriveState::AlertSize::NONE;
   uint64_t alert_begin = 0;
   std::string alert_type;
 
   const TimelineType timeline_types[] = {
-    [(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
-    [(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
-    [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
+    [(int)cereal::SelfdriveState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
+    [(int)cereal::SelfdriveState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
+    [(int)cereal::SelfdriveState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
   };
 
   const auto &route_segments = route_->segments();
@@ -174,7 +174,7 @@ void Replay::buildTimeline() {
       if (e.which == cereal::Event::Which::CONTROLS_STATE) {
         capnp::FlatArrayMessageReader reader(e.data);
         auto event = reader.getRoot<cereal::Event>();
-        auto cs = event.getControlsState();
+        auto cs = event.getSelfdriveState();
 
         if (engaged != cs.getEnabled()) {
           if (engaged) {
@@ -185,7 +185,7 @@ void Replay::buildTimeline() {
         }
 
         if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
-          if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+          if (!alert_type.empty() && alert_size != cereal::SelfdriveState::AlertSize::NONE) {
             timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
           }
           alert_begin = e.mono_time;
@@ -202,7 +202,7 @@ void Replay::buildTimeline() {
       if (engaged) {
         timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged});
       }
-      if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+      if (!alert_type.empty() && alert_size != cereal::SelfdriveState::AlertSize::NONE) {
         timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]});
       }
 

From 78fe867ccda67e5a6b2805aa05d6efc1f82e5983 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 1 Sep 2024 11:38:15 +0800
Subject: [PATCH 0520/1243] ci: add controlsState back to ui report (#33424)

add controlsState back
old-commit-hash: ff4cce267768dde0c869ab077beddd8a5d706912
---
 selfdrive/ui/tests/test_ui/run.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0ab11d57b0..f4c9994c8e 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -26,7 +26,7 @@ TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
-  ["deviceState", "pandaStates", "selfdriveState", "liveCalibration",
+  ["deviceState", "pandaStates", "controlsState", "selfdriveState", "liveCalibration",
   "modelV2", "radarState", "driverMonitoringState", "carState",
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 

From dbe0866a6ffb9cdf094bf839c98b4d4ac81b2a4a Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sat, 31 Aug 2024 23:38:34 -0400
Subject: [PATCH 0521/1243] ui: show personality updates (#33406)

* personality-alerts

* Update events.py

* Update car.capnp

* no AudibleAlert

* shorter

* no VisualAlert

* one liner

* smaller

* normal

* what am I doing wrong?

* it works, but is it messy?

* arg all

* lil more

* update that

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 35da93fa9503aa8c56aba59cf42efc88ab4d882f
---
 cereal/car.capnp                 |  1 +
 selfdrive/controls/controlsd.py  |  4 ++-
 selfdrive/controls/lib/events.py | 48 +++++++++++++++++++-------------
 3 files changed, 32 insertions(+), 21 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index cbfb330c22..d945fc468e 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -117,6 +117,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
     espActive @121;
+    personalityChanged @122;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index cd957c731a..f5af9573d5 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -655,6 +655,7 @@ class Controls:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
         self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.events.add(EventName.personalityChanged)
 
     return CC, lac_log
 
@@ -714,7 +715,8 @@ class Controls:
     if self.enabled:
       clear_event_types.add(ET.NO_ENTRY)
 
-    alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer])
+    pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
+    alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer, pers])
     self.AM.add_many(self.sm.frame, alerts)
     current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
     if current_alert:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 2ef4774e87..3f4f15024d 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -205,35 +205,35 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
 
 # ********** alert callback functions **********
 
-AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int], Alert]
+AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
 
 
 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
-  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
     if soft_disable_time < int(0.5 / DT_CTRL):
       return ImmediateDisableAlert(alert_text_2)
     return SoftDisableAlert(alert_text_2)
   return func
 
 def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
-  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
     if soft_disable_time < int(0.5 / DT_CTRL):
       return ImmediateDisableAlert(alert_text_2)
     return UserSoftDisableAlert(alert_text_2)
   return func
 
-def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   branch = get_short_branch()  # Ensure get_short_branch is cached to avoid lags on startup
   if "REPLAY" in os.environ:
     branch = "replay"
 
   return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
 
-def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
 
 
-def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return Alert(
     f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
@@ -241,7 +241,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
 
 
-def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
   return Alert(
     f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
@@ -252,37 +252,37 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 # *** debug alerts ***
 
-def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   full_perc = round(100. - sm['deviceState'].freeSpacePercent)
   return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
 
 
-def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
   err = CS.vEgo - mdl
   msg = f"Speed Error: {err:.1f} m/s"
   return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
 
 
-def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
   msg = ', '.join(not_running)
   return NoEntryAlert(msg, alert_text_1="Process Not Running")
 
 
-def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
   msg = ', '.join(bs[:4])  # can't fit too many on one line
   return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
 
 
-def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
   bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
   return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
 
 
-def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   rpy = sm['liveCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
   pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
@@ -290,39 +290,43 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert("Calibration Invalid", angles)
 
 
-def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   cpu = max(sm['deviceState'].cpuTempC, default=0.)
   gpu = max(sm['deviceState'].gpuTempC, default=0.)
   temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
   return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C")
 
 
-def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
 
 
-def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   x = max(sm['deviceState'].cpuUsagePercent, default=0.)
   return NormalPermanentAlert("High CPU Usage", f"{x}% used")
 
 
-def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
-def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   text = "Enable Adaptive Cruise to Engage"
   if CP.carName == "honda":
     text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 
 
-def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   axes = sm['testJoystick'].axes
   gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
   vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
   return NormalPermanentAlert("Joystick Mode", vals)
 
+def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  personality = str(personality).title()
+  return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
+
 
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
@@ -955,6 +959,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
   },
 
+  EventName.personalityChanged: {
+    ET.WARNING: personality_changed_alert,
+  },
+
 }
 
 
@@ -973,7 +981,7 @@ if __name__ == '__main__':
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
       if callable(alert):
-        alert = alert(CP, CS, sm, False, 1)
+        alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
       alerts_by_type[et][alert.priority].append(event_names[i])
 
   all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}

From 1d7e8795dd2f798544b801c7f4174da071687788 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 31 Aug 2024 20:51:01 -0700
Subject: [PATCH 0522/1243] update test_alerts

old-commit-hash: 519b666e379e977c2359efee9b0fc0fb21e03b1d
---
 selfdrive/controls/tests/test_alerts.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index d315d70565..754763bcf0 100644
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -63,7 +63,7 @@ class TestAlerts:
 
     for alert in ALERTS:
       if not isinstance(alert, Alert):
-        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100)
+        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
 
       # for full size alerts, both text fields wrap the text,
       # so it's unlikely that they  would go past the max width

From 9785c6b62b67180ce08be9ddd882b9fc1add7637 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 1 Sep 2024 13:57:45 +0800
Subject: [PATCH 0523/1243] ci: display lead car indicator in on-road
 screenshots (#33416)

Show lead car in on-road screenshots
old-commit-hash: 100ca65b391d44784b31387a577dd35316c2342e
---
 selfdrive/ui/tests/test_ui/run.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index f4c9994c8e..fbdfdca794 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -26,8 +26,8 @@ TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
-  ["deviceState", "pandaStates", "controlsState", "selfdriveState", "liveCalibration",
-  "modelV2", "radarState", "driverMonitoringState", "carState",
+  ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
+  "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
 def setup_common(click, pm: PubMaster):
@@ -193,6 +193,7 @@ def create_screenshots():
 
   segnum = 2
   lr = LogReader(route.qlog_paths()[segnum])
+  DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
   for event in migrate_selfdriveState(lr):
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()

From 9fb50bd1c652f4f4cd7ded5f566965845d108aea Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 1 Sep 2024 15:37:40 +0800
Subject: [PATCH 0524/1243] replay: migrate old ControlState event to new
 format during log file parsing (#33425)

Migrate Old ControlState Event to New Format During Log File Parsing
old-commit-hash: 6741877fbdfa638f392c488e82de001bbd6eafb7
---
 tools/replay/logreader.cc | 49 +++++++++++++++++++++++++++++++++++++++
 tools/replay/logreader.h  |  3 +++
 tools/replay/replay.cc    |  2 +-
 3 files changed, 53 insertions(+), 1 deletion(-)

diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 415b8c0b5e..d751868de3 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -32,6 +32,9 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
       auto which = event.which();
       auto event_data = kj::arrayPtr(words.begin(), reader.getEnd());
       words = kj::arrayPtr(reader.getEnd(), words.end());
+      if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+        requires_migration = false;
+      }
 
       if (!filters_.empty()) {
         if (which >= filters_.size() || !filters_[which])
@@ -58,6 +61,10 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
     rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
   }
 
+  if (requires_migration) {
+    migrateOldEvents();
+  }
+
   if (!events.empty() && !(abort && *abort)) {
     events.shrink_to_fit();
     std::sort(events.begin(), events.end());
@@ -65,3 +72,45 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
   }
   return false;
 }
+
+void LogReader::migrateOldEvents() {
+  size_t events_size = events.size();
+  for (int i = 0; i < events_size; ++i) {
+    // Check if the event is of the old CONTROLS_STATE type
+    auto &event = events[i];
+    if (event.which == cereal::Event::CONTROLS_STATE) {
+      // Read the old event data
+      capnp::FlatArrayMessageReader reader(event.data);
+      auto old_evt = reader.getRoot<cereal::Event>();
+      auto old_state = old_evt.getControlsState();
+
+      // Migrate relevant fields from old CONTROLS_STATE to new SelfdriveState
+      MessageBuilder msg;
+      auto new_evt = msg.initEvent(old_evt.getValid());
+      new_evt.setLogMonoTime(old_evt.getLogMonoTime());
+      auto new_state = new_evt.initSelfdriveState();
+
+      new_state.setActive(old_state.getActive());
+      new_state.setAlertSize(old_state.getAlertSize());
+      new_state.setAlertSound(old_state.getAlertSound());
+      new_state.setAlertStatus(old_state.getAlertStatus());
+      new_state.setAlertText1(old_state.getAlertText1());
+      new_state.setAlertText2(old_state.getAlertText2());
+      new_state.setAlertType(old_state.getAlertType());
+      new_state.setEnabled(old_state.getEnabled());
+      new_state.setEngageable(old_state.getEngageable());
+      new_state.setExperimentalMode(old_state.getExperimentalMode());
+      new_state.setPersonality(old_state.getPersonality());
+      new_state.setState(old_state.getState());
+
+      // Serialize the new event to the buffer
+      auto buf_size = msg.getSerializedSize();
+      auto buf = buffer_.allocate(buf_size);
+      msg.serializeToBuffer(reinterpret_cast<unsigned char *>(buf), buf_size);
+
+      // Store the migrated event in the events list
+      auto event_data = kj::arrayPtr(reinterpret_cast<const capnp::word *>(buf), buf_size);
+      events.emplace_back(new_evt.which(), new_evt.getLogMonoTime(), event_data);
+    }
+  }
+}
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index 782c00b90a..ab35954db6 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -34,7 +34,10 @@ public:
   std::vector<Event> events;
 
 private:
+  void migrateOldEvents();
+
   std::string raw_;
+  bool requires_migration = true;
   std::vector<bool> filters_;
   MonotonicBuffer buffer_{1024 * 1024};
 };
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index b7c55294fd..34dd33bc1a 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -171,7 +171,7 @@ void Replay::buildTimeline() {
 
     std::vector<std::tuple<double, double, TimelineType>> timeline;
     for (const Event &e : log->events) {
-      if (e.which == cereal::Event::Which::CONTROLS_STATE) {
+      if (e.which == cereal::Event::Which::SELFDRIVE_STATE) {
         capnp::FlatArrayMessageReader reader(e.data);
         auto event = reader.getRoot<cereal::Event>();
         auto cs = event.getSelfdriveState();

From c8048d85e9da446be88cb123f217ec564163a47b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 2 Sep 2024 00:50:42 +0800
Subject: [PATCH 0525/1243] cabana: update event Handling from CONTROLS_STATE
 to SELFDRIVE_STATE (#33426)

check selfdrive_state
old-commit-hash: fdf6c9009cdc70bb1ce36fba461509a59e1be68b
---
 tools/cabana/videowidget.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 899023f2c7..48f768c819 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -277,7 +277,7 @@ void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
         std::lock_guard lk(mutex);
         thumbnails[thumb.getTimestampEof()] = scaled;
       }
-    } else if (e.which == cereal::Event::Which::CONTROLS_STATE) {
+    } else if (e.which == cereal::Event::Which::SELFDRIVE_STATE) {
       capnp::FlatArrayMessageReader reader(e.data);
       auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
       if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&

From e318ca09489c84d76b19a0a52ac898410396bf43 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 2 Sep 2024 00:57:00 +0800
Subject: [PATCH 0526/1243] ci: integrate offroad alerts and update
 notifications to ui report (#33408)

add offroad alerts
old-commit-hash: db9263d064502000642931742e08a748e586e760
---
 .github/workflows/ui_preview.yaml | 12 ++++----
 selfdrive/ui/tests/test_ui/run.py | 46 +++++++++++++++++++++++--------
 2 files changed, 41 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f0eaaa9038..f46294bf30 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -76,7 +76,11 @@ jobs:
             <table>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/offroad_alert.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/update_available.png"></td>
               </tr>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
@@ -87,16 +91,12 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide_sidebar.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_small.png"></td>
-              </tr>
-              <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_mid.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
               </tr>
               <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/driver_camera.png"></td>
-                <td></td>
               </tr>
             </table>
           comment_tag: run_id_screenshots
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index fbdfdca794..cadfd89158 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -13,8 +13,11 @@ import time
 from cereal import messaging, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import SubMaster, PubMaster
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.migration import migrate_selfdriveState
 from openpilot.tools.lib.logreader import LogReader
@@ -25,6 +28,7 @@ UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
+OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
@@ -42,10 +46,6 @@ def setup_settings_device(click, pm: PubMaster):
 
   click(100, 100)
 
-def setup_settings_network(click, pm: PubMaster):
-  setup_settings_device(click, pm)
-  click(300, 600)
-
 def setup_onroad(click, pm: PubMaster):
   setup_common(click, pm)
 
@@ -55,7 +55,7 @@ def setup_onroad(click, pm: PubMaster):
   vipc_server.start_listener()
 
   packet_id = 0
-  for _ in range(30):
+  for _ in range(20):
     for service, data in DATA.items():
       if data:
         data.clear_write_flag()
@@ -108,18 +108,40 @@ def setup_onroad_alert_mid(click, pm: PubMaster):
 def setup_onroad_alert_full(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
+def setup_offorad_alert(click, pm: PubMaster):
+  setup_common(click, pm)
+  for alert in OFFROAD_ALERTS:
+    set_offroad_alert(alert, True)
+
+  # Toggle between settings and home to refresh the offroad alert widget
+  setup_settings_device(click, pm)
+  click(240, 216)
+
+def setup_update_available(click, pm: PubMaster):
+  setup_common(click, pm)
+  Params().put_bool("UpdateAvailable", True)
+  release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
+  with open(release_notes_path) as file:
+    release_notes = file.read().split('\n\n', 1)[0]
+  Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
+
+  setup_settings_device(click, pm)
+  click(240, 216)
+
+
 CASES = {
   "homescreen": setup_homescreen,
   "settings_device": setup_settings_device,
-  "settings_network": setup_settings_network,
   "onroad": setup_onroad,
   "onroad_sidebar": setup_onroad_sidebar,
-  "onroad_wide": setup_onroad_wide,
-  "onroad_wide_sidebar": setup_onroad_wide_sidebar,
   "onroad_alert_small": setup_onroad_alert_small,
   "onroad_alert_mid": setup_onroad_alert_mid,
   "onroad_alert_full": setup_onroad_alert_full,
-  "driver_camera": setup_driver_camera
+  "onroad_wide": setup_onroad_wide,
+  "onroad_wide_sidebar": setup_onroad_wide_sidebar,
+  "driver_camera": setup_driver_camera,
+  "offroad_alert": setup_offorad_alert,
+  "update_available": setup_update_available
 }
 
 TEST_DIR = pathlib.Path(__file__).parent
@@ -212,8 +234,10 @@ def create_screenshots():
   STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
 
   t = TestUI()
-  for name, setup in CASES.items():
-    t.test_ui(name, setup)
+
+  with OpenpilotPrefix():
+    for name, setup in CASES.items():
+      t.test_ui(name, setup)
 
 if __name__ == "__main__":
   print("creating test screenshots")

From 1876f80699a44c5d633e56c9b0d8cab7082354da Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 2 Sep 2024 00:58:22 +0800
Subject: [PATCH 0527/1243] ui: remove copy initialization of dialogs (#33427)

remove copy initialization of dialogs
old-commit-hash: dc06813beddbad82f1fe003f5a28efea7a440981
---
 selfdrive/ui/qt/widgets/input.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 4ff0de29f9..b0b6b4c23b 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -151,7 +151,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
 
 QString InputDialog::getText(const QString &prompt, QWidget *parent, const QString &subtitle,
                              bool secret, int minLength, const QString &defaultText) {
-  InputDialog d = InputDialog(prompt, parent, subtitle, secret);
+  InputDialog d(prompt, parent, subtitle, secret);
   d.line->setText(defaultText);
   d.setMinLength(minLength);
   const int ret = d.exec();
@@ -230,17 +230,17 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString
 }
 
 bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", false, parent);
+  ConfirmationDialog d(prompt_text, tr("Ok"), "", false, parent);
   return d.exec();
 }
 
 bool ConfirmationDialog::confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Cancel"), false, parent);
+  ConfirmationDialog d(prompt_text, confirm_text, tr("Cancel"), false, parent);
   return d.exec();
 }
 
 bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", true, parent);
+  ConfirmationDialog d(prompt_text, tr("Ok"), "", true, parent);
   return d.exec();
 }
 
@@ -328,7 +328,7 @@ MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringLi
 }
 
 QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) {
-  MultiOptionDialog d = MultiOptionDialog(prompt_text, l, current, parent);
+  MultiOptionDialog d(prompt_text, l, current, parent);
   if (d.exec()) {
     return d.selection;
   }

From 333c666a8043e0dd157017be1663725706070aec Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 1 Sep 2024 10:39:49 -0700
Subject: [PATCH 0528/1243] athena: use dongle ID on /persist/ when available
 (#33259)

* athena: use dongle ID on /persist/ when available

* comment

* test

* cleanup
old-commit-hash: 91db49b9bfb5ca27068bd13378feb602e8c63f4b
---
 system/athena/registration.py            | 16 ++++++++++++++--
 system/athena/tests/test_registration.py | 16 ++++++++++------
 2 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/system/athena/registration.py b/system/athena/registration.py
index 97289e4199..06ecd0b9d4 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -16,20 +16,32 @@ from openpilot.common.swaglog import cloudlog
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
 
-
 def is_registered_device() -> bool:
   dongle = Params().get("DongleId", encoding='utf-8')
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
 def register(show_spinner=False) -> str | None:
+  """
+  All devices built since March 2024 come with all
+  info stored in /persist/. This is kept around
+  only for devices built before then.
+
+  With a backend update to take serial number instead
+  of dongle ID to some endpoints, this can be removed
+  entirely.
+  """
   params = Params()
 
   IMEI = params.get("IMEI", encoding='utf8')
   HardwareSerial = params.get("HardwareSerial", encoding='utf8')
   dongle_id: str | None = params.get("DongleId", encoding='utf8')
-  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
+  if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
+    # not all devices will have this; added early in comma 3X production (2/28/24)
+    with open(Paths.persist_root()+"/comma/dongle_id") as f:
+      dongle_id = f.read().strip()
 
+  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
   if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index 4f663fbc0a..17ebaa472d 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -13,13 +13,13 @@ class TestRegistration:
   def setup_method(self):
     # clear params and setup key paths
     self.params = Params()
-    self.params.clear_all()
 
     persist_dir = Path(Paths.persist_root()) / "comma"
     persist_dir.mkdir(parents=True, exist_ok=True)
 
     self.priv_key = persist_dir / "id_rsa"
     self.pub_key = persist_dir / "id_rsa.pub"
+    self.dongle_id = persist_dir / "dongle_id"
 
   def _generate_keys(self):
     self.pub_key.touch()
@@ -30,16 +30,20 @@ class TestRegistration:
       f.write(k.publickey().export_key())
 
   def test_valid_cache(self, mocker):
-    # if all params are written, return the cached dongle id
+    # if all params are written, return the cached dongle id.
+    # should work with a dongle ID on either /persist/ or normal params
     self.params.put("IMEI", "imei")
     self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
-    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = "DONGLE_ID_123"
-    self.params.put("DongleId", dongle)
-    assert register() == dongle
-    assert not m.called
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
+    for persist, params in [(True, True), (True, False), (False, True)]:
+      self.params.put("DongleId", dongle if params else "")
+      with open(self.dongle_id, "w") as f:
+        f.write(dongle if persist else "")
+      assert register() == dongle
+      assert not m.called
 
   def test_no_keys(self, mocker):
     # missing pubkey

From 9cd2bcbb39b37f655e22d1ba477a07286aa2c4dd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 2 Sep 2024 01:40:41 +0800
Subject: [PATCH 0529/1243] ci: add body to ui report (#33429)

add body
old-commit-hash: fefb0330d65db56092a6251035f1d012b9efae19
---
 .github/workflows/ui_preview.yaml | 4 ++++
 selfdrive/ui/tests/test_ui/run.py | 8 ++++++++
 2 files changed, 12 insertions(+)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f46294bf30..0cd90c2481 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -98,6 +98,10 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/driver_camera.png"></td>
               </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/body.png"></td>
+                <td></td>
+              </tr>
             </table>
           comment_tag: run_id_screenshots
           pr_number: ${{ github.event.number }}
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index cadfd89158..b80620c124 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -80,6 +80,13 @@ def setup_onroad_wide_sidebar(click, pm: PubMaster):
   setup_onroad_wide(click, pm)
   click(500, 500)
 
+def setup_body(click, pm: PubMaster):
+  DATA['carParams'].carParams.carName = "BODY"
+  DATA['carParams'].carParams.notCar = True
+  DATA['carState'].carState.charging = True
+  DATA['carState'].carState.fuelGauge = 50.0
+  setup_onroad(click, pm)
+
 def setup_driver_camera(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(1950, 435)
@@ -140,6 +147,7 @@ CASES = {
   "onroad_wide": setup_onroad_wide,
   "onroad_wide_sidebar": setup_onroad_wide_sidebar,
   "driver_camera": setup_driver_camera,
+  "body": setup_body,
   "offroad_alert": setup_offorad_alert,
   "update_available": setup_update_available
 }

From 7575c707f13297270e231a231d7d3fd8c5ccac6a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 1 Sep 2024 11:31:39 -0700
Subject: [PATCH 0530/1243] carEvent -> onroadEvent (#33432)

old-commit-hash: c481f11833d748a0d12d2ba14003e931d2849135
---
 cereal/car.capnp                                | 8 +++++---
 cereal/log.capnp                                | 6 +++---
 selfdrive/car/car_specific.py                   | 2 +-
 selfdrive/car/card.py                           | 2 +-
 selfdrive/car/tests/test_models.py              | 2 +-
 selfdrive/controls/controlsd.py                 | 2 +-
 selfdrive/controls/lib/drive_helpers.py         | 2 +-
 selfdrive/controls/lib/events.py                | 4 ++--
 selfdrive/controls/tests/test_alerts.py         | 2 +-
 selfdrive/controls/tests/test_startup.py        | 2 +-
 selfdrive/debug/cycle_alerts.py                 | 2 +-
 selfdrive/monitoring/helpers.py                 | 2 +-
 selfdrive/monitoring/test_monitoring.py         | 2 +-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/test/test_onroad.py                   | 2 +-
 selfdrive/test/test_time_to_onroad.py           | 2 +-
 16 files changed, 23 insertions(+), 21 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index d945fc468e..aa0f336ffe 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -5,7 +5,9 @@ $Cxx.namespace("cereal");
 
 # ******* events causing controls state machine transition *******
 
-struct CarEvent @0x9b1657f34caf3ad3 {
+# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately
+#        move due to being referenced by structs in this file
+struct OnroadEvent @0x9b1657f34caf3ad3 {
   name @0 :EventName;
 
   # event types
@@ -152,7 +154,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 
 struct CarState {
-  events @13 :List(CarEvent);
+  events @13 :List(OnroadEvent);
 
   # CAN health
   canValid @26 :Bool;       # invalid counter/checksums
@@ -281,7 +283,7 @@ struct CarState {
   }
 
   # deprecated
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  errorsDEPRECATED @0 :List(OnroadEvent.EventName);
   brakeLightsDEPRECATED @19 :Bool;
   steeringRateLimitedDEPRECATED @29 :Bool;
   canMonoTimesDEPRECATED @12: List(UInt64);
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 4742473318..0d047628aa 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1149,7 +1149,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   radarValidDEPRECATED @28 :Bool;
   radarCanErrorDEPRECATED @30 :Bool;
   commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.CarEvent);
+  eventsDEPRECATED @13 :List(Car.OnroadEvent);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
   personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -2055,7 +2055,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }
 
 struct DriverMonitoringState @0xb83cda094a1da284 {
-  events @0 :List(Car.CarEvent);
+  events @0 :List(Car.OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
   distractedType @17 :UInt32;
@@ -2346,7 +2346,7 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    onroadEvents @68: List(Car.CarEvent);
+    onroadEvents @68: List(Car.OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     livePose @129 :LivePose;
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 899f56beb0..25a7defbbd 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -9,7 +9,7 @@ from openpilot.selfdrive.controls.lib.events import Events
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 4a205f15c4..8b44daa4fc 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -24,7 +24,7 @@ from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 7016adbd51..25db426d23 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -29,7 +29,7 @@ from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f5af9573d5..6ea4d2096c 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -49,7 +49,7 @@ PandaType = log.PandaState.PandaType
 Desire = log.Desire
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 47ab36e6bd..777e0a1f7f 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -6,7 +6,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.system.version import get_build_metadata
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 3f4f15024d..d27f02794b 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -16,7 +16,7 @@ AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 
 
 # Alert priorities
@@ -98,7 +98,7 @@ class Events:
   def to_msg(self):
     ret = []
     for event_name in self.events:
-      event = car.CarEvent.new_message()
+      event = car.OnroadEvent.new_message()
       event.name = event_name
       for event_type in EVENTS.get(event_name, {}):
         setattr(event, event_type, True)
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 754763bcf0..52d71dc22d 100644
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -38,7 +38,7 @@ class TestAlerts:
 
   def test_events_defined(self):
     # Ensure all events in capnp schema are defined in events.py
-    events = car.CarEvent.EventName.schema.enumerants
+    events = car.OnroadEvent.EventName.schema.enumerants
 
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index bfe117062e..077d4ae93a 100644
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
 from openpilot.system.manager.process_config import managed_processes
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 Ecu = car.CarParams.Ecu
 
 COROLLA_FW_VERSIONS = [
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 6ab9ab8733..fbac65cac1 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
 from openpilot.system.manager.process_config import managed_processes
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 
 def randperc() -> float:
   return 100. * random.random()
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index dfb35182b2..374219379f 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 
 # ******************************************************************************************
 #  NOTE: To fork maintainers.
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index f750437dc3..31ae98c638 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -4,7 +4,7 @@ from cereal import car, log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c11f684690..8e1e769e71 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -461,7 +461,7 @@ def controlsd_config_callback(params, cfg, lr):
       if initialized:
         break
     elif msg.which() == "onroadEvents":
-      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents]
+      initialized = car.OnroadEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents]
 
   assert controlsState is not None and initialized, "controlsState never initialized"
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 0d6c0ba214..e550344c7d 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -419,7 +419,7 @@ class TestOnroad:
       if msg.which() == "selfdriveState":
         startup_alert = msg.selfdriveState.alertText1
         break
-    expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
+    expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
     assert startup_alert == expected, "wrong startup alert"
 
   def test_engagable(self):
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index e08d0e676c..0ec14e2d8c 100644
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -9,7 +9,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
-EventName = car.CarEvent.EventName
+EventName = car.OnroadEvent.EventName
 
 
 @pytest.mark.tici

From 43025c28369a1ef3e9e0dd60333fa8524f6ef036 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 2 Sep 2024 03:11:16 +0800
Subject: [PATCH 0531/1243] ui: refactor driver monitor updating and rendering
 into `DriverMonitorRenderer` class (#33375)

* Refactor Driver Monitor Updating and Rendering

add comments

* rebase master

* rename dmon to driver_monitoring
old-commit-hash: af80a13716f2ba40b6652ab188d1881385b6aa71
---
 selfdrive/ui/SConscript                     |   2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc  |  56 +---------
 selfdrive/ui/qt/onroad/annotated_camera.h   |   8 +-
 selfdrive/ui/qt/onroad/driver_monitoring.cc | 107 ++++++++++++++++++++
 selfdrive/ui/qt/onroad/driver_monitoring.h  |  24 +++++
 selfdrive/ui/ui.cc                          |  35 -------
 selfdrive/ui/ui.h                           |  19 ----
 7 files changed, 136 insertions(+), 115 deletions(-)
 create mode 100644 selfdrive/ui/qt/onroad/driver_monitoring.cc
 create mode 100644 selfdrive/ui/qt/onroad/driver_monitoring.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index cfdaf87b7d..319ca4547c 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -31,7 +31,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 3eb74c9bfc..4a95006838 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -19,8 +19,6 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
 
   experimental_btn = new ExperimentalButton(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
-
-  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
@@ -48,18 +46,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
 
   speedUnit = is_metric ? tr("km/h") : tr("mph");
-  hideBottomIcons = (sm["selfdriveState"].getSelfdriveState().getAlertSize() != cereal::SelfdriveState::AlertSize::NONE);
   status = s.status;
 
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
 
   // update DM icon
-  auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
-  dmActive = dm_state.getIsActiveMode();
-  rightHandDM = dm_state.getIsRHD();
-  // DM icon transition
-  dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
+  dmon.updateState(s);
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
@@ -209,47 +202,6 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.restore();
 }
 
-void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
-  const UIScene &scene = s->scene;
-
-  painter.save();
-
-  // base icon
-  int offset = UI_BORDER_SIZE + btn_size / 2;
-  int x = rightHandDM ? width() - offset : offset;
-  int y = height() - offset;
-  float opacity = dmActive ? 0.65 : 0.2;
-  drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
-
-  // face
-  QPointF face_kpts_draw[std::size(default_face_kpts_3d)];
-  float kp;
-  for (int i = 0; i < std::size(default_face_kpts_3d); ++i) {
-    kp = (scene.face_kpts_draw[i].v[2] - 8) / 120 + 1.0;
-    face_kpts_draw[i] = QPointF(scene.face_kpts_draw[i].v[0] * kp + x, scene.face_kpts_draw[i].v[1] * kp + y);
-  }
-
-  painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap));
-  painter.drawPolyline(face_kpts_draw, std::size(default_face_kpts_3d));
-
-  // tracking arcs
-  const int arc_l = 133;
-  const float arc_t_default = 6.7;
-  const float arc_t_extend = 12.0;
-  QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
-                                      0.545 + 0.4 * s->engaged(),
-                                      0.545 - 0.285 * s->engaged(),
-                                      0.4 * (1.0 - dm_fade_state));
-  float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
-  float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;
-  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
-  painter.drawArc(QRectF(std::fmin(x + delta_x, x), y - arc_l / 2, fabs(delta_x), arc_l), (scene.driver_pose_sins[1]>0 ? 90 : -90) * 16, 180 * 16);
-  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap));
-  painter.drawArc(QRectF(x - arc_l / 2, std::fmin(y + delta_y, y), arc_l, fabs(delta_y)), (scene.driver_pose_sins[0]>0 ? 0 : 180) * 16, 180 * 16);
-
-  painter.restore();
-}
-
 void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
   painter.save();
 
@@ -357,11 +309,7 @@ void AnnotatedCameraWidget::paintGL() {
     }
   }
 
-  // DMoji
-  if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
-    update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
-    drawDriverState(painter, s);
-  }
+  dmon.draw(painter, rect());
 
   drawHud(painter);
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 465ba23e04..4a4196b22c 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -4,6 +4,7 @@
 #include <memory>
 
 #include "selfdrive/ui/qt/onroad/buttons.h"
+#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
 class AnnotatedCameraWidget : public CameraWidget {
@@ -18,16 +19,12 @@ private:
 
   QVBoxLayout *main_layout;
   ExperimentalButton *experimental_btn;
-  QPixmap dm_img;
+  DriverMonitorRenderer dmon;
   float speed;
   QString speedUnit;
   float setSpeed;
   bool is_cruise_set = false;
   bool is_metric = false;
-  bool dmActive = false;
-  bool hideBottomIcons = false;
-  bool rightHandDM = false;
-  float dm_fade_state = 1.0;
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
@@ -43,7 +40,6 @@ protected:
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
-  void drawDriverState(QPainter &painter, const UIState *s);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
   inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
   inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
new file mode 100644
index 0000000000..afd003cf8f
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc
@@ -0,0 +1,107 @@
+#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include <algorithm>
+#include <cmath>
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
+#include "selfdrive/ui/qt/util.h"
+
+// Default 3D coordinates for face keypoints
+static constexpr vec3 DEFAULT_FACE_KPTS_3D[] = {
+  {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
+  {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00},
+  {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00},
+  {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00},
+  {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00},
+  {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00},
+  {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
+};
+
+// Colors used for drawing based on monitoring state
+static const QColor DMON_ENGAGED_COLOR = QColor::fromRgbF(0.1, 0.945, 0.26);
+static const QColor DMON_DISENGAGED_COLOR = QColor::fromRgbF(0.545, 0.545, 0.545);
+
+DriverMonitorRenderer::DriverMonitorRenderer() : face_kpts_draw(std::size(DEFAULT_FACE_KPTS_3D)) {
+  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
+}
+
+void DriverMonitorRenderer::updateState(const UIState &s) {
+  auto &sm = *(s.sm);
+  is_visible = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
+               sm.rcv_frame("driverStateV2") > s.scene.started_frame;
+  if (!is_visible) return;
+
+  auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
+  is_active = dm_state.getIsActiveMode();
+  is_rhd = dm_state.getIsRHD();
+  dm_fade_state = std::clamp(dm_fade_state + 0.2f * (0.5f - is_active), 0.0f, 1.0f);
+
+  const auto &driverstate = sm["driverStateV2"].getDriverStateV2();
+  const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation();
+
+  for (int i = 0; i < 3; ++i) {
+    float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i];
+    driver_pose_diff[i] = std::abs(driver_pose_vals[i] - v_this);
+    driver_pose_vals[i] = 0.8f * v_this + (1 - 0.8) * driver_pose_vals[i];
+    driver_pose_sins[i] = std::sin(driver_pose_vals[i] * (1.0f - dm_fade_state));
+    driver_pose_coss[i] = std::cos(driver_pose_vals[i] * (1.0f - dm_fade_state));
+  }
+
+  auto [sin_y, sin_x, sin_z] = driver_pose_sins;
+  auto [cos_y, cos_x, cos_z] = driver_pose_coss;
+
+  // Rotation matrix for transforming face keypoints based on driver's head orientation
+  const mat3 r_xyz = {{
+    cos_x * cos_z, cos_x * sin_z, -sin_x,
+    -sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x,
+    cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x,
+  }};
+
+  // Transform vertices
+  for (int i = 0; i < face_kpts_draw.size(); ++i) {
+    vec3 kpt = matvecmul3(r_xyz, DEFAULT_FACE_KPTS_3D[i]);
+    face_kpts_draw[i] = {{kpt.v[0], kpt.v[1], kpt.v[2] * (1.0f - dm_fade_state) + 8 * dm_fade_state}};
+  }
+}
+
+void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
+  if (!is_visible) return;
+
+  painter.save();
+
+  int offset = UI_BORDER_SIZE + btn_size / 2;
+  float x = is_rhd ? surface_rect.width() - offset : offset;
+  float y = surface_rect.height() - offset;
+  float opacity = is_active ? 0.65f : 0.2f;
+
+  drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
+
+  QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
+  for (int i = 0; i < std::size(keypoints); ++i) {
+    const auto &v = face_kpts_draw[i].v;
+    float kp = (v[2] - 8) / 120.0f + 1.0f;
+    keypoints[i] = QPointF(v[0] * kp + x, v[1] * kp + y);
+  }
+
+  painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap));
+  painter.drawPolyline(keypoints, std::size(keypoints));
+
+  // tracking arcs
+  const int arc_l = 133;
+  const float arc_t_default = 6.7f;
+  const float arc_t_extend = 12.0f;
+  QColor arc_color = uiState()->engaged() ? DMON_ENGAGED_COLOR : DMON_DISENGAGED_COLOR;
+  arc_color.setAlphaF(0.4 * (1.0f - dm_fade_state));
+
+  float delta_x = -driver_pose_sins[1] * arc_l / 2.0f;
+  float delta_y = -driver_pose_sins[0] * arc_l / 2.0f;
+
+  // Draw horizontal tracking arc
+  painter.setPen(QPen(arc_color, arc_t_default + arc_t_extend * std::min(1.0, driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
+  painter.drawArc(QRectF(std::min(x + delta_x, x), y - arc_l / 2, std::abs(delta_x), arc_l), (driver_pose_sins[1] > 0 ? 90 : -90) * 16, 180 * 16);
+
+  // Draw vertical tracking arc
+  painter.setPen(QPen(arc_color, arc_t_default + arc_t_extend * std::min(1.0, driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap));
+  painter.drawArc(QRectF(x - arc_l / 2, std::min(y + delta_y, y), arc_l, std::abs(delta_y)), (driver_pose_sins[0] > 0 ? 0 : 180) * 16, 180 * 16);
+
+  painter.restore();
+}
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.h b/selfdrive/ui/qt/onroad/driver_monitoring.h
new file mode 100644
index 0000000000..47db151c81
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <vector>
+#include <QPainter>
+#include "selfdrive/ui/ui.h"
+
+class DriverMonitorRenderer {
+public:
+  DriverMonitorRenderer();
+  void updateState(const UIState &s);
+  void draw(QPainter &painter, const QRect &surface_rect);
+
+private:
+  float driver_pose_vals[3] = {};
+  float driver_pose_diff[3] = {};
+  float driver_pose_sins[3] = {};
+  float driver_pose_coss[3] = {};
+  bool is_visible = false;
+  bool is_active = false;
+  bool is_rhd = false;
+  float dm_fade_state = 1.0;
+  QPixmap dm_img;
+  std::vector<vec3> face_kpts_draw;
+};
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8613eb2f2f..1a3198c936 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -110,41 +110,6 @@ void update_model(UIState *s,
   update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
 }
 
-void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
-  UIScene &scene = s->scene;
-  const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation();
-  for (int i = 0; i < std::size(scene.driver_pose_vals); i++) {
-    float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i];
-    scene.driver_pose_diff[i] = fabs(scene.driver_pose_vals[i] - v_this);
-    scene.driver_pose_vals[i] = 0.8 * v_this + (1 - 0.8) * scene.driver_pose_vals[i];
-    scene.driver_pose_sins[i] = sinf(scene.driver_pose_vals[i]*(1.0-dm_fade_state));
-    scene.driver_pose_coss[i] = cosf(scene.driver_pose_vals[i]*(1.0-dm_fade_state));
-  }
-
-  auto [sin_y, sin_x, sin_z] = scene.driver_pose_sins;
-  auto [cos_y, cos_x, cos_z] = scene.driver_pose_coss;
-
-  const mat3 r_xyz = (mat3){{
-    cos_x * cos_z,
-    cos_x * sin_z,
-    -sin_x,
-
-    -sin_y * sin_x * cos_z - cos_y * sin_z,
-    -sin_y * sin_x * sin_z + cos_y * cos_z,
-    -sin_y * cos_x,
-
-    cos_y * sin_x * cos_z - sin_y * sin_z,
-    cos_y * sin_x * sin_z + sin_y * cos_z,
-    cos_y * cos_x,
-  }};
-
-  // transform vertices
-  for (int kpi = 0; kpi < std::size(default_face_kpts_3d); kpi++) {
-    vec3 kpt_this = matvecmul3(r_xyz, default_face_kpts_3d[kpi]);
-    scene.face_kpts_draw[kpi] = (vec3){{kpt_this.v[0], kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}};
-  }
-}
-
 static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 2e3bd3927f..73b8c5ddeb 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -34,18 +34,6 @@ constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
-
-constexpr vec3 default_face_kpts_3d[] = {
-  {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
-  {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00},
-  {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00},
-  {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00},
-  {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00},
-  {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00},
-  {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
-};
-
-
 typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
@@ -88,13 +76,6 @@ typedef struct UIScene {
   // lead
   QPointF lead_vertices[2];
 
-  // DMoji state
-  float driver_pose_vals[3];
-  float driver_pose_diff[3];
-  float driver_pose_sins[3];
-  float driver_pose_coss[3];
-  vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
-
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;

From 351d7bf16e704d0a8c327e0f39276151a703ae7a Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 2 Sep 2024 00:38:59 -0300
Subject: [PATCH 0532/1243] Fix small typos on run.py (#33434)

old-commit-hash: 352d0b6c0ca9a10f319fc64f288b786c467b8798
---
 selfdrive/ui/tests/test_ui/run.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index b80620c124..e9240fa4f7 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -115,7 +115,7 @@ def setup_onroad_alert_mid(click, pm: PubMaster):
 def setup_onroad_alert_full(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
-def setup_offorad_alert(click, pm: PubMaster):
+def setup_offroad_alert(click, pm: PubMaster):
   setup_common(click, pm)
   for alert in OFFROAD_ALERTS:
     set_offroad_alert(alert, True)
@@ -148,7 +148,7 @@ CASES = {
   "onroad_wide_sidebar": setup_onroad_wide_sidebar,
   "driver_camera": setup_driver_camera,
   "body": setup_body,
-  "offroad_alert": setup_offorad_alert,
+  "offroad_alert": setup_offroad_alert,
   "update_available": setup_update_available
 }
 

From f0f24b4265579f7728dbe3577fb252b5e92ee49a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 2 Sep 2024 15:45:51 -0700
Subject: [PATCH 0533/1243] ruff: exclude notebooks (#33438)

old-commit-hash: 88677360cfcea0ecfd1d265e9a2419a005e9f0c0
---
 pyproject.toml       | 1 +
 scripts/lint/lint.sh | 5 +++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index b1e511b3ff..36363cab90 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -245,6 +245,7 @@ exclude = [
   "teleoprtc",
   "teleoprtc_repo",
   "third_party",
+  "*.ipynb",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false
 
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 652fa4d65f..4b65e4a895 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -8,7 +8,8 @@ BOLD='\033[1m'
 NC='\033[0m'
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../../
+ROOT="$DIR/../../"
+cd $ROOT
 
 FAILED=0
 
@@ -47,7 +48,7 @@ function run_tests() {
   ALL_FILES=$1
   PYTHON_FILES=$2
 
-  run "ruff" ruff check $PYTHON_FILES --quiet
+  run "ruff" ruff check $ROOT --quiet
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES

From 1779ceb30e051040f7a828097370fd5c9660d42c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 2 Sep 2024 17:12:53 -0700
Subject: [PATCH 0534/1243] CI: update ui_preview timeout old-commit-hash:
 9d5eab9659f3e4ac5fcd4e336a5a508bf0bbd22f

---
 .github/workflows/ui_preview.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 0cd90c2481..c6d70e9ceb 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -16,7 +16,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     name: preview
     runs-on: ubuntu-latest
-    timeout-minutes: 5
+    timeout-minutes: 20
     permissions:
       contents: read
       pull-requests: write

From 53288d4dbf9514e79c37e7035b96d4521d214ba1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 2 Sep 2024 17:18:43 -0700
Subject: [PATCH 0535/1243] Move vCruise to card (#33439)

* Move vCruise to card

* cleanup drive_helpers

* works in sim

* update refs

* update that

* too slow :(
old-commit-hash: 2f3256ed8baa3d7a5c4d1befe9148dbfecb37246
---
 cereal/car.capnp                              |  11 +-
 cereal/log.capnp                              |   4 +-
 common/params.cc                              |   1 -
 selfdrive/car/card.py                         |  35 ++++-
 selfdrive/car/cruise.py                       | 132 ++++++++++++++++++
 .../tests/test_cruise_speed.py                |   2 +-
 selfdrive/controls/controlsd.py               |  22 +--
 selfdrive/controls/lib/drive_helpers.py       | 131 -----------------
 .../controls/lib/longitudinal_planner.py      |   5 +-
 .../test/longitudinal_maneuvers/plant.py      |   2 +-
 selfdrive/test/process_replay/migration.py    |  14 +-
 .../test/process_replay/process_replay.py     |  13 --
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc    |   2 +-
 selfdrive/ui/tests/test_ui/run.py             |   4 +-
 15 files changed, 198 insertions(+), 182 deletions(-)
 create mode 100644 selfdrive/car/cruise.py
 rename selfdrive/{controls => car}/tests/test_cruise_speed.py (97%)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index aa0f336ffe..9f72e31637 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -162,10 +162,13 @@ struct CarState {
   canErrorCounter @48 :UInt32;
 
   # car speed
-  vEgo @1 :Float32;          # best estimate of speed
-  aEgo @16 :Float32;         # best estimate of acceleration
-  vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
-  vEgoCluster @44 :Float32;  # best estimate of speed shown on car's instrument cluster, used for UI
+  vEgo @1 :Float32;            # best estimate of speed
+  aEgo @16 :Float32;           # best estimate of aCAN cceleration
+  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
+  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
+
+  vCruise @53 :Float32;        # actual set speed
+  vCruiseCluster @54 :Float32; # set speed to display in the UI
 
   yawRate @22 :Float32;     # best estimate of yaw rate
   standstill @18 :Bool;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0d047628aa..c7d8ffcd85 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -733,8 +733,6 @@ struct ControlsState @0x97ff69c53601abf1 {
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vTargetLead @3 :Float32;
-  vCruise @22 :Float32;  # actual set speed
-  vCruiseCluster @63 :Float32;  # set speed to display in the UI
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
@@ -882,6 +880,8 @@ struct ControlsState @0x97ff69c53601abf1 {
   canErrorCounterDEPRECATED @57 :UInt32;
   vPidDEPRECATED @2 :Float32;
   alertBlinkingRateDEPRECATED @42 :Float32;
+  vCruiseDEPRECATED @22 :Float32;  # actual set speed
+  vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
 }
 
 struct DrivingModelData {
diff --git a/common/params.cc b/common/params.cc
index 9e30802820..098e1de58e 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -180,7 +180,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 8b44daa4fc..57b41a5cf5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import time
+import threading
 
 import cereal.messaging as messaging
 
@@ -18,9 +19,10 @@ from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car
 from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
+from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
-from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.controls.lib.events import Events, ET
 
 REPLAY = "REPLAY" in os.environ
 
@@ -139,6 +141,10 @@ class Car:
 
     self.car_events = CarSpecificEvents(self.CP)
     self.mock_carstate = MockCarState()
+    self.v_cruise_helper = VCruiseHelper(self.CP)
+
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -164,6 +170,11 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
+    # TODO: mirror the carState.cruiseState struct?
+    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+    CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
+    CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
+
     return CS
 
   def update_events(self, CS: car.CarState):
@@ -234,6 +245,9 @@ class Car:
 
     self.update_events(CS)
 
+    if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+
     self.state_publish(CS)
 
     initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
@@ -244,10 +258,23 @@ class Car:
     self.initialized_prev = initialized
     self.CS_prev = CS.as_reader()
 
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.is_metric = self.params.get_bool("IsMetric")
+      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      time.sleep(0.1)
+
   def card_thread(self):
-    while True:
-      self.step()
-      self.rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e, ))
+    try:
+      t.start()
+      while True:
+        self.step()
+        self.rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 
 def main():
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
new file mode 100644
index 0000000000..e2d83033d6
--- /dev/null
+++ b/selfdrive/car/cruise.py
@@ -0,0 +1,132 @@
+import math
+
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
+
+
+# WARNING: this value was determined based on the model's training distribution,
+#          model predictions above this speed can be unpredictable
+# V_CRUISE's are in kph
+V_CRUISE_MIN = 8
+V_CRUISE_MAX = 145
+V_CRUISE_UNSET = 255
+V_CRUISE_INITIAL = 40
+V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
+IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+CRUISE_LONG_PRESS = 50
+CRUISE_NEAREST_FUNC = {
+  ButtonType.accelCruise: math.ceil,
+  ButtonType.decelCruise: math.floor,
+}
+CRUISE_INTERVAL_SIGN = {
+  ButtonType.accelCruise: +1,
+  ButtonType.decelCruise: -1,
+}
+
+
+class VCruiseHelper:
+  def __init__(self, CP):
+    self.CP = CP
+    self.v_cruise_kph = V_CRUISE_UNSET
+    self.v_cruise_cluster_kph = V_CRUISE_UNSET
+    self.v_cruise_kph_last = 0
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
+
+  @property
+  def v_cruise_initialized(self):
+    return self.v_cruise_kph != V_CRUISE_UNSET
+
+  def update_v_cruise(self, CS, enabled, is_metric):
+    self.v_cruise_kph_last = self.v_cruise_kph
+
+    if CS.cruiseState.available:
+      if not self.CP.pcmCruise:
+        # if stock cruise is completely disabled, then we can use our own set speed logic
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self.v_cruise_cluster_kph = self.v_cruise_kph
+        self.update_button_timers(CS, enabled)
+      else:
+        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+    else:
+      self.v_cruise_kph = V_CRUISE_UNSET
+      self.v_cruise_cluster_kph = V_CRUISE_UNSET
+
+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
+    # handle button presses. TODO: this should be in state_control, but a decelCruise press
+    # would have the effect of both enabling and changing speed is checked after the state transition
+    if not enabled:
+      return
+
+    long_press = False
+    button_type = None
+
+    v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
+
+    for b in CS.buttonEvents:
+      if b.type.raw in self.button_timers and not b.pressed:
+        if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
+          return  # end long press
+        button_type = b.type.raw
+        break
+    else:
+      for k, timer in self.button_timers.items():
+        if timer and timer % CRUISE_LONG_PRESS == 0:
+          button_type = k
+          long_press = True
+          break
+
+    if button_type is None:
+      return
+
+    # Don't adjust speed when pressing resume to exit standstill
+    cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill
+    if button_type == ButtonType.accelCruise and cruise_standstill:
+      return
+
+    # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)
+    if not self.button_change_states[button_type]["enabled"]:
+      return
+
+    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
+      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
+    else:
+      self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
+
+    # If set is pressed while overriding, clip cruise speed to minimum of vEgo
+    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
+      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
+
+    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+
+  def update_button_timers(self, CS, enabled):
+    # increment timer for buttons still pressed
+    for k in self.button_timers:
+      if self.button_timers[k] > 0:
+        self.button_timers[k] += 1
+
+    for b in CS.buttonEvents:
+      if b.type.raw in self.button_timers:
+        # Start/end timer and store current state on change of button pressed
+        self.button_timers[b.type.raw] = 1 if b.pressed else 0
+        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
+
+  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+    # initializing is handled by the PCM
+    if self.CP.pcmCruise:
+      return
+
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+
+    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
+      self.v_cruise_kph = self.v_cruise_kph_last
+    else:
+      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+
+    self.v_cruise_cluster_kph = self.v_cruise_kph
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
similarity index 97%
rename from selfdrive/controls/tests/test_cruise_speed.py
rename to selfdrive/car/tests/test_cruise_speed.py
index 8f451a49bc..7bda3a24eb 100644
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -4,7 +4,7 @@ import numpy as np
 
 from parameterized import parameterized_class
 from cereal import log
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
+from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6ea4d2096c..9ee2f6309f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -21,7 +21,7 @@ from openpilot.common.gps import get_gps_location_service
 
 from opendbc.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_startup_event
+from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_startup_event
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -157,7 +157,6 @@ class Controls:
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
     self.can_log_mono_time = 0
@@ -179,13 +178,7 @@ class Controls:
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
   def set_initial_state(self):
-    if REPLAY:
-      controls_state = self.params.get("ReplayControlsState")
-      if controls_state is not None:
-        with log.ControlsState.from_bytes(controls_state) as controls_state:
-          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
-
-      if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
+    if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
 
   def update_events(self, CS):
@@ -214,7 +207,7 @@ class Controls:
 
     # Block resume if cruise never previously enabled
     resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
-    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
+    if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
     if not self.CP.notCar:
@@ -447,8 +440,6 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
-
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
     self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
@@ -522,7 +513,6 @@ class Controls:
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -578,7 +568,7 @@ class Controls:
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
 
       # Steering PID loop and lateral MPC
@@ -678,7 +668,7 @@ class Controls:
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
 
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@@ -760,8 +750,6 @@ class Controls:
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
-    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
-    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 777e0a1f7f..35810c4832 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,23 +1,10 @@
-import math
-
 from cereal import car, log
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.system.version import get_build_metadata
 
 EventName = car.OnroadEvent.EventName
 
-# WARNING: this value was determined based on the model's training distribution,
-#          model predictions above this speed can be unpredictable
-# V_CRUISE's are in kph
-V_CRUISE_MIN = 8
-V_CRUISE_MAX = 145
-V_CRUISE_UNSET = 255
-V_CRUISE_INITIAL = 40
-V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
-IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
-
 MIN_SPEED = 1.0
 CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
@@ -26,124 +13,6 @@ CAR_ROTATION_RADIUS = 0.0
 MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0
 
-ButtonEvent = car.CarState.ButtonEvent
-ButtonType = car.CarState.ButtonEvent.Type
-CRUISE_LONG_PRESS = 50
-CRUISE_NEAREST_FUNC = {
-  ButtonType.accelCruise: math.ceil,
-  ButtonType.decelCruise: math.floor,
-}
-CRUISE_INTERVAL_SIGN = {
-  ButtonType.accelCruise: +1,
-  ButtonType.decelCruise: -1,
-}
-
-
-class VCruiseHelper:
-  def __init__(self, CP):
-    self.CP = CP
-    self.v_cruise_kph = V_CRUISE_UNSET
-    self.v_cruise_cluster_kph = V_CRUISE_UNSET
-    self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
-    self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
-
-  @property
-  def v_cruise_initialized(self):
-    return self.v_cruise_kph != V_CRUISE_UNSET
-
-  def update_v_cruise(self, CS, enabled, is_metric):
-    self.v_cruise_kph_last = self.v_cruise_kph
-
-    if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
-        # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
-        self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
-      else:
-        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
-    else:
-      self.v_cruise_kph = V_CRUISE_UNSET
-      self.v_cruise_cluster_kph = V_CRUISE_UNSET
-
-  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
-    # handle button presses. TODO: this should be in state_control, but a decelCruise press
-    # would have the effect of both enabling and changing speed is checked after the state transition
-    if not enabled:
-      return
-
-    long_press = False
-    button_type = None
-
-    v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
-
-    for b in CS.buttonEvents:
-      if b.type.raw in self.button_timers and not b.pressed:
-        if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
-          return  # end long press
-        button_type = b.type.raw
-        break
-    else:
-      for k, timer in self.button_timers.items():
-        if timer and timer % CRUISE_LONG_PRESS == 0:
-          button_type = k
-          long_press = True
-          break
-
-    if button_type is None:
-      return
-
-    # Don't adjust speed when pressing resume to exit standstill
-    cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill
-    if button_type == ButtonType.accelCruise and cruise_standstill:
-      return
-
-    # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)
-    if not self.button_change_states[button_type]["enabled"]:
-      return
-
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
-    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
-      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
-    else:
-      self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
-
-    # If set is pressed while overriding, clip cruise speed to minimum of vEgo
-    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
-      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
-
-    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
-
-  def update_button_timers(self, CS, enabled):
-    # increment timer for buttons still pressed
-    for k in self.button_timers:
-      if self.button_timers[k] > 0:
-        self.button_timers[k] += 1
-
-    for b in CS.buttonEvents:
-      if b.type.raw in self.button_timers:
-        # Start/end timer and store current state on change of button pressed
-        self.button_timers[b.type.raw] = 1 if b.pressed else 0
-        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
-
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
-    # initializing is handled by the PCM
-    if self.CP.pcmCruise:
-      return
-
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
-
-    # 250kph or above probably means we never had a set speed
-    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
-      self.v_cruise_kph = self.v_cruise_kph_last
-    else:
-      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
-
-    self.v_cruise_cluster_kph = self.v_cruise_kph
-
-
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 528ecdec68..2513cc81f5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -12,7 +12,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
+from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
 from openpilot.common.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
@@ -98,7 +99,7 @@ class LongitudinalPlanner:
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
-    v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
+    v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index a1eedc915b..ef97a009b0 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -111,12 +111,12 @@ class Plant:
     model.modelV2.acceleration = acceleration
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
-    control.controlsState.vCruise = float(v_cruise * 3.6)
     control.controlsState.experimentalMode = self.e2e
     control.controlsState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01
+    car_state.carState.vCruise = float(v_cruise * 3.6)
 
     # ******** get controlsState messages for plotting ***
     sm = {'radarState': radar.radarState,
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index c1f60959e2..37ca097997 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -15,7 +15,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   msgs = migrate_gpsLocation(msgs)
   msgs = migrate_deviceState(msgs)
   msgs = migrate_carOutput(msgs)
-  msgs = migrate_selfdriveState(msgs)
+  msgs = migrate_controlsState(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -27,10 +27,13 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   return msgs
 
 
-def migrate_selfdriveState(lr):
+def migrate_controlsState(lr):
   ret = []
+  last_cs = None
   for msg in lr:
     if msg.which() == 'controlsState':
+      last_cs = msg
+
       m = messaging.new_message('selfdriveState')
       m.valid = msg.valid
       m.logMonoTime = msg.logMonoTime
@@ -40,6 +43,13 @@ def migrate_selfdriveState(lr):
                     "personality"):
         setattr(ss, field, getattr(msg.controlsState, field))
       ret.append(m.as_reader())
+    elif msg.which() == 'carState' and last_cs is not None:
+      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
+        msg = msg.as_builder()
+        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
+        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
+        msg = msg.as_reader()
+
     ret.append(msg)
   return ret
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 8e1e769e71..5d0c723428 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -453,19 +453,6 @@ class FrequencyBasedRcvCallback:
 
 
 def controlsd_config_callback(params, cfg, lr):
-  controlsState = None
-  initialized = False
-  for msg in lr:
-    if msg.which() == "controlsState":
-      controlsState = msg.controlsState
-      if initialized:
-        break
-    elif msg.which() == "onroadEvents":
-      initialized = car.OnroadEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents]
-
-  assert controlsState is not None and initialized, "controlsState never initialized"
-  params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
-
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5ed9bddaed..a1a343a50c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ab4983de4477d648e5c36447debfd6735dfc466f
\ No newline at end of file
+073dcca6932c5c66cdadf9aee9b531b623795888
\ No newline at end of file
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 4a95006838..cc9940f275 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -32,7 +32,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   is_metric = s.scene.is_metric;
 
   // Handle older routes where vCruiseCluster is not set
-  float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
+  float v_cruise = car_state.getVCruiseCluster() == 0.0 ? cs.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
   setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
   is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
   if (is_cruise_set && !is_metric) {
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index e9240fa4f7..1a075b3c44 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -19,7 +19,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.migration import migrate_selfdriveState
+from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
@@ -224,7 +224,7 @@ def create_screenshots():
   segnum = 2
   lr = LogReader(route.qlog_paths()[segnum])
   DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
-  for event in migrate_selfdriveState(lr):
+  for event in migrate_controlsState(lr):
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
 

From bd2b09c7b6bd93e65d9bcfc6ceae9c6f0f09cd8e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 3 Sep 2024 14:40:23 -0700
Subject: [PATCH 0536/1243] Deprecate controlsState state fields (#33437)

* Deprecate controlsState state fields

* sim works

* update refs

* one more

* these too

* update sim
old-commit-hash: 3924ac587b735d1e735af4cb77faf6ccf053f656
---
 cereal/log.capnp                              | 26 +++++++++----------
 selfdrive/controls/controlsd.py               | 14 ----------
 .../controls/lib/longitudinal_planner.py      | 10 +++----
 selfdrive/controls/plannerd.py                |  2 +-
 selfdrive/monitoring/dmonitoringd.py          |  2 +-
 selfdrive/monitoring/helpers.py               |  4 +--
 selfdrive/pandad/pandad.cc                    |  4 +--
 .../test/longitudinal_maneuvers/plant.py      |  7 +++--
 selfdrive/test/process_replay/migration.py    |  4 +--
 .../test/process_replay/process_replay.py     |  8 +++---
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/test_onroad.py                 |  4 +--
 selfdrive/test/test_time_to_onroad.py         |  6 ++---
 system/hardware/hardwared.py                  |  6 ++---
 tools/replay/logreader.cc                     | 24 ++++++++---------
 tools/sim/bridge/common.py                    |  5 ++--
 tools/sim/lib/simulated_car.py                |  2 +-
 tools/sim/tests/test_sim_bridge.py            |  4 +--
 18 files changed, 60 insertions(+), 74 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index c7d8ffcd85..534f9285ae 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -739,21 +739,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-
-  # TODO: remove these, they're now in selfdriveState
-  alertText1 @24 :Text;
-  alertText2 @25 :Text;
-  alertStatus @38 :SelfdriveState.AlertStatus;
-  alertSize @39 :SelfdriveState.AlertSize;
-  alertType @44 :Text;
-  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
-  engageable @41 :Bool;  # can OP be engaged?
   forceDecel @51 :Bool;
-  state @31 :SelfdriveState.OpenpilotState;
-  enabled @19 :Bool;
-  active @36 :Bool;
-  experimentalMode @64 :Bool;
-  personality @66 :LongitudinalPersonality;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -880,6 +866,18 @@ struct ControlsState @0x97ff69c53601abf1 {
   canErrorCounterDEPRECATED @57 :UInt32;
   vPidDEPRECATED @2 :Float32;
   alertBlinkingRateDEPRECATED @42 :Float32;
+  alertText1DEPRECATED @24 :Text;
+  alertText2DEPRECATED @25 :Text;
+  alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
+  alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
+  alertTypeDEPRECATED @44 :Text;
+  alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
+  engageableDEPRECATED @41 :Bool;  # can OP be engaged?
+  stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
+  enabledDEPRECATED @19 :Bool;
+  activeDEPRECATED @36 :Bool;
+  experimentalModeDEPRECATED @64 :Bool;
+  personalityDEPRECATED @66 :LongitudinalPersonality;
   vCruiseDEPRECATED @22 :Float32;  # actual set speed
   vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
 }
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9ee2f6309f..a380ffd3d7 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -733,22 +733,10 @@ class Controls:
     dat = messaging.new_message('controlsState')
     dat.valid = CS.canValid
     controlsState = dat.controlsState
-    if current_alert:
-      controlsState.alertText1 = current_alert.alert_text_1
-      controlsState.alertText2 = current_alert.alert_text_2
-      controlsState.alertSize = current_alert.alert_size
-      controlsState.alertStatus = current_alert.alert_status
-      controlsState.alertType = current_alert.alert_type
-      controlsState.alertSound = current_alert.audible_alert
-
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    controlsState.enabled = self.enabled
-    controlsState.active = self.active
     controlsState.curvature = curvature
     controlsState.desiredCurvature = self.desired_curvature
-    controlsState.state = self.state
-    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
@@ -756,8 +744,6 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.experimentalMode = self.experimental_mode
-    controlsState.personality = self.personality
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 2513cc81f5..103d3f7047 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -96,7 +96,7 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
-    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
+    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
@@ -106,7 +106,7 @@ class LongitudinalPlanner:
     force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
@@ -134,11 +134,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -157,7 +157,7 @@ class LongitudinalPlanner:
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index a9577cbefd..9de70c767a 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -17,7 +17,7 @@ def plannerd_thread():
 
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 80af7b71d0..54d22c1243 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -13,7 +13,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 374219379f..f3dbbd5306 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['controlsState'].enabled
+      op_engaged=sm['selfdriveState'].enabled
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['controlsState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 71bbd20dad..b0b10fe315 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -313,7 +313,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
 }
 
 void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
-  static SubMaster sm({"controlsState"});
+  static SubMaster sm({"selfdriveState"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
@@ -351,7 +351,7 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
     }
 
     sm.update(0);
-    const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
+    const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged);
     }
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index ef97a009b0..85e2ddf8df 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -21,6 +21,7 @@ class Plant:
     if not Plant.messaging_initialized:
       Plant.radar = messaging.pub_sock('radarState')
       Plant.controls_state = messaging.pub_sock('controlsState')
+      Plant.selfdrive_state = messaging.pub_sock('selfdriveState')
       Plant.car_state = messaging.pub_sock('carState')
       Plant.plan = messaging.sub_sock('longitudinalPlan')
       Plant.messaging_initialized = True
@@ -61,6 +62,7 @@ class Plant:
     # note that this is worst case for MPC, since model will delay long mpc by one time step
     radar = messaging.new_message('radarState')
     control = messaging.new_message('controlsState')
+    ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
@@ -111,8 +113,8 @@ class Plant:
     model.modelV2.acceleration = acceleration
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
-    control.controlsState.experimentalMode = self.e2e
-    control.controlsState.personality = self.personality
+    ss.selfdriveState.experimentalMode = self.e2e
+    ss.selfdriveState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01
@@ -122,6 +124,7 @@ class Plant:
     sm = {'radarState': radar.radarState,
           'carState': car_state.carState,
           'controlsState': control.controlsState,
+          'selfdriveState': ss.selfdriveState,
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 37ca097997..46130f8554 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -39,9 +39,9 @@ def migrate_controlsState(lr):
       m.logMonoTime = msg.logMonoTime
       ss = m.selfdriveState
       for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
-                    "alertStatus", "alertSize", "alertType", "alertSound", "experimentalMode",
+                    "alertStatus", "alertSize", "alertType", "experimentalMode",
                     "personality"):
-        setattr(ss, field, getattr(msg.controlsState, field))
+        setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
       ret.append(m.as_reader())
     elif msg.which() == 'carState' and last_cs is not None:
       if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5d0c723428..5dc585ffe7 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -506,7 +506,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
     subs=["longitudinalPlan"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
@@ -522,7 +522,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
-    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"],
+    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime"],
     should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
@@ -810,8 +810,8 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool:
     if msg.which() == "carParams":
       if msg.carParams.notCar:
         return True
-    elif msg.which() == "controlsState":
-      if msg.controlsState.active:
+    elif msg.which() == "selfdriveState":
+      if msg.selfdriveState.active:
         cur_enabled_count += 1
       else:
         cur_enabled_count = 0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a1a343a50c..c3d177efde 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-073dcca6932c5c66cdadf9aee9b531b623795888
\ No newline at end of file
+ca8cca8eeca938c3802109d6ea25cb719dcc649a
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index e550344c7d..b9b2a8043b 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -429,6 +429,6 @@ class TestOnroad:
         if evt.noEntry:
           no_entries[evt.name] += 1
 
-    eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
+    eng = [m.selfdriveState.engageable for m in self.service_msgs['selfdriveState']]
     assert all(eng), \
-           f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
+           f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 0ec14e2d8c..58e6cc3ccf 100644
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -20,7 +20,7 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents'])
+  sm = messaging.SubMaster(['selfdriveState', 'controlsState', 'deviceState', 'onroadEvents'])
   try:
     # wait for onroad. timeout assumes panda is up to date
     with Timeout(10, "timed out waiting to go onroad"):
@@ -39,7 +39,7 @@ def test_time_to_onroad():
 
           if initialized:
             sm.update(100)
-            assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
+            assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}"
             break
     finally:
       print(f"onroad events: {sm['onroadEvents']}")
@@ -50,7 +50,7 @@ def test_time_to_onroad():
     while (time.monotonic() - st) < 10.:
       sm.update(100)
       assert sm.all_alive(), sm.alive
-      assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
+      assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}"
       assert sm['controlsState'].cumLagMs < 10.
   finally:
     proc.terminate()
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index ff34d95828..34e58315d0 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -164,7 +164,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def hardware_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates"], poll="pandaStates")
 
   count = 0
 
@@ -341,8 +341,8 @@ def hardware_thread(end_event, hw_queue) -> None:
       engaged_prev = False
       HARDWARE.set_power_save(not should_start)
 
-    if sm.updated['controlsState']:
-      engaged = sm['controlsState'].enabled
+    if sm.updated['selfdriveState']:
+      engaged = sm['selfdriveState'].enabled
       if engaged != engaged_prev:
         params.put_bool("IsEngaged", engaged)
         engaged_prev = engaged
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index d751868de3..75abb8417b 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -90,18 +90,18 @@ void LogReader::migrateOldEvents() {
       new_evt.setLogMonoTime(old_evt.getLogMonoTime());
       auto new_state = new_evt.initSelfdriveState();
 
-      new_state.setActive(old_state.getActive());
-      new_state.setAlertSize(old_state.getAlertSize());
-      new_state.setAlertSound(old_state.getAlertSound());
-      new_state.setAlertStatus(old_state.getAlertStatus());
-      new_state.setAlertText1(old_state.getAlertText1());
-      new_state.setAlertText2(old_state.getAlertText2());
-      new_state.setAlertType(old_state.getAlertType());
-      new_state.setEnabled(old_state.getEnabled());
-      new_state.setEngageable(old_state.getEngageable());
-      new_state.setExperimentalMode(old_state.getExperimentalMode());
-      new_state.setPersonality(old_state.getPersonality());
-      new_state.setState(old_state.getState());
+      new_state.setActive(old_state.getActiveDEPRECATED());
+      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
+      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
+      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
+      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
+      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
+      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
+      new_state.setEnabled(old_state.getEnabledDEPRECATED());
+      new_state.setEngageable(old_state.getEngageableDEPRECATED());
+      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
+      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
+      new_state.setState(old_state.getStateDEPRECATED());
 
       // Serialize the new event to the buffer
       auto buf_size = msg.getSerializedSize();
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index f1d3ef2274..be1d7505a3 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -167,8 +167,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       self.simulated_sensors.update(self.simulator_state, self.world)
 
       self.simulated_car.sm.update(0)
-      controlsState = self.simulated_car.sm['controlsState']
-      self.simulator_state.is_engaged = controlsState.active
+      self.simulator_state.is_engaged = self.simulated_car.sm['selfdriveState'].active
 
       if self.simulator_state.is_engaged:
         throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
@@ -176,7 +175,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
         steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
 
         self.past_startup_engaged = True
-      elif not self.past_startup_engaged and controlsState.engageable:
+      elif not self.past_startup_engaged and self.simulated_car.sm['selfdriveState'].engageable:
         self.simulator_state.cruise_button = CruiseButtons.DECEL_SET if self.startup_button_prev else CruiseButtons.MAIN # force engagement on startup
         self.startup_button_prev = not self.startup_button_prev
 
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index acb77d93fe..253623ded7 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -14,7 +14,7 @@ class SimulatedCar:
 
   def __init__(self):
     self.pm = messaging.PubMaster(['can', 'pandaStates'])
-    self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
+    self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams', 'selfdriveState'])
     self.cp = self.get_car_can_parser()
     self.idx = 0
     self.params = Params()
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index aaa90f153f..12f38b86c3 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -25,7 +25,7 @@ class TestSimBridgeBase:
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
     self.processes.append(p_manager)
 
-    sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
+    sm = messaging.SubMaster(['selfdriveState', 'onroadEvents', 'managerState'])
     q = Queue()
     bridge = self.create_bridge()
     p_bridge = bridge.run(q, retries=10)
@@ -63,7 +63,7 @@ class TestSimBridgeBase:
     while time.monotonic() < start_time + max_time_per_step:
       sm.update()
 
-      if sm.all_alive() and sm['controlsState'].active:
+      if sm.all_alive() and sm['selfdriveState'].active:
         control_active += 1
 
         if control_active == min_counts_control_active:

From 7a5a70b6b33c69919eb99c02146ff5f679b5b58a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 3 Sep 2024 15:26:07 -0700
Subject: [PATCH 0537/1243] pytest: add default fixture option for
 pytest-asyncio (#33442)

add default
old-commit-hash: ffc089c4a2ef4fe49996a21fb51a3e5ee60c2cc1
---
 pyproject.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pyproject.toml b/pyproject.toml
index 36363cab90..b42eb67141 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -135,6 +135,7 @@ addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednos
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
+asyncio_default_fixture_loop_scope = "function"
 #timeout = "30"  # you get this long by default
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",

From 72d7ada7e4cd881aa473c70b9616f84a39d004d4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 3 Sep 2024 17:48:04 -0700
Subject: [PATCH 0538/1243] controlsd: deprecate startMonoTime (#33445)

* controlsd: deprecate startMonoTime

* update refs
old-commit-hash: 04eb73e4a1374178274e04c2fb92b82bb713772c
---
 cereal/log.capnp                                | 2 +-
 selfdrive/controls/controlsd.py                 | 7 ++-----
 selfdrive/test/process_replay/compare_logs.py   | 2 +-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 5 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 534f9285ae..a82122e1a5 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -727,7 +727,6 @@ struct SelfdriveState {
 
 struct ControlsState @0x97ff69c53601abf1 {
   cumLagMs @15 :Float32;
-  startMonoTime @48 :UInt64;
   longitudinalPlanMonoTime @28 :UInt64;
   lateralPlanMonoTime @50 :UInt64;
 
@@ -880,6 +879,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   personalityDEPRECATED @66 :LongitudinalPersonality;
   vCruiseDEPRECATED @22 :Float32;  # actual set speed
   vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
+  startMonoTimeDEPRECATED @48 :UInt64;
 }
 
 struct DrivingModelData {
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a380ffd3d7..c3f1b9ba7e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -649,7 +649,7 @@ class Controls:
 
     return CC, lac_log
 
-  def publish_logs(self, CS, start_time, CC, lac_log):
+  def publish_logs(self, CS, CC, lac_log):
     """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
     # Orientation and angle rates can be useful for carcontroller
@@ -742,7 +742,6 @@ class Controls:
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
     controlsState.cumLagMs = -self.rk.remaining * 1000.
-    controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
 
     lat_tuning = self.CP.lateralTuning.which()
@@ -791,8 +790,6 @@ class Controls:
     self.pm.send('carControl', cc_send)
 
   def step(self):
-    start_time = time.monotonic()
-
     # Sample data from sockets and get a carState
     CS = self.data_sample()
     cloudlog.timestamp("Data sampled")
@@ -808,7 +805,7 @@ class Controls:
     CC, lac_log = self.state_control(CS)
 
     # Publish data
-    self.publish_logs(CS, start_time, CC, lac_log)
+    self.publish_logs(CS, CC, lac_log)
 
     self.CS_prev = CS
 
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 673f3b484c..14af9672d0 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -141,7 +141,7 @@ def format_diff(results, log_paths, ref_commit):
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
+  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.cumLagMs"]
   results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
   log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
   diff_short, diff_long, failed = format_diff(results, log_paths, None)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5dc585ffe7..4fa41c96e5 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -477,7 +477,7 @@ CONFIGS = [
       "gpsLocationExternal", "gpsLocation",
     ],
     subs=["selfdriveState", "controlsState", "carControl", "onroadEvents"],
-    ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
+    ignore=["logMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=get_car_params_callback,
     should_recv_callback=controlsd_rcv_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c3d177efde..56205cad54 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ca8cca8eeca938c3802109d6ea25cb719dcc649a
\ No newline at end of file
+455a17a0b94354adf4cab219f0f8c4c93760d596
\ No newline at end of file

From 730924e7f26e0bd0f6da70397c7a4024f94503c3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 Sep 2024 17:58:50 -0700
Subject: [PATCH 0539/1243] LogReader: formatting and remove unnecessary type
 alias

old-commit-hash: 34305bec091c1088249fe6fe8df8de64a7ce1f86
---
 tools/lib/logreader.py | 41 ++++++++++++++++++++---------------------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index c12b14ebd4..1f5309c1f3 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -93,9 +93,8 @@ class ReadMode(enum.StrEnum):
 
 
 LogPath = str | None
-LogPaths = list[LogPath]
 ValidFileCallable = Callable[[LogPath], bool]
-Source = Callable[[SegmentRange, ReadMode], LogPaths]
+Source = Callable[[SegmentRange, ReadMode], list[LogPath]]
 
 InternalUnavailableException = Exception("Internal source not available")
 
@@ -105,7 +104,7 @@ def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
 
-def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
+def auto_strategy(rlog_paths: list[LogPath], qlog_paths: list[LogPath], interactive: bool, valid_file: ValidFileCallable) -> list[LogPath]:
   # auto select logs based on availability
   missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
   if missing_rlogs != 0:
@@ -120,7 +119,7 @@ def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool,
   return rlog_paths
 
 
-def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, valid_file: ValidFileCallable = default_valid_file) -> LogPaths:
+def apply_strategy(mode: ReadMode, rlog_paths: list[LogPath], qlog_paths: list[LogPath], valid_file: ValidFileCallable = default_valid_file) -> list[LogPath]:
   if mode == ReadMode.RLOG:
     return rlog_paths
   elif mode == ReadMode.QLOG:
@@ -132,7 +131,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, v
   raise Exception(f"invalid mode: {mode}")
 
 
-def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+def comma_api_source(sr: SegmentRange, mode: ReadMode) -> list[LogPath]:
   route = Route(sr.route_name)
 
   rlog_paths = [route.log_paths()[seg] for seg in sr.seg_idxs]
@@ -145,7 +144,7 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)
 
 
-def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
+def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> list[LogPath]:
   if not internal_source_available():
     raise InternalUnavailableException
 
@@ -159,32 +158,32 @@ def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") ->
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
 
-def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> LogPaths:
+def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> list[LogPath]:
   return internal_source(sr, mode, file_ext)
 
 
-def openpilotci_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
+def openpilotci_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> list[LogPath]:
   rlog_paths = [get_url(sr.route_name, seg, f"rlog.{file_ext}") for seg in sr.seg_idxs]
   qlog_paths = [get_url(sr.route_name, seg, f"qlog.{file_ext}") for seg in sr.seg_idxs]
 
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
 
-def openpilotci_source_zst(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+def openpilotci_source_zst(sr: SegmentRange, mode: ReadMode) -> list[LogPath]:
   return openpilotci_source(sr, mode, "zst")
 
 
-def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
+def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
   return [get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]
 
 
-def testing_closet_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
+def testing_closet_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
   if not internal_source_available('http://testing.comma.life'):
     raise InternalUnavailableException
   return [f"http://testing.comma.life/download/{sr.route_name.replace('|', '/')}/{seg}/rlog" for seg in sr.seg_idxs]
 
 
-def direct_source(file_or_url: str) -> LogPaths:
+def direct_source(file_or_url: str) -> list[LogPath]:
   return [file_or_url]
 
 
@@ -194,31 +193,31 @@ def get_invalid_files(files):
       yield f
 
 
-def check_source(source: Source, *args) -> LogPaths:
+def check_source(source: Source, *args) -> list[LogPath]:
   files = source(*args)
   assert len(files) > 0, "No files on source"
   assert next(get_invalid_files(files), False) is False, "Some files are invalid"
   return files
 
 
-def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
+def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, openpilotci_source_zst,
-                           comma_api_source, comma_car_segments_source, testing_closet_source,]
+  sources: list[Source] = [internal_source, internal_source_zst, openpilotci_source, openpilotci_source_zst,
+                           comma_api_source, comma_car_segments_source, testing_closet_source]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
   if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
-    for source in SOURCES:
+    for source in sources:
       try:
         return check_source(source, sr, ReadMode.RLOG)
       except Exception:
         pass
 
   # Automatically determine viable source
-  for source in SOURCES:
+  for source in sources:
     try:
       return check_source(source, sr, mode)
     except Exception as e:
@@ -276,12 +275,12 @@ class LogReader:
     identifiers = source(sr, mode)
 
     invalid_count = len(list(get_invalid_files(identifiers)))
-    assert invalid_count == 0, f"{invalid_count}/{len(identifiers)} invalid log(s) found, please ensure all logs \
-are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name."
+    assert invalid_count == 0, (f"{invalid_count}/{len(identifiers)} invalid log(s) found, please ensure all logs " +
+                                "are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name.")
     return identifiers
 
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
-               default_source=auto_source, sort_by_time=False, only_union_types=False):
+               default_source: Source = auto_source, sort_by_time=False, only_union_types=False):
     self.default_mode = default_mode
     self.default_source = default_source
     self.identifier = identifier

From 9da055853f245a9f4332ae53f7fd1e9f8744f509 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 Sep 2024 18:34:18 -0700
Subject: [PATCH 0540/1243] LogReader clean ups (#33446)

* buggin me

* no caps

* remove at least one level of indirection

* no recursion, remove a bunch of junk

* default is now allfault ??

* back

* fix tests
old-commit-hash: 5796bf12b6dac4f3fc8e55ecd9785c73044d8a08
---
 selfdrive/car/tests/test_models.py |  2 +-
 tools/lib/logreader.py             | 51 +++++++++++-------------------
 tools/lib/tests/test_logreader.py  |  9 +++---
 3 files changed, 23 insertions(+), 39 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 25db426d23..ab0e56827c 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -132,7 +132,7 @@ class TestCarModelBase(unittest.TestCase):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        lr = LogReader(segment_range, default_source=internal_source if is_internal else openpilotci_source)
+        lr = LogReader(segment_range, source=internal_source if is_internal else openpilotci_source)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 1f5309c1f3..eb422b0273 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -227,18 +227,11 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
                   "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
 
-def parse_useradmin(identifier: str):
+def parse_indirect(identifier: str) -> str:
   if "useradmin.comma.ai" in identifier:
     query = parse_qs(urlparse(identifier).query)
     return query["onebox"][0]
-  return None
-
-
-def parse_cabana(identifier: str):
-  if "cabana.comma.ai" in identifier:
-    query = parse_qs(urlparse(identifier).query)
-    return query["route"][0]
-  return None
+  return identifier
 
 
 def parse_direct(identifier: str):
@@ -247,32 +240,20 @@ def parse_direct(identifier: str):
   return None
 
 
-def parse_indirect(identifier: str):
-  parsed = parse_useradmin(identifier) or parse_cabana(identifier)
-
-  if parsed is not None:
-    return parsed, comma_api_source, True
-
-  return identifier, None, False
-
-
 class LogReader:
-  def _parse_identifiers(self, identifier: str | list[str]):
-    if isinstance(identifier, list):
-      return [i for j in identifier for i in self._parse_identifiers(j)]
-
-    parsed, source, is_indirect = parse_indirect(identifier)
+  def _parse_identifier(self, identifier: str) -> list[LogPath]:
+    # useradmin, etc.
+    identifier = parse_indirect(identifier)
 
-    if not is_indirect:
-      direct_parsed = parse_direct(identifier)
-      if direct_parsed is not None:
-        return direct_source(identifier)
+    # direct url or file
+    direct_parsed = parse_direct(identifier)
+    if direct_parsed is not None:
+      return direct_source(identifier)
 
-    sr = SegmentRange(parsed)
+    sr = SegmentRange(identifier)
     mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
-    source = self.default_source if source is None else source
 
-    identifiers = source(sr, mode)
+    identifiers = self.source(sr, mode)
 
     invalid_count = len(list(get_invalid_files(identifiers)))
     assert invalid_count == 0, (f"{invalid_count}/{len(identifiers)} invalid log(s) found, please ensure all logs " +
@@ -280,10 +261,12 @@ class LogReader:
     return identifiers
 
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
-               default_source: Source = auto_source, sort_by_time=False, only_union_types=False):
+               source: Source = auto_source, sort_by_time=False, only_union_types=False):
     self.default_mode = default_mode
-    self.default_source = default_source
+    self.source = source
     self.identifier = identifier
+    if isinstance(identifier, str):
+      self.identifier = [identifier]
 
     self.sort_by_time = sort_by_time
     self.only_union_types = only_union_types
@@ -312,7 +295,9 @@ class LogReader:
       return ret
 
   def reset(self):
-    self.logreader_identifiers = self._parse_identifiers(self.identifier)
+    self.logreader_identifiers = []
+    for identifier in self.identifier:
+      self.logreader_identifiers.extend(self._parse_identifier(identifier))
 
   @staticmethod
   def from_bytes(dat):
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index f827c25902..230b6a65ea 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -70,10 +70,9 @@ class TestLogReader:
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE}", ALL_SEGS),
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS),
-    (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS),
   ])
   def test_indirect_parsing(self, identifier, expected):
-    parsed, _, _ = parse_indirect(identifier)
+    parsed = parse_indirect(identifier)
     sr = SegmentRange(parsed)
     assert list(sr.seg_idxs) == expected, identifier
 
@@ -194,17 +193,17 @@ class TestLogReader:
 
     with subtests.test("interactive_yes"):
       mocker.patch("sys.stdin", new=io.StringIO("y\n"))
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, source=comma_api_source)
       log_len = len(list(lr))
       assert qlog_len == log_len
 
     with subtests.test("interactive_no"):
       mocker.patch("sys.stdin", new=io.StringIO("n\n"))
       with pytest.raises(AssertionError):
-        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, source=comma_api_source)
 
     with subtests.test("non_interactive"):
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source)
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, source=comma_api_source)
       log_len = len(list(lr))
       assert qlog_len == log_len
 

From 0b52262f622b530688237bf589f6cc7b81cbfb20 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 Sep 2024 18:54:53 -0700
Subject: [PATCH 0541/1243] bump opendbc (#33447)

* bump

* update refs
old-commit-hash: 7e2c24d7635fa733235894ac88b94a3fcef2abe8
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 81fcc40cc7..a1b95d784e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 81fcc40cc7c175b8aa00ba0cb9e7cdc83b178159
+Subproject commit a1b95d784efd0e5d10d0ac6c7500d9f25ffe3880
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 56205cad54..a110082a23 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-455a17a0b94354adf4cab219f0f8c4c93760d596
\ No newline at end of file
+bf2bc833e238ec36c0519162edcaad743fad6dc5
\ No newline at end of file

From 1e92af9b3cf11ccda0a0dde4c6e1a88ad550996f Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Tue, 3 Sep 2024 18:57:28 -0700
Subject: [PATCH 0542/1243] [bot] Update Python packages (#33436)

* Update Python packages

* bump

* specify any list of sources

ooh this is pretty nice

* update

* y

* fix

* fix that

* bump

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 239cc69a20b7d3c2f285bd1907cecad9c9604d50
---
 opendbc_repo                       |   2 +-
 panda                              |   2 +-
 rednose_repo                       |   2 +-
 selfdrive/car/tests/test_models.py |   6 +-
 tools/lib/logreader.py             |   7 +-
 uv.lock                            | 464 +++++++++++++++--------------
 6 files changed, 252 insertions(+), 231 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index a1b95d784e..7bf0ecd822 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a1b95d784efd0e5d10d0ac6c7500d9f25ffe3880
+Subproject commit 7bf0ecd822fb42c18a5356cefe27bd3cb7b85175
diff --git a/panda b/panda
index 866bd9c3bc..aac60b8a79 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 866bd9c3bc44a362a64f0104b5e555a064335009
+Subproject commit aac60b8a7938d4d32c0c02608058022e4d876156
diff --git a/rednose_repo b/rednose_repo
index 90c891fe89..05fd60278a 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 90c891fe8972e6e205c69f894c688cc12ef5ecb6
+Subproject commit 05fd60278a95190cc5a61f40730c82eaa1d986e1
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ab0e56827c..dce2673959 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -7,6 +7,7 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
+from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -24,7 +25,7 @@ from openpilot.selfdrive.car.card import Car, convert_to_capnp
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
+from openpilot.tools.lib.logreader import LogReader, auto_source, internal_source, openpilotci_source, openpilotci_source_zst
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
@@ -132,7 +133,8 @@ class TestCarModelBase(unittest.TestCase):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        lr = LogReader(segment_range, source=internal_source if is_internal else openpilotci_source)
+        source = partial(auto_source, sources=[internal_source] if is_internal else [openpilotci_source, openpilotci_source_zst])
+        lr = LogReader(segment_range, source=source)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index eb422b0273..cf8748929c 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -200,12 +200,13 @@ def check_source(source: Source, *args) -> list[LogPath]:
   return files
 
 
-def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
+def auto_source(sr: SegmentRange, mode=ReadMode.RLOG, sources: list[Source] = None) -> list[LogPath]:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  sources: list[Source] = [internal_source, internal_source_zst, openpilotci_source, openpilotci_source_zst,
-                           comma_api_source, comma_car_segments_source, testing_closet_source]
+  if sources is None:
+    sources = [internal_source, internal_source_zst, openpilotci_source, openpilotci_source_zst,
+               comma_api_source, comma_car_segments_source, testing_closet_source]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
diff --git a/uv.lock b/uv.lock
index b56355a704..141cf78797 100644
--- a/uv.lock
+++ b/uv.lock
@@ -232,11 +232,11 @@ wheels = [
 
 [[package]]
 name = "certifi"
-version = "2024.7.4"
+version = "2024.8.30"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c2/02/a95f2b11e207f68bc64d7aae9666fed2e2b3f307748d5123dffb72a1bbea/certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b", size = 164065 }
+sdist = { url = "https://files.pythonhosted.org/packages/b0/ee/9b19140fe824b367c04c5e1b369942dd754c4c5462d5674002f75c4dedc1/certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9", size = 168507 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1c/d5/c84e1a17bf61d4df64ca866a1c9a913874b4e9bdc131ec689a0ad013fb36/certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90", size = 162960 },
+    { url = "https://files.pythonhosted.org/packages/12/90/3c9ff0512038035f59d279fddeb79f5f1eccd8859f06d6163c58798b9487/certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8", size = 167321 },
 ]
 
 [[package]]
@@ -367,7 +367,7 @@ name = "coloredlogs"
 version = "15.0.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "humanfriendly", marker = "platform_system != 'Darwin'" },
+    { name = "humanfriendly" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/c7/eed8f27100517e8c0e6b923d5f0845d0cb99763da6fdee00478f91db7325/coloredlogs-15.0.1.tar.gz", hash = "sha256:7c991aa71a4577af2f82600d8f8f3a89f936baeaf9b50a9c197da014e5bf16b0", size = 278520 }
 wheels = [
@@ -484,31 +484,31 @@ sdist = { url = "https://files.pythonhosted.org/packages/6b/b0/e595ce2a2527e169c
 
 [[package]]
 name = "cryptography"
-version = "43.0.0"
+version = "43.0.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi", marker = "platform_python_implementation != 'PyPy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/69/ec/9fb9dcf4f91f0e5e76de597256c43eedefd8423aa59be95c70c4c3db426a/cryptography-43.0.0.tar.gz", hash = "sha256:b88075ada2d51aa9f18283532c9f60e72170041bba88d7f37e49cbb10275299e", size = 686873 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d3/46/dcd2eb6840b9452e7fbc52720f3dc54a85eb41e68414733379e8f98e3275/cryptography-43.0.0-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:64c3f16e2a4fc51c0d06af28441881f98c5d91009b8caaff40cf3548089e9c74", size = 6239718 },
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+    { url = "https://files.pythonhosted.org/packages/cf/2a/a69ad3ae4facef03df228790e6f4cfd4971cc267ee140fc8f6331c7e6194/yarl-1.9.7-cp313-cp313-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:71d33fd1c219b5b28ee98cd76da0c9398a4ed4792fd75c94135237db05ba5ca8", size = 501335 },
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+    { url = "https://files.pythonhosted.org/packages/39/68/bfc953df3a6ee6c0c9cd9f84d488681e377e49b8ced6d2d5b9289d639c89/yarl-1.9.7-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4db97210433366dfba55590e48285b89ad0146c52bf248dd0da492dd9f0f72cf", size = 493550 },
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+    { url = "https://files.pythonhosted.org/packages/66/e6/dedce99c469f8d1c66432006910adf943fdb7d0cfb77f026030e234f234f/yarl-1.9.7-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:df47612129e66f7ce7c9994d4cd4e6852f6e3bf97699375d86991481796eeec8", size = 490437 },
+    { url = "https://files.pythonhosted.org/packages/50/52/b36cd8d9356734fda4a668ce358f56ecb16c7171b8a658fdfde31476de7c/yarl-1.9.7-cp313-cp313-musllinux_1_2_i686.whl", hash = "sha256:5e338b6febbae6c9fe86924bac3ea9c1944e33255c249543cd82a4af6df6047b", size = 492765 },
+    { url = "https://files.pythonhosted.org/packages/aa/9e/6ad4300fc040fc34e323f1254a05886a6441d05bd251a9a4063ed8d35c32/yarl-1.9.7-cp313-cp313-musllinux_1_2_ppc64le.whl", hash = "sha256:e649d37d04665dddb90994bbf0034331b6c14144cc6f3fbce400dc5f28dc05b7", size = 508901 },
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+    { url = "https://files.pythonhosted.org/packages/72/81/c456d5060bf4c2cb1213cd71e9211e0859ce6fff444bd13c61e2ae681b64/yarl-1.9.7-cp313-cp313-win32.whl", hash = "sha256:bc9233638b07c2e4a3a14bef70f53983389bffa9e8cb90a2da3f67ac9c5e1842", size = 483263 },
+    { url = "https://files.pythonhosted.org/packages/5d/08/fe455390603d0377140c1ef02287dd32d3d4a0a6d596aa4a1fc881ac68d2/yarl-1.9.7-cp313-cp313-win_amd64.whl", hash = "sha256:62e110772330d7116f91e79cd83fef92545cb2f36414c95881477aa01971f75f", size = 491236 },
+    { url = "https://files.pythonhosted.org/packages/48/04/8cc40203453e4bce05cd3e9a5bea930ac0086aa4848a9c41aa1da13ae1a0/yarl-1.9.7-py3-none-any.whl", hash = "sha256:49935cc51d272264358962d050d726c3e5603a616f53e52ea88e9df1728aa2ee", size = 35402 },
 ]
 
 [[package]]

From d0f0632f7825927fb93d6615e3ca48faf8dbe97d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 Sep 2024 19:17:25 -0700
Subject: [PATCH 0543/1243] interfaces returns RadarInterfaces (#33444)

* interfaces returns radarinterface

* bump

* bump

* bump
old-commit-hash: f94ef10df7a663c2b873b2cdf2e0263714447fa3
---
 opendbc_repo                                    | 2 +-
 selfdrive/car/tests/test_car_interfaces.py      | 2 +-
 selfdrive/car/tests/test_models.py              | 6 ++----
 selfdrive/controls/lib/tests/test_latcontrol.py | 2 +-
 selfdrive/controls/tests/test_state_machine.py  | 2 +-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 6 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7bf0ecd822..f383e5cc64 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7bf0ecd822fb42c18a5356cefe27bd3cb7b85175
+Subproject commit f383e5cc64d105e90b8133d58dc18490b79153fb
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index f2a60c4d10..66cf0dc696 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -35,7 +35,7 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface, CarController, CarState = interfaces[car_name]
+    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index dce2673959..e8df0a8310 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -2,7 +2,6 @@ import capnp
 import copy
 import dataclasses
 import os
-import importlib
 import pytest
 import random
 import unittest # noqa: TID251
@@ -173,7 +172,7 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
@@ -234,8 +233,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RadarInterface = importlib.import_module(f'opendbc.car.{self.CP.carName}.radar_interface').RadarInterface
-    RI = RadarInterface(self.CP)
+    RI = self.RadarInterface(self.CP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index c3847ed1a5..c8c8d02751 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -18,7 +18,7 @@ class TestLatControl:
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
-    CarInterface, CarController, CarState = interfaces[car_name]
+    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
     CP = convert_to_capnp(CP)
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index 3926b88eb2..a42cd6056b 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -28,7 +28,7 @@ def make_event(event_types):
 class TestStateMachine:
 
   def setup_method(self):
-    CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
+    CarInterface, CarController, CarState, RadarInterface = interfaces[MOCK.MOCK]
     CP = CarInterface.get_non_essential_params(MOCK.MOCK)
     CI = CarInterface(CP, CarController, CarState)
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 4fa41c96e5..5e4e1d3ffb 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -343,7 +343,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint):
 def get_car_params_callback(rc, pm, msgs, fingerprint):
   params = Params()
   if fingerprint:
-    CarInterface, _, _ = interfaces[fingerprint]
+    CarInterface, _, _, _ = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
   else:
     can = DummySocket()

From 0058ea58176b576aac2e7c4b4f1bcb2e2f32a197 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 3 Sep 2024 22:15:30 -0700
Subject: [PATCH 0544/1243] Rewrite urls (#33451)

* validate

* e

* lfs
old-commit-hash: 29af572083ceed5563c5a06578b46b3b388db27e
---
 scripts/git_rewrite/rewrite.sh | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
index 6c00597c8e..8a18b15bec 100755
--- a/scripts/git_rewrite/rewrite.sh
+++ b/scripts/git_rewrite/rewrite.sh
@@ -1,4 +1,5 @@
 #!/usr/bin/env bash
+set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
@@ -8,10 +9,10 @@ cp -r openpilot.git openpilot_backup
 cd openpilot.git
 
 # backup old repo
-git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/master:refs/heads/master
-git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/*:refs/heads/*
-git push git@github.com:maxime-desroches/openpilot_archive.git +refs/tags/*:refs/tags/*
-git push --mirror git@github.com:maxime-desroches/openpilot_archive.git
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
+git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
+git push --mirror git@github.com:commaai/openpilot-archive.git
 
 # ignore all release branches
 git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
@@ -30,25 +31,29 @@ git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original
 # delete replace refs
 git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
 
-# validate
-tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'diff <(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) <(git ls-tree -r $1 | sha1sum) || exit 255'
+# machine validation
+tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
+# human validation
+less /tmp/GIT_HASH
 
 # cleanup
 git reflog expire --expire=now --all
 git gc --prune=now --aggressive
 
 # get all lfs files
+set +e
 git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
 git lfs fetch --all
 git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
 git lfs fetch --all
+set -e
 
 # add new files to lfs
-git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
 
 # set new lfs endpoint
-git config lfs.url https://gitlab.com/commaai/openpilot_rewrite_lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot_rewrite_lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
 
 # push all branch+tag (scary stuff...)
-git push -f --set-upstream git@github.com:maxime-desroches/tinypilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
+git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

From 236dffe400643498039de7eaabdf7cb346c5c7f0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 4 Sep 2024 02:54:57 -0700
Subject: [PATCH 0545/1243] locationd no GPS (#33029)

* Pose kf draft

old-commit-hash: 17dd4d576e597792f0e18826498c00076739f92b

* Fix it

old-commit-hash: 13ac120affe58fd22e871586ea5f4d335b3e9d2b

* Add translation noise

old-commit-hash: 166529cb612858c4ce80649367ac35b2b6007e1d

* Add gravity to acc

old-commit-hash: 8fcfed544b8e090ccc86b189c13bc03c6c190613

* Use pyx

old-commit-hash: 8e69e0baa0a4c43b4d0c22535711f296f05420aa

* Indent

old-commit-hash: 25b19a73644cdcb571ccf1a1d8acb88a0d066c67

* Reset function

old-commit-hash: ca5d2736da15e4fd6539f7268133320735b7c9cc

* Add device_from_ned and ned_from_device transformations

old-commit-hash: a60d25da0edc311e583549dc015fa595749fd4ae

* Fix rotations

old-commit-hash: d6d582f7f6d19a2bc2308dbcb0c9f81363e325b6

* kms

old-commit-hash: 681bc4e50374795ccc61422c3ce4ffb51389fce2

* Centripetal acceleration

old-commit-hash: 6e574506d27e5b76a04b2097d94efa4ca91ead71

* Rewrite draft

old-commit-hash: 4a2aad0146267460e5d30036c8cdb2bef94d1d7c

* Remove old locationd stuff

old-commit-hash: c2be9f7dbf22fb5cd29e437cd7891a7d52266fba

* Python process now

old-commit-hash: 83fac85f28c0b546b6965aafe1dd8a089e67f5b3

* Process replay fix

old-commit-hash: c44f9de98583c49dad0b22497869b3bb0266fcd9

* Add checks for timing and validity

old-commit-hash: aed4fbe2d00ca620e01a0e0ee99a4871c939de36

* Fixes

old-commit-hash: 3f052c658c16984a34915f38afdfbfd0fb19a267

* Process replay config fixes

old-commit-hash: 1c56690ee7ceb3c23c9ec2b2713352191212716e

* static analysis fixes

old-commit-hash: 6145e2c140ea9aa97e75069c3ddd82172cadc866

* lp in latcontrol

old-commit-hash: 9abf7359d68e794c69052724f3aca14b04dd3cca

* Fix SensorEvent name for acceleration

old-commit-hash: 91a1ad6c604727c9c898ba4aefe9478022b167fd

* Ignore sensor readings from segments with multiple imus

old-commit-hash: 1f05af63d6cc605ea98d7da0d727a5bd8d7819b0

* Update shebang

old-commit-hash: e3f2f5c10df3a4ba698421335bfeffc63d1a8797

* Replace llk with lp

old-commit-hash: 99b6c7ba08de6b703708fef0b8fd2d8cb24b92c0

* Refactor locationd scenario test

old-commit-hash: 7f5f788f071b7647e36f854df927cc5b6f819a84

* Add more debugging tools

old-commit-hash: 8d4e364867e143ea35f4bfd00d8212aaf170a1d1

* Param name update

old-commit-hash: 5151e8f5520f067e7808e3f0baa628fbf8fb7337

* Fix expected observations

old-commit-hash: d6a0d4c1a96c438fb6893e8b6ff43becf6061b75

* Handle invalid measurements

old-commit-hash: 549362571e74ad1e7ec9368f6026378c54a29adf

* Fix spelling

old-commit-hash: eefd7c4c92fb486452e9b83c7121d2599811852b

* Include observations in debug info too

old-commit-hash: 625806d1110b3bffe249cd1d03416f2a3f2c1868

* Store error instead of expected observation

old-commit-hash: 1cb7a799b67e56af4eddc6608d5b0e295f2d888c

* Renames

old-commit-hash: a7eec74640fc5cc7a5e86172d2087b66cb93d17d

* Zero the yaw

old-commit-hash: 96150779590fcb8ac50e8ffe8f8df03105983179

* New state_dot for orientation

old-commit-hash: c1456bf3a0c5af2f888aa6ff0b5ffc2e5516ddf7

* Fix the state transformations

old-commit-hash: 7cb9b91e2f99caa4ac3fb748c7f23bb8bf9f65db

* Update process in test_onroad

old-commit-hash: 854afab7c39ca7dec2b42974cecbb5310b82b617

* Test polling on cameraOdometry

old-commit-hash: a78e8b7d61618177f15c9892e2fa1e51620deca8

* Keep the copy of x and P returned from predict

old-commit-hash: 3c4159a6a7d7383265a99f3f78f8805d2fcfc8cd

* Remove polling again

old-commit-hash: f7228675c5fd2de5f879c4786859f1abcec27d68

* Remove locationd.cc

old-commit-hash: d7005599b2b178e688c3bd1959d6b69357d3a663

* Optim in _finite_check

old-commit-hash: 58ad6a06b9380960e9f69eb98663ddb97461e8d5

* Access .t once

old-commit-hash: d03252e75ed4cbdb49291a60c904568e6a3d3399

* Move the timing check to cam odo code path

old-commit-hash: 6a1c26f8c201e1feb601753f0cb7299cf981b47e

* Call all_checks only once

old-commit-hash: 373809cebf8d9db89d1ab00f4c8c933f33038e78

* Do not sort

old-commit-hash: 2984cd02c0ab76827b8c7e32f7e637b261425025

* Check sm.updated

old-commit-hash: 11c48de3f0802eb4783899f6a37737078dbf2da4

* Remove test_params_gps

old-commit-hash: 82db4fd1a876cc2402702edc74eba0a8ac5da858

* Increase tolerance

old-commit-hash: 927d6f05249d2c8ec40b32e2a0dcde8e1a469fb3

* Fix static

old-commit-hash: 2d86d62c74d5ac0ad56ec3855a126e00a26cd490

* Try separate sockets for sensors

old-commit-hash: 5dade63947ab237f0b4555f45d941a8851449ab1

* sensor_all_checks

old-commit-hash: e25f40dd6b37ee76cd9cc2b19be552baf1355ec3

* Fix static

old-commit-hash: 328cf1ad86079746b4f3fde55539e4acb92d285e

* Set the cpu limit to 25

old-commit-hash: 7ba696ff54c5d3bfa42e42624d124f2a1914a96d

* Make it prettier

old-commit-hash: cd6270dec80d8b9dac784ddd4767a1a46bcff4b7

* Prettier

old-commit-hash: 1b17931d23d37f299dad54139eaf283a89592bf5

* Increase the cpu budget to 260

old-commit-hash: 20173afb937a2609c8a9905aee0b2b093cb8bba4

* Change trans std mult. 2 works better

* Update ref commit

* Update ref commit
---
 cereal/log.capnp                              |  10 +-
 common/params.cc                              |   1 +
 selfdrive/locationd/SConscript                |  26 +-
 selfdrive/locationd/locationd.cc              | 716 ------------------
 selfdrive/locationd/locationd.py              | 321 ++++++++
 selfdrive/locationd/models/live_kf.cc         | 122 ---
 selfdrive/locationd/models/live_kf.h          |  66 --
 selfdrive/locationd/models/live_kf.py         | 242 ------
 selfdrive/locationd/models/pose_kf.py         | 138 ++++
 selfdrive/locationd/test/test_locationd.py    |  33 -
 .../test/test_locationd_scenarios.py          |  73 +-
 .../test/process_replay/process_replay.py     |  13 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/test/test_onroad.py                 |   4 +-
 system/manager/process_config.py              |   2 +-
 15 files changed, 484 insertions(+), 1285 deletions(-)
 delete mode 100644 selfdrive/locationd/locationd.cc
 create mode 100755 selfdrive/locationd/locationd.py
 delete mode 100644 selfdrive/locationd/models/live_kf.cc
 delete mode 100644 selfdrive/locationd/models/live_kf.h
 delete mode 100755 selfdrive/locationd/models/live_kf.py
 create mode 100755 selfdrive/locationd/models/pose_kf.py

diff --git a/cereal/log.capnp b/cereal/log.capnp
index a82122e1a5..079b62e209 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1281,7 +1281,7 @@ struct LivePose {
   posenetOK @5 :Bool = false;
   sensorsOK @6 :Bool = false;
 
-  filterState @7 :FilterState;
+  debugFilterState @7 :FilterState;
 
   struct XYZMeasurement {
     x @0 :Float32;
@@ -1297,6 +1297,14 @@ struct LivePose {
     value @0 : List(Float64);
     std @1 : List(Float64);
     valid @2 : Bool;
+
+    observations @3 :List(Observation);
+
+    struct Observation {
+      kind @0 :Int32;
+      value @1 :List(Float32);
+      error @2 :List(Float32);
+    }
   }
 }
 
diff --git a/common/params.cc b/common/params.cc
index 098e1de58e..0932acd54d 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -157,6 +157,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalPersonality", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index 27cd4d5b40..e8eeff7e0c 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,17 +1,15 @@
-Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations')
-
-loc_libs = [messaging, common, 'pthread', 'dl']
+Import('env', 'rednose')
 
 # build ekf models
 rednose_gen_dir = 'models/generated'
 rednose_gen_deps = [
   "models/constants.py",
 ]
-live_ekf = env.RednoseCompileFilter(
-  target='live',
-  filter_gen_script='models/live_kf.py',
+pose_ekf = env.RednoseCompileFilter(
+  target='pose',
+  filter_gen_script='models/pose_kf.py',
   output_dir=rednose_gen_dir,
-  extra_gen_artifacts=['live_kf_constants.h'],
+  extra_gen_artifacts=[],
   gen_script_deps=rednose_gen_deps,
 )
 car_ekf = env.RednoseCompileFilter(
@@ -21,17 +19,3 @@ car_ekf = env.RednoseCompileFilter(
   extra_gen_artifacts=[],
   gen_script_deps=rednose_gen_deps,
 )
-
-# locationd build
-locationd_sources = ["locationd.cc", "models/live_kf.cc"]
-
-lenv = env.Clone()
-# ekf filter libraries need to be linked, even if no symbols are used
-if arch != "Darwin":
-  lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
-
-lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
-lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
-locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations)
-lenv.Depends(locationd, rednose)
-lenv.Depends(locationd, live_ekf)
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
deleted file mode 100644
index e1e5cd1bb2..0000000000
--- a/selfdrive/locationd/locationd.cc
+++ /dev/null
@@ -1,716 +0,0 @@
-#include "selfdrive/locationd/locationd.h"
-
-#include <sys/time.h>
-#include <sys/resource.h>
-
-#include <algorithm>
-#include <cmath>
-#include <vector>
-
-using namespace EKFS;
-using namespace Eigen;
-
-ExitHandler do_exit;
-const double ACCEL_SANITY_CHECK = 100.0;  // m/s^2
-const double ROTATION_SANITY_CHECK = 10.0;  // rad/s
-const double TRANS_SANITY_CHECK = 200.0;  // m/s
-const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
-const double ALTITUDE_SANITY_CHECK = 10000; // m
-const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
-const double SANE_GPS_UNCERTAINTY = 1500.0; // m
-const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
-const double RESET_TRACKER_DECAY = 0.99995;
-const double DECAY = 0.9993; // ~10 secs to resume after a bad input
-const double MAX_FILTER_REWIND_TIME = 0.8; // s
-const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
-
-// TODO: GPS sensor time offsets are empirically calculated
-// They should be replaced with synced time from a real clock
-const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
-const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
-const float  GPS_POS_STD_THRESHOLD = 50.0;
-const float  GPS_VEL_STD_THRESHOLD = 5.0;
-const float  GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
-const float  GPS_POS_STD_RESET_THRESHOLD = 2.0;
-const float  GPS_VEL_STD_RESET_THRESHOLD = 0.5;
-const float  GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
-const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
-
-const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
-
-template <typename ListType, typename Vector>
-static Vector floatlist2vector(const ListType& floatlist) {
-  Vector res(floatlist.size());
-  for (int i = 0; i < floatlist.size(); i++) {
-    res[i] = floatlist[i];
-  }
-  return res;
-}
-
-template <typename ListType>
-static VectorXd float64list2vector(const ListType& floatlist) {
-  return floatlist2vector<ListType, VectorXd>(floatlist);
-}
-
-template <typename ListType>
-static VectorXf float32list2vector(const ListType& floatlist) {
-  return floatlist2vector<ListType, VectorXf>(floatlist);
-}
-
-static Vector4d quat2vector(const Quaterniond& quat) {
-  return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
-}
-
-static Quaterniond vector2quat(const VectorXd& vec) {
-  return Quaterniond(vec(0), vec(1), vec(2), vec(3));
-}
-
-static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) {
-  meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]);
-  meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]);
-  meas.setValid(valid);
-}
-
-static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
-  // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
-  return ((rot_matrix *  cov_in) * rot_matrix.transpose());
-}
-
-static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) {
-  // Stds cannot be rotated like values, only covariances can be rotated
-  return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
-}
-
-Localizer::Localizer(LocalizerGnssSource gnss_source) {
-  this->kf = std::make_unique<LiveKalman>();
-  this->reset_kalman();
-
-  this->calib = Vector3d(0.0, 0.0, 0.0);
-  this->device_from_calib = MatrixXdr::Identity(3, 3);
-  this->calib_from_device = MatrixXdr::Identity(3, 3);
-
-  for (int i = 0; i < POSENET_STD_HIST_HALF * 2; i++) {
-    this->posenet_stds.push_back(10.0);
-  }
-
-  VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
-  this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
-  this->configure_gnss_source(gnss_source);
-}
-
-void Localizer::build_live_pose(cereal::LivePose::Builder& fix) {
-  VectorXd predicted_state = this->kf->get_x();
-  MatrixXdr predicted_cov = this->kf->get_P();
-  VectorXd predicted_std = predicted_cov.diagonal().array().sqrt();
-
-  VectorXd fix_ecef = predicted_state.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
-  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
-  VectorXd fix_ecef_std = predicted_std.segment<STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START);
-  VectorXd vel_ecef = predicted_state.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
-  VectorXd vel_ecef_std = predicted_std.segment<STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START);
-  VectorXd orientation_ecef = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
-  VectorXd orientation_ecef_std = predicted_std.segment<STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START);
-  MatrixXdr orientation_ecef_cov = predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
-  MatrixXdr device_from_ecef = euler2rot(orientation_ecef).transpose();
-
-  MatrixXdr vel_angular_cov = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
-
-  VectorXd vel_device = device_from_ecef * vel_ecef;
-  VectorXd device_from_ecef_eul = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START))).transpose();
-  MatrixXdr condensed_cov(STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
-  condensed_cov.topLeftCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
-    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
-  condensed_cov.topRightCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
-    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
-  condensed_cov.bottomRightCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
-    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
-  condensed_cov.bottomLeftCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
-    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
-  VectorXd H_input(device_from_ecef_eul.size() + vel_ecef.size());
-  H_input << device_from_ecef_eul, vel_ecef;
-  MatrixXdr HH = this->kf->H(H_input);
-  MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
-  VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
-
-  VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
-  VectorXd orientation_ned_std = rotate_cov(this->converter->ecef2ned_matrix, orientation_ecef_cov).diagonal().array().sqrt();
-  VectorXd nextfix_ecef = fix_ecef + vel_ecef;
-  VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
-
-  VectorXd accDevice = predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
-  VectorXd accDeviceErr = predicted_std.segment<STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START);
-
-  VectorXd angVelocityDevice = predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
-  VectorXd angVelocityDeviceErr = predicted_std.segment<STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START);
-
-  // write measurements to msg
-  init_xyz_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
-  init_xyz_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
-  init_xyz_measurement(fix.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
-  init_xyz_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
-  if (DEBUG) {
-    cereal::LivePose::FilterState::Builder filter_state_builder = fix.initFilterState();
-    filter_state_builder.setValue(kj::arrayPtr(predicted_state.data(), predicted_state.size()));
-    filter_state_builder.setStd(kj::arrayPtr(predicted_std.data(), predicted_std.size()));
-    filter_state_builder.setValid(true);
-  }
-
-  double old_mean = 0.0, new_mean = 0.0;
-  int i = 0;
-  for (double x : this->posenet_stds) {
-    if (i < POSENET_STD_HIST_HALF) {
-      old_mean += x;
-    } else {
-      new_mean += x;
-    }
-    i++;
-  }
-  old_mean /= POSENET_STD_HIST_HALF;
-  new_mean /= POSENET_STD_HIST_HALF;
-  // experimentally found these values, no false positives in 20k minutes of driving
-  bool std_spike = (new_mean / old_mean > 4.0 && new_mean > 7.0);
-  fix.setPosenetOK(!(std_spike && this->car_speed > 5.0));
-}
-
-VectorXd Localizer::get_position_geodetic() {
-  VectorXd fix_ecef = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
-  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
-  Geodetic fix_pos_geo = ecef2geodetic(fix_ecef_ecef);
-  return Vector3d(fix_pos_geo.lat, fix_pos_geo.lon, fix_pos_geo.alt);
-}
-
-VectorXd Localizer::get_state() {
-  return this->kf->get_x();
-}
-
-VectorXd Localizer::get_stdev() {
-  return this->kf->get_P().diagonal().array().sqrt();
-}
-
-bool Localizer::are_inputs_ok() {
-  return this->critical_services_valid(this->observation_values_invalid) && !this->observation_timings_invalid;
-}
-
-void Localizer::observation_timings_invalid_reset(){
-  this->observation_timings_invalid = false;
-}
-
-void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) {
-  // TODO does not yet account for double sensor readings in the log
-
-  // Ignore empty readings (e.g. in case the magnetometer had no data ready)
-  if (log.getTimestamp() == 0) {
-    return;
-  }
-
-  double sensor_time = 1e-9 * log.getTimestamp();
-
-  // sensor time and log time should be close
-  if (std::abs(current_time - sensor_time) > 0.1) {
-    LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
-    this->observation_timings_invalid = true;
-    return;
-  } else if (!this->is_timestamp_valid(sensor_time)) {
-    this->observation_timings_invalid = true;
-    return;
-  }
-
-  // TODO: handle messages from two IMUs at the same time
-  if (log.getSource() == cereal::SensorEventData::SensorSource::BMX055) {
-    return;
-  }
-
-  // Gyro Uncalibrated
-  if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
-    auto v = log.getGyroUncalibrated().getV();
-    auto meas = Vector3d(-v[2], -v[1], -v[0]);
-
-    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
-    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
-    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
-    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
-
-    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
-      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
-      this->observation_values_invalid["gyroscope"] *= DECAY;
-    } else {
-      this->observation_values_invalid["gyroscope"] += 1.0;
-    }
-  }
-
-  // Accelerometer
-  if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) {
-    auto v = log.getAcceleration().getV();
-
-    // TODO: reduce false positives and re-enable this check
-    // check if device fell, estimate 10 for g
-    // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
-    // this->device_fell |= (float64list2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
-
-    auto meas = Vector3d(-v[2], -v[1], -v[0]);
-    if (meas.norm() < ACCEL_SANITY_CHECK) {
-      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
-      this->observation_values_invalid["accelerometer"] *= DECAY;
-    } else {
-      this->observation_values_invalid["accelerometer"] += 1.0;
-    }
-  }
-}
-
-void Localizer::input_fake_gps_observations(double current_time) {
-  // This is done to make sure that the error estimate of the position does not blow up
-  // when the filter is in no-gps mode
-  // Steps : first predict -> observe current obs with reasonable STD
-  this->kf->predict(current_time);
-
-  VectorXd current_x = this->kf->get_x();
-  VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
-  VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
-  const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov();
-  const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov();
-
-  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
-  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
-}
-
-void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
-  bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
-  bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
-  bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
-  bool gps_vel_insane = (float64list2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
-
-  if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
-    //this->gps_valid = false;
-    this->determine_gps_mode(current_time);
-    return;
-  }
-
-  double sensor_time = current_time - sensor_time_offset;
-
-  // Process message
-  //this->gps_valid = true;
-  this->gps_mode = true;
-  Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
-  this->converter = std::make_unique<LocalCoord>(geodetic);
-
-  VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
-  VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
-  float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getHorizontalAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
-  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
-  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
-
-  this->unix_timestamp_millis = log.getUnixTimestampMillis();
-  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
-
-  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
-  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef);
-  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg()));
-  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
-  for (int i = 0; i < orientation_error.size(); i++) {
-    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
-    if (orientation_error(i) < 0.0) {
-      orientation_error(i) += 2.0 * M_PI;
-    }
-    orientation_error(i) -= M_PI;
-  }
-  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
-
-  if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) {
-    LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
-    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
-    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
-  } else if (gps_est_error > 100.0) {
-    LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
-    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
-  }
-
-  this->last_gps_msg = sensor_time;
-  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
-  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
-}
-
-void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
-
-  if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
-    this->determine_gps_mode(current_time);
-    return;
-  }
-
-  double sensor_time = log.getMeasTime() * 1e-9;
-  sensor_time -= this->gps_time_offset;
-
-  auto ecef_pos_v = log.getPositionECEF().getValue();
-  VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
-
-  // indexed at 0 cause all std values are the same MAE
-  auto ecef_pos_std = log.getPositionECEF().getStd()[0];
-  MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();
-
-  auto ecef_vel_v = log.getVelocityECEF().getValue();
-  VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);
-
-  // indexed at 0 cause all std values are the same MAE
-  auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
-  MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal();
-
-  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
-
-  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
-  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos[0], ecef_pos[1], ecef_pos[2] }, orientation_ecef);
-
-  LocalCoord convs((ECEF){ .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
-  ECEF next_ecef = {.x = ecef_pos[0] + ecef_vel[0], .y = ecef_pos[1] + ecef_vel[1], .z = ecef_pos[2] + ecef_vel[2]};
-  VectorXd ned_vel = convs.ecef2ned(next_ecef).to_vector();
-  double bearing_rad = atan2(ned_vel[1], ned_vel[0]);
-
-  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, bearing_rad);
-  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
-  for (int i = 0; i < orientation_error.size(); i++) {
-    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
-    if (orientation_error(i) < 0.0) {
-      orientation_error(i) += 2.0 * M_PI;
-    }
-    orientation_error(i) -= M_PI;
-  }
-  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
-
-  if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) {
-    this->determine_gps_mode(current_time);
-    return;
-  }
-
-  // prevent jumping gnss measurements (covered lots, standstill...)
-  bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD;
-  orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD;
-  orientation_reset &= !this->standstill;
-  if (orientation_reset) {
-    this->orientation_reset_count++;
-  } else {
-    this->orientation_reset_count = 0;
-  }
-
-  if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
-    // always reset on first gps message and if the location is off but the accuracy is high
-    LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
-    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
-  } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) {
-    LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
-    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
-    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
-    this->orientation_reset_count = 0;
-  }
-
-  this->gps_mode = true;
-  this->last_gps_msg = sensor_time;
-  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
-  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
-}
-
-void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
-  this->car_speed = std::abs(log.getVEgo());
-  this->standstill = log.getStandstill();
-  if (this->standstill) {
-    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
-    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) });
-  }
-}
-
-void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
-  VectorXd rot_device = this->device_from_calib * float64list2vector(log.getRot());
-  VectorXd trans_device = this->device_from_calib * float64list2vector(log.getTrans());
-
-  if (!this->is_timestamp_valid(current_time)) {
-    this->observation_timings_invalid = true;
-    return;
-  }
-
-  if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) {
-    this->observation_values_invalid["cameraOdometry"] += 1.0;
-    return;
-  }
-
-  VectorXd rot_calib_std = float64list2vector(log.getRotStd());
-  VectorXd trans_calib_std = float64list2vector(log.getTransStd());
-
-  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
-    this->observation_values_invalid["cameraOdometry"] += 1.0;
-    return;
-  }
-
-  if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) {
-    this->observation_values_invalid["cameraOdometry"] += 1.0;
-    return;
-  }
-
-  this->posenet_stds.pop_front();
-  this->posenet_stds.push_back(trans_calib_std[0]);
-
-  // Multiply by 10 to avoid to high certainty in kalman filter because of temporally correlated noise
-  trans_calib_std *= 10.0;
-  rot_calib_std *= 10.0;
-  MatrixXdr rot_device_cov = rotate_std(this->device_from_calib, rot_calib_std).array().square().matrix().asDiagonal();
-  MatrixXdr trans_device_cov = rotate_std(this->device_from_calib, trans_calib_std).array().square().matrix().asDiagonal();
-  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
-    { rot_device }, { rot_device_cov });
-  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
-    { trans_device }, { trans_device_cov });
-  this->observation_values_invalid["cameraOdometry"] *= DECAY;
-  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
-}
-
-void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
-  if (!this->is_timestamp_valid(current_time)) {
-    this->observation_timings_invalid = true;
-    return;
-  }
-
-  if (log.getRpyCalib().size() > 0) {
-    auto live_calib = float64list2vector(log.getRpyCalib());
-    if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
-      this->observation_values_invalid["liveCalibration"] += 1.0;
-      return;
-    }
-
-    this->calib = live_calib;
-    this->device_from_calib = euler2rot(this->calib);
-    this->calib_from_device = this->device_from_calib.transpose();
-    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
-    this->observation_values_invalid["liveCalibration"] *= DECAY;
-  }
-}
-
-void Localizer::reset_kalman(double current_time) {
-  const VectorXd &init_x = this->kf->get_initial_x();
-  const MatrixXdr &init_P = this->kf->get_initial_P();
-  this->reset_kalman(current_time, init_x, init_P);
-}
-
-void Localizer::finite_check(double current_time) {
-  bool all_finite = this->kf->get_x().array().isFinite().all() or this->kf->get_P().array().isFinite().all();
-  if (!all_finite) {
-    LOGE("Non-finite values detected, kalman reset");
-    this->reset_kalman(current_time);
-  }
-}
-
-void Localizer::time_check(double current_time) {
-  if (std::isnan(this->last_reset_time)) {
-    this->last_reset_time = current_time;
-  }
-  if (std::isnan(this->first_valid_log_time)) {
-    this->first_valid_log_time = current_time;
-  }
-  double filter_time = this->kf->get_filter_time();
-  bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
-  if (big_time_gap) {
-    LOGE("Time gap of over 10s detected, kalman reset");
-    this->reset_kalman(current_time);
-  }
-}
-
-void Localizer::update_reset_tracker() {
-  // reset tracker is tuned to trigger when over 1reset/10s over 2min period
-  if (this->is_gps_ok()) {
-    this->reset_tracker *= RESET_TRACKER_DECAY;
-  } else {
-    this->reset_tracker = 0.0;
-  }
-}
-
-void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) {
-  // too nonlinear to init on completely wrong
-  VectorXd current_x = this->kf->get_x();
-  MatrixXdr current_P = this->kf->get_P();
-  MatrixXdr init_P = this->kf->get_initial_P();
-  const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P();
-  int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
-
-  current_x.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START) = init_orient;
-  current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START) = init_vel;
-  current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) = init_pos;
-
-  init_P.block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal();
-  init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
-  init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
-  init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START,
-    STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
-
-  this->reset_kalman(current_time, current_x, init_P);
-}
-
-void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) {
-  this->kf->init_state(init_x, init_P, current_time);
-  this->last_reset_time = current_time;
-  this->reset_tracker += 1.0;
-}
-
-void Localizer::handle_msg_bytes(const char *data, const size_t size) {
-  AlignedBuffer aligned_buf;
-
-  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(data, size));
-  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-  this->handle_msg(event);
-}
-
-void Localizer::handle_msg(const cereal::Event::Reader& log) {
-  double t = log.getLogMonoTime() * 1e-9;
-  this->time_check(t);
-  if (log.isAccelerometer()) {
-    this->handle_sensor(t, log.getAccelerometer());
-  } else if (log.isGyroscope()) {
-    this->handle_sensor(t, log.getGyroscope());
-  } else if (log.isGpsLocation()) {
-    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
-  } else if (log.isGpsLocationExternal()) {
-    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
-  //} else if (log.isGnssMeasurements()) {
-  //  this->handle_gnss(t, log.getGnssMeasurements());
-  } else if (log.isCarState()) {
-    this->handle_car_state(t, log.getCarState());
-  } else if (log.isCameraOdometry()) {
-    this->handle_cam_odo(t, log.getCameraOdometry());
-  } else if (log.isLiveCalibration()) {
-    this->handle_live_calib(t, log.getLiveCalibration());
-  }
-  this->finite_check();
-  this->update_reset_tracker();
-}
-
-void Localizer::build_pose_message(
-  MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
-  cereal::Event::Builder evt = msg_builder.initEvent();
-  evt.setValid(msgValid);
-  cereal::LivePose::Builder livePose = evt.initLivePose();
-  this->build_live_pose(livePose);
-  livePose.setSensorsOK(sensorsOK);
-  livePose.setInputsOK(inputsOK);
-}
-
-bool Localizer::is_gps_ok() {
-  return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0;
-}
-
-bool Localizer::critical_services_valid(const std::map<std::string, double> &critical_services) {
-  for (auto &kv : critical_services){
-    if (kv.second >= INPUT_INVALID_THRESHOLD){
-      return false;
-    }
-  }
-  return true;
-}
-
-bool Localizer::is_timestamp_valid(double current_time) {
-  double filter_time = this->kf->get_filter_time();
-  if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) {
-    LOGE("Observation timestamp is older than the max rewind threshold of the filter");
-    return false;
-  }
-  return true;
-}
-
-void Localizer::determine_gps_mode(double current_time) {
-  // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode
-  // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs
-  // 3. If the pos_std is smaller than what's not acceptable, let gps-mode be whatever it is
-  VectorXd current_pos_std = this->kf->get_P().block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal().array().sqrt();
-  if (current_pos_std.norm() > SANE_GPS_UNCERTAINTY){
-    if (this->gps_mode){
-      this->gps_mode = false;
-      this->reset_kalman(current_time);
-    } else {
-      this->input_fake_gps_observations(current_time);
-    }
-  }
-}
-
-void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
-  this->gnss_source = source;
-  if (source == LocalizerGnssSource::UBLOX) {
-    this->gps_std_factor = 10.0;
-    this->gps_variance_factor = 1.0;
-    this->gps_vertical_variance_factor = 1.0;
-    this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET;
-  } else {
-    this->gps_std_factor = 2.0;
-    this->gps_variance_factor = 0.0;
-    this->gps_vertical_variance_factor = 3.0;
-    this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET;
-  }
-}
-
-int Localizer::locationd_thread() {
-  Params params;
-  LocalizerGnssSource source;
-  const char* gps_location_socket;
-  if (params.getBool("UbloxAvailable")) {
-    source = LocalizerGnssSource::UBLOX;
-    gps_location_socket = "gpsLocationExternal";
-  } else {
-    source = LocalizerGnssSource::QCOM;
-    gps_location_socket = "gpsLocation";
-  }
-
-  this->configure_gnss_source(source);
-  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
-                                                          "carState", "accelerometer", "gyroscope"};
-
-  SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
-  PubMaster pm({"livePose"});
-
-  uint64_t cnt = 0;
-  bool filterInitialized = false;
-  const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
-  for (std::string service : critical_input_services) {
-    this->observation_values_invalid.insert({service, 0.0});
-  }
-
-  while (!do_exit) {
-    sm.update();
-    if (filterInitialized){
-      this->observation_timings_invalid_reset();
-      for (const char* service : service_list) {
-        if (sm.updated(service) && sm.valid(service)){
-          const cereal::Event::Reader log = sm[service];
-          this->handle_msg(log);
-        }
-      }
-    } else {
-      filterInitialized = sm.allAliveAndValid();
-    }
-
-    const char* trigger_msg = "cameraOdometry";
-    if (sm.updated(trigger_msg)) {
-      bool inputsOK = sm.allValid() && this->are_inputs_ok();
-      bool gpsOK = this->is_gps_ok();
-      bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});
-
-      // Log time to first fix
-      if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) {
-        this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
-      }
-
-      MessageBuilder pose_msg_builder;
-      this->build_pose_message(pose_msg_builder, inputsOK, sensorsOK, filterInitialized);
-
-      kj::ArrayPtr<capnp::byte> pose_bytes = pose_msg_builder.toBytes();
-      pm.send("livePose", pose_bytes.begin(), pose_bytes.size());
-
-      if (cnt % 1200 == 0 && gpsOK) {  // once a minute
-        VectorXd posGeo = this->get_position_geodetic();
-        std::string lastGPSPosJSON = util::string_format(
-          "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
-        params.putNonBlocking("LastGPSPosition", lastGPSPosJSON);
-      }
-      cnt++;
-    }
-  }
-  return 0;
-}
-
-int main() {
-  util::set_realtime_priority(5);
-
-  Localizer localizer;
-  return localizer.locationd_thread();
-}
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
new file mode 100755
index 0000000000..14a315da85
--- /dev/null
+++ b/selfdrive/locationd/locationd.py
@@ -0,0 +1,321 @@
+#!/usr/bin/env python3
+import os
+import json
+import time
+import capnp
+import numpy as np
+from enum import Enum
+from collections import defaultdict
+
+from cereal import log, messaging
+from openpilot.common.transformations.orientation import rot_from_euler
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.params import Params
+from openpilot.selfdrive.locationd.helpers import rotate_std
+from openpilot.selfdrive.locationd.models.pose_kf import PoseKalman, States
+from openpilot.selfdrive.locationd.models.constants import ObservationKind, GENERATED_DIR
+
+ACCEL_SANITY_CHECK = 100.0  # m/s^2
+ROTATION_SANITY_CHECK = 10.0  # rad/s
+TRANS_SANITY_CHECK = 200.0  # m/s
+CALIB_RPY_SANITY_CHECK = 0.5  # rad (+- 30 deg)
+MIN_STD_SANITY_CHECK = 1e-5  # m or rad
+MAX_FILTER_REWIND_TIME = 0.8  # s
+MAX_SENSOR_TIME_DIFF = 0.1  # s
+YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
+INPUT_INVALID_THRESHOLD = 0.5
+INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after a bad input
+POSENET_STD_INITIAL_VALUE = 10.0
+POSENET_STD_HIST_HALF = 20
+
+
+def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
+  assert len(values) == len(stds) == 3
+  for i, d in enumerate(("x", "y", "z")):
+    setattr(measurement, d, float(values[i]))
+    setattr(measurement, f"{d}Std", float(stds[i]))
+  measurement.valid = valid
+
+
+class HandleLogResult(Enum):
+  SUCCESS = 0
+  TIMING_INVALID = 1
+  INPUT_INVALID = 2
+  SENSOR_SOURCE_INVALID = 3
+
+
+class LocationEstimator:
+  def __init__(self, debug: bool):
+    self.kf = PoseKalman(GENERATED_DIR, MAX_FILTER_REWIND_TIME)
+
+    self.debug = debug
+
+    self.posenet_stds = [POSENET_STD_INITIAL_VALUE] * (POSENET_STD_HIST_HALF * 2)
+    self.car_speed = 0.0
+    self.camodo_yawrate_distribution = np.array([0.0, 10.0])  # mean, std
+    self.device_from_calib = np.eye(3)
+
+    obs_kinds = [ObservationKind.PHONE_ACCEL, ObservationKind.PHONE_GYRO, ObservationKind.CAMERA_ODO_ROTATION, ObservationKind.CAMERA_ODO_TRANSLATION]
+    self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
+    self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
+
+  def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
+    self.kf.reset(t, x_initial, P_initial)
+
+  def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
+    # some segments have two IMUs, ignore the second one
+    return source != log.SensorEventData.SensorSource.bmx055
+
+  def _validate_sensor_time(self, sensor_time: float, t: float):
+    # ignore empty readings
+    if sensor_time == 0:
+      return False
+
+    # sensor time and log time should be close
+    sensor_time_invalid = abs(sensor_time - t) > MAX_SENSOR_TIME_DIFF
+    if sensor_time_invalid:
+      print("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
+    return not sensor_time_invalid
+
+  def _validate_timestamp(self, t: float):
+    kf_t = self.kf.t
+    invalid = not np.isnan(kf_t) and (kf_t - t) > MAX_FILTER_REWIND_TIME
+    if invalid:
+      print("Observation timestamp is older than the max rewind threshold of the filter")
+    return not invalid
+
+  def _finite_check(self, t: float, new_x: np.ndarray, new_P: np.ndarray):
+    all_finite = np.isfinite(new_x).all() and np.isfinite(new_P).all()
+    if not all_finite:
+      print("Non-finite values detected, kalman reset")
+      self.reset(t)
+
+  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> HandleLogResult:
+    new_x, new_P = None, None
+    if which == "accelerometer" and msg.which() == "acceleration":
+      sensor_time = msg.timestamp * 1e-9
+
+      if not self._validate_sensor_time(sensor_time, t) or not self._validate_timestamp(sensor_time):
+        return HandleLogResult.TIMING_INVALID
+
+      if not self._validate_sensor_source(msg.source):
+        return HandleLogResult.SENSOR_SOURCE_INVALID
+
+      v = msg.acceleration.v
+      meas = np.array([-v[2], -v[1], -v[0]])
+      if np.linalg.norm(meas) >= ACCEL_SANITY_CHECK:
+        return HandleLogResult.INPUT_INVALID
+
+      acc_res = self.kf.predict_and_observe(sensor_time, ObservationKind.PHONE_ACCEL, meas)
+      if acc_res is not None:
+        _, new_x, _, new_P, _, _, (acc_err,), _, _ = acc_res
+        self.observation_errors[ObservationKind.PHONE_ACCEL] = np.array(acc_err)
+        self.observations[ObservationKind.PHONE_ACCEL] = meas
+
+    elif which == "gyroscope" and msg.which() == "gyroUncalibrated":
+      sensor_time = msg.timestamp * 1e-9
+
+      if not self._validate_sensor_time(sensor_time, t) or not self._validate_timestamp(sensor_time):
+        return HandleLogResult.TIMING_INVALID
+
+      if not self._validate_sensor_source(msg.source):
+        return HandleLogResult.SENSOR_SOURCE_INVALID
+
+      v = msg.gyroUncalibrated.v
+      meas = np.array([-v[2], -v[1], -v[0]])
+
+      gyro_bias = self.kf.x[States.GYRO_BIAS]
+      gyro_camodo_yawrate_err = np.abs((meas[2] - gyro_bias[2]) - self.camodo_yawrate_distribution[0])
+      gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * self.camodo_yawrate_distribution[1]
+      gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold
+
+      if np.linalg.norm(meas) >= ROTATION_SANITY_CHECK or not gyro_valid:
+        return HandleLogResult.INPUT_INVALID
+
+      gyro_res = self.kf.predict_and_observe(sensor_time, ObservationKind.PHONE_GYRO, meas)
+      if gyro_res is not None:
+        _, new_x, _, new_P, _, _, (gyro_err,), _, _ = gyro_res
+        self.observation_errors[ObservationKind.PHONE_GYRO] = np.array(gyro_err)
+        self.observations[ObservationKind.PHONE_GYRO] = meas
+
+    elif which == "carState":
+      self.car_speed = abs(msg.vEgo)
+
+    elif which == "liveCalibration":
+      if len(msg.rpyCalib) > 0:
+        calib = np.array(msg.rpyCalib)
+        if calib.min() < -CALIB_RPY_SANITY_CHECK or calib.max() > CALIB_RPY_SANITY_CHECK:
+          return HandleLogResult.INPUT_INVALID
+
+        self.device_from_calib = rot_from_euler(calib)
+        self.calibrated = msg.calStatus == log.LiveCalibrationData.Status.calibrated
+
+    elif which == "cameraOdometry":
+      if not self._validate_timestamp(t):
+        return HandleLogResult.TIMING_INVALID
+
+      rot_device = np.matmul(self.device_from_calib, np.array(msg.rot))
+      trans_device = np.matmul(self.device_from_calib, np.array(msg.trans))
+
+      if np.linalg.norm(rot_device) > ROTATION_SANITY_CHECK or np.linalg.norm(trans_device) > TRANS_SANITY_CHECK:
+        return HandleLogResult.INPUT_INVALID
+
+      rot_calib_std = np.array(msg.rotStd)
+      trans_calib_std = np.array(msg.transStd)
+
+      if rot_calib_std.min() <= MIN_STD_SANITY_CHECK or trans_calib_std.min() <= MIN_STD_SANITY_CHECK:
+        return HandleLogResult.INPUT_INVALID
+
+      if np.linalg.norm(rot_calib_std) > 10 * ROTATION_SANITY_CHECK or np.linalg.norm(trans_calib_std) > 10 * TRANS_SANITY_CHECK:
+        return HandleLogResult.INPUT_INVALID
+
+      self.posenet_stds.pop(0)
+      self.posenet_stds.append(trans_calib_std[0])
+
+      # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
+      rot_calib_std *= 10
+      trans_calib_std *= 2
+
+      rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
+      trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
+      rot_device_noise = rot_device_std ** 2
+      trans_device_noise = trans_device_std ** 2
+
+      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, rot_device_noise)
+      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, trans_device_noise)
+      self.camodo_yawrate_distribution =  np.array([rot_device[2], rot_device_std[2]])
+      if cam_odo_rot_res is not None:
+        _, new_x, _, new_P, _, _, (cam_odo_rot_err,), _, _ = cam_odo_rot_res
+        self.observation_errors[ObservationKind.CAMERA_ODO_ROTATION] = np.array(cam_odo_rot_err)
+        self.observations[ObservationKind.CAMERA_ODO_ROTATION] = rot_device
+      if cam_odo_trans_res is not None:
+        _, new_x, _, new_P, _, _, (cam_odo_trans_err,), _, _ = cam_odo_trans_res
+        self.observation_errors[ObservationKind.CAMERA_ODO_TRANSLATION] = np.array(cam_odo_trans_err)
+        self.observations[ObservationKind.CAMERA_ODO_TRANSLATION] = trans_device
+
+    if new_x is not None and new_P is not None:
+      self._finite_check(t, new_x, new_P)
+    return HandleLogResult.SUCCESS
+
+  def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_valid: bool):
+    state, cov = self.kf.x, self.kf.P
+    std = np.sqrt(np.diag(cov))
+
+    orientation_ned, orientation_ned_std = state[States.NED_ORIENTATION], std[States.NED_ORIENTATION]
+    velocity_device, velocity_device_std = state[States.DEVICE_VELOCITY], std[States.DEVICE_VELOCITY]
+    angular_velocity_device, angular_velocity_device_std = state[States.ANGULAR_VELOCITY], std[States.ANGULAR_VELOCITY]
+    acceleration_device, acceleration_device_std = state[States.ACCELERATION], std[States.ACCELERATION]
+
+    msg = messaging.new_message("livePose")
+    msg.valid = filter_valid
+
+    livePose = msg.livePose
+    init_xyz_measurement(livePose.orientationNED, orientation_ned, orientation_ned_std, filter_valid)
+    init_xyz_measurement(livePose.velocityDevice, velocity_device, velocity_device_std, filter_valid)
+    init_xyz_measurement(livePose.angularVelocityDevice, angular_velocity_device, angular_velocity_device_std, filter_valid)
+    init_xyz_measurement(livePose.accelerationDevice, acceleration_device, acceleration_device_std, filter_valid)
+    if self.debug:
+      livePose.debugFilterState.value = state.tolist()
+      livePose.debugFilterState.std = std.tolist()
+      livePose.debugFilterState.valid = filter_valid
+      livePose.debugFilterState.observations = [
+        {'kind': k, 'value': self.observations[k].tolist(), 'error': self.observation_errors[k].tolist()}
+        for k in self.observations.keys()
+      ]
+
+    old_mean = np.mean(self.posenet_stds[:POSENET_STD_HIST_HALF])
+    new_mean = np.mean(self.posenet_stds[POSENET_STD_HIST_HALF:])
+    std_spike = (new_mean / old_mean) > 4.0 and new_mean > 7.0
+
+    livePose.inputsOK = inputs_valid
+    livePose.posenetOK = not std_spike or self.car_speed <= 5.0
+    livePose.sensorsOK = sensors_valid
+
+    return msg
+
+
+def sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, simulation):
+  cur_time = time.monotonic()
+  for which, msgs in [("accelerometer", acc_msgs), ("gyroscope", gyro_msgs)]:
+    if len(msgs) > 0:
+      sensor_valid[which] = msgs[-1].valid
+      sensor_recv_time[which] = cur_time
+
+    if not simulation:
+      sensor_alive[which] = (cur_time - sensor_recv_time[which]) < 0.1
+    else:
+      sensor_alive[which] = len(msgs) > 0
+
+  return all(sensor_alive.values()) and all(sensor_valid.values())
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+  SIMULATION = bool(int(os.getenv("SIMULATION", "0")))
+
+  pm = messaging.PubMaster(['livePose'])
+  sm = messaging.SubMaster(['carState', 'liveCalibration', 'cameraOdometry'], poll='cameraOdometry')
+  # separate sensor sockets for efficiency
+  sensor_sockets = [messaging.sub_sock(which, timeout=20) for which in ['accelerometer', 'gyroscope']]
+  sensor_alive, sensor_valid, sensor_recv_time = defaultdict(bool), defaultdict(bool), defaultdict(float)
+
+  params = Params()
+
+  estimator = LocationEstimator(DEBUG)
+
+  filter_initialized = False
+  critcal_services = ["accelerometer", "gyroscope", "liveCalibration", "cameraOdometry"]
+  observation_timing_invalid = False
+  observation_input_invalid = defaultdict(int)
+
+  initial_pose = params.get("LocationFilterInitialState")
+  if initial_pose is not None:
+    initial_pose = json.loads(initial_pose)
+    x_initial = np.array(initial_pose["x"], dtype=np.float64)
+    P_initial = np.diag(np.array(initial_pose["P"], dtype=np.float64))
+    estimator.reset(None, x_initial, P_initial)
+
+  while True:
+    sm.update()
+
+    acc_msgs, gyro_msgs = (messaging.drain_sock(sock) for sock in sensor_sockets)
+
+    if filter_initialized:
+      observation_timing_invalid = False
+
+      msgs = []
+      for msg in acc_msgs + gyro_msgs:
+        t, valid, which, data = msg.logMonoTime, msg.valid, msg.which(), getattr(msg, msg.which())
+        msgs.append((t, valid, which, data))
+      for which, updated in sm.updated.items():
+        if not updated:
+          continue
+        t, valid, data = sm.logMonoTime[which], sm.valid[which], sm[which]
+        msgs.append((t, valid, which, data))
+
+      for log_mono_time, valid, which, msg in sorted(msgs, key=lambda x: x[0]):
+        if valid:
+          t = log_mono_time * 1e-9
+          res = estimator.handle_log(t, which, msg)
+          if res == HandleLogResult.TIMING_INVALID:
+            observation_timing_invalid = True
+          elif res == HandleLogResult.INPUT_INVALID:
+            observation_input_invalid[which] += 1
+          else:
+            observation_input_invalid[which] *= INPUT_INVALID_DECAY
+    else:
+      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
+
+    if sm.updated["cameraOdometry"]:
+      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid and not observation_timing_invalid
+      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
+
+      msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
+      pm.send("livePose", msg)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc
deleted file mode 100644
index fc3bfb7246..0000000000
--- a/selfdrive/locationd/models/live_kf.cc
+++ /dev/null
@@ -1,122 +0,0 @@
-#include "selfdrive/locationd/models/live_kf.h"
-
-using namespace EKFS;
-using namespace Eigen;
-
-Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec) {
-  return Eigen::Map<Eigen::VectorXd>((double*)vec.data(), vec.rows(), vec.cols());
-}
-
-Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat) {
-  return Eigen::Map<MatrixXdr>((double*)mat.data(), mat.rows(), mat.cols());
-}
-
-std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec) {
-  std::vector<Eigen::Map<Eigen::VectorXd>> res;
-  for (const Eigen::VectorXd &vec : vec_vec) {
-    res.push_back(get_mapvec(vec));
-  }
-  return res;
-}
-
-std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec) {
-  std::vector<Eigen::Map<MatrixXdr>> res;
-  for (const MatrixXdr &mat : mat_vec) {
-    res.push_back(get_mapmat(mat));
-  }
-  return res;
-}
-
-LiveKalman::LiveKalman() {
-  this->dim_state = live_initial_x.rows();
-  this->dim_state_err = live_initial_P_diag.rows();
-
-  this->initial_x = live_initial_x;
-  this->initial_P = live_initial_P_diag.asDiagonal();
-  this->fake_gps_pos_cov = live_fake_gps_pos_cov_diag.asDiagonal();
-  this->fake_gps_vel_cov = live_fake_gps_vel_cov_diag.asDiagonal();
-  this->reset_orientation_P = live_reset_orientation_diag.asDiagonal();
-  this->Q = live_Q_diag.asDiagonal();
-  for (auto& pair : live_obs_noise_diag) {
-    this->obs_noise[pair.first] = pair.second.asDiagonal();
-  }
-
-  // init filter
-  this->filter = std::make_shared<EKFSym>(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x),
-    get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
-    std::vector<int>{3}, std::vector<std::string>(), 0.8);
-}
-
-void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) {
-  MatrixXdr covs = covs_diag.asDiagonal();
-  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
-}
-
-void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) {
-  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
-}
-
-void LiveKalman::init_state(const VectorXd &state, double filter_time) {
-  MatrixXdr covs = this->filter->covs();
-  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
-}
-
-VectorXd LiveKalman::get_x() {
-  return this->filter->state();
-}
-
-MatrixXdr LiveKalman::get_P() {
-  return this->filter->covs();
-}
-
-double LiveKalman::get_filter_time() {
-  return this->filter->get_filter_time();
-}
-
-std::vector<MatrixXdr> LiveKalman::get_R(int kind, int n) {
-  std::vector<MatrixXdr> R;
-  for (int i = 0; i < n; i++) {
-    R.push_back(this->obs_noise[kind]);
-  }
-  return R;
-}
-
-std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, const std::vector<VectorXd> &meas, std::vector<MatrixXdr> R) {
-  std::optional<Estimate> r;
-  if (R.size() == 0) {
-    R = this->get_R(kind, meas.size());
-  }
-  r = this->filter->predict_and_update_batch(t, kind, get_vec_mapvec(meas), get_vec_mapmat(R));
-  return r;
-}
-
-void LiveKalman::predict(double t) {
-  this->filter->predict(t);
-}
-
-const Eigen::VectorXd &LiveKalman::get_initial_x() {
-  return this->initial_x;
-}
-
-const MatrixXdr &LiveKalman::get_initial_P() {
-  return this->initial_P;
-}
-
-const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() {
-  return this->fake_gps_pos_cov;
-}
-
-const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() {
-  return this->fake_gps_vel_cov;
-}
-
-const MatrixXdr &LiveKalman::get_reset_orientation_P() {
-  return this->reset_orientation_P;
-}
-
-MatrixXdr LiveKalman::H(const VectorXd &in) {
-  assert(in.size() == 6);
-  Matrix<double, 3, 6, Eigen::RowMajor> res;
-  this->filter->get_extra_routine("H")((double*)in.data(), res.data());
-  return res;
-}
diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h
deleted file mode 100644
index e4b3e326b3..0000000000
--- a/selfdrive/locationd/models/live_kf.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-
-#include <string>
-#include <cmath>
-#include <memory>
-#include <unordered_map>
-#include <vector>
-
-#include <eigen3/Eigen/Core>
-#include <eigen3/Eigen/Dense>
-
-#include "generated/live_kf_constants.h"
-#include "rednose/helpers/ekf_sym.h"
-
-#define EARTH_GM 3.986005e14  // m^3/s^2 (gravitational constant * mass of earth)
-
-using namespace EKFS;
-
-Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec);
-Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat);
-std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec);
-std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec);
-
-class LiveKalman {
-public:
-  LiveKalman();
-
-  void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
-  void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
-  void init_state(const Eigen::VectorXd &state, double filter_time);
-
-  Eigen::VectorXd get_x();
-  MatrixXdr get_P();
-  double get_filter_time();
-  std::vector<MatrixXdr> get_R(int kind, int n);
-
-  std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
-  std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
-  std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
-  std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
-  void predict(double t);
-
-  const Eigen::VectorXd &get_initial_x();
-  const MatrixXdr &get_initial_P();
-  const MatrixXdr &get_fake_gps_pos_cov();
-  const MatrixXdr &get_fake_gps_vel_cov();
-  const MatrixXdr &get_reset_orientation_P();
-
-  MatrixXdr H(const Eigen::VectorXd &in);
-
-private:
-  std::string name = "live";
-
-  std::shared_ptr<EKFSym> filter;
-
-  int dim_state;
-  int dim_state_err;
-
-  Eigen::VectorXd initial_x;
-  MatrixXdr initial_P;
-  MatrixXdr fake_gps_pos_cov;
-  MatrixXdr fake_gps_vel_cov;
-  MatrixXdr reset_orientation_P;
-  MatrixXdr Q;  // process noise
-  std::unordered_map<int, MatrixXdr> obs_noise;
-};
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
deleted file mode 100755
index 0cc3eca61d..0000000000
--- a/selfdrive/locationd/models/live_kf.py
+++ /dev/null
@@ -1,242 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import os
-import numpy as np
-
-from openpilot.selfdrive.locationd.models.constants import ObservationKind
-
-import sympy as sp
-import inspect
-from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
-from rednose.helpers.ekf_sym import gen_code
-
-EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
-
-
-def numpy2eigenstring(arr):
-  assert(len(arr.shape) == 1)
-  arr_str = np.array2string(arr, precision=20, separator=',')[1:-1].replace(' ', '').replace('\n', '')
-  return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
-
-
-class States:
-  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
-  ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
-  ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
-  ANGULAR_VELOCITY = slice(10, 13)  # roll, pitch and yaw rates in device frame in radians/s
-  GYRO_BIAS = slice(13, 16)  # roll, pitch and yaw biases
-  ACCELERATION = slice(16, 19)  # Acceleration in device frame in m/s**2
-  ACC_BIAS = slice(19, 22)  # Acceletometer bias in m/s**2
-
-  # Error-state has different slices because it is an ESKF
-  ECEF_POS_ERR = slice(0, 3)
-  ECEF_ORIENTATION_ERR = slice(3, 6)  # euler angles for orientation error
-  ECEF_VELOCITY_ERR = slice(6, 9)
-  ANGULAR_VELOCITY_ERR = slice(9, 12)
-  GYRO_BIAS_ERR = slice(12, 15)
-  ACCELERATION_ERR = slice(15, 18)
-  ACC_BIAS_ERR = slice(18, 21)
-
-
-class LiveKalman:
-  name = 'live'
-
-  initial_x = np.array([3.88e6, -3.37e6, 3.76e6,
-                        0.42254641, -0.31238054, -0.83602975, -0.15788347,  # NED [0,0,0] -> ECEF Quat
-                        0, 0, 0,
-                        0, 0, 0,
-                        0, 0, 0,
-                        0, 0, 0,
-                        0, 0, 0])
-
-  # state covariance
-  initial_P_diag = np.array([10**2, 10**2, 10**2,
-                             0.01**2, 0.01**2, 0.01**2,
-                             10**2, 10**2, 10**2,
-                             1**2, 1**2, 1**2,
-                             1**2, 1**2, 1**2,
-                             100**2, 100**2, 100**2,
-                             0.01**2, 0.01**2, 0.01**2])
-
-  # state covariance when resetting midway in a segment
-  reset_orientation_diag = np.array([1**2, 1**2, 1**2])
-
-  # fake observation covariance, to ensure the uncertainty estimate of the filter is under control
-  fake_gps_pos_cov_diag = np.array([1000**2, 1000**2, 1000**2])
-  fake_gps_vel_cov_diag = np.array([10**2, 10**2, 10**2])
-
-  # process noise
-  Q_diag = np.array([0.03**2, 0.03**2, 0.03**2,
-                     0.001**2, 0.001**2, 0.001**2,
-                     0.01**2, 0.01**2, 0.01**2,
-                     0.1**2, 0.1**2, 0.1**2,
-                     (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-                     3**2, 3**2, 3**2,
-                     0.005**2, 0.005**2, 0.005**2])
-
-  obs_noise_diag = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
-                    ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
-                    ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2]),
-                    ObservationKind.NO_ROT: np.array([0.005**2, 0.005**2, 0.005**2]),
-                    ObservationKind.NO_ACCEL: np.array([0.05**2, 0.05**2, 0.05**2]),
-                    ObservationKind.ECEF_POS: np.array([5**2, 5**2, 5**2]),
-                    ObservationKind.ECEF_VEL: np.array([.5**2, .5**2, .5**2]),
-                    ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.array([.2**2, .2**2, .2**2, .2**2])}
-
-  @staticmethod
-  def generate_code(generated_dir):
-    name = LiveKalman.name
-    dim_state = LiveKalman.initial_x.shape[0]
-    dim_state_err = LiveKalman.initial_P_diag.shape[0]
-
-    state_sym = sp.MatrixSymbol('state', dim_state, 1)
-    state = sp.Matrix(state_sym)
-    x, y, z = state[States.ECEF_POS, :]
-    q = state[States.ECEF_ORIENTATION, :]
-    v = state[States.ECEF_VELOCITY, :]
-    vx, vy, vz = v
-    omega = state[States.ANGULAR_VELOCITY, :]
-    vroll, vpitch, vyaw = omega
-    roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
-    acceleration = state[States.ACCELERATION, :]
-    acc_bias = state[States.ACC_BIAS, :]
-
-    dt = sp.Symbol('dt')
-
-    # calibration and attitude rotation matrices
-    quat_rot = quat_rotate(*q)
-
-    # Got the quat predict equations from here
-    # A New Quaternion-Based Kalman Filter for
-    # Real-Time Attitude Estimation Using the Two-Step
-    # Geometrically-Intuitive Correction Algorithm
-    A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
-                         [vroll, 0, vyaw, -vpitch],
-                         [vpitch, -vyaw, 0, vroll],
-                         [vyaw, vpitch, -vroll, 0]])
-    q_dot = A * q
-
-    # Time derivative of the state as a function of state
-    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
-    state_dot[States.ECEF_POS, :] = v
-    state_dot[States.ECEF_ORIENTATION, :] = q_dot
-    state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
-
-    # Basic descretization, 1st order intergrator
-    # Can be pretty bad if dt is big
-    f_sym = state + dt * state_dot
-
-    state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
-    state_err = sp.Matrix(state_err_sym)
-    quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
-    v_err = state_err[States.ECEF_VELOCITY_ERR, :]
-    omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
-    acceleration_err = state_err[States.ACCELERATION_ERR, :]
-
-    # Time derivative of the state error as a function of state error and state
-    quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
-    q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
-    state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
-    state_err_dot[States.ECEF_POS_ERR, :] = v_err
-    state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
-    state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
-    f_err_sym = state_err + dt * state_err_dot
-
-    # Observation matrix modifier
-    H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
-    H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start)
-    H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:]
-    H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop)
-
-    # these error functions are defined so that say there
-    # is a nominal x and true x:
-    # true x = err_function(nominal x, delta x)
-    # delta x = inv_err_function(nominal x, true x)
-    nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
-    true_x = sp.MatrixSymbol('true_x', dim_state, 1)
-    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
-
-    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
-    delta_quat = sp.Matrix(np.ones(4))
-    delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
-    err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
-    err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
-    err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :])
-
-    inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
-    inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0])
-    delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0]
-    inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:])
-    inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0])
-
-    eskf_params = [[err_function_sym, nom_x, delta_x],
-                   [inv_err_function_sym, nom_x, true_x],
-                   H_mod_sym, f_err_sym, state_err_sym]
-    #
-    # Observation functions
-    #
-    h_gyro_sym = sp.Matrix([
-      vroll + roll_bias,
-      vpitch + pitch_bias,
-      vyaw + yaw_bias])
-
-    pos = sp.Matrix([x, y, z])
-    gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
-    h_acc_sym = (gravity + acceleration + acc_bias)
-    h_acc_stationary_sym = acceleration
-    h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
-    h_pos_sym = sp.Matrix([x, y, z])
-    h_vel_sym = sp.Matrix([vx, vy, vz])
-    h_orientation_sym = q
-    h_relative_motion = sp.Matrix(quat_rot.T * v)
-
-    obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None],
-               [h_phone_rot_sym, ObservationKind.NO_ROT, None],
-               [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
-               [h_pos_sym, ObservationKind.ECEF_POS, None],
-               [h_vel_sym, ObservationKind.ECEF_VEL, None],
-               [h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None],
-               [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
-               [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
-               [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
-
-    # this returns a sympy routine for the jacobian of the observation function of the local vel
-    in_vec = sp.MatrixSymbol('in_vec', 6, 1)  # roll, pitch, yaw, vx, vy, vz
-    h = euler_rotate(in_vec[0], in_vec[1], in_vec[2]).T * (sp.Matrix([in_vec[3], in_vec[4], in_vec[5]]))
-    extra_routines = [('H', h.jacobian(in_vec), [in_vec])]
-
-    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, extra_routines=extra_routines)
-
-    # write constants to extra header file for use in cpp
-    live_kf_header = "#pragma once\n\n"
-    live_kf_header += "#include <unordered_map>\n"
-    live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
-    for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
-      assert(slc.step is None)  # unsupported
-      live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
-      live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
-      live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
-    live_kf_header += "\n"
-
-    for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
-      live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
-    live_kf_header += "\n"
-
-    live_kf_header += f"static const Eigen::VectorXd live_initial_x = {numpy2eigenstring(LiveKalman.initial_x)};\n"
-    live_kf_header += f"static const Eigen::VectorXd live_initial_P_diag = {numpy2eigenstring(LiveKalman.initial_P_diag)};\n"
-    live_kf_header += f"static const Eigen::VectorXd live_fake_gps_pos_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_pos_cov_diag)};\n"
-    live_kf_header += f"static const Eigen::VectorXd live_fake_gps_vel_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_vel_cov_diag)};\n"
-    live_kf_header += f"static const Eigen::VectorXd live_reset_orientation_diag = {numpy2eigenstring(LiveKalman.reset_orientation_diag)};\n"
-    live_kf_header += f"static const Eigen::VectorXd live_Q_diag = {numpy2eigenstring(LiveKalman.Q_diag)};\n"
-    live_kf_header += "static const std::unordered_map<int, Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> live_obs_noise_diag = {\n"
-    for kind, noise in LiveKalman.obs_noise_diag.items():
-      live_kf_header += f"  {{ {kind}, {numpy2eigenstring(noise)} }},\n"
-    live_kf_header += "};\n\n"
-
-    open(os.path.join(generated_dir, "live_kf_constants.h"), 'w').write(live_kf_header)
-
-
-if __name__ == "__main__":
-  generated_dir = sys.argv[2]
-  LiveKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/models/pose_kf.py b/selfdrive/locationd/models/pose_kf.py
new file mode 100755
index 0000000000..df63518441
--- /dev/null
+++ b/selfdrive/locationd/models/pose_kf.py
@@ -0,0 +1,138 @@
+#!/usr/bin/env python3
+
+import sys
+import numpy as np
+
+from openpilot.selfdrive.locationd.models.constants import ObservationKind
+
+if __name__=="__main__":
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+  from rednose.helpers.sympy_helpers import euler_rotate, rot_to_euler
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
+
+EARTH_G = 9.81
+
+
+class States:
+  NED_ORIENTATION = slice(0, 3)  # roll, pitch, yaw in rad
+  DEVICE_VELOCITY = slice(3, 6)  # ned velocity in m/s
+  ANGULAR_VELOCITY = slice(6, 9)  # roll, pitch and yaw rates in rad/s
+  GYRO_BIAS = slice(9, 12)  # roll, pitch and yaw gyroscope biases in rad/s
+  ACCELERATION = slice(12, 15)  # acceleration in device frame in m/s**2
+  ACCEL_BIAS = slice(15, 18)  # Acceletometer bias in m/s**2
+
+
+class PoseKalman:
+  name = "pose"
+
+  # state
+  initial_x = np.array([0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0])
+  # state covariance
+  initial_P = np.diag([0.01**2, 0.01**2, 0.01**2,
+                       10**2, 10**2, 10**2,
+                       1**2, 1**2, 1**2,
+                       1**2, 1**2, 1**2,
+                       100**2, 100**2, 100**2,
+                       0.01**2, 0.01**2, 0.01**2])
+
+  # process noise
+  Q = np.diag([0.001**2, 0.001**2, 0.001**2,
+               0.01**2, 0.01**2, 0.01**2,
+               0.1**2, 0.1**2, 0.1**2,
+               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+               3**2, 3**2, 3**2,
+               0.005**2, 0.005**2, 0.005**2])
+
+  obs_noise = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
+               ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
+               ObservationKind.CAMERA_ODO_TRANSLATION: np.array([0.5**2, 0.5**2, 0.5**2]),
+               ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2])}
+
+  @staticmethod
+  def generate_code(generated_dir):
+    name = PoseKalman.name
+    dim_state = PoseKalman.initial_x.shape[0]
+    dim_state_err = PoseKalman.initial_P.shape[0]
+
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+    roll, pitch, yaw = state[States.NED_ORIENTATION, :]
+    velocity = state[States.DEVICE_VELOCITY, :]
+    angular_velocity = state[States.ANGULAR_VELOCITY, :]
+    vroll, vpitch, vyaw = angular_velocity
+    gyro_bias = state[States.GYRO_BIAS, :]
+    acceleration = state[States.ACCELERATION, :]
+    acc_bias = state[States.ACCEL_BIAS, :]
+
+    dt = sp.Symbol('dt')
+
+    ned_from_device = euler_rotate(roll, pitch, yaw)
+    device_from_ned = ned_from_device.T
+
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.DEVICE_VELOCITY, :] = acceleration
+
+    f_sym = state + dt * state_dot
+    device_from_device_t1 = euler_rotate(dt*vroll, dt*vpitch, dt*vyaw)
+    ned_from_device_t1 = ned_from_device * device_from_device_t1
+    f_sym[States.NED_ORIENTATION, :] = rot_to_euler(ned_from_device_t1)
+
+    centripetal_acceleration = angular_velocity.cross(velocity)
+    gravity = sp.Matrix([0, 0, -EARTH_G])
+    h_gyro_sym = angular_velocity + gyro_bias
+    h_acc_sym = device_from_ned * gravity + acceleration + centripetal_acceleration + acc_bias
+    h_phone_rot_sym = angular_velocity
+    h_relative_motion_sym = velocity
+    obs_eqs = [
+      [h_gyro_sym, ObservationKind.PHONE_GYRO, None],
+      [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
+      [h_relative_motion_sym, ObservationKind.CAMERA_ODO_TRANSLATION, None],
+      [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
+    ]
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err)
+
+  def __init__(self, generated_dir, max_rewind_age):
+    dim_state, dim_state_err = PoseKalman.initial_x.shape[0], PoseKalman.initial_P.shape[0]
+    self.filter = EKF_sym_pyx(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P,
+                              dim_state, dim_state_err, max_rewind_age=max_rewind_age)
+
+  @property
+  def x(self):
+    return self.filter.state()
+
+  @property
+  def P(self):
+    return self.filter.covs()
+
+  @property
+  def t(self):
+    return self.filter.get_filter_time()
+
+  def predict_and_observe(self, t, kind, data, obs_noise=None):
+    data = np.atleast_2d(data)
+    if obs_noise is None:
+      obs_noise = self.obs_noise[kind]
+    R = self._get_R(len(data), obs_noise)
+    return self.filter.predict_and_update_batch(t, kind, data, R)
+
+  def reset(self, t, x_init, P_init):
+    self.filter.init_state(x_init, P_init, t)
+
+  def _get_R(self, n, obs_noise):
+    dim = obs_noise.shape[0]
+    R = np.zeros((n, dim, dim))
+    for i in range(n):
+      R[i, :, :] = np.diag(obs_noise)
+    return R
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  PoseKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 74ac7d2962..d0b1a82988 100644
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -1,13 +1,7 @@
-import pytest
-import json
-import random
-import time
 import capnp
 
 import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
-from openpilot.common.transformations.coordinates import ecef2geodetic
 
 from openpilot.system.manager.process_config import managed_processes
 
@@ -60,30 +54,3 @@ class TestLocationdProc:
     msg.logMonoTime = t
     msg.valid = True
     return msg
-
-  def test_params_gps(self):
-    random.seed(123489234)
-    self.params.remove('LastGPSPosition')
-
-    self.x = -2710700 + (random.random() * 1e5)
-    self.y = -4280600 + (random.random() * 1e5)
-    self.z = 3850300 + (random.random() * 1e5)
-    self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
-
-    # get fake messages at the correct frequency, listed in services.py
-    msgs = []
-    for sec in range(65):
-      for name in self.LLD_MSGS:
-        for j in range(int(SERVICE_LIST[name].frequency)):
-          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
-
-    for msg in sorted(msgs, key=lambda x: x.logMonoTime):
-      self.pm.send(msg.which(), msg)
-      if msg.which() == "cameraOdometry":
-        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
-    time.sleep(1)  # wait for async params write
-
-    lastGPS = json.loads(self.params.get('LastGPSPosition'))
-    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
-    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
-    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001)
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index bacb2a10a7..166d715c34 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -21,10 +21,6 @@ JUNK_IDX = 100
 
 class Scenario(Enum):
   BASE = 'base'
-  GPS_OFF = 'gps_off'
-  GPS_OFF_MIDWAY = 'gps_off_midway'
-  GPS_ON_MIDWAY = 'gps_on_midway'
-  GPS_TUNNEL = 'gps_tunnel'
   GYRO_OFF = 'gyro_off'
   GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
   ACCEL_OFF = 'accel_off'
@@ -51,24 +47,6 @@ def run_scenarios(scenario, logs):
   if scenario == Scenario.BASE:
     pass
 
-  elif scenario == Scenario.GPS_OFF:
-    logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime)
-
-  elif scenario == Scenario.GPS_OFF_MIDWAY:
-    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
-    gps = [x for x in logs if x.which() in GPS_MESSAGES]
-    logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime)
-
-  elif scenario == Scenario.GPS_ON_MIDWAY:
-    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
-    gps = [x for x in logs if x.which() in GPS_MESSAGES]
-    logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime)
-
-  elif scenario == Scenario.GPS_TUNNEL:
-    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
-    gps = [x for x in logs if x.which() in GPS_MESSAGES]
-    logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime)
-
   elif scenario == Scenario.GYRO_OFF:
     logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
 
@@ -116,52 +94,7 @@ class TestLocationdScenarios:
       - roll: unchanged
     """
     orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-
-  def test_gps_off(self):
-    """
-    Test: no GPS message for the entire segment
-    Expected Result:
-      - yaw_rate: unchanged
-      - roll:
-      - gpsOK: False
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-
-  def test_gps_off_midway(self):
-    """
-    Test: no GPS message for the second half of the segment
-    Expected Result:
-      - yaw_rate: unchanged
-      - roll:
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-
-  def test_gps_on_midway(self):
-    """
-    Test: no GPS message for the first half of the segment
-    Expected Result:
-      - yaw_rate: unchanged
-      - roll:
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))
-
-  def test_gps_tunnel(self):
-    """
-    Test: no GPS message for the middle section of the segment
-    Expected Result:
-      - yaw_rate: unchanged
-      - roll:
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
 
   def test_gyro_off(self):
@@ -186,7 +119,7 @@ class TestLocationdScenarios:
       - inputsOK: False for some time after the spike, True for the rest
     """
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
     assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
     assert np.diff(replayed_data['inputs_flag'])[696] == 1.0
@@ -211,5 +144,5 @@ class TestLocationdScenarios:
     Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
     """
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
-    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.25))
+    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5e4e1d3ffb..ff04274f90 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -459,13 +459,6 @@ def controlsd_config_callback(params, cfg, lr):
   cfg.pubs = set(cfg.pubs) - sub_keys
 
 
-def locationd_config_pubsub_callback(params, cfg, lr):
-  ublox = params.get_bool("UbloxAvailable")
-  sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
-
-  cfg.pubs = set(cfg.pubs) - sub_keys
-
-
 CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
@@ -531,13 +524,13 @@ CONFIGS = [
   ProcessConfig(
     proc_name="locationd",
     pubs=[
-      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
-      "liveCalibration", "carState", "gpsLocation"
+      "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
     ],
     subs=["livePose"],
     ignore=["logMonoTime"],
-    config_callback=locationd_config_pubsub_callback,
+    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
+    unlocked_pubs=["accelerometer", "gyroscope"],
   ),
   ProcessConfig(
     proc_name="paramsd",
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a110082a23..4942a6920a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-bf2bc833e238ec36c0519162edcaad743fad6dc5
\ No newline at end of file
+c2022c388da6eb2e26bb23ad6009be9d5314c0be
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b9b2a8043b..9dd781e89d 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -32,7 +32,7 @@ CPU usage budget
 * total CPU usage of openpilot (sum(PROCS.values())
   should not exceed MAX_TOTAL_CPU
 """
-MAX_TOTAL_CPU = 250.  # total for all 8 cores
+MAX_TOTAL_CPU = 260.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
@@ -40,7 +40,6 @@ PROCS = {
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
-  "./locationd": 11.0,
   "selfdrive.controls.plannerd": 11.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
@@ -51,6 +50,7 @@ PROCS = {
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
+  "selfdrive.locationd.locationd": 25.0,
   "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 791d26a8f4..4688951620 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -59,7 +59,7 @@ procs = [
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
-  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
+  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),

From 6dba364556bb5eb9cc516bd3d408f1ed16a34bcb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 4 Sep 2024 23:03:01 +0800
Subject: [PATCH 0546/1243] locationd: remove obsolete locationd.h (#33464)

remove obsolete locationd.h
---
 selfdrive/locationd/.gitignore  |  1 -
 selfdrive/locationd/locationd.h | 99 ---------------------------------
 2 files changed, 100 deletions(-)
 delete mode 100644 selfdrive/locationd/locationd.h

diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
index 11b9f127b2..1a8c72388a 100644
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@@ -1,3 +1,2 @@
 params_learner
 paramsd
-locationd
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
deleted file mode 100644
index f59b7d4bda..0000000000
--- a/selfdrive/locationd/locationd.h
+++ /dev/null
@@ -1,99 +0,0 @@
-#pragma once
-
-#include <eigen3/Eigen/Dense>
-#include <deque>
-#include <fstream>
-#include <memory>
-#include <map>
-#include <string>
-
-#include "cereal/messaging/messaging.h"
-#include "common/transformations/coordinates.hpp"
-#include "common/transformations/orientation.hpp"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-#include "system/sensord/sensors/constants.h"
-#define VISION_DECIMATION 2
-#define SENSOR_DECIMATION 10
-#include "selfdrive/locationd/models/live_kf.h"
-
-#define POSENET_STD_HIST_HALF 20
-
-enum LocalizerGnssSource {
-  UBLOX, QCOM
-};
-
-class Localizer {
-public:
-  Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
-
-  int locationd_thread();
-
-  void reset_kalman(double current_time = NAN);
-  void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R);
-  void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
-  void finite_check(double current_time = NAN);
-  void time_check(double current_time = NAN);
-  void update_reset_tracker();
-  bool is_gps_ok();
-  bool critical_services_valid(const std::map<std::string, double> &critical_services);
-  bool is_timestamp_valid(double current_time);
-  void determine_gps_mode(double current_time);
-  bool are_inputs_ok();
-  void observation_timings_invalid_reset();
-
-  void build_pose_message(
-    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
-  void build_live_pose(cereal::LivePose::Builder& fix);
-
-  Eigen::VectorXd get_position_geodetic();
-  Eigen::VectorXd get_state();
-  Eigen::VectorXd get_stdev();
-
-  void handle_msg_bytes(const char *data, const size_t size);
-  void handle_msg(const cereal::Event::Reader& log);
-  void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
-  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
-  void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
-  void handle_car_state(double current_time, const cereal::CarState::Reader& log);
-  void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
-  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
-
-  void input_fake_gps_observations(double current_time);
-
-private:
-  std::unique_ptr<LiveKalman> kf;
-
-  Eigen::VectorXd calib;
-  MatrixXdr device_from_calib;
-  MatrixXdr calib_from_device;
-  bool calibrated = false;
-
-  double car_speed = 0.0;
-  double last_reset_time = NAN;
-  std::deque<double> posenet_stds;
-
-  std::unique_ptr<LocalCoord> converter;
-
-  int64_t unix_timestamp_millis = 0;
-  double reset_tracker = 0.0;
-  bool gps_mode = false;
-  double first_valid_log_time = NAN;
-  double ttff = NAN;
-  double last_gps_msg = 0;
-  LocalizerGnssSource gnss_source;
-  bool observation_timings_invalid = false;
-  std::map<std::string, double> observation_values_invalid;
-  bool standstill = true;
-  int32_t orientation_reset_count = 0;
-  float gps_std_factor;
-  float gps_variance_factor;
-  float gps_vertical_variance_factor;
-  double gps_time_offset;
-  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
-
-  void configure_gnss_source(const LocalizerGnssSource &source);
-};

From 41408516f06f66a258bdf42c7b75d1fa42df5864 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 4 Sep 2024 13:27:44 -0700
Subject: [PATCH 0547/1243] Cleanup lfs tracking (#33471)

* clean

* format

* Revert "format"

This reverts commit 461e2649f702c4d19c5c01e7ba654d137083118f.
---
 .gitattributes | 70 +-------------------------------------------------
 1 file changed, 1 insertion(+), 69 deletions(-)

diff --git a/.gitattributes b/.gitattributes
index 3a1f47eda0..8781a7371f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -9,6 +9,7 @@
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
+
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
@@ -21,72 +22,3 @@ third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
 third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
 third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
 third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
-*.ico filter=lfs diff=lfs merge=lfs -text
-*.apk filter=lfs diff=lfs merge=lfs -text
-*.apkpatch filter=lfs diff=lfs merge=lfs -text
-*.jar filter=lfs diff=lfs merge=lfs -text
-*.pdf filter=lfs diff=lfs merge=lfs -text
-*.jpg filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.thneed filter=lfs diff=lfs merge=lfs -text
-*.tar.gz filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.csv filter=lfs diff=lfs merge=lfs -text
-*.a filter=lfs diff=lfs merge=lfs -text
-*.so* filter=lfs diff=lfs merge=lfs -text
-*.dylib filter=lfs diff=lfs merge=lfs -text
-*.o filter=lfs diff=lfs merge=lfs -text
-*.b64 filter=lfs diff=lfs merge=lfs -text
-selfdrive/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/boardd/tests/test_boardd filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/spinner_aarch64 filter=lfs diff=lfs merge=lfs -text
-installer/updater/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/debug/profiling/simpleperf/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/hardware/eon/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/text_aarch64 filter=lfs diff=lfs merge=lfs -text
-selfdrive/debug/profiling/pyflame/**/* filter=lfs diff=lfs merge=lfs -text
-installer/installers/installer_openpilot filter=lfs diff=lfs merge=lfs -text
-installer/installers/installer_dashcam filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/text/text filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/android/text/text filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/spinner/spinner filter=lfs diff=lfs merge=lfs -text
-selfdrive/visiond/visiond filter=lfs diff=lfs merge=lfs -text
-selfdrive/loggerd/loggerd filter=lfs diff=lfs merge=lfs -text
-selfdrive/sensord/sensord filter=lfs diff=lfs merge=lfs -text
-selfdrive/sensord/gpsd filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/android/spinner/spinner filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/spinner filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/text filter=lfs diff=lfs merge=lfs -text
-_stringdefs.py filter=lfs diff=lfs merge=lfs -text
-dfu-util-aarch64-linux filter=lfs diff=lfs merge=lfs -text
-dfu-util-aarch64 filter=lfs diff=lfs merge=lfs -text
-dfu-util-x86_64-linux filter=lfs diff=lfs merge=lfs -text
-dfu-util-x86_64 filter=lfs diff=lfs merge=lfs -text
-stb_image.h filter=lfs diff=lfs merge=lfs -text
-clpeak3 filter=lfs diff=lfs merge=lfs -text
-clwaste filter=lfs diff=lfs merge=lfs -text
-apk/**/* filter=lfs diff=lfs merge=lfs -text
-external/**/* filter=lfs diff=lfs merge=lfs -text
-phonelibs/**/* filter=lfs diff=lfs merge=lfs -text
-third_party/boringssl/**/* filter=lfs diff=lfs merge=lfs -text
-pyextra/**/* filter=lfs diff=lfs merge=lfs -text
-panda/board/**/inc/*.h filter=lfs diff=lfs merge=lfs -text
-panda/board/obj/*.elf filter=lfs diff=lfs merge=lfs -text
-board/inc/*.h filter=lfs diff=lfs merge=lfs -text
-third_party/nanovg/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
-third_party/android_hardware_libhardware/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
-*.pro filter=lfs diff=lfs merge=lfs -text
-selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/controls/lib/lateral_mpc/mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
-third_party/curl/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/modeld/thneed/debug/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/modeld/thneed/include/**/* filter=lfs diff=lfs merge=lfs -text
-third_party/openmax/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
-selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
-Pipfile filter=lfs diff=lfs merge=lfs -text
-Pipfile.lock filter=lfs diff=lfs merge=lfs -text
-poetry.lock filter=lfs diff=lfs merge=lfs -text
-*.qm filter=lfs diff=lfs merge=lfs -text

From 655a7464bd84ef30e6c45b9d3e55f6aea0a834ec Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 4 Sep 2024 13:31:05 -0700
Subject: [PATCH 0548/1243] bump opendbc for Volt 2019 (#33448)

* bump

old-commit-hash: 19a05bfa0fe439d9b2243cc8a3dc15c2e8b9a946

* bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index f383e5cc64..ff198e9af1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f383e5cc64d105e90b8133d58dc18490b79153fb
+Subproject commit ff198e9af1cea1ab93d24b01beeb04ab3f2de742

From 5521ab6d53a09337a342c5912ee97990c6e46051 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 4 Sep 2024 14:29:52 -0700
Subject: [PATCH 0549/1243] Joystick: utilize left/right trigger for gas/brakes
 (#33474)

* try

* clean up

* flip

* Update tools/joystick/joystickd.py
---
 tools/joystick/joystickd.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index bb8f483835..982af9767f 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -45,8 +45,10 @@ class Joystick:
     # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
     # TODO: the mapping can also be wrong on PC depending on the driver
     self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
-    accel_axis = 'ABS_Y'
+    accel_axis = 'ABS_RX'
     steer_axis = 'ABS_Z'
+    # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
+    self.flip_map = {'ABS_RY': accel_axis}
     self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
     self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
     self.axes_values = {accel_axis: 0., steer_axis: 0.}
@@ -56,6 +58,11 @@ class Joystick:
   def update(self):
     joystick_event = get_gamepad()[0]
     event = (joystick_event.code, joystick_event.state)
+
+    # flip left trigger to negative accel
+    if event[0] in self.flip_map:
+      event = (self.flip_map[event[0]], -event[1])
+
     if event[0] == self.cancel_button:
       if event[1] == 1:
         self.cancel = True
@@ -66,7 +73,7 @@ class Joystick:
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
-      norm = norm if abs(norm) > 0.02 else 0.  # center can be noisy, deadzone of 2%
+      norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
       self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm  # less action near center for fine control
     else:
       return False

From f2476637275e651f250214c2c580aabc3e4d252a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 4 Sep 2024 16:24:33 -0700
Subject: [PATCH 0550/1243] process_replay: liveLocationKalman migration
 (#33472)

* migrate_livePose

* Remove unused param

* Dont migrate if livePose is there
---
 selfdrive/test/process_replay/migration.py    | 47 ++++++++++++++-----
 .../test/process_replay/process_replay.py     |  2 +-
 2 files changed, 37 insertions(+), 12 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 46130f8554..07979a06cc 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -9,13 +9,14 @@ from panda import Panda
 
 
 # TODO: message migration should happen in-place
-def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
-  msgs = migrate_sensorEvents(lr, old_logtime)
-  msgs = migrate_carParams(msgs, old_logtime)
+def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
+  msgs = migrate_sensorEvents(lr)
+  msgs = migrate_carParams(msgs)
   msgs = migrate_gpsLocation(msgs)
   msgs = migrate_deviceState(msgs)
   msgs = migrate_carOutput(msgs)
   msgs = migrate_controlsState(msgs)
+  msgs = migrate_liveLocationKalman(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -27,6 +28,33 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   return msgs
 
 
+def migrate_liveLocationKalman(lr):
+  # migration needed only for routes before livePose
+  if any(msg.which() == 'livePose' for msg in lr):
+    return lr
+
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != 'liveLocationKalmanDEPRECATED':
+      all_msgs.append(msg)
+      continue
+
+    m = messaging.new_message('livePose')
+    m.valid = msg.valid
+    m.logMonoTime = msg.logMonoTime
+    for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
+      lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
+      lp_field.x, lp_field.y, lp_field.z = llk_field.value
+      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
+      lp_field.valid = llk_field.valid
+    for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
+      setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
+
+    all_msgs.append(m.as_reader())
+
+  return all_msgs
+
+
 def migrate_controlsState(lr):
   ret = []
   last_cs = None
@@ -225,7 +253,7 @@ def migrate_cameraStates(lr):
   return all_msgs
 
 
-def migrate_carParams(lr, old_logtime=False):
+def migrate_carParams(lr):
   all_msgs = []
   for msg in lr:
     if msg.which() == 'carParams':
@@ -233,15 +261,14 @@ def migrate_carParams(lr, old_logtime=False):
       CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName
-      if old_logtime:
-        CP.logMonoTime = msg.logMonoTime
+      CP.logMonoTime = msg.logMonoTime
       msg = CP.as_reader()
     all_msgs.append(msg)
 
   return all_msgs
 
 
-def migrate_sensorEvents(lr, old_logtime=False):
+def migrate_sensorEvents(lr):
   all_msgs = []
   for msg in lr:
     if msg.which() != 'sensorEventsDEPRECATED':
@@ -265,16 +292,14 @@ def migrate_sensorEvents(lr, old_logtime=False):
 
       m = messaging.new_message(sensor_service)
       m.valid = True
-      if old_logtime:
-        m.logMonoTime = msg.logMonoTime
+      m.logMonoTime = msg.logMonoTime
 
       m_dat = getattr(m, sensor_service)
       m_dat.version = evt.version
       m_dat.sensor = evt.sensor
       m_dat.type = evt.type
       m_dat.source = evt.source
-      if old_logtime:
-        m_dat.timestamp = evt.timestamp
+      m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
       all_msgs.append(m.as_reader())
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index ff04274f90..3a933fefc9 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -649,7 +649,7 @@ def replay_process(
   else:
     cfgs = [cfg]
 
-  all_msgs = migrate_all(lr, old_logtime=True,
+  all_msgs = migrate_all(lr,
                          manager_states=True,
                          panda_states=any("pandaStates" in cfg.pubs for cfg in cfgs),
                          camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))

From 54a2626e4449b69e08a716360493d71062d9a8a0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 4 Sep 2024 16:29:04 -0700
Subject: [PATCH 0551/1243] Joystick: improve angle control (#33475)

* calculate max angle/curvature with speed

* don't inflate to inf

* screw radians

* up limit a bit
---
 selfdrive/controls/controlsd.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c3f1b9ba7e..27cf7c2134 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -38,6 +38,8 @@ LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
 CAMERA_OFFSET = 0.04
 
+JOYSTICK_MAX_LAT_ACCEL = 2.5  # m/s^2
+
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -591,9 +593,11 @@ class Controls:
           actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
 
         if CC.latActive:
+          max_curvature = JOYSTICK_MAX_LAT_ACCEL / max(CS.vEgo ** 2, 1)
+          max_angle = math.degrees(self.VM.get_steer_from_curvature(max_curvature, CS.vEgo, lp.roll))
+
           steer = clip(joystick_axes[1], -1, 1)
-          # max angle is 45 for angle-based cars, max curvature is 0.02
-          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 90., steer * -0.02
+          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * max_angle, steer * -max_curvature
 
         lac_log.active = self.active
         lac_log.steeringAngleDeg = CS.steeringAngleDeg

From 77f4f57e73eb5219a3641899c9d4e48b53f0f47c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 4 Sep 2024 16:44:28 -0700
Subject: [PATCH 0552/1243] controlsd: pull out selfdrive state machine
 (#33477)

* controlsd: pull out selfdrive state machine

* cleanup test

* cleanup
---
 selfdrive/controls/controlsd.py               | 105 ++----------------
 selfdrive/controls/lib/selfdrive.py           |  98 ++++++++++++++++
 .../controls/tests/test_state_machine.py      |  92 +++++++--------
 3 files changed, 148 insertions(+), 147 deletions(-)
 create mode 100644 selfdrive/controls/lib/selfdrive.py

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 27cf7c2134..a56c335ed4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -29,11 +29,11 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, S
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.controls.lib.selfdrive import StateMachine
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
 from openpilot.system.hardware import HARDWARE
 
-SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
 CAMERA_OFFSET = 0.04
@@ -58,8 +58,6 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
-ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
-ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 
 class Controls:
@@ -141,10 +139,8 @@ class Controls:
       self.LaC = LatControlTorque(self.CP, self.CI)
 
     self.initialized = False
-    self.state = State.disabled
     self.enabled = False
     self.active = False
-    self.soft_disable_timer = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
     self.last_blinker_frame = 0
@@ -152,7 +148,6 @@ class Controls:
     self.distance_traveled = 0
     self.last_functional_fan_frame = 0
     self.events_prev = []
-    self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.steer_limited = False
@@ -160,6 +155,7 @@ class Controls:
     self.experimental_mode = False
     self.personality = self.read_personality_param()
     self.recalibrating_seen = False
+    self.state_machine = StateMachine()
 
     self.can_log_mono_time = 0
 
@@ -181,7 +177,7 @@ class Controls:
 
   def set_initial_state(self):
     if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
-        self.state = State.enabled
+        self.state_machine.state = State.enabled
 
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
@@ -439,89 +435,6 @@ class Controls:
 
     return CS
 
-  def state_transition(self, CS):
-    """Compute conditional state transitions and execute actions on state transitions"""
-
-    # decrement the soft disable timer at every step, as it's reset on
-    # entrance in SOFT_DISABLING state
-    self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
-
-    self.current_alert_types = [ET.PERMANENT]
-
-    # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
-    if self.state != State.disabled:
-      # user and immediate disable always have priority in a non-disabled state
-      if self.events.contains(ET.USER_DISABLE):
-        self.state = State.disabled
-        self.current_alert_types.append(ET.USER_DISABLE)
-
-      elif self.events.contains(ET.IMMEDIATE_DISABLE):
-        self.state = State.disabled
-        self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
-
-      else:
-        # ENABLED
-        if self.state == State.enabled:
-          if self.events.contains(ET.SOFT_DISABLE):
-            self.state = State.softDisabling
-            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
-            self.current_alert_types.append(ET.SOFT_DISABLE)
-
-          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
-            self.state = State.overriding
-            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
-
-        # SOFT DISABLING
-        elif self.state == State.softDisabling:
-          if not self.events.contains(ET.SOFT_DISABLE):
-            # no more soft disabling condition, so go back to ENABLED
-            self.state = State.enabled
-
-          elif self.soft_disable_timer > 0:
-            self.current_alert_types.append(ET.SOFT_DISABLE)
-
-          elif self.soft_disable_timer <= 0:
-            self.state = State.disabled
-
-        # PRE ENABLING
-        elif self.state == State.preEnabled:
-          if not self.events.contains(ET.PRE_ENABLE):
-            self.state = State.enabled
-          else:
-            self.current_alert_types.append(ET.PRE_ENABLE)
-
-        # OVERRIDING
-        elif self.state == State.overriding:
-          if self.events.contains(ET.SOFT_DISABLE):
-            self.state = State.softDisabling
-            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
-            self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)):
-            self.state = State.enabled
-          else:
-            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
-
-    # DISABLED
-    elif self.state == State.disabled:
-      if self.events.contains(ET.ENABLE):
-        if self.events.contains(ET.NO_ENTRY):
-          self.current_alert_types.append(ET.NO_ENTRY)
-
-        else:
-          if self.events.contains(ET.PRE_ENABLE):
-            self.state = State.preEnabled
-          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
-            self.state = State.overriding
-          else:
-            self.state = State.enabled
-          self.current_alert_types.append(ET.ENABLE)
-
-    # Check if openpilot is engaged and actuators are enabled
-    self.enabled = self.state in ENABLED_STATES
-    self.active = self.state in ACTIVE_STATES
-    if self.active:
-      self.current_alert_types.append(ET.WARNING)
-
   def state_control(self, CS):
     """Given the state, this function returns a CarControl packet"""
 
@@ -704,13 +617,14 @@ class Controls:
       self.events.add(EventName.ldw)
 
     clear_event_types = set()
-    if ET.WARNING not in self.current_alert_types:
+    if ET.WARNING not in self.state_machine.current_alert_types:
       clear_event_types.add(ET.WARNING)
     if self.enabled:
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
-    alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer, pers])
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
+                                                                                self.state_machine.soft_disable_timer, pers])
     self.AM.add_many(self.sm.frame, alerts)
     current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
     if current_alert:
@@ -725,7 +639,7 @@ class Controls:
         self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
 
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
-                  (self.state == State.softDisabling)
+                  (self.state_machine.state == State.softDisabling)
 
     # Curvature & Steering angle
     lp = self.sm['liveParameters']
@@ -773,7 +687,7 @@ class Controls:
       ss.alertSound = current_alert.audible_alert
     ss.enabled = self.enabled
     ss.active = self.active
-    ss.state = self.state
+    ss.state = self.state_machine.state
     ss.engageable = not self.events.contains(ET.NO_ENTRY)
     ss.experimentalMode = self.experimental_mode
     ss.personality = self.personality
@@ -802,8 +716,7 @@ class Controls:
     cloudlog.timestamp("Events updated")
 
     if not self.CP.passive and self.initialized:
-      # Update control state
-      self.state_transition(CS)
+      self.enabled, self.active = self.state_machine.update(self.events)
 
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
diff --git a/selfdrive/controls/lib/selfdrive.py b/selfdrive/controls/lib/selfdrive.py
new file mode 100644
index 0000000000..adbcd1d926
--- /dev/null
+++ b/selfdrive/controls/lib/selfdrive.py
@@ -0,0 +1,98 @@
+from cereal import log
+from openpilot.selfdrive.controls.lib.events import Events, ET
+from openpilot.common.realtime import DT_CTRL
+
+State = log.SelfdriveState.OpenpilotState
+
+SOFT_DISABLE_TIME = 3  # seconds
+ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
+ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
+
+class StateMachine:
+  def __init__(self):
+    self.current_alert_types = [ET.PERMANENT]
+    self.state = State.disabled
+    self.soft_disable_timer = 0
+
+  def update(self, events: Events):
+    # decrement the soft disable timer at every step, as it's reset on
+    # entrance in SOFT_DISABLING state
+    self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
+
+    self.current_alert_types = [ET.PERMANENT]
+
+    # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
+    if self.state != State.disabled:
+      # user and immediate disable always have priority in a non-disabled state
+      if events.contains(ET.USER_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.USER_DISABLE)
+
+      elif events.contains(ET.IMMEDIATE_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
+
+      else:
+        # ENABLED
+        if self.state == State.enabled:
+          if events.contains(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+
+          elif events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL):
+            self.state = State.overriding
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
+
+        # SOFT DISABLING
+        elif self.state == State.softDisabling:
+          if not events.contains(ET.SOFT_DISABLE):
+            # no more soft disabling condition, so go back to ENABLED
+            self.state = State.enabled
+
+          elif self.soft_disable_timer > 0:
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+
+          elif self.soft_disable_timer <= 0:
+            self.state = State.disabled
+
+        # PRE ENABLING
+        elif self.state == State.preEnabled:
+          if not events.contains(ET.PRE_ENABLE):
+            self.state = State.enabled
+          else:
+            self.current_alert_types.append(ET.PRE_ENABLE)
+
+        # OVERRIDING
+        elif self.state == State.overriding:
+          if events.contains(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+          elif not (events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL)):
+            self.state = State.enabled
+          else:
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
+
+    # DISABLED
+    elif self.state == State.disabled:
+      if events.contains(ET.ENABLE):
+        if events.contains(ET.NO_ENTRY):
+          self.current_alert_types.append(ET.NO_ENTRY)
+
+        else:
+          if events.contains(ET.PRE_ENABLE):
+            self.state = State.preEnabled
+          elif events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL):
+            self.state = State.overriding
+          else:
+            self.state = State.enabled
+          self.current_alert_types.append(ET.ENABLE)
+
+    # Check if openpilot is engaged and actuators are enabled
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+    if active:
+      self.current_alert_types.append(ET.WARNING)
+    return enabled, active
+
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index a42cd6056b..d2117b3342 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -1,10 +1,7 @@
-from cereal import car, log
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.mock.values import CAR as MOCK
+from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
-from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
-                                          AudibleAlert, EVENTS
+from openpilot.selfdrive.controls.lib.selfdrive import StateMachine, SOFT_DISABLE_TIME
+from openpilot.selfdrive.controls.lib.events import Events, ET, EVENTS, NormalPermanentAlert
 
 State = log.SelfdriveState.OpenpilotState
 
@@ -19,84 +16,77 @@ ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE
 def make_event(event_types):
   event = {}
   for ev in event_types:
-    event[ev] = Alert("", "", AlertStatus.normal, AlertSize.small, Priority.LOW,
-                      VisualAlert.none, AudibleAlert.none, 1.)
+    event[ev] = NormalPermanentAlert("alert")
   EVENTS[0] = event
   return 0
 
 
 class TestStateMachine:
-
   def setup_method(self):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[MOCK.MOCK]
-    CP = CarInterface.get_non_essential_params(MOCK.MOCK)
-    CI = CarInterface(CP, CarController, CarState)
-
-    self.controlsd = Controls(CI=CI)
-    self.controlsd.events = Events()
-    self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
-    self.CS = car.CarState()
+    self.events = Events()
+    self.state_machine = StateMachine()
+    self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
 
   def test_immediate_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
-        self.controlsd.state = state
-        self.controlsd.state_transition(self.CS)
-        assert State.disabled == self.controlsd.state
-        self.controlsd.events.clear()
+        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
 
   def test_user_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
-        self.controlsd.state = state
-        self.controlsd.state_transition(self.CS)
-        assert State.disabled == self.controlsd.state
-        self.controlsd.events.clear()
+        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.preEnabled:  # preEnabled considers NO_ENTRY instead
         continue
       for et in MAINTAIN_STATES[state]:
-        self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
-        self.controlsd.state = state
-        self.controlsd.state_transition(self.CS)
-        assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling
-        self.controlsd.events.clear()
+        self.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
+        self.events.clear()
 
   def test_soft_disable_timer(self):
-    self.controlsd.state = State.enabled
-    self.controlsd.events.add(make_event([ET.SOFT_DISABLE]))
-    self.controlsd.state_transition(self.CS)
+    self.state_machine.state = State.enabled
+    self.events.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events)
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
-      assert self.controlsd.state == State.softDisabling
-      self.controlsd.state_transition(self.CS)
+      assert self.state_machine.state == State.softDisabling
+      self.state_machine.update(self.events)
 
-    assert self.controlsd.state == State.disabled
+    assert self.state_machine.state == State.disabled
 
   def test_no_entry(self):
     # Make sure noEntry keeps us disabled
     for et in ENABLE_EVENT_TYPES:
-      self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
-      self.controlsd.state_transition(self.CS)
-      assert self.controlsd.state == State.disabled
-      self.controlsd.events.clear()
+      self.events.add(make_event([ET.NO_ENTRY, et]))
+      self.state_machine.update(self.events)
+      assert self.state_machine.state == State.disabled
+      self.events.clear()
 
   def test_no_entry_pre_enable(self):
     # preEnabled with noEntry event
-    self.controlsd.state = State.preEnabled
-    self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
-    self.controlsd.state_transition(self.CS)
-    assert self.controlsd.state == State.preEnabled
+    self.state_machine.state = State.preEnabled
+    self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
+    self.state_machine.update(self.events)
+    assert self.state_machine.state == State.preEnabled
 
   def test_maintain_states(self):
     # Given current state's event type, we should maintain state
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.controlsd.state = state
-        self.controlsd.events.add(make_event([et]))
-        self.controlsd.state_transition(self.CS)
-        assert self.controlsd.state == state
-        self.controlsd.events.clear()
+        self.state_machine.state = state
+        self.events.add(make_event([et]))
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == state
+        self.events.clear()

From 73d31d50c41b312869d409fd2329dcacf8333d3f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 4 Sep 2024 17:45:09 -0700
Subject: [PATCH 0553/1243] controlsd: pull out LDW (#33479)

* controlsd: pull out LDW

* cleanup

* good ol mypy
---
 selfdrive/controls/controlsd.py | 50 +++++++++++----------------------
 selfdrive/controls/lib/ldw.py   | 41 +++++++++++++++++++++++++++
 2 files changed, 57 insertions(+), 34 deletions(-)
 create mode 100644 selfdrive/controls/lib/ldw.py

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a56c335ed4..d9e258f07f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -22,6 +22,7 @@ from openpilot.common.gps import get_gps_location_service
 from opendbc.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_startup_event
+from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -34,10 +35,6 @@ from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
 from openpilot.system.hardware import HARDWARE
 
-LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
-LANE_DEPARTURE_THRESHOLD = 0.1
-CAMERA_OFFSET = 0.04
-
 JOYSTICK_MAX_LAT_ACCEL = 2.5  # m/s^2
 
 REPLAY = "REPLAY" in os.environ
@@ -48,7 +45,6 @@ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
 PandaType = log.PandaState.PandaType
-Desire = log.Desire
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
 EventName = car.OnroadEvent.EventName
@@ -130,6 +126,8 @@ class Controls:
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
 
+    self.ldw = LaneDepartureWarning()
+
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CI)
@@ -143,7 +141,6 @@ class Controls:
     self.active = False
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.last_blinker_frame = 0
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
     self.last_functional_fan_frame = 0
@@ -382,6 +379,13 @@ class Controls:
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        self.personality = (self.personality - 1) % 3
+        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.events.add(EventName.personalityChanged)
+
   def data_sample(self):
     """Receive data from sockets"""
 
@@ -557,13 +561,6 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    # decrement personality on distance button press
-    if self.CP.openpilotLongitudinalControl:
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-        self.events.add(EventName.personalityChanged)
-
     return CC, lac_log
 
   def publish_logs(self, CS, CC, lac_log):
@@ -594,27 +591,12 @@ class Controls:
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
 
-    recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
-    ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
-                  and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated
-
-    model_v2 = self.sm['modelV2']
-    desire_prediction = model_v2.meta.desirePrediction
-    if len(desire_prediction) and ldw_allowed:
-      right_lane_visible = model_v2.laneLineProbs[2] > 0.5
-      left_lane_visible = model_v2.laneLineProbs[1] > 0.5
-      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft]
-      r_lane_change_prob = desire_prediction[Desire.laneChangeRight]
-
-      lane_lines = model_v2.laneLines
-      l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
-      r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
-
-      hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
-      hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
-
-    if hudControl.rightLaneDepart or hudControl.leftLaneDepart:
-      self.events.add(EventName.ldw)
+    self.ldw.update(self.sm.frame, self.sm['modelV2'], CS, CC)
+    if self.is_ldw_enabled and  self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated:
+      hudControl.leftLaneDepart = self.ldw.left
+      hudControl.rightLaneDepart = self.ldw.right
+      if self.ldw.warning:
+        self.events.add(EventName.ldw)
 
     clear_event_types = set()
     if ET.WARNING not in self.state_machine.current_alert_types:
diff --git a/selfdrive/controls/lib/ldw.py b/selfdrive/controls/lib/ldw.py
new file mode 100644
index 0000000000..caf03fec73
--- /dev/null
+++ b/selfdrive/controls/lib/ldw.py
@@ -0,0 +1,41 @@
+from cereal import log
+from openpilot.common.realtime import DT_CTRL
+from openpilot.common.conversions import Conversions as CV
+
+
+CAMERA_OFFSET = 0.04
+LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
+LANE_DEPARTURE_THRESHOLD = 0.1
+
+class LaneDepartureWarning:
+  def __init__(self):
+    self.left = False
+    self.right = False
+    self.last_blinker_frame = 0
+
+  def update(self, frame, modelV2, CS, CC):
+    if CS.leftBlinker or CS.rightBlinker:
+      self.last_blinker_frame = frame
+
+    recent_blinker = (frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
+    ldw_allowed = CS.vEgo > LDW_MIN_SPEED and not recent_blinker and not CC.latActive
+
+    desire_prediction = modelV2.meta.desirePrediction
+    if len(desire_prediction) and ldw_allowed:
+      right_lane_visible = modelV2.laneLineProbs[2] > 0.5
+      left_lane_visible = modelV2.laneLineProbs[1] > 0.5
+      l_lane_change_prob = desire_prediction[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_prediction[log.Desire.laneChangeRight]
+
+      lane_lines = modelV2.laneLines
+      l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
+      r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
+
+      self.left = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
+      self.right = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
+    else:
+      self.left, self.right = False, False
+
+  @property
+  def warning(self) -> bool:
+    return bool(self.left or self.right)

From e39466f53523b3ffd3d101cde0ab8d5be74a5f57 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 5 Sep 2024 13:50:58 -0700
Subject: [PATCH 0554/1243] bump opendbc (#33482)

* bump

* update
---
 docs/CARS.md | 2 +-
 opendbc_repo | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e4813eb1d9..02ed887864 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -126,7 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index ff198e9af1..86be858a37 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ff198e9af1cea1ab93d24b01beeb04ab3f2de742
+Subproject commit 86be858a37217d003e8d8b0097522656df7a5870

From e0be4a1f851cf1f3b39bdf4a488ce1f05f58aa1c Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 6 Sep 2024 07:24:25 +0800
Subject: [PATCH 0555/1243] ci: eliminate unnecessary sleep to shorten UI
 report run time (#33462)

reduce sleep
---
 selfdrive/ui/tests/test_ui/run.py | 20 ++++----------------
 1 file changed, 4 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 1a075b3c44..c8b14dad95 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -34,34 +34,24 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
-def setup_common(click, pm: PubMaster):
-  Params().put("DongleId", "123456789012345")
-  pm.send('deviceState', DATA['deviceState'])
-
 def setup_homescreen(click, pm: PubMaster):
-  setup_common(click, pm)
+  pass
 
 def setup_settings_device(click, pm: PubMaster):
-  setup_common(click, pm)
-
   click(100, 100)
 
 def setup_onroad(click, pm: PubMaster):
-  setup_common(click, pm)
-
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
     vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
   vipc_server.start_listener()
 
-  packet_id = 0
-  for _ in range(20):
+  for packet_id in range(20):
     for service, data in DATA.items():
       if data:
         data.clear_write_flag()
         pm.send(service, data)
 
-    packet_id = packet_id + 1
     for stream_type, _, image in STREAMS:
       vipc_server.send(stream_type, image, packet_id, packet_id, packet_id)
 
@@ -116,7 +106,6 @@ def setup_onroad_alert_full(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
 
 def setup_offroad_alert(click, pm: PubMaster):
-  setup_common(click, pm)
   for alert in OFFROAD_ALERTS:
     set_offroad_alert(alert, True)
 
@@ -125,7 +114,6 @@ def setup_offroad_alert(click, pm: PubMaster):
   click(240, 216)
 
 def setup_update_available(click, pm: PubMaster):
-  setup_common(click, pm)
   Params().put_bool("UpdateAvailable", True)
   release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
   with open(release_notes_path) as file:
@@ -164,11 +152,13 @@ class TestUI:
     sys.modules["mouseinfo"] = False
 
   def setup(self):
+    Params().put("DongleId", "123456789012345")
     self.sm = SubMaster(["uiDebug"])
     self.pm = PubMaster(list(DATA.keys()))
     while not self.sm.valid["uiDebug"]:
       self.sm.update(1)
     time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
+    self.pm.send('deviceState', DATA['deviceState'])
     try:
       self.ui = pywinctl.getWindowsWithTitle("ui")[0]
     except Exception as e:
@@ -195,8 +185,6 @@ class TestUI:
 
     setup_case(self.click, self.pm)
 
-    time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering
-
     im = self.screenshot()
     plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
 

From aef650013ee15e8f96ac8a56279e4c251938388e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 5 Sep 2024 16:28:57 -0700
Subject: [PATCH 0556/1243] controlsd: split up publishing and logic (#33483)

* split up the pubs

* move all event adds

* split out alerts

* lil more

* clenaup

* update test

* cleanup
---
 selfdrive/controls/controlsd.py               | 192 +++++++++---------
 selfdrive/controls/lib/alertmanager.py        |  11 +-
 .../controls/lib/tests/test_alertmanager.py   |   4 +-
 selfdrive/debug/count_events.py               |   4 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 5 files changed, 106 insertions(+), 107 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d9e258f07f..1a2136aa7a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -117,6 +117,8 @@ class Controls:
       self.params.remove("ExperimentalMode")
 
     self.CS_prev = car.CarState.new_message()
+    self.CC_prev = car.CarControl.new_message()
+    self.lac_log_prev = None
     self.AM = AlertManager()
     self.events = Events()
 
@@ -216,16 +218,10 @@ class Controls:
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
       self.events.add(EventName.overheat)
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
-      # under 7% of space free no enable allowed
       self.events.add(EventName.outOfSpace)
     if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
       self.events.add(EventName.lowMemory)
 
-    # TODO: enable this once loggerd CPU usage is more reasonable
-    #cpus = list(self.sm['deviceState'].cpuUsagePercent)
-    #if max(cpus, default=0) > 95 and not SIMULATION:
-    #  self.events.add(EventName.highCpuUsage)
-
     # Alert if fan isn't spinning for 5 seconds
     if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
       if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
@@ -248,6 +244,13 @@ class Controls:
       else:
         self.events.add(EventName.calibrationInvalid)
 
+    # Lane departure warning
+    if self.sm.valid['modelV2'] and CS.canValid:
+      self.ldw.update(self.sm.frame, self.sm['modelV2'], CS, self.CC_prev)
+      if self.is_ldw_enabled and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated:
+        if self.ldw.warning:
+          self.events.add(EventName.ldw)
+
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
@@ -348,6 +351,37 @@ class Controls:
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)
 
+    # Send a "steering required alert" if saturation count has reached the limit
+    lac_log = self.lac_log_prev
+    if CS.steeringPressed:
+      self.last_steering_pressed_frame = self.sm.frame
+    recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
+    if self.lac_log_prev is not None and self.lac_log_prev.active and not recent_steer_pressed and not self.CP.notCar:
+      lac_log = self.lac_log_prev
+      if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
+        undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
+        turning = abs(lac_log.desiredLateralAccel) > 1.0
+        good_speed = CS.vEgo > 5
+        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
+        if undershooting and turning and good_speed and max_torque:
+          self.events.add(EventName.steerSaturated)
+      elif lac_log.saturated:
+        # TODO probably should not use dpath_points but curvature
+        dpath_points = self.sm['modelV2'].position.y
+        if len(dpath_points):
+          # Check if we deviated from the path
+          # TODO use desired vs actual curvature
+          if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+            steering_value = self.CC_prev.actuators.steeringAngleDeg
+          else:
+            steering_value = self.CC_prev.actuators.steer
+
+          left_deviation = steering_value > 0 and dpath_points[0] < -0.20
+          right_deviation = steering_value < 0 and dpath_points[0] > 0.20
+
+          if left_deviation or right_deviation:
+            self.events.add(EventName.steerSaturated)
+
     # Check for FCW
     stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
     model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
@@ -521,36 +555,6 @@ class Controls:
         lac_log.output = actuators.steer
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
-    if CS.steeringPressed:
-      self.last_steering_pressed_frame = self.sm.frame
-    recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
-
-    # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and not recent_steer_pressed and not self.CP.notCar:
-      if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
-        undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
-        turning = abs(lac_log.desiredLateralAccel) > 1.0
-        good_speed = CS.vEgo > 5
-        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
-        if undershooting and turning and good_speed and max_torque:
-          lac_log.active and self.events.add(EventName.steerSaturated)
-      elif lac_log.saturated:
-        # TODO probably should not use dpath_points but curvature
-        dpath_points = model_v2.position.y
-        if len(dpath_points):
-          # Check if we deviated from the path
-          # TODO use desired vs actual curvature
-          if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-            steering_value = actuators.steeringAngleDeg
-          else:
-            steering_value = actuators.steer
-
-          left_deviation = steering_value > 0 and dpath_points[0] < -0.20
-          right_deviation = steering_value < 0 and dpath_points[0] > 0.20
-
-          if left_deviation or right_deviation:
-            self.events.add(EventName.steerSaturated)
-
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -563,9 +567,20 @@ class Controls:
 
     return CC, lac_log
 
-  def publish_logs(self, CS, CC, lac_log):
-    """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
+  def update_alerts(self, CS):
+    clear_event_types = set()
+    if ET.WARNING not in self.state_machine.current_alert_types:
+      clear_event_types.add(ET.WARNING)
+    if self.enabled:
+      clear_event_types.add(ET.NO_ENTRY)
 
+    pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
+                                                                                self.state_machine.soft_disable_timer, pers])
+    self.AM.add_many(self.sm.frame, alerts)
+    self.AM.process_alerts(self.sm.frame, clear_event_types)
+
+  def publish_carControl(self, CS, CC, lac_log):
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
     if self.calibrated_pose is not None:
@@ -591,26 +606,12 @@ class Controls:
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
 
-    self.ldw.update(self.sm.frame, self.sm['modelV2'], CS, CC)
-    if self.is_ldw_enabled and  self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated:
+    if self.sm.valid['modelV2'] and CS.canValid and self.is_ldw_enabled and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated:
       hudControl.leftLaneDepart = self.ldw.left
       hudControl.rightLaneDepart = self.ldw.right
-      if self.ldw.warning:
-        self.events.add(EventName.ldw)
 
-    clear_event_types = set()
-    if ET.WARNING not in self.state_machine.current_alert_types:
-      clear_event_types.add(ET.WARNING)
-    if self.enabled:
-      clear_event_types.add(ET.NO_ENTRY)
-
-    pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
-                                                                                self.state_machine.soft_disable_timer, pers])
-    self.AM.add_many(self.sm.frame, alerts)
-    current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
-    if current_alert:
-      hudControl.visualAlert = current_alert.visual_alert
+    if self.AM.current_alert:
+      hudControl.visualAlert = self.AM.current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
       CO = self.sm['carOutput']
@@ -620,53 +621,57 @@ class Controls:
       else:
         self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
 
-    force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
-                  (self.state_machine.state == State.softDisabling)
-
-    # Curvature & Steering angle
-    lp = self.sm['liveParameters']
-
-    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
-    curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
 
     # controlsState
     dat = messaging.new_message('controlsState')
     dat.valid = CS.canValid
-    controlsState = dat.controlsState
-    controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
-    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    controlsState.curvature = curvature
-    controlsState.desiredCurvature = self.desired_curvature
-    controlsState.longControlState = self.LoC.long_control_state
-    controlsState.upAccelCmd = float(self.LoC.pid.p)
-    controlsState.uiAccelCmd = float(self.LoC.pid.i)
-    controlsState.ufAccelCmd = float(self.LoC.pid.f)
-    controlsState.cumLagMs = -self.rk.remaining * 1000.
-    controlsState.forceDecel = bool(force_decel)
+    cs = dat.controlsState
+
+    lp = self.sm['liveParameters']
+    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
+    cs.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
+
+    cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
+    cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
+    cs.desiredCurvature = self.desired_curvature
+    cs.longControlState = self.LoC.long_control_state
+    cs.upAccelCmd = float(self.LoC.pid.p)
+    cs.uiAccelCmd = float(self.LoC.pid.i)
+    cs.ufAccelCmd = float(self.LoC.pid.f)
+    cs.cumLagMs = -self.rk.remaining * 1000.
+    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
+                         (self.state_machine.state == State.softDisabling))
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
-      controlsState.lateralControlState.debugState = lac_log
+      cs.lateralControlState.debugState = lac_log
     elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      controlsState.lateralControlState.angleState = lac_log
+      cs.lateralControlState.angleState = lac_log
     elif lat_tuning == 'pid':
-      controlsState.lateralControlState.pidState = lac_log
+      cs.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
-      controlsState.lateralControlState.torqueState = lac_log
+      cs.lateralControlState.torqueState = lac_log
 
     self.pm.send('controlsState', dat)
 
+    # carControl
+    cc_send = messaging.new_message('carControl')
+    cc_send.valid = CS.canValid
+    cc_send.carControl = CC
+    self.pm.send('carControl', cc_send)
+
+  def publish_selfdriveState(self, CS):
     # selfdriveState
     ss_msg = messaging.new_message('selfdriveState')
     ss_msg.valid = CS.canValid
     ss = ss_msg.selfdriveState
-    if current_alert:
-      ss.alertText1 = current_alert.alert_text_1
-      ss.alertText2 = current_alert.alert_text_2
-      ss.alertSize = current_alert.alert_size
-      ss.alertStatus = current_alert.alert_status
-      ss.alertType = current_alert.alert_type
-      ss.alertSound = current_alert.audible_alert
+    if self.AM.current_alert:
+      ss.alertText1 = self.AM.current_alert.alert_text_1
+      ss.alertText2 = self.AM.current_alert.alert_text_2
+      ss.alertSize = self.AM.current_alert.alert_size
+      ss.alertStatus = self.AM.current_alert.alert_status
+      ss.alertType = self.AM.current_alert.alert_type
+      ss.alertSound = self.AM.current_alert.audible_alert
     ss.enabled = self.enabled
     ss.active = self.active
     ss.state = self.state_machine.state
@@ -683,30 +688,23 @@ class Controls:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
-    # carControl
-    cc_send = messaging.new_message('carControl')
-    cc_send.valid = CS.canValid
-    cc_send.carControl = CC
-    self.pm.send('carControl', cc_send)
-
   def step(self):
-    # Sample data from sockets and get a carState
     CS = self.data_sample()
-    cloudlog.timestamp("Data sampled")
-
     self.update_events(CS)
-    cloudlog.timestamp("Events updated")
-
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
+    self.update_alerts(CS)
 
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
 
     # Publish data
-    self.publish_logs(CS, CC, lac_log)
+    self.publish_carControl(CS, CC, lac_log)
+    self.publish_selfdriveState(CS)
 
     self.CS_prev = CS
+    self.CC_prev = CC
+    self.lac_log_prev = lac_log
 
   def read_personality_param(self):
     try:
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index f67e269fa9..a3b8684871 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -34,6 +34,7 @@ class AlertEntry:
 class AlertManager:
   def __init__(self):
     self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
+    self.current_alert: Alert | None = None
 
   def add_many(self, frame: int, alerts: list[Alert]) -> None:
     for alert in alerts:
@@ -44,8 +45,8 @@ class AlertManager:
       min_end_frame = entry.start_frame + alert.duration
       entry.end_frame = max(frame + 1, min_end_frame)
 
-  def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None:
-    current_alert = AlertEntry()
+  def process_alerts(self, frame: int, clear_event_types: set):
+    ae = AlertEntry()
     for v in self.alerts.values():
       if not v.alert:
         continue
@@ -54,8 +55,8 @@ class AlertManager:
         v.end_frame = -1
 
       # sort by priority first and then by start_frame
-      greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame)
+      greater = ae.alert is None or (v.alert.priority, v.start_frame) > (ae.alert.priority, ae.start_frame)
       if v.active(frame) and greater:
-        current_alert = v
+        ae = v
 
-    return current_alert.alert
+    self.current_alert = ae.alert
diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py
index 8b9c18a9d4..bc0da0da8c 100644
--- a/selfdrive/controls/lib/tests/test_alertmanager.py
+++ b/selfdrive/controls/lib/tests/test_alertmanager.py
@@ -32,8 +32,8 @@ class TestAlertManager:
         for frame in range(duration+10):
           if frame < add_duration:
             AM.add_many(frame, [alert, ])
-          current_alert = AM.process_alerts(frame, {})
+          AM.process_alerts(frame, {})
 
-          shown = current_alert is not None
+          shown = AM.current_alert is not None
           should_show = frame <= show_duration
           assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 5942054757..4095ae3fc1 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -33,8 +33,8 @@ if __name__ == "__main__":
       if len(events) == 0 or ae != events[-1][1]:
         events.append((t, ae))
 
-    elif msg.which() == 'controlsState':
-      at = msg.controlsState.alertType
+    elif msg.which() == 'selfdriveState':
+      at = msg.selfdriveState.alertType
       if "/override" not in at or "lanechange" in at.lower():
         if len(alerts) == 0 or alerts[-1][1] != at:
           alerts.append((t, at))
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4942a6920a..90d6c85cb9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c2022c388da6eb2e26bb23ad6009be9d5314c0be
+fb0827a00b21b97733f8385cf7ce87a21a526f4c
\ No newline at end of file

From 922348f33d8b4479f8559d13cd9a6c90fd97df40 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 5 Sep 2024 22:40:17 -0700
Subject: [PATCH 0557/1243] card parses radar points (#33443)

* interfaces returns radarinterface

old-commit-hash: 9ad1f096bfca3712320f19b1b49aa9e6ac9b68e4

* bump

old-commit-hash: 20334a8b257c6037e11d02f2ba7b1f02c59f3240

* get RI from opendbc

old-commit-hash: b5f6d0c48c90927926e9dd557130075aeec5edee

* stash so far

old-commit-hash: 5aa2c842eb152316434c17a661df05bb8af61f47

* new liveTracks message (radard expects and needs RadarData)

* this should just work?

* whoops

* fix that

* rm liveTracks from radard pm

* fix proceess replay

* lol fcw diff, something's not right

* actually there's fcw in original route. it's pretty close

* no tracks!

* fix test_leads

* CPU moved across procs

* fix not engageable from onroadEvents

* bump

* fixes

* bump to master

* radard publishes w/ modelV2 now, so it will always be sent. check valid which radard sets using liveTracks avg freq

* fix that (it works!)

* combine

join

* bump

* bump

* deprecate

* why

* fix incorrect args

* remove cumLagMs from process_replay

* update refs
---
 cereal/car.capnp                              |  1 +
 cereal/log.capnp                              |  7 +--
 opendbc_repo                                  |  2 +-
 selfdrive/car/card.py                         | 37 +++++++++----
 selfdrive/car/helpers.py                      |  4 +-
 selfdrive/car/tests/test_models.py            |  2 +-
 selfdrive/controls/controlsd.py               |  4 +-
 selfdrive/controls/radard.py                  | 54 +++++--------------
 selfdrive/controls/tests/test_leads.py        | 10 ++--
 selfdrive/test/process_replay/migration.py    | 32 ++++++++++-
 .../test/process_replay/process_replay.py     | 11 ++--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/test_onroad.py                 |  4 +-
 13 files changed, 95 insertions(+), 75 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 9f72e31637..026aa7baa5 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -508,6 +508,7 @@ struct CarParams {
   carFw @44 :List(CarFw);
 
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  radarDelay @74 :Float32;
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
 
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 079b62e209..b715d14220 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -611,7 +611,6 @@ struct RadarState @0x9a185389d6fdd05f {
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
-  cumLagMs @5 :Float32;
 
   struct LeadData {
     dRel @0 :Float32;
@@ -641,6 +640,7 @@ struct RadarState @0x9a185389d6fdd05f {
   calCycleDEPRECATED @8 :Int32;
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
+  cumLagMsDEPRECATED @5 :Float32;
 }
 
 struct LiveCalibrationData {
@@ -671,7 +671,7 @@ struct LiveCalibrationData {
   }
 }
 
-struct LiveTracks {
+struct LiveTracksDEPRECATED {
   trackId @0 :Int32;
   dRel @1 :Float32;
   yRel @2 :Float32;
@@ -2335,7 +2335,7 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @16 :List(LiveTracks);
+    liveTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
     liveCalibration @19 :LiveCalibrationData;
     carState @22 :Car.CarState;
@@ -2465,5 +2465,6 @@ struct Event {
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
   }
 }
diff --git a/opendbc_repo b/opendbc_repo
index 86be858a37..c0a9ab5c39 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 86be858a37217d003e8d8b0097522656df7a5870
+Subproject commit c0a9ab5c39197d48cc920a818a85610e526f9e73
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 57b41a5cf5..541a7c44ae 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -16,8 +16,8 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 from opendbc.car import DT_CTRL, carlog, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car
-from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.car_helpers import get_car, get_radar_interface
+from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
@@ -63,13 +63,14 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
 
 class Car:
   CI: CarInterfaceBase
+  RI: RadarInterfaceBase
   CP: structs.CarParams
   CP_capnp: car.CarParams
 
-  def __init__(self, CI=None) -> None:
+  def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -101,12 +102,14 @@ class Car:
           cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
       self.CI, self.CP = CI, CI.CP
+      self.RI = RI
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -149,7 +152,7 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> car.CarState:
+  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
     """carState update loop, driven by can"""
 
     # Update carState from CAN
@@ -159,6 +162,9 @@ class Car:
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
+    # Update radar tracks from CAN
+    RD: structs.RadarData | None = self.RI.update(can_capnp_to_list(can_strs))
+
     self.sm.update(0)
 
     can_rcv_valid = len(can_strs) > 0
@@ -175,9 +181,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    return CS
+    return CS, RD
 
-  def update_events(self, CS: car.CarState):
+  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
     self.events.clear()
 
     CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
@@ -196,9 +202,12 @@ class Car:
       (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
 
+    if RD is not None and len(RD.errors):
+      self.events.add(EventName.radarFault)
+
     CS.events = self.events.to_msg()
 
-  def state_publish(self, CS: car.CarState):
+  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -222,6 +231,12 @@ class Car:
     cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
     self.pm.send('carState', cs_send)
 
+    if RD is not None:
+      tracks_msg = messaging.new_message('liveTracks')
+      tracks_msg.valid = CS.canValid and len(RD.errors) == 0
+      tracks_msg.liveTracks = convert_to_capnp(RD)
+      self.pm.send('liveTracks', tracks_msg)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
@@ -241,14 +256,14 @@ class Car:
       self.CC_prev = CC
 
   def step(self):
-    CS = self.state_update()
+    CS, RD = self.state_update()
 
-    self.update_events(CS)
+    self.update_events(CS, RD)
 
     if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
       self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
-    self.state_publish(CS)
+    self.state_publish(CS, RD)
 
     initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index f4d8993468..75e1c66d24 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -35,7 +35,7 @@ def asdictref(obj) -> dict[str, Any]:
   return _asdictref_inner(obj)
 
 
-def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder:
+def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
   struct_dict = asdictref(struct)
 
   if isinstance(struct, structs.CarParams):
@@ -51,6 +51,8 @@ def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarC
     struct_capnp = car.CarState.new_message(**struct_dict)
   elif isinstance(struct, structs.CarControl.Actuators):
     struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
+  elif isinstance(struct, structs.RadarData):
+    struct_capnp = car.RadarData.new_message(**struct_dict)
   else:
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index e8df0a8310..0548f52764 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        card.update_events(CS)
+        card.update_events(CS, None)
         card.CS_prev = CS
         button_enable = (any(evt.enable for evt in CS.events) and
                          not any(evt == EventName.pedalPressed for evt in card.events.names))
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1a2136aa7a..14ea9ebb0d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -96,7 +96,7 @@ class Controls:
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets + self.gps_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['testJoystick'], ignore_valid=['testJoystick', ],
                                   frequency=int(1/DT_CTRL))
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
@@ -301,7 +301,7 @@ class Controls:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
+    if not self.sm.valid['radarState']:
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index f3aa099bfb..f577025fa4 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -1,18 +1,15 @@
 #!/usr/bin/env python3
-import importlib
 import math
 from collections import deque
 from typing import Any
 
 import capnp
 from cereal import messaging, log, car
-from opendbc.car import structs
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
 # Default lead acceleration decay set to 50% at 1s
@@ -194,14 +191,14 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
 
 
 class RadarD:
-  def __init__(self, radar_ts: float, delay: int = 0):
+  def __init__(self, delay: float = 0.0):
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
-    self.kalman_params = KalmanParams(radar_ts)
+    self.kalman_params = KalmanParams(DT_MDL)
 
     self.v_ego = 0.0
-    self.v_ego_hist = deque([0.0], maxlen=delay+1)
+    self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
     self.last_v_ego_frame = -1
 
     self.radar_state: capnp._DynamicStructBuilder | None = None
@@ -209,7 +206,7 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr: structs.RadarData):
+  def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
@@ -255,27 +252,14 @@ class RadarD:
       self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
       self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
 
-  def publish(self, pm: messaging.PubMaster, lag_ms: float):
+  def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
 
     radar_msg = messaging.new_message("radarState")
     radar_msg.valid = self.radar_state_valid
     radar_msg.radarState = self.radar_state
-    radar_msg.radarState.cumLagMs = lag_ms
     pm.send("radarState", radar_msg)
 
-    # publish tracks for UI debugging (keep last)
-    tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
-    tracks_msg.valid = self.radar_state_valid
-    for index, tid in enumerate(sorted(self.tracks.keys())):
-      tracks_msg.liveTracks[index] = {
-        "trackId": tid,
-        "dRel": float(self.tracks[tid].dRel),
-        "yRel": float(self.tracks[tid].yRel),
-        "vRel": float(self.tracks[tid].vRel),
-      }
-    pm.send('liveTracks', tracks_msg)
-
 
 # fuses camera and radar data for best lead detection
 def main() -> None:
@@ -286,31 +270,17 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
-  # import the radar from the fingerprint
-  cloudlog.info("radard is importing %s", CP.carName)
-  RadarInterface = importlib.import_module(f'opendbc.car.{CP.carName}.radar_interface').RadarInterface
-
   # *** setup messaging
-  can_sock = messaging.sub_sock('can')
-  sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
-  pm = messaging.PubMaster(['radarState', 'liveTracks'])
+  sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
+  pm = messaging.PubMaster(['radarState'])
 
-  RI = RadarInterface(CP)
-
-  rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
-  RD = RadarD(CP.radarTimeStep, RI.delay)
+  RD = RadarD(CP.radarDelay)
 
   while 1:
-    can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr: structs.RadarData | None = RI.update(can_capnp_to_list(can_strings))
-    sm.update(0)
-    if rr is None:
-      continue
-
-    RD.update(sm, rr)
-    RD.publish(pm, -rk.remaining*1000.0)
+    sm.update()
 
-    rk.monitor_time()
+    RD.update(sm, sm['liveTracks'])
+    RD.publish(pm)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index 4b98628bf6..89582d1e64 100644
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -11,19 +11,21 @@ class TestLeads:
     def single_iter_pkg():
       # single iter package, with meaningless cans and empty carState/modelV2
       msgs = []
-      for _ in range(5):
+      for _ in range(500):
         can = messaging.new_message("can", 1)
         cs = messaging.new_message("carState")
+        cp = messaging.new_message("carParams")
         msgs.append(can.as_reader())
         msgs.append(cs.as_reader())
+        msgs.append(cp.as_reader())
       model = messaging.new_message("modelV2")
       msgs.append(model.as_reader())
 
       return msgs
 
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
-    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
-    states = [m for m in out if m.which() == "radarState"]
-    failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
+    out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
+    states = [m for m in out if m.which() == "liveTracks"]
+    failures = [not state.valid and len(state.liveTracks.errors) for state in states]
 
     assert len(states) == 0 or all(failures)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 07979a06cc..723a9ff5b3 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,6 +1,6 @@
 from collections import defaultdict
 
-from cereal import messaging
+from cereal import messaging, car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -17,6 +17,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   msgs = migrate_carOutput(msgs)
   msgs = migrate_controlsState(msgs)
   msgs = migrate_liveLocationKalman(msgs)
+  msgs = migrate_liveTracks(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -28,6 +29,35 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   return msgs
 
 
+def migrate_liveTracks(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != "liveTracksDEPRECATED":
+      all_msgs.append(msg)
+      continue
+
+    new_msg = messaging.new_message('liveTracks')
+    new_msg.valid = msg.valid
+    new_msg.logMonoTime = msg.logMonoTime
+
+    pts = []
+    for track in msg.liveTracksDEPRECATED:
+      pt = car.RadarData.RadarPoint()
+      pt.trackId = track.trackId
+
+      pt.dRel = track.dRel
+      pt.yRel = track.yRel
+      pt.vRel = track.vRel
+      pt.aRel = track.aRel
+      pt.measured = True
+      pts.append(pt)
+
+    new_msg.liveTracks.points = pts
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
 def migrate_liveLocationKalman(lr):
   # migration needed only for routes before livePose
   if any(msg.which() == 'livePose' for msg in lr):
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 3a933fefc9..78008ca909 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -480,7 +480,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="card",
     pubs=["pandaStates", "carControl", "onroadEvents", "can"],
-    subs=["sendcan", "carState", "carParams", "carOutput"],
+    subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
     ignore=["logMonoTime", "carState.cumLagMs"],
     init_callback=card_fingerprint_callback,
     should_recv_callback=card_rcv_callback,
@@ -490,12 +490,11 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="radard",
-    pubs=["can", "carState", "modelV2"],
-    subs=["radarState", "liveTracks"],
-    ignore=["logMonoTime", "radarState.cumLagMs"],
+    pubs=["liveTracks", "carState", "modelV2"],
+    subs=["radarState"],
+    ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("can"),
-    main_pub="can",
+    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
   ),
   ProcessConfig(
     proc_name="plannerd",
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 90d6c85cb9..1e3ef33c7e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fb0827a00b21b97733f8385cf7ce87a21a526f4c
\ No newline at end of file
+2b842a259e15f4b8679f16a14de405b5df06ae1f
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 9dd781e89d..b3e66444a7 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 260.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
-  "selfdrive.car.card": 26.0,
+  "selfdrive.car.card": 31.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
@@ -44,7 +44,7 @@ PROCS = {
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
-  "selfdrive.controls.radard": 7.0,
+  "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
   "system.hardware.hardwared": 3.87,

From f6d5f8fccf5994e24591edc444e31d71d6243916 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 6 Sep 2024 11:40:06 -0700
Subject: [PATCH 0558/1243] ui: controls -> selfdrive (#33487)

* ui: controls -> selfdrive

* lil more
---
 selfdrive/ui/qt/onroad/alerts.cc           | 36 +++++++++++-----------
 selfdrive/ui/qt/onroad/annotated_camera.cc |  4 +--
 selfdrive/ui/soundd.py                     | 20 ++++++------
 selfdrive/ui/tests/test_soundd.py          | 10 +++---
 selfdrive/ui/translations/main_ar.ts       | 16 +++++-----
 selfdrive/ui/translations/main_de.ts       |  8 ++---
 selfdrive/ui/translations/main_es.ts       | 16 +++++-----
 selfdrive/ui/translations/main_fr.ts       |  8 ++---
 selfdrive/ui/translations/main_ja.ts       |  8 ++---
 selfdrive/ui/translations/main_ko.ts       | 16 +++++-----
 selfdrive/ui/translations/main_pt-BR.ts    | 16 +++++-----
 selfdrive/ui/translations/main_th.ts       | 16 +++++-----
 selfdrive/ui/translations/main_tr.ts       |  8 ++---
 selfdrive/ui/translations/main_zh-CHS.ts   | 16 +++++-----
 selfdrive/ui/translations/main_zh-CHT.ts   | 16 +++++-----
 15 files changed, 107 insertions(+), 107 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index d5d2e6c0de..0236e20f16 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -19,34 +19,34 @@ void OnroadAlerts::clear() {
 }
 
 OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
-  const cereal::SelfdriveState::Reader &cs = sm["selfdriveState"].getSelfdriveState();
-  const uint64_t controls_frame = sm.rcv_frame("selfdriveState");
+  const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState();
+  const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState");
 
   Alert a = {};
-  if (controls_frame >= started_frame) {  // Don't get old alert.
-    a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-         cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
+  if (selfdrive_frame >= started_frame) {  // Don't get old alert.
+    a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(),
+         ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()};
   }
 
   if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
-    const int CONTROLS_TIMEOUT = 5;
-    const int controls_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
+    const int SELFDRIVE_STATE_TIMEOUT = 5;
+    const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
 
-    // Handle controls timeout
-    if (controls_frame < started_frame) {
+    // Handle selfdrive timeout
+    if (selfdrive_frame < started_frame) {
       // car is started, but selfdriveState hasn't been seen at all
-      a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
-           "controlsWaiting", cereal::SelfdriveState::AlertSize::MID,
+      a = {tr("openpilot Unavailable"), tr("Waiting to start"),
+           "selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID,
            cereal::SelfdriveState::AlertStatus::NORMAL};
-    } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
-      // car is started, but controls is lagging or died
-      if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
-        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
-             "controlsUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
+    } else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) {
+      // car is started, but selfdrive is lagging or died
+      if (ss.getEnabled() && (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10) {
+        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("System Unresponsive"),
+             "selfdriveUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
              cereal::SelfdriveState::AlertStatus::CRITICAL};
       } else {
-        a = {tr("Controls Unresponsive"), tr("Reboot Device"),
-             "controlsUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
+        a = {tr("System Unresponsive"), tr("Reboot Device"),
+             "selfdriveUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
              cereal::SelfdriveState::AlertStatus::NORMAL};
       }
     }
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index cc9940f275..b538f19dde 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -25,13 +25,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const int SET_SPEED_NA = 255;
   const SubMaster &sm = *(s.sm);
 
-  const bool cs_alive = sm.alive("controlsState");
+  const bool cs_alive = sm.alive("carState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
 
   is_metric = s.scene.is_metric;
 
-  // Handle older routes where vCruiseCluster is not set
+  // Handle older routes where vCruise was in controlsState
   float v_cruise = car_state.getVCruiseCluster() == 0.0 ? cs.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
   setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
   is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 4055fcfd35..3cd6ae5820 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -17,7 +17,7 @@ SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
-CONTROLS_TIMEOUT = 5 # 5 seconds
+SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
 AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
@@ -40,11 +40,11 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 }
 
-def check_controls_timeout_alert(sm):
-  controls_missing = time.monotonic() - sm.recv_time['selfdriveState']
+def check_selfdrive_timeout_alert(sm):
+  ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
-  if controls_missing > CONTROLS_TIMEOUT:
-    if sm['selfdriveState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
+  if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+    if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
       return True
 
   return False
@@ -58,7 +58,7 @@ class Soundd:
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
-    self.controls_timeout_alert = False
+    self.selfdrive_timeout_alert = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -114,12 +114,12 @@ class Soundd:
     if sm.updated['selfdriveState']:
       new_alert = sm['selfdriveState'].alertSound.raw
       self.update_alert(new_alert)
-    elif check_controls_timeout_alert(sm):
+    elif check_selfdrive_timeout_alert(sm):
       self.update_alert(AudibleAlert.warningImmediate)
-      self.controls_timeout_alert = True
-    elif self.controls_timeout_alert:
+      self.selfdrive_timeout_alert = True
+    elif self.selfdrive_timeout_alert:
       self.update_alert(AudibleAlert.none)
-      self.controls_timeout_alert = False
+      self.selfdrive_timeout_alert = False
 
   def calculate_volume(self, weighted_db):
     volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index f40af8696a..a9da8455eb 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -1,7 +1,7 @@
 from cereal import car
 from cereal import messaging
 from cereal.messaging import SubMaster, PubMaster
-from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert
+from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
 
 import time
 
@@ -9,7 +9,7 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 
 class TestSoundd:
-  def test_check_controls_timeout_alert(self):
+  def test_check_selfdrive_timeout_alert(self):
     sm = SubMaster(['selfdriveState'])
     pm = PubMaster(['selfdriveState'])
 
@@ -23,13 +23,13 @@ class TestSoundd:
 
       sm.update(0)
 
-      assert not check_controls_timeout_alert(sm)
+      assert not check_selfdrive_timeout_alert(sm)
 
-    for _ in range(CONTROLS_TIMEOUT * 110):
+    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
       sm.update(0)
       time.sleep(0.01)
 
-    assert check_controls_timeout_alert(sm)
+    assert check_selfdrive_timeout_alert(sm)
 
   # TODO: add test with micd for checking that soundd actually outputs sounds
 
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 0116f3c152..ebfcd1ec0b 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -418,22 +418,22 @@
         <source>openpilot Unavailable</source>
         <translation>openpilot غير متوفر</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>في انتظار بدء عناصر التحكم</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>تحكم على الفور</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>الضوابط غير مستجيبة</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>إعادة التشغيل</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 48180eef92..4e8bbe0a18 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -414,19 +414,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for controls to start</source>
+        <source>TAKE CONTROL IMMEDIATELY</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
+        <source>Reboot Device</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Controls Unresponsive</source>
+        <source>Waiting to start</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
+        <source>System Unresponsive</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 150c00d117..083d2c25e1 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -414,22 +414,22 @@
         <source>openpilot Unavailable</source>
         <translation>openpilot no disponible</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>Esperando que los controles inicien</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>TOME CONTROL INMEDIATAMENTE</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>Controles no responden</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>Reiniciar Dispositivo</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index a678742f74..16adcaa081 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -415,19 +415,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for controls to start</source>
+        <source>TAKE CONTROL IMMEDIATELY</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
+        <source>Reboot Device</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Controls Unresponsive</source>
+        <source>Waiting to start</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
+        <source>System Unresponsive</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 096fa95091..daac99ce09 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -413,19 +413,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for controls to start</source>
+        <source>TAKE CONTROL IMMEDIATELY</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
+        <source>Reboot Device</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Controls Unresponsive</source>
+        <source>Waiting to start</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
+        <source>System Unresponsive</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index df012d3e85..9541067119 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -413,22 +413,22 @@
         <source>openpilot Unavailable</source>
         <translation>오픈파일럿을 사용할수없습니다</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>프로세스가 준비중입니다</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>핸들을 잡아주세요</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>프로세스가 응답하지않습니다</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>장치를 재부팅하세요</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 1500f07e63..e92e7748b3 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -414,22 +414,22 @@
         <source>openpilot Unavailable</source>
         <translation>openpilot Indisponível</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>Aguardando controles para iniciar</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>ASSUMA IMEDIATAMENTE</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>Controles Não Respondem</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>Reinicie o Dispositivo</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index bae326d532..d0dea811c6 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -413,22 +413,22 @@
         <source>openpilot Unavailable</source>
         <translation>openpilot ไม่สามารถใช้งานได้</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>กำลังรอให้ controls เริ่มทำงาน</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>เข้าควบคุมรถเดี๋ยวนี้</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>Controls ไม่ตอบสนอง</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>รีบูตอุปกรณ์</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 72148807d4..746425cb4e 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -413,19 +413,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for controls to start</source>
+        <source>TAKE CONTROL IMMEDIATELY</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
+        <source>Reboot Device</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Controls Unresponsive</source>
+        <source>Waiting to start</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Reboot Device</source>
+        <source>System Unresponsive</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 976b58b31d..ec1884521b 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -413,22 +413,22 @@
         <source>openpilot Unavailable</source>
         <translation>无法使用 openpilot</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>等待控制服务啟動</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>立即接管</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>控制服务无响应</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>重启设备</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index de8d3ff701..835a0af30f 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -413,22 +413,22 @@
         <source>openpilot Unavailable</source>
         <translation>無法使用 openpilot</translation>
     </message>
-    <message>
-        <source>Waiting for controls to start</source>
-        <translation>等待操控服務開始</translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
         <translation>立即接管</translation>
     </message>
-    <message>
-        <source>Controls Unresponsive</source>
-        <translation>操控服務沒有反應</translation>
-    </message>
     <message>
         <source>Reboot Device</source>
         <translation>請重新啟裝置</translation>
     </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>

From e80c27ffdffacad06811b11a5af959eafe134166 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 6 Sep 2024 13:29:20 -0700
Subject: [PATCH 0559/1243] liveTracks: don't check carState for valid CAN
 (#33489)

* no need to check CS.canValid

* update refs
---
 selfdrive/car/card.py                    | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 541a7c44ae..d883ac1f21 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -233,7 +233,7 @@ class Car:
 
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
-      tracks_msg.valid = CS.canValid and len(RD.errors) == 0
+      tracks_msg.valid = len(RD.errors) == 0
       tracks_msg.liveTracks = convert_to_capnp(RD)
       self.pm.send('liveTracks', tracks_msg)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1e3ef33c7e..3a90b7a5fb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2b842a259e15f4b8679f16a14de405b5df06ae1f
\ No newline at end of file
+7f9255ef41d0257f8665d441c666cb2721cdf3ee
\ No newline at end of file

From c45e2731ae9923c00cac2fc9850dc7f188b887b0 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 7 Sep 2024 04:38:38 +0800
Subject: [PATCH 0560/1243] CI: integrate pairing device and prime user widgets
 into UI report (#33486)

add prime widgets
---
 .github/workflows/ui_preview.yaml |  4 ++++
 selfdrive/ui/tests/test_ui/run.py | 30 +++++++++++++++++++++---------
 2 files changed, 25 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index c6d70e9ceb..d4dcce5f3f 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -82,6 +82,10 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/offroad_alert.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/update_available.png"></td>
               </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/prime.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/pair_device.png"></td>
+              </tr>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index c8b14dad95..2bf30d7b90 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -12,7 +12,7 @@ import time
 
 from cereal import messaging, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal.messaging import SubMaster, PubMaster
+from cereal.messaging import PubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
@@ -95,6 +95,7 @@ def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.Self
   cs.alertStatus = status
   cs.alertType = "test_onroad_alert"
   pm.send('selfdriveState', dat)
+  time.sleep(UI_DELAY)
 
 def setup_onroad_alert_small(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
@@ -123,9 +124,14 @@ def setup_update_available(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(240, 216)
 
+def setup_pair_device(click, pm: PubMaster):
+  click(1950, 435)
+  click(1800, 900)
 
 CASES = {
   "homescreen": setup_homescreen,
+  "prime": setup_homescreen,
+  "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
   "onroad": setup_onroad,
   "onroad_sidebar": setup_onroad_sidebar,
@@ -152,13 +158,12 @@ class TestUI:
     sys.modules["mouseinfo"] = False
 
   def setup(self):
-    Params().put("DongleId", "123456789012345")
-    self.sm = SubMaster(["uiDebug"])
     self.pm = PubMaster(list(DATA.keys()))
-    while not self.sm.valid["uiDebug"]:
-      self.sm.update(1)
-    time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
-    self.pm.send('deviceState', DATA['deviceState'])
+    DATA['deviceState'].deviceState.networkType = log.DeviceState.NetworkType.wifi
+    for _ in range(10):
+      self.pm.send('deviceState', DATA['deviceState'])
+      DATA['deviceState'].clear_write_flag()
+      time.sleep(0.05)
     try:
       self.ui = pywinctl.getWindowsWithTitle("ui")[0]
     except Exception as e:
@@ -231,8 +236,15 @@ def create_screenshots():
 
   t = TestUI()
 
-  with OpenpilotPrefix():
-    for name, setup in CASES.items():
+  for name, setup in CASES.items():
+    with OpenpilotPrefix():
+      params = Params()
+      params.put("DongleId", "123456789012345")
+      if name == 'prime':
+        params.put('PrimeType', '1')
+      elif name == 'pair_device':
+        params.put('ApiCache_Device', '{"is_paired":0, "prime_type":-1}')
+
       t.test_ui(name, setup)
 
 if __name__ == "__main__":

From 51ebf44f486ea9c26e9328c8d43fbd01ea68f53c Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 7 Sep 2024 04:51:19 +0800
Subject: [PATCH 0561/1243] card: remove redundant CAN data conversion (#33488)

* remove redundant CAN data conversion

* 1 less %

* rename

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/card.py         | 7 ++++---
 selfdrive/test/test_onroad.py | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d883ac1f21..6494074458 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -155,15 +155,16 @@ class Car:
   def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
     """carState update loop, driven by can"""
 
-    # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = convert_to_capnp(self.CI.update(can_capnp_to_list(can_strs)))
+    can_list = can_capnp_to_list(can_strs)
 
+    # Update carState from CAN
+    CS = convert_to_capnp(self.CI.update(can_list))
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
-    RD: structs.RadarData | None = self.RI.update(can_capnp_to_list(can_strs))
+    RD: structs.RadarData | None = self.RI.update(can_list)
 
     self.sm.update(0)
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b3e66444a7..7fe26b739f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 260.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
-  "selfdrive.car.card": 31.0,
+  "selfdrive.car.card": 30.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,

From e459cee1e71508404117cfc63a92a7461e56a686 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 6 Sep 2024 15:30:14 -0700
Subject: [PATCH 0562/1243] Setup driverAssistance service (#33495)

* Move LDW and FCW to driverAssitance service

* move ldw

* cleanup
---
 cereal/log.capnp                              |  9 +++++++++
 cereal/services.py                            |  1 +
 selfdrive/controls/controlsd.py               | 19 +++++++------------
 selfdrive/controls/plannerd.py                | 15 ++++++++++-----
 selfdrive/test/process_replay/migration.py    | 10 ++++++++++
 .../test/process_replay/process_replay.py     |  4 ++--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 7 files changed, 40 insertions(+), 20 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index b715d14220..75ca7dd941 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1096,6 +1096,14 @@ struct AndroidLogEntry {
   message @6 :Text;
 }
 
+struct DriverAssistance {
+  # Lane Departure Warnings
+  leftLaneDeparture @0 :Bool;
+  rightLaneDeparture @1 :Bool;
+
+  # FCW, AEB, etc. will go here
+}
+
 struct LongitudinalPlan @0xe00b5b3eba12876c {
   modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
@@ -2342,6 +2350,7 @@ struct Event {
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
+    driverAssistance @132 :DriverAssistance;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
     qcomGnss @31 :QcomGnss;
diff --git a/cereal/services.py b/cereal/services.py
index b50e47be60..926461aec2 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -40,6 +40,7 @@ _services: dict[str, tuple] = {
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
+  "driverAssistance": (True, 20., 20),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 14ea9ebb0d..a7fac2a1ff 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -22,7 +22,6 @@ from openpilot.common.gps import get_gps_location_service
 from opendbc.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_startup_event
-from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -95,7 +94,7 @@ class Controls:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick'] + self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   'testJoystick', 'driverAssistance'] + self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['testJoystick'], ignore_valid=['testJoystick', ],
                                   frequency=int(1/DT_CTRL))
 
@@ -128,8 +127,6 @@ class Controls:
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
 
-    self.ldw = LaneDepartureWarning()
-
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CI)
@@ -245,11 +242,9 @@ class Controls:
         self.events.add(EventName.calibrationInvalid)
 
     # Lane departure warning
-    if self.sm.valid['modelV2'] and CS.canValid:
-      self.ldw.update(self.sm.frame, self.sm['modelV2'], CS, self.CC_prev)
-      if self.is_ldw_enabled and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated:
-        if self.ldw.warning:
-          self.events.add(EventName.ldw)
+    if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
+      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
+        self.events.add(EventName.ldw)
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
@@ -606,9 +601,9 @@ class Controls:
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
 
-    if self.sm.valid['modelV2'] and CS.canValid and self.is_ldw_enabled and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated:
-      hudControl.leftLaneDepart = self.ldw.left
-      hudControl.rightLaneDepart = self.ldw.right
+    if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
+      hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
+      hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
     if self.AM.current_alert:
       hudControl.visualAlert = self.AM.current_alert.visual_alert
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 9de70c767a..ae8301871d 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -3,11 +3,12 @@ from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 import cereal.messaging as messaging
 
 
-def plannerd_thread():
+def main():
   config_realtime_process(5, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
@@ -15,8 +16,9 @@ def plannerd_thread():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
+  ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
@@ -26,9 +28,12 @@ def plannerd_thread():
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
 
-
-def main():
-  plannerd_thread()
+      ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
+      msg = messaging.new_message('driverAssistance')
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.driverAssistance.leftLaneDeparture = ldw.left
+      msg.driverAssistance.rightLaneDeparture = ldw.right
+      pm.send('driverAssistance', msg)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 723a9ff5b3..9c680ada9a 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -18,6 +18,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   msgs = migrate_controlsState(msgs)
   msgs = migrate_liveLocationKalman(msgs)
   msgs = migrate_liveTracks(msgs)
+  msgs = migrate_driverAssistance(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -28,6 +29,15 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
 
   return msgs
 
+def migrate_driverAssistance(lr):
+  all_msgs = []
+  for msg in lr:
+    all_msgs.append(msg)
+    if msg.which() == 'longitudinalPlan':
+      all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
+    if msg.which() == 'driverAssistance':
+      return lr
+  return all_msgs
 
 def migrate_liveTracks(lr):
   all_msgs = []
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 78008ca909..39fec7b669 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -467,7 +467,7 @@ CONFIGS = [
       "longitudinalPlan", "livePose", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation",
+      "gpsLocationExternal", "gpsLocation", "driverAssistance"
     ],
     subs=["selfdriveState", "controlsState", "carControl", "onroadEvents"],
     ignore=["logMonoTime", "controlsState.cumLagMs"],
@@ -499,7 +499,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
-    subs=["longitudinalPlan"],
+    subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3a90b7a5fb..9ff5403d3c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7f9255ef41d0257f8665d441c666cb2721cdf3ee
\ No newline at end of file
+fc1344b16b802cdb4ec542791f3b4d76a82da68b
\ No newline at end of file

From e04455cbaa2fc6679d44652835ec63b9939985da Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 6 Sep 2024 17:16:32 -0700
Subject: [PATCH 0563/1243] selfdrived: controlsd only does controls (#33485)

* selfdrived

* process replay

* lil more

* set the valids

* rename that
---
 cereal/car.capnp                              |   4 +-
 cereal/log.capnp                              |   3 +-
 selfdrive/car/car_specific.py                 |   2 +-
 selfdrive/car/card.py                         |   4 +-
 selfdrive/controls/controlsd.py               | 626 ++----------------
 selfdrive/controls/lib/drive_helpers.py       |  22 +-
 selfdrive/controls/tests/test_startup.py      | 121 ----
 selfdrive/debug/cycle_alerts.py               |   4 +-
 selfdrive/monitoring/helpers.py               |   2 +-
 .../lib => selfdrived}/alertmanager.py        |   4 +-
 .../lib => selfdrived}/alerts_offroad.json    |   0
 .../{controls/lib => selfdrived}/events.py    |  17 +-
 selfdrive/selfdrived/selfdrived.py            | 518 +++++++++++++++
 .../lib/selfdrive.py => selfdrived/state.py}  |   2 +-
 .../tests/test_alertmanager.py                |   4 +-
 .../tests/test_alerts.py                      |   6 +-
 .../tests/test_state_machine.py               |   2 +-
 selfdrive/test/process_replay/compare_logs.py |   2 +-
 .../test/process_replay/process_replay.py     |  29 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/test/process_replay/test_fuzzy.py   |   2 +-
 .../test/process_replay/test_processes.py     |   6 +-
 selfdrive/test/test_onroad.py                 |   6 +-
 selfdrive/test/test_time_to_onroad.py         |   5 +-
 selfdrive/ui/qt/widgets/offroad_alerts.cc     |   2 +-
 selfdrive/ui/tests/cycle_offroad_alerts.py    |   4 +-
 selfdrive/ui/tests/test_ui/run.py             |   2 +-
 selfdrive/ui/update_translations.py           |   2 +-
 system/athena/registration.py                 |   2 +-
 system/camerad/snapshot/snapshot.py           |   2 +-
 system/hardware/hardwared.py                  |   2 +-
 system/manager/process_config.py              |   1 +
 system/updated/updated.py                     |   2 +-
 33 files changed, 641 insertions(+), 771 deletions(-)
 delete mode 100644 selfdrive/controls/tests/test_startup.py
 rename selfdrive/{controls/lib => selfdrived}/alertmanager.py (91%)
 rename selfdrive/{controls/lib => selfdrived}/alerts_offroad.json (100%)
 rename selfdrive/{controls/lib => selfdrived}/events.py (98%)
 create mode 100755 selfdrive/selfdrived/selfdrived.py
 rename selfdrive/{controls/lib/selfdrive.py => selfdrived/state.py} (98%)
 rename selfdrive/{controls/lib => selfdrived}/tests/test_alertmanager.py (89%)
 rename selfdrive/{controls => selfdrived}/tests/test_alerts.py (94%)
 rename selfdrive/{controls => selfdrived}/tests/test_state_machine.py (97%)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 026aa7baa5..6da9c14c32 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -100,7 +100,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     cameraFrameRate @110;
     processNotRunning @95;
     dashcamMode @96;
-    controlsInitializing @98;
+    selfdriveInitializing @98;
     usbError @99;
     roadCameraError @100;
     driverCameraError @101;
@@ -109,7 +109,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     cruiseMismatch @106;
     lkasDisabled @107;
     canBusMissing @111;
-    controlsdLagging @112;
+    selfdrivedLagging @112;
     resumeBlocked @113;
     steerTimeLimit @115;
     vehicleSensorsInvalid @116;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 75ca7dd941..258c1f7ab4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -698,6 +698,7 @@ struct SelfdriveState {
   alertSize @6 :AlertSize;
   alertType @7 :Text;
   alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
@@ -726,7 +727,6 @@ struct SelfdriveState {
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
-  cumLagMs @15 :Float32;
   longitudinalPlanMonoTime @28 :UInt64;
   lateralPlanMonoTime @50 :UInt64;
 
@@ -880,6 +880,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   vCruiseDEPRECATED @22 :Float32;  # actual set speed
   vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
   startMonoTimeDEPRECATED @48 :UInt64;
+  cumLagMsDEPRECATED @15 :Float32;
 }
 
 struct DrivingModelData {
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 25a7defbbd..3984b66c63 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -5,7 +5,7 @@ from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBa
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
-from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.selfdrived.events import Events
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 6494074458..62569f64f5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -22,7 +22,7 @@ from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
-from openpilot.selfdrive.controls.lib.events import Events, ET
+from openpilot.selfdrive.selfdrived.events import Events, ET
 
 REPLAY = "REPLAY" in os.environ
 
@@ -266,7 +266,7 @@ class Car:
 
     self.state_publish(CS, RD)
 
-    initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
+    initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
       self.controls_update(CS, self.sm['carControl'])
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a7fac2a1ff..4492b21b47 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,132 +1,53 @@
 #!/usr/bin/env python3
-import os
 import math
-import time
-import threading
 from typing import SupportsFloat
 
-import cereal.messaging as messaging
-
 from cereal import car, log
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-
+import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.git import get_short_branch
-from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.gps import get_gps_location_service
 
 from opendbc.car.car_helpers import get_car_interface
-from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_startup_event
-from openpilot.selfdrive.controls.lib.events import Events, ET
+from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.selfdrive.controls.lib.selfdrive import StateMachine
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-from openpilot.system.hardware import HARDWARE
-
-JOYSTICK_MAX_LAT_ACCEL = 2.5  # m/s^2
 
-REPLAY = "REPLAY" in os.environ
-SIMULATION = "SIMULATION" in os.environ
-TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
-
-ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
-PandaType = log.PandaState.PandaType
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-EventName = car.OnroadEvent.EventName
-ButtonType = car.CarState.ButtonEvent.Type
-SafetyModel = car.CarParams.SafetyModel
 
-IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
-CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
-
 class Controls:
-  def __init__(self, CI=None):
+  def __init__(self) -> None:
     self.params = Params()
+    cloudlog.info("controlsd is waiting for CarParams")
+    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
+    cloudlog.info("controlsd got CarParams")
 
-    if CI is None:
-      cloudlog.info("controlsd is waiting for CarParams")
-      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
-      cloudlog.info("controlsd got CarParams")
-
-      # Uses car interface helper functions, altering state won't be considered by card for actuation
-      self.CI = get_car_interface(self.CP)
-    else:
-      self.CI, self.CP = CI, CI.CP
-
-    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
-    self.branch = get_short_branch()
-
-    # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'controlsState', 'carControl', 'onroadEvents'])
+    self.CI = get_car_interface(self.CP)
 
-    self.gps_location_service = get_gps_location_service(self.params)
-    self.gps_packets = [self.gps_location_service]
-    self.sensor_packets = ["accelerometer", "gyroscope"]
-    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+    self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
+                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='carState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
-    self.log_sock = messaging.sub_sock('androidLog')
-
-    # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches
-    self.car_state_sock = messaging.sub_sock('carState', timeout=20)
-
-    ignore = self.sensor_packets + self.gps_packets + ['testJoystick']
-    if SIMULATION:
-      ignore += ['driverCameraState', 'managerState']
-    if REPLAY:
-      # no vipc in replay will make them ignored anyways
-      ignore += ['roadCameraState', 'wideRoadCameraState']
-    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
-                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick', 'driverAssistance'] + self.camera_packets + self.sensor_packets + self.gps_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['testJoystick'], ignore_valid=['testJoystick', ],
-                                  frequency=int(1/DT_CTRL))
-
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
-
-    # read params
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
-
-    # detect sound card presence and ensure successful init
-    sounds_available = HARDWARE.get_sound_card_online()
-
-    car_recognized = self.CP.carName != 'mock'
-
-    # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
-    if not self.CP.openpilotLongitudinalControl:
-      self.params.remove("ExperimentalMode")
-
-    self.CS_prev = car.CarState.new_message()
-    self.CC_prev = car.CarControl.new_message()
-    self.lac_log_prev = None
-    self.AM = AlertManager()
-    self.events = Events()
+    self.steer_limited = False
+    self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose|None = None
 
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
-
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CI)
@@ -135,341 +56,16 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
-    self.initialized = False
-    self.enabled = False
-    self.active = False
-    self.mismatch_counter = 0
-    self.cruise_mismatch_counter = 0
-    self.last_steering_pressed_frame = 0
-    self.distance_traveled = 0
-    self.last_functional_fan_frame = 0
-    self.events_prev = []
-    self.logged_comm_issue = None
-    self.not_running_prev = None
-    self.steer_limited = False
-    self.desired_curvature = 0.0
-    self.experimental_mode = False
-    self.personality = self.read_personality_param()
-    self.recalibrating_seen = False
-    self.state_machine = StateMachine()
-
-    self.can_log_mono_time = 0
-
-    self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
-
-    if not sounds_available:
-      self.events.add(EventName.soundsUnavailable, static=True)
-    if not car_recognized:
-      self.events.add(EventName.carUnrecognized, static=True)
-      if len(self.CP.carFw) > 0:
-        set_offroad_alert("Offroad_CarUnrecognized", True)
-      else:
-        set_offroad_alert("Offroad_NoFirmware", True)
-    elif self.CP.passive:
-      self.events.add(EventName.dashcamMode, static=True)
-
-    # controlsd is driven by carState, expected at 100Hz
-    self.rk = Ratekeeper(100, print_delay_threshold=None)
-
-  def set_initial_state(self):
-    if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
-        self.state_machine.state = State.enabled
-
-  def update_events(self, CS):
-    """Compute onroadEvents from carState"""
-
-    self.events.clear()
-
-    # Add joystick event, static on cars, dynamic on nonCars
-    if self.joystick_mode:
-      self.events.add(EventName.joystickDebug)
-      self.startup_event = None
-
-    # Add startup event
-    if self.startup_event is not None:
-      self.events.add(self.startup_event)
-      self.startup_event = None
-
-    # Don't add any more events if not initialized
-    if not self.initialized:
-      self.events.add(EventName.controlsInitializing)
-      return
-
-    # no more events while in dashcam mode
-    if self.CP.passive:
-      return
-
-    # Block resume if cruise never previously enabled
-    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
-    if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
-      self.events.add(EventName.resumeBlocked)
-
-    if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
-
-    # Add car events, ignore if CAN isn't valid
-    if CS.canValid:
-      self.events.add_from_msg(CS.events)
-
-    # Create events for temperature, disk space, and memory
-    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
-      self.events.add(EventName.overheat)
-    if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
-      self.events.add(EventName.outOfSpace)
-    if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
-      self.events.add(EventName.lowMemory)
-
-    # Alert if fan isn't spinning for 5 seconds
-    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
-      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
-        # allow enough time for the fan controller in the panda to recover from stalls
-        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
-          self.events.add(EventName.fanMalfunction)
-      else:
-        self.last_functional_fan_frame = self.sm.frame
-
-    # Handle calibration status
-    cal_status = self.sm['liveCalibration'].calStatus
-    if cal_status != log.LiveCalibrationData.Status.calibrated:
-      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
-        self.events.add(EventName.calibrationIncomplete)
-      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
-        if not self.recalibrating_seen:
-          set_offroad_alert("Offroad_Recalibration", True)
-        self.recalibrating_seen = True
-        self.events.add(EventName.calibrationRecalibrating)
-      else:
-        self.events.add(EventName.calibrationInvalid)
-
-    # Lane departure warning
-    if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
-      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
-        self.events.add(EventName.ldw)
-
-    # Handle lane change
-    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
-      direction = self.sm['modelV2'].meta.laneChangeDirection
-      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
-        self.events.add(EventName.laneChangeBlocked)
-      else:
-        if direction == LaneChangeDirection.left:
-          self.events.add(EventName.preLaneChangeLeft)
-        else:
-          self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                    LaneChangeState.laneChangeFinishing):
-      self.events.add(EventName.laneChange)
-
-    for i, pandaState in enumerate(self.sm['pandaStates']):
-      # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
-      if i < len(self.CP.safetyConfigs):
-        safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
-                          pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
-                          pandaState.alternativeExperience != self.CP.alternativeExperience
-      else:
-        safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
-
-      # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
-      if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
-        self.events.add(EventName.controlsMismatch)
-
-      if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
-        self.events.add(EventName.relayMalfunction)
-
-    # Handle HW and system malfunctions
-    # Order is very intentional here. Be careful when modifying this.
-    # All events here should at least have NO_ENTRY and SOFT_DISABLE.
-    num_events = len(self.events)
-
-    not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
-      self.events.add(EventName.processNotRunning)
-      if not_running != self.not_running_prev:
-        cloudlog.event("process_not_running", not_running=not_running, error=True)
-      self.not_running_prev = not_running
-    else:
-      if not SIMULATION and not self.rk.lagging:
-        if not self.sm.all_alive(self.camera_packets):
-          self.events.add(EventName.cameraMalfunction)
-        elif not self.sm.all_freq_ok(self.camera_packets):
-          self.events.add(EventName.cameraFrameRate)
-    if not REPLAY and self.rk.lagging:
-      self.events.add(EventName.controlsdLagging)
-    if not self.sm.valid['radarState']:
-      self.events.add(EventName.radarFault)
-    if not self.sm.valid['pandaStates']:
-      self.events.add(EventName.usbError)
-    if CS.canTimeout:
-      self.events.add(EventName.canBusMissing)
-    elif not CS.canValid:
-      self.events.add(EventName.canError)
-
-    # generic catch-all. ideally, a more specific event should be added above instead
-    has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
-    no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if not self.sm.all_checks() and no_system_errors:
-      if not self.sm.all_alive():
-        self.events.add(EventName.commIssue)
-      elif not self.sm.all_freq_ok():
-        self.events.add(EventName.commIssueAvgFreq)
-      else:
-        self.events.add(EventName.commIssue)
-
-      logs = {
-        'invalid': [s for s, valid in self.sm.valid.items() if not valid],
-        'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
-        'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-      }
-      if logs != self.logged_comm_issue:
-        cloudlog.event("commIssue", error=True, **logs)
-        self.logged_comm_issue = logs
-    else:
-      self.logged_comm_issue = None
-
-    if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['livePose'].posenetOK:
-        self.events.add(EventName.posenetInvalid)
-      if not self.sm['livePose'].inputsOK:
-        self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-        self.events.add(EventName.paramsdTemporaryError)
-
-    # conservative HW alert. if the data or frequency are off, locationd will throw an error
-    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
-      self.events.add(EventName.sensorDataInvalid)
-
-    if not REPLAY:
-      # Check for mismatch between openpilot and car's PCM
-      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
-      self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
-      if self.cruise_mismatch_counter > int(6. / DT_CTRL):
-        self.events.add(EventName.cruiseMismatch)
-
-    # Send a "steering required alert" if saturation count has reached the limit
-    lac_log = self.lac_log_prev
-    if CS.steeringPressed:
-      self.last_steering_pressed_frame = self.sm.frame
-    recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
-    if self.lac_log_prev is not None and self.lac_log_prev.active and not recent_steer_pressed and not self.CP.notCar:
-      lac_log = self.lac_log_prev
-      if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
-        undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
-        turning = abs(lac_log.desiredLateralAccel) > 1.0
-        good_speed = CS.vEgo > 5
-        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
-        if undershooting and turning and good_speed and max_torque:
-          self.events.add(EventName.steerSaturated)
-      elif lac_log.saturated:
-        # TODO probably should not use dpath_points but curvature
-        dpath_points = self.sm['modelV2'].position.y
-        if len(dpath_points):
-          # Check if we deviated from the path
-          # TODO use desired vs actual curvature
-          if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-            steering_value = self.CC_prev.actuators.steeringAngleDeg
-          else:
-            steering_value = self.CC_prev.actuators.steer
-
-          left_deviation = steering_value > 0 and dpath_points[0] < -0.20
-          right_deviation = steering_value < 0 and dpath_points[0] > 0.20
-
-          if left_deviation or right_deviation:
-            self.events.add(EventName.steerSaturated)
-
-    # Check for FCW
-    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
-    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
-    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
-    if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode):
-      self.events.add(EventName.fcw)
-
-    for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
-      try:
-        msg = m.androidLog.message
-        if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
-          csid = msg.split("CSID:")[-1].split(" ")[0]
-          evt = CSID_MAP.get(csid, None)
-          if evt is not None:
-            self.events.add(evt)
-      except UnicodeDecodeError:
-        pass
-
-    # TODO: fix simulator
-    if not SIMULATION or REPLAY:
-      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
-      gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
-      if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
-        self.events.add(EventName.noGps)
-      if gps_ok:
-        self.distance_traveled = 0
-      self.distance_traveled += CS.vEgo * DT_CTRL
-
-      if self.sm['modelV2'].frameDropPerc > 20:
-        self.events.add(EventName.modeldLagging)
-
-    # decrement personality on distance button press
-    if self.CP.openpilotLongitudinalControl:
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-        self.events.add(EventName.personalityChanged)
-
-  def data_sample(self):
-    """Receive data from sockets"""
-
-    car_state = messaging.recv_one(self.car_state_sock)
-    CS = car_state.carState if car_state else self.CS_prev
-
-    self.sm.update(0)
-
-    if not self.initialized:
-      all_valid = CS.canValid and self.sm.all_checks()
-      timed_out = self.sm.frame * DT_CTRL > 6.
-      if all_valid or timed_out or (SIMULATION and not REPLAY):
-        available_streams = VisionIpcClient.available_streams("camerad", block=False)
-        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
-          self.sm.ignore_alive.append('roadCameraState')
-        if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
-          self.sm.ignore_alive.append('wideRoadCameraState')
-
-        self.initialized = True
-        self.set_initial_state()
-
-        cloudlog.event(
-          "controlsd.initialized",
-          dt=self.sm.frame*DT_CTRL,
-          timeout=timed_out,
-          canValid=CS.canValid,
-          invalid=[s for s, valid in self.sm.valid.items() if not valid],
-          not_alive=[s for s, alive in self.sm.alive.items() if not alive],
-          not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-          error=True,
-        )
-
-    # When the panda and controlsd do not agree on controls_allowed
-    # we want to disengage openpilot. However the status from the panda goes through
-    # another socket other than the CAN messages and one can arrive earlier than the other.
-    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
-    if not self.enabled:
-      self.mismatch_counter = 0
-
-    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
-    if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-           if ps.safetyModel not in IGNORED_SAFETY_MODES):
-      self.mismatch_counter += 1
-
-    # calibrate the live pose and save it for later use
+  def update(self):
+    self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
       self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
     if self.sm.updated["livePose"]:
       device_pose = Pose.from_live_pose(self.sm['livePose'])
       self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
 
-    return CS
-
-  def state_control(self, CS):
-    """Given the state, this function returns a CarControl packet"""
+  def state_control(self):
+    CS = self.sm['carState']
 
     # Update VehicleModel
     lp = self.sm['liveParameters']
@@ -488,13 +84,12 @@ class Controls:
     model_v2 = self.sm['modelV2']
 
     CC = car.CarControl.new_message()
-    CC.enabled = self.enabled
+    CC.enabled = self.sm['selfdriveState'].enabled
 
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                   (not standstill or self.joystick_mode)
-    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -504,51 +99,21 @@ class Controls:
       CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
       CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
 
-    if CS.leftBlinker or CS.rightBlinker:
-      self.last_blinker_frame = self.sm.frame
-
-    # State specific actions
-
     if not CC.latActive:
       self.LaC.reset()
     if not CC.longActive:
       self.LoC.reset()
 
-    if not self.joystick_mode:
-      # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
-
-      # Steering PID loop and lateral MPC
-      self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-      actuators.curvature = self.desired_curvature
-      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                                             self.steer_limited, self.desired_curvature,
-                                                                             self.calibrated_pose) # TODO what if not available
-    else:
-      lac_log = log.ControlsState.LateralDebugState.new_message()
-      if self.sm.recv_frame['testJoystick'] > 0:
-        # reset joystick if it hasn't been received in a while
-        should_reset_joystick = (self.sm.frame - self.sm.recv_frame['testJoystick'])*DT_CTRL > 0.2
-        if not should_reset_joystick:
-          joystick_axes = self.sm['testJoystick'].axes
-        else:
-          joystick_axes = [0.0, 0.0]
-
-        if CC.longActive:
-          actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
-
-        if CC.latActive:
-          max_curvature = JOYSTICK_MAX_LAT_ACCEL / max(CS.vEgo ** 2, 1)
-          max_angle = math.degrees(self.VM.get_steer_from_curvature(max_curvature, CS.vEgo, lp.roll))
-
-          steer = clip(joystick_axes[1], -1, 1)
-          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * max_angle, steer * -max_curvature
-
-        lac_log.active = self.active
-        lac_log.steeringAngleDeg = CS.steeringAngleDeg
-        lac_log.output = actuators.steer
-        lac_log.saturated = abs(actuators.steer) >= 0.9
+    # accel PID loop
+    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+
+    # Steering PID loop and lateral MPC
+    self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
+    actuators.curvature = self.desired_curvature
+    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+                                                                            self.steer_limited, self.desired_curvature,
+                                                                            self.calibrated_pose) # TODO what if not available
 
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
@@ -562,53 +127,37 @@ class Controls:
 
     return CC, lac_log
 
-  def update_alerts(self, CS):
-    clear_event_types = set()
-    if ET.WARNING not in self.state_machine.current_alert_types:
-      clear_event_types.add(ET.WARNING)
-    if self.enabled:
-      clear_event_types.add(ET.NO_ENTRY)
+  def publish(self, CC, lac_log):
+    CS = self.sm['carState']
 
-    pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
-                                                                                self.state_machine.soft_disable_timer, pers])
-    self.AM.add_many(self.sm.frame, alerts)
-    self.AM.process_alerts(self.sm.frame, clear_event_types)
-
-  def publish_carControl(self, CS, CC, lac_log):
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
     if self.calibrated_pose is not None:
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
-    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
-    if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
-      CC.cruiseControl.cancel = True
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
 
     speeds = self.sm['longitudinalPlan'].speeds
     if len(speeds):
-      CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+      CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
 
     hudControl = CC.hudControl
     hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
-    hudControl.speedVisible = self.enabled
-    hudControl.lanesVisible = self.enabled
+    hudControl.speedVisible = CC.enabled
+    hudControl.lanesVisible = CC.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
-    hudControl.leadDistanceBars = self.personality + 1
+    hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1
+    hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
-
-    if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
+    if self.sm.valid['driverAssistance']:
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.AM.current_alert:
-      hudControl.visualAlert = self.AM.current_alert.visual_alert
-
-    if not self.CP.passive and self.initialized:
+    if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
@@ -616,6 +165,8 @@ class Controls:
       else:
         self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
 
+    # TODO: both controlsState and carControl valids should be set by
+    #       sm.all_checks(), but this creates a circular dependency
 
     # controlsState
     dat = messaging.new_message('controlsState')
@@ -633,14 +184,11 @@ class Controls:
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.cumLagMs = -self.rk.remaining * 1000.
     cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
-                         (self.state_machine.state == State.softDisabling))
+                         (self.sm['selfdriveState'].state == State.softDisabling))
 
     lat_tuning = self.CP.lateralTuning.which()
-    if self.joystick_mode:
-      cs.lateralControlState.debugState = lac_log
-    elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       cs.lateralControlState.angleState = lac_log
     elif lat_tuning == 'pid':
       cs.lateralControlState.pidState = lac_log
@@ -655,84 +203,18 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-  def publish_selfdriveState(self, CS):
-    # selfdriveState
-    ss_msg = messaging.new_message('selfdriveState')
-    ss_msg.valid = CS.canValid
-    ss = ss_msg.selfdriveState
-    if self.AM.current_alert:
-      ss.alertText1 = self.AM.current_alert.alert_text_1
-      ss.alertText2 = self.AM.current_alert.alert_text_2
-      ss.alertSize = self.AM.current_alert.alert_size
-      ss.alertStatus = self.AM.current_alert.alert_status
-      ss.alertType = self.AM.current_alert.alert_type
-      ss.alertSound = self.AM.current_alert.audible_alert
-    ss.enabled = self.enabled
-    ss.active = self.active
-    ss.state = self.state_machine.state
-    ss.engageable = not self.events.contains(ET.NO_ENTRY)
-    ss.experimentalMode = self.experimental_mode
-    ss.personality = self.personality
-    self.pm.send('selfdriveState', ss_msg)
-
-    # onroadEvents - logged every second or on change
-    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
-      ce_send = messaging.new_message('onroadEvents', len(self.events))
-      ce_send.valid = True
-      ce_send.onroadEvents = self.events.to_msg()
-      self.pm.send('onroadEvents', ce_send)
-    self.events_prev = self.events.names.copy()
-
-  def step(self):
-    CS = self.data_sample()
-    self.update_events(CS)
-    if not self.CP.passive and self.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events)
-    self.update_alerts(CS)
-
-    # Compute actuators (runs PID loops and lateral MPC)
-    CC, lac_log = self.state_control(CS)
-
-    # Publish data
-    self.publish_carControl(CS, CC, lac_log)
-    self.publish_selfdriveState(CS)
-
-    self.CS_prev = CS
-    self.CC_prev = CC
-    self.lac_log_prev = lac_log
-
-  def read_personality_param(self):
-    try:
-      return int(self.params.get('LongitudinalPersonality'))
-    except (ValueError, TypeError):
-      return log.LongitudinalPersonality.standard
-
-  def params_thread(self, evt):
-    while not evt.is_set():
-      self.is_metric = self.params.get_bool("IsMetric")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-      self.personality = self.read_personality_param()
-      if self.CP.notCar:
-        self.joystick_mode = self.params.get_bool("JoystickDebugMode")
-      time.sleep(0.1)
-
-  def controlsd_thread(self):
-    e = threading.Event()
-    t = threading.Thread(target=self.params_thread, args=(e, ))
-    try:
-      t.start()
-      while True:
-        self.step()
-        self.rk.monitor_time()
-    finally:
-      e.set()
-      t.join()
-
+  def run(self):
+    rk = Ratekeeper(100, print_delay_threshold=None)
+    while True:
+      self.update()
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
+      rk.keep_time()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)
   controls = Controls()
-  controls.controlsd_thread()
+  controls.run()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 35810c4832..64cbf473d6 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,9 +1,6 @@
-from cereal import car, log
+from cereal import log
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.system.version import get_build_metadata
-
-EventName = car.OnroadEvent.EventName
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
@@ -29,20 +26,3 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
-
-
-def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
-
-  if not car_recognized:
-    if fw_seen:
-      event = EventName.startupNoCar
-    else:
-      event = EventName.startupNoFw
-  elif car_recognized and not controller_available:
-    event = EventName.startupNoControl
-  return event
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
deleted file mode 100644
index 077d4ae93a..0000000000
--- a/selfdrive/controls/tests/test_startup.py
+++ /dev/null
@@ -1,121 +0,0 @@
-import os
-from parameterized import parameterized
-
-from cereal import log, car
-import cereal.messaging as messaging
-from opendbc.car.fingerprints import _FINGERPRINTS
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.mazda.values import CAR as MAZDA
-from openpilot.common.params import Params
-from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.controls.lib.events import EVENT_NAME
-from openpilot.system.manager.process_config import managed_processes
-
-EventName = car.OnroadEvent.EventName
-Ecu = car.CarParams.Ecu
-
-COROLLA_FW_VERSIONS = [
-  (Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'),
-  (Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'),
-  (Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'),
-  (Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'),
-  (Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'),
-]
-COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')]
-COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1]
-
-CX5_FW_VERSIONS = [
-  (Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
-]
-
-
-@parameterized.expand([
-  # TODO: test EventName.startup for release branches
-
-  # officially supported car
-  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-
-  # dashcamOnly car
-  (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
-  (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
-
-  # unrecognized car with no fw
-  (EventName.startupNoFw, None, None, ""),
-  (EventName.startupNoFw, None, None, ""),
-
-  # unrecognized car
-  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-
-  # fuzzy match
-  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-])
-def test_startup_alert(expected_event, car_model, fw_versions, brand):
-  controls_sock = messaging.sub_sock("selfdriveState")
-  pm = messaging.PubMaster(['can', 'pandaStates'])
-
-  params = Params()
-  params.put_bool("OpenpilotEnabledToggle", True)
-
-  # Build capnn version of FW array
-  if fw_versions is not None:
-    car_fw = []
-    cp = car.CarParams.new_message()
-    for ecu, addr, subaddress, version in fw_versions:
-      f = car.CarParams.CarFw.new_message()
-      f.ecu = ecu
-      f.address = addr
-      f.fwVersion = version
-      f.brand = brand
-
-      if subaddress is not None:
-        f.subAddress = subaddress
-
-      car_fw.append(f)
-    cp.carVin = "1" * 17
-    cp.carFw = car_fw
-    params.put("CarParamsCache", cp.to_bytes())
-  else:
-    os.environ['SKIP_FW_QUERY'] = '1'
-
-  managed_processes['controlsd'].start()
-  managed_processes['card'].start()
-
-  assert pm.wait_for_readers_to_update('can', 5)
-  pm.send('can', can_list_to_can_capnp([[0, b"", 0]]))
-
-  assert pm.wait_for_readers_to_update('pandaStates', 5)
-  msg = messaging.new_message('pandaStates', 1)
-  msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
-  pm.send('pandaStates', msg)
-
-  # fingerprint
-  if (car_model is None) or (fw_versions is not None):
-    finger = {addr: 1 for addr in range(1, 100)}
-  else:
-    finger = _FINGERPRINTS[car_model][0]
-
-  msgs = [[addr, b'\x00'*length, 0] for addr, length in finger.items()]
-  for _ in range(1000):
-    # card waits for pandad to echo back that it has changed the multiplexing mode
-    if not params.get_bool("ObdMultiplexingChanged"):
-      params.put_bool("ObdMultiplexingChanged", True)
-
-    pm.send('can', can_list_to_can_capnp(msgs))
-    assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}"
-
-    ctrls = messaging.drain_sock(controls_sock)
-    if len(ctrls):
-      event_name = ctrls[0].selfdriveState.alertType.split("/")[0]
-      assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
-      break
-  else:
-    raise Exception(f"failed to fingerprint {car_model}")
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index fbac65cac1..ec32306436 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -6,8 +6,8 @@ from cereal import car, log
 import cereal.messaging as messaging
 from opendbc.car.honda.interface import CarInterface
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.events import ET, Events
-from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
+from openpilot.selfdrive.selfdrived.events import ET, Events
+from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 from openpilot.system.manager.process_config import managed_processes
 
 EventName = car.OnroadEvent.EventName
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index f3dbbd5306..2a7979221a 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -2,7 +2,7 @@ from math import atan2
 
 from cereal import car
 import cereal.messaging as messaging
-from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
similarity index 91%
rename from selfdrive/controls/lib/alertmanager.py
rename to selfdrive/selfdrived/alertmanager.py
index a3b8684871..47d7c29420 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -6,10 +6,10 @@ from dataclasses import dataclass
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.events import Alert
+from openpilot.selfdrive.selfdrived.events import Alert
 
 
-with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
   OFFROAD_ALERTS = json.load(f)
 
 
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
similarity index 100%
rename from selfdrive/controls/lib/alerts_offroad.json
rename to selfdrive/selfdrived/alerts_offroad.json
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/selfdrived/events.py
similarity index 98%
rename from selfdrive/controls/lib/events.py
rename to selfdrive/selfdrived/events.py
index d27f02794b..b79a716097 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -318,10 +318,11 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  axes = sm['testJoystick'].axes
-  gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
-  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
-  return NormalPermanentAlert("Joystick Mode", vals)
+  # TODO: add some info back
+  #axes = sm['testJoystick'].axes
+  #gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
+  #vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", "")
 
 def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   personality = str(personality).title()
@@ -342,7 +343,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
   },
 
-  EventName.controlsInitializing: {
+  EventName.selfdriveInitializing: {
     ET.NO_ENTRY: NoEntryAlert("System Initializing"),
   },
 
@@ -773,9 +774,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
   },
 
-  EventName.controlsdLagging: {
-    ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"),
+  EventName.selfdrivedLagging: {
+    ET.SOFT_DISABLE: soft_disable_alert("System Lagging"),
+    ET.NO_ENTRY: NoEntryAlert("Selfdrive Process Lagging: Reboot Your Device"),
   },
 
   # Thrown when manager detects a service exited unexpectedly while driving
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
new file mode 100755
index 0000000000..2abc87ceb9
--- /dev/null
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -0,0 +1,518 @@
+#!/usr/bin/env python3
+import os
+import time
+import threading
+
+import cereal.messaging as messaging
+
+from cereal import car, log
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+
+from openpilot.common.git import get_short_branch
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gps import get_gps_location_service
+
+from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.selfdrive.selfdrived.state import StateMachine
+from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.version import get_build_metadata
+
+REPLAY = "REPLAY" in os.environ
+SIMULATION = "SIMULATION" in os.environ
+TESTING_CLOSET = "TESTING_CLOSET" in os.environ
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
+
+ThermalStatus = log.DeviceState.ThermalStatus
+State = log.SelfdriveState.OpenpilotState
+PandaType = log.PandaState.PandaType
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
+EventName = car.OnroadEvent.EventName
+ButtonType = car.CarState.ButtonEvent.Type
+SafetyModel = car.CarParams.SafetyModel
+
+IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
+CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
+
+def get_startup_event(car_recognized, controller_available, fw_seen):
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
+    event = EventName.startup
+  else:
+    event = EventName.startupMaster
+
+  if not car_recognized:
+    if fw_seen:
+      event = EventName.startupNoCar
+    else:
+      event = EventName.startupNoFw
+  elif car_recognized and not controller_available:
+    event = EventName.startupNoControl
+  return event
+
+
+class SelfdriveD:
+  def __init__(self):
+    self.params = Params()
+
+    # Ensure the current branch is cached, otherwise the first cycle lags
+    self.branch = get_short_branch()
+
+    cloudlog.info("selfdrived is waiting for CarParams")
+    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
+    cloudlog.info("selfdrived got CarParams")
+
+    # Setup sockets
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
+
+    self.gps_location_service = get_gps_location_service(self.params)
+    self.gps_packets = [self.gps_location_service]
+    self.sensor_packets = ["accelerometer", "gyroscope"]
+    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+
+    self.log_sock = messaging.sub_sock('androidLog')
+
+    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
+    self.car_state_sock = messaging.sub_sock('carState', timeout=20)
+
+    ignore = self.sensor_packets + self.gps_packets
+    if SIMULATION:
+      ignore += ['driverCameraState', 'managerState']
+    if REPLAY:
+      # no vipc in replay will make them ignored anyways
+      ignore += ['roadCameraState', 'wideRoadCameraState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
+                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                   'controlsState', 'carControl', 'driverAssistance'] + \
+                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
+                                  frequency=int(1/DT_CTRL))
+
+    # read params
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+
+    # detect sound card presence and ensure successful init
+    sounds_available = HARDWARE.get_sound_card_online()
+
+    car_recognized = self.CP.carName != 'mock'
+
+    # cleanup old params
+    if not self.CP.experimentalLongitudinalAvailable:
+      self.params.remove("ExperimentalLongitudinalEnabled")
+    if not self.CP.openpilotLongitudinalControl:
+      self.params.remove("ExperimentalMode")
+
+    self.CS_prev = car.CarState.new_message()
+    self.AM = AlertManager()
+    self.events = Events()
+
+    self.initialized = False
+    self.enabled = False
+    self.active = False
+    self.mismatch_counter = 0
+    self.cruise_mismatch_counter = 0
+    self.last_steering_pressed_frame = 0
+    self.distance_traveled = 0
+    self.last_functional_fan_frame = 0
+    self.events_prev = []
+    self.logged_comm_issue = None
+    self.not_running_prev = None
+    self.experimental_mode = False
+    self.personality = self.read_personality_param()
+    self.recalibrating_seen = False
+    self.state_machine = StateMachine()
+
+    self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
+
+    if not sounds_available:
+      self.events.add(EventName.soundsUnavailable, static=True)
+    if not car_recognized:
+      self.events.add(EventName.carUnrecognized, static=True)
+      if len(self.CP.carFw) > 0:
+        set_offroad_alert("Offroad_CarUnrecognized", True)
+      else:
+        set_offroad_alert("Offroad_NoFirmware", True)
+    elif self.CP.passive:
+      self.events.add(EventName.dashcamMode, static=True)
+
+    # selfdrived is driven by carState, expected at 100Hz
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
+
+  def set_initial_state(self):
+    if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
+        self.state_machine.state = State.enabled
+
+  def update_events(self, CS):
+    """Compute onroadEvents from carState"""
+
+    self.events.clear()
+
+    if self.sm['controlsState'].lateralControlState.which() == 'debugState':
+      self.events.add(EventName.joystickDebug)
+      self.startup_event = None
+
+    # Add startup event
+    if self.startup_event is not None:
+      self.events.add(self.startup_event)
+      self.startup_event = None
+
+    # Don't add any more events if not initialized
+    if not self.initialized:
+      self.events.add(EventName.selfdriveInitializing)
+      return
+
+    # no more events while in dashcam mode
+    if self.CP.passive:
+      return
+
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
+      self.events.add(EventName.resumeBlocked)
+
+    if not self.CP.notCar:
+      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+
+    # Add car events, ignore if CAN isn't valid
+    if CS.canValid:
+      self.events.add_from_msg(CS.events)
+
+    # Create events for temperature, disk space, and memory
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+      self.events.add(EventName.overheat)
+    if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
+      self.events.add(EventName.outOfSpace)
+    if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
+      self.events.add(EventName.lowMemory)
+
+    # Alert if fan isn't spinning for 5 seconds
+    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+        # allow enough time for the fan controller in the panda to recover from stalls
+        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
+          self.events.add(EventName.fanMalfunction)
+      else:
+        self.last_functional_fan_frame = self.sm.frame
+
+    # Handle calibration status
+    cal_status = self.sm['liveCalibration'].calStatus
+    if cal_status != log.LiveCalibrationData.Status.calibrated:
+      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
+        self.events.add(EventName.calibrationIncomplete)
+      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+        if not self.recalibrating_seen:
+          set_offroad_alert("Offroad_Recalibration", True)
+        self.recalibrating_seen = True
+        self.events.add(EventName.calibrationRecalibrating)
+      else:
+        self.events.add(EventName.calibrationInvalid)
+
+    # Lane departure warning
+    if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
+      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
+        self.events.add(EventName.ldw)
+
+    # Handle lane change
+    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
+      direction = self.sm['modelV2'].meta.laneChangeDirection
+      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        self.events.add(EventName.laneChangeBlocked)
+      else:
+        if direction == LaneChangeDirection.left:
+          self.events.add(EventName.preLaneChangeLeft)
+        else:
+          self.events.add(EventName.preLaneChangeRight)
+    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
+                                                    LaneChangeState.laneChangeFinishing):
+      self.events.add(EventName.laneChange)
+
+    for i, pandaState in enumerate(self.sm['pandaStates']):
+      # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
+      if i < len(self.CP.safetyConfigs):
+        safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
+                          pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
+                          pandaState.alternativeExperience != self.CP.alternativeExperience
+      else:
+        safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
+
+      # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
+      if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
+        self.events.add(EventName.controlsMismatch)
+
+      if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
+        self.events.add(EventName.relayMalfunction)
+
+    # Handle HW and system malfunctions
+    # Order is very intentional here. Be careful when modifying this.
+    # All events here should at least have NO_ENTRY and SOFT_DISABLE.
+    num_events = len(self.events)
+
+    not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+      self.events.add(EventName.processNotRunning)
+      if not_running != self.not_running_prev:
+        cloudlog.event("process_not_running", not_running=not_running, error=True)
+      self.not_running_prev = not_running
+    else:
+      if not SIMULATION and not self.rk.lagging:
+        if not self.sm.all_alive(self.camera_packets):
+          self.events.add(EventName.cameraMalfunction)
+        elif not self.sm.all_freq_ok(self.camera_packets):
+          self.events.add(EventName.cameraFrameRate)
+    if not REPLAY and self.rk.lagging:
+      self.events.add(EventName.selfdrivedLagging)
+    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
+      self.events.add(EventName.radarFault)
+    if not self.sm.valid['pandaStates']:
+      self.events.add(EventName.usbError)
+    if CS.canTimeout:
+      self.events.add(EventName.canBusMissing)
+    elif not CS.canValid:
+      self.events.add(EventName.canError)
+
+    # generic catch-all. ideally, a more specific event should be added above instead
+    has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
+    no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
+    if not self.sm.all_checks() and no_system_errors:
+      if not self.sm.all_alive():
+        self.events.add(EventName.commIssue)
+      elif not self.sm.all_freq_ok():
+        self.events.add(EventName.commIssueAvgFreq)
+      else:
+        self.events.add(EventName.commIssue)
+
+      logs = {
+        'invalid': [s for s, valid in self.sm.valid.items() if not valid],
+        'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
+        'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+      }
+      if logs != self.logged_comm_issue:
+        cloudlog.event("commIssue", error=True, **logs)
+        self.logged_comm_issue = logs
+    else:
+      self.logged_comm_issue = None
+
+    if not self.CP.notCar:
+      if not self.sm['livePose'].posenetOK:
+        self.events.add(EventName.posenetInvalid)
+      if not self.sm['livePose'].inputsOK:
+        self.events.add(EventName.locationdTemporaryError)
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+        self.events.add(EventName.paramsdTemporaryError)
+
+    # conservative HW alert. if the data or frequency are off, locationd will throw an error
+    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+      self.events.add(EventName.sensorDataInvalid)
+
+    if not REPLAY:
+      # Check for mismatch between openpilot and car's PCM
+      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+      self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
+      if self.cruise_mismatch_counter > int(6. / DT_CTRL):
+        self.events.add(EventName.cruiseMismatch)
+
+    # Send a "steering required alert" if saturation count has reached the limit
+    if CS.steeringPressed:
+      self.last_steering_pressed_frame = self.sm.frame
+    recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
+    lac = getattr(self.sm['controlsState'].lateralControlState, self.sm['controlsState'].lateralControlState.which())
+    if lac.active and not recent_steer_pressed and not self.CP.notCar:
+      if self.CP.lateralTuning.which() == 'torque':
+        undershooting = abs(lac.desiredLateralAccel) / abs(1e-3 + lac.actualLateralAccel) > 1.2
+        turning = abs(lac.desiredLateralAccel) > 1.0
+        good_speed = CS.vEgo > 5
+        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
+        if undershooting and turning and good_speed and max_torque:
+          self.events.add(EventName.steerSaturated)
+      elif lac.saturated:
+        # TODO probably should not use dpath_points but curvature
+        dpath_points = self.sm['modelV2'].position.y
+        if len(dpath_points):
+          # Check if we deviated from the path
+          # TODO use desired vs actual curvature
+          if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+            steering_value = self.sm['carControl'].actuators.steeringAngleDeg
+          else:
+            steering_value = self.sm['carControl'].actuators.steer
+
+          left_deviation = steering_value > 0 and dpath_points[0] < -0.20
+          right_deviation = steering_value < 0 and dpath_points[0] > 0.20
+          if left_deviation or right_deviation:
+            self.events.add(EventName.steerSaturated)
+
+    # Check for FCW
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
+    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
+    if (planner_fcw or model_fcw) and not self.CP.notCar:
+      self.events.add(EventName.fcw)
+
+    # Camera errors from the kernel
+    for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
+      try:
+        msg = m.androidLog.message
+        if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
+          csid = msg.split("CSID:")[-1].split(" ")[0]
+          evt = CSID_MAP.get(csid, None)
+          if evt is not None:
+            self.events.add(evt)
+      except UnicodeDecodeError:
+        pass
+
+    # TODO: fix simulator
+    if not SIMULATION or REPLAY:
+      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
+      gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
+      if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+        self.events.add(EventName.noGps)
+      if gps_ok:
+        self.distance_traveled = 0
+      self.distance_traveled += CS.vEgo * DT_CTRL
+
+      if self.sm['modelV2'].frameDropPerc > 20:
+        self.events.add(EventName.modeldLagging)
+
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        self.personality = (self.personality - 1) % 3
+        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.events.add(EventName.personalityChanged)
+
+  def data_sample(self):
+    car_state = messaging.recv_one(self.car_state_sock)
+    CS = car_state.carState if car_state else self.CS_prev
+
+    self.sm.update(0)
+
+    if not self.initialized:
+      all_valid = CS.canValid and self.sm.all_checks()
+      timed_out = self.sm.frame * DT_CTRL > 6.
+      if all_valid or timed_out or (SIMULATION and not REPLAY):
+        available_streams = VisionIpcClient.available_streams("camerad", block=False)
+        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
+          self.sm.ignore_alive.append('roadCameraState')
+        if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
+          self.sm.ignore_alive.append('wideRoadCameraState')
+
+        self.initialized = True
+        self.set_initial_state()
+
+        cloudlog.event(
+          "selfdrived.initialized",
+          dt=self.sm.frame*DT_CTRL,
+          timeout=timed_out,
+          canValid=CS.canValid,
+          invalid=[s for s, valid in self.sm.valid.items() if not valid],
+          not_alive=[s for s, alive in self.sm.alive.items() if not alive],
+          not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+          error=True,
+        )
+
+    # When the panda and selfdrived do not agree on controls_allowed
+    # we want to disengage openpilot. However the status from the panda goes through
+    # another socket other than the CAN messages and one can arrive earlier than the other.
+    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    if not self.enabled:
+      self.mismatch_counter = 0
+
+    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
+    if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
+           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.mismatch_counter += 1
+
+    return CS
+
+  def update_alerts(self, CS):
+    clear_event_types = set()
+    if ET.WARNING not in self.state_machine.current_alert_types:
+      clear_event_types.add(ET.WARNING)
+    if self.enabled:
+      clear_event_types.add(ET.NO_ENTRY)
+
+    pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
+                                                                                self.state_machine.soft_disable_timer, pers])
+    self.AM.add_many(self.sm.frame, alerts)
+    self.AM.process_alerts(self.sm.frame, clear_event_types)
+
+  def publish_selfdriveState(self, CS):
+    # selfdriveState
+    ss_msg = messaging.new_message('selfdriveState')
+    ss_msg.valid = True
+    ss = ss_msg.selfdriveState
+    if self.AM.current_alert:
+      ss.alertText1 = self.AM.current_alert.alert_text_1
+      ss.alertText2 = self.AM.current_alert.alert_text_2
+      ss.alertSize = self.AM.current_alert.alert_size
+      ss.alertStatus = self.AM.current_alert.alert_status
+      ss.alertType = self.AM.current_alert.alert_type
+      ss.alertSound = self.AM.current_alert.audible_alert
+    ss.enabled = self.enabled
+    ss.active = self.active
+    ss.state = self.state_machine.state
+    ss.engageable = not self.events.contains(ET.NO_ENTRY)
+    ss.experimentalMode = self.experimental_mode
+    ss.personality = self.personality
+    self.pm.send('selfdriveState', ss_msg)
+
+    # onroadEvents - logged every second or on change
+    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
+      ce_send = messaging.new_message('onroadEvents', len(self.events))
+      ce_send.valid = True
+      ce_send.onroadEvents = self.events.to_msg()
+      self.pm.send('onroadEvents', ce_send)
+    self.events_prev = self.events.names.copy()
+
+  def step(self):
+    CS = self.data_sample()
+    self.update_events(CS)
+    if not self.CP.passive and self.initialized:
+      self.enabled, self.active = self.state_machine.update(self.events)
+    self.update_alerts(CS)
+
+    self.publish_selfdriveState(CS)
+
+    self.CS_prev = CS
+
+  def read_personality_param(self):
+    try:
+      return int(self.params.get('LongitudinalPersonality'))
+    except (ValueError, TypeError):
+      return log.LongitudinalPersonality.standard
+
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.is_metric = self.params.get_bool("IsMetric")
+      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      self.personality = self.read_personality_param()
+      time.sleep(0.1)
+
+  def run(self):
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e, ))
+    try:
+      t.start()
+      while True:
+        self.step()
+        self.rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
+
+
+def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
+  s = SelfdriveD()
+  s.run()
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/controls/lib/selfdrive.py b/selfdrive/selfdrived/state.py
similarity index 98%
rename from selfdrive/controls/lib/selfdrive.py
rename to selfdrive/selfdrived/state.py
index adbcd1d926..073ddb56eb 100644
--- a/selfdrive/controls/lib/selfdrive.py
+++ b/selfdrive/selfdrived/state.py
@@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.selfdrive.controls.lib.events import Events, ET
+from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.common.realtime import DT_CTRL
 
 State = log.SelfdriveState.OpenpilotState
diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py
similarity index 89%
rename from selfdrive/controls/lib/tests/test_alertmanager.py
rename to selfdrive/selfdrived/tests/test_alertmanager.py
index bc0da0da8c..20bf4e8903 100644
--- a/selfdrive/controls/lib/tests/test_alertmanager.py
+++ b/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,7 +1,7 @@
 import random
 
-from openpilot.selfdrive.controls.lib.events import Alert, EVENTS
-from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
 
 class TestAlertManager:
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
similarity index 94%
rename from selfdrive/controls/tests/test_alerts.py
rename to selfdrive/selfdrived/tests/test_alerts.py
index 52d71dc22d..a5249cc03f 100644
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -8,13 +8,13 @@ from cereal import log, car
 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
 AlertSize = log.SelfdriveState.AlertSize
 
-OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")
+OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")
 
 # TODO: add callback alerts
 ALERTS = []
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/selfdrived/tests/test_state_machine.py
similarity index 97%
rename from selfdrive/controls/tests/test_state_machine.py
rename to selfdrive/selfdrived/tests/test_state_machine.py
index d2117b3342..4274ba9f67 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/selfdrived/tests/test_state_machine.py
@@ -1,7 +1,7 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.selfdrive import StateMachine, SOFT_DISABLE_TIME
-from openpilot.selfdrive.controls.lib.events import Events, ET, EVENTS, NormalPermanentAlert
+from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
 
 State = log.SelfdriveState.OpenpilotState
 
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 14af9672d0..13d51a636f 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -141,7 +141,7 @@ def format_diff(results, log_paths, ref_commit):
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.cumLagMs"]
+  ignore_fields = sys.argv[3:] or ["logMonoTime"]
   results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
   log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
   diff_short, diff_long, failed = format_diff(results, log_paths, None)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 39fec7b669..a2ba4a5787 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -373,7 +373,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
   params.put("CarParams", convert_to_capnp(CP).to_bytes())
 
 
-def controlsd_rcv_callback(msg, cfg, frame):
+def selfdrived_rcv_callback(msg, cfg, frame):
   return (frame - 1) == 0 or msg.which() == 'carState'
 
 
@@ -452,7 +452,7 @@ class FrequencyBasedRcvCallback:
     return bool(len(resp_sockets))
 
 
-def controlsd_config_callback(params, cfg, lr):
+def selfdrived_config_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
 
@@ -461,22 +461,33 @@ def controlsd_config_callback(params, cfg, lr):
 
 CONFIGS = [
   ProcessConfig(
-    proc_name="controlsd",
+    proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
       "longitudinalPlan", "livePose", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "driverAssistance"
+      "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
+      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance",
     ],
-    subs=["selfdriveState", "controlsState", "carControl", "onroadEvents"],
-    ignore=["logMonoTime", "controlsState.cumLagMs"],
-    config_callback=controlsd_config_callback,
+    subs=["selfdriveState", "onroadEvents"],
+    ignore=["logMonoTime"],
+    config_callback=selfdrived_config_callback,
     init_callback=get_car_params_callback,
-    should_recv_callback=controlsd_rcv_callback,
+    should_recv_callback=selfdrived_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
+  ProcessConfig(
+    proc_name="controlsd",
+    pubs=["liveParameters", "liveTorqueParameters", "modelV2", "selfdriveState",
+          "liveCalibration", "livePose", "longitudinalPlan", "carState", "carOutput",
+          "driverMonitoringState", "onroadEvents", "driverAssistance"],
+    subs=["carControl", "controlsState"],
+    ignore=["logMonoTime", ],
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("carState"),
+    tolerance=NUMPY_TOLERANCE,
+  ),
   ProcessConfig(
     proc_name="card",
     pubs=["pandaStates", "carControl", "onroadEvents", "can"],
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 9ff5403d3c..b866e015ac 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fc1344b16b802cdb4ec542791f3b4d76a82da68b
\ No newline at end of file
+eac137f456f25bf138677315b7c4907e2fe9971b
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index d938839039..39e3bfb94a 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -11,7 +11,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 702de4f7d1..50c34a190f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -12,7 +12,7 @@ from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
-                                                                   check_openpilot_enabled, check_most_messages_valid
+                                                                   check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 
@@ -103,10 +103,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   except Exception as e:
     raise Exception("failed on segment: " + segment) from e
 
-  # check to make sure openpilot is engaged in the route
-  if cfg.proc_name == "controlsd":
-    if not check_openpilot_enabled(log_msgs):
-      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
   if not check_most_messages_valid(log_msgs):
     return f"Route did not have enough valid messages: {new_log_path}", log_msgs
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7fe26b739f..d4ec3c2fff 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -19,7 +19,7 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.events import EVENTS, ET
+from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
@@ -35,7 +35,8 @@ CPU usage budget
 MAX_TOTAL_CPU = 260.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 32.0,
+  "selfdrive.controls.controlsd": 18.0,
+  "selfdrive.selfdrived.selfdrived": 21.0,
   "selfdrive.car.card": 30.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
@@ -87,6 +88,7 @@ TIMINGS = {
   "carControl": [2.5, 0.35],
   "controlsState": [2.5, 0.35],
   "longitudinalPlan": [2.5, 0.5],
+  "driverAssistance": [2.5, 0.5],
   "roadCameraState": [2.5, 0.35],
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 58e6cc3ccf..d3692eabe2 100644
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -20,7 +20,7 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['selfdriveState', 'controlsState', 'deviceState', 'onroadEvents'])
+  sm = messaging.SubMaster(['selfdriveState', 'deviceState', 'onroadEvents'])
   try:
     # wait for onroad. timeout assumes panda is up to date
     with Timeout(10, "timed out waiting to go onroad"):
@@ -34,7 +34,7 @@ def test_time_to_onroad():
         while True:
           sm.update(100)
 
-          if sm.seen['onroadEvents'] and not any(EventName.controlsInitializing == e.name for e in sm['onroadEvents']):
+          if sm.seen['onroadEvents'] and not any(EventName.selfdriveInitializing == e.name for e in sm['onroadEvents']):
             initialized = True
 
           if initialized:
@@ -51,7 +51,6 @@ def test_time_to_onroad():
       sm.update(100)
       assert sm.all_alive(), sm.alive
       assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}"
-      assert sm['controlsState'].cumLagMs < 10.
   finally:
     proc.terminate()
     if proc.wait(20) is None:
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index 74ece36d15..f630875978 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -70,7 +70,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
 int OffroadAlert::refresh() {
   // build widgets for each offroad alert on first refresh
   if (alerts.empty()) {
-    QString json = util::read_file("../controls/lib/alerts_offroad.json").c_str();
+    QString json = util::read_file("../selfdrived/alerts_offroad.json").c_str();
     QJsonObject obj = QJsonDocument::fromJson(json.toUtf8()).object();
 
     // descending sort labels by severity
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index 75b19ceb90..e468d88e0e 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -6,12 +6,12 @@ import json
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 
 if __name__ == "__main__":
   params = Params()
 
-  with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+  with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
     offroad_alerts = json.load(f)
 
   t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 2bf30d7b90..5050adfd98 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -17,7 +17,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
 from openpilot.tools.lib.logreader import LogReader
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index f13c65fdae..65880bdad9 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -16,7 +16,7 @@ def generate_translations_include():
   # offroad alerts
   # TODO translate events from openpilot.selfdrive/controls/lib/events.py
   content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n"
-  with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+  with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
     for alert in json.load(f).values():
       content += f'QT_TRANSLATE_NOOP("OffroadAlert", R"({alert["text"]})");\n'
 
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 06ecd0b9d4..a1e8605a9d 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -8,7 +8,7 @@ from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
index 4ba38c1df4..b3369891d7 100755
--- a/system/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -10,7 +10,7 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.system.hardware import PC
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.manager.process_config import managed_processes
 
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 34e58315d0..9ebb9c9d54 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -16,7 +16,7 @@ from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, TICI, AGNOS
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 4688951620..8af376c624 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -64,6 +64,7 @@ procs = [
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 005c52bc8b..6f9fe173d8 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -17,7 +17,7 @@ from openpilot.common.params import Params
 from openpilot.common.time import system_time_valid
 from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import AGNOS, HARDWARE
 from openpilot.system.version import get_build_metadata
 

From 590e217368c159589c7f768d4226bb22f7a59a94 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 6 Sep 2024 18:21:41 -0700
Subject: [PATCH 0564/1243] selfdrived cleanup (#33497)

* selfdrived cleanup

* lil more

* always alert

* bring this back
---
 cereal/car.capnp                         | 10 ++--
 selfdrive/selfdrived/alertmanager.py     |  7 ++-
 selfdrive/selfdrived/alerts_offroad.json |  4 --
 selfdrive/selfdrived/events.py           | 34 +----------
 selfdrive/selfdrived/selfdrived.py       | 74 +++++++-----------------
 selfdrive/ui/translations/main_ar.ts     |  4 --
 selfdrive/ui/translations/main_de.ts     |  4 --
 selfdrive/ui/translations/main_es.ts     |  4 --
 selfdrive/ui/translations/main_fr.ts     |  4 --
 selfdrive/ui/translations/main_ja.ts     |  4 --
 selfdrive/ui/translations/main_ko.ts     |  4 --
 selfdrive/ui/translations/main_pt-BR.ts  |  4 --
 selfdrive/ui/translations/main_th.ts     |  4 --
 selfdrive/ui/translations/main_tr.ts     |  4 --
 selfdrive/ui/translations/main_zh-CHS.ts |  4 --
 selfdrive/ui/translations/main_zh-CHT.ts |  4 --
 16 files changed, 31 insertions(+), 142 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6da9c14c32..cfaa2238c8 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -87,7 +87,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     startupNoCar @76;
     startupNoControl @77;
     startupMaster @78;
-    startupNoFw @104;
     fcw @79;
     steerSaturated @80;
     belowEngageSpeed @84;
@@ -102,10 +101,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     dashcamMode @96;
     selfdriveInitializing @98;
     usbError @99;
-    roadCameraError @100;
-    driverCameraError @101;
-    wideRoadCameraError @102;
-    highCpuUsage @105;
     cruiseMismatch @106;
     lkasDisabled @107;
     canBusMissing @111;
@@ -147,6 +142,11 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     brakeUnavailableDEPRECATED @2;
     plannerErrorDEPRECATED @32;
     gpsMalfunctionDEPRECATED @94;
+    roadCameraErrorDEPRECATED @100;
+    driverCameraErrorDEPRECATED @101;
+    wideRoadCameraErrorDEPRECATED @102;
+    highCpuUsageDEPRECATED @105;
+    startupNoFwDEPRECATED @104;
   }
 }
 
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 47d7c29420..4a406d3962 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -6,7 +6,7 @@ from dataclasses import dataclass
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
 
 
 with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
@@ -31,10 +31,11 @@ class AlertEntry:
   def active(self, frame: int) -> bool:
     return frame <= self.end_frame
 
+
 class AlertManager:
   def __init__(self):
     self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
-    self.current_alert: Alert | None = None
+    self.current_alert = EmptyAlert
 
   def add_many(self, frame: int, alerts: list[Alert]) -> None:
     for alert in alerts:
@@ -59,4 +60,4 @@ class AlertManager:
       if v.active(frame) and greater:
         ae = v
 
-    self.current_alert = ae.alert
+    self.current_alert = ae.alert if ae.alert is not None else EmptyAlert
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 6fb6c569b0..86e07d3213 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -41,10 +41,6 @@
     "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
   },
-  "Offroad_NoFirmware": {
-    "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
-    "severity": 0
-  },
   "Offroad_Recalibration": {
     "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index b79a716097..9128f1acd8 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -141,6 +141,8 @@ class Alert:
       return False
     return self.priority > alert2.priority
 
+EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
+                   VisualAlert.none, AudibleAlert.none, 0)
 
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
@@ -355,23 +357,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: startup_master_alert,
   },
 
-  # Car is recognized, but marked as dashcam only
   EventName.startupNoControl: {
     ET.PERMANENT: StartupAlert("Dashcam mode"),
     ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
   },
 
-  # Car is not recognized
   EventName.startupNoCar: {
     ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
   },
 
-  EventName.startupNoFw: {
-    ET.PERMANENT: StartupAlert("Car Unrecognized",
-                               "Check comma power connections",
-                               alert_status=AlertStatus.userPrompt),
-  },
-
   EventName.dashcamMode: {
     ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
                                        priority=Priority.LOWEST),
@@ -822,12 +816,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
   },
 
-  EventName.highCpuUsage: {
-    #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
-    #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
-    ET.NO_ENTRY: high_cpu_usage_alert,
-  },
-
   EventName.accFaulted: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
     ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
@@ -844,24 +832,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
   },
 
-  EventName.roadCameraError: {
-    ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road",
-                                       duration=1.,
-                                       creation_delay=30.),
-  },
-
-  EventName.wideRoadCameraError: {
-    ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road Fisheye",
-                                       duration=1.,
-                                       creation_delay=30.),
-  },
-
-  EventName.driverCameraError: {
-    ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Driver",
-                                       duration=1.,
-                                       creation_delay=30.),
-  },
-
   # Sometimes the USB stack on the device can get into a bad state
   # causing the connection to the panda to be lost
   EventName.usbError: {
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 2abc87ceb9..545688c60b 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -9,7 +9,6 @@ from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
 
-from openpilot.common.git import get_short_branch
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
@@ -37,23 +36,6 @@ ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
-CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
-
-def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
-
-  if not car_recognized:
-    if fw_seen:
-      event = EventName.startupNoCar
-    else:
-      event = EventName.startupNoFw
-  elif car_recognized and not controller_available:
-    event = EventName.startupNoControl
-  return event
 
 
 class SelfdriveD:
@@ -61,7 +43,7 @@ class SelfdriveD:
     self.params = Params()
 
     # Ensure the current branch is cached, otherwise the first cycle lags
-    self.branch = get_short_branch()
+    build_metadata = get_build_metadata()
 
     cloudlog.info("selfdrived is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
@@ -75,8 +57,6 @@ class SelfdriveD:
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
-    self.log_sock = messaging.sub_sock('androidLog')
-
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
@@ -128,27 +108,23 @@ class SelfdriveD:
     self.personality = self.read_personality_param()
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
+    # Determine startup event
+    self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
+    if not car_recognized:
+      self.startup_event = EventName.startupNoCar
+    elif car_recognized and self.CP.passive:
+      self.startup_event = EventName.startupNoControl
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
-      if len(self.CP.carFw) > 0:
-        set_offroad_alert("Offroad_CarUnrecognized", True)
-      else:
-        set_offroad_alert("Offroad_NoFirmware", True)
+      set_offroad_alert("Offroad_CarUnrecognized", True)
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    # selfdrived is driven by carState, expected at 100Hz
-    self.rk = Ratekeeper(100, print_delay_threshold=None)
-
-  def set_initial_state(self):
-    if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
-        self.state_machine.state = State.enabled
-
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -355,18 +331,6 @@ class SelfdriveD:
     if (planner_fcw or model_fcw) and not self.CP.notCar:
       self.events.add(EventName.fcw)
 
-    # Camera errors from the kernel
-    for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
-      try:
-        msg = m.androidLog.message
-        if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
-          csid = msg.split("CSID:")[-1].split(" ")[0]
-          evt = CSID_MAP.get(csid, None)
-          if evt is not None:
-            self.events.add(evt)
-      except UnicodeDecodeError:
-        pass
-
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
       # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
@@ -403,9 +367,10 @@ class SelfdriveD:
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
-        self.initialized = True
-        self.set_initial_state()
+        if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
+          self.state_machine.state = State.enabled
 
+        self.initialized = True
         cloudlog.event(
           "selfdrived.initialized",
           dt=self.sm.frame*DT_CTRL,
@@ -449,19 +414,20 @@ class SelfdriveD:
     ss_msg = messaging.new_message('selfdriveState')
     ss_msg.valid = True
     ss = ss_msg.selfdriveState
-    if self.AM.current_alert:
-      ss.alertText1 = self.AM.current_alert.alert_text_1
-      ss.alertText2 = self.AM.current_alert.alert_text_2
-      ss.alertSize = self.AM.current_alert.alert_size
-      ss.alertStatus = self.AM.current_alert.alert_status
-      ss.alertType = self.AM.current_alert.alert_type
-      ss.alertSound = self.AM.current_alert.audible_alert
     ss.enabled = self.enabled
     ss.active = self.active
     ss.state = self.state_machine.state
     ss.engageable = not self.events.contains(ET.NO_ENTRY)
     ss.experimentalMode = self.experimental_mode
     ss.personality = self.personality
+
+    ss.alertText1 = self.AM.current_alert.alert_text_1
+    ss.alertText2 = self.AM.current_alert.alert_text_2
+    ss.alertSize = self.AM.current_alert.alert_size
+    ss.alertStatus = self.AM.current_alert.alert_status
+    ss.alertType = self.AM.current_alert.alert_type
+    ss.alertSound = self.AM.current_alert.audible_alert
+
     self.pm.send('selfdriveState', ss_msg)
 
     # onroadEvents - logged every second or on change
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index ebfcd1ec0b..d73a5771fd 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -388,10 +388,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai.</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>لم يتمكن openpilot من تحديد سيارتك. تحقق من سلامة الكابلات وتأكد من تأمين جميع الوصلات، لا سيما أنه قد تم إدخال طاقة الفاصلة بالكامل في منفذ OBD-II في السيارة. هل تريد أي مساعدة؟ لا تتردد في الانضمام إلى discord.comma.ai.</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 4e8bbe0a18..8ad55be666 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -379,10 +379,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 083d2c25e1..39a13fb026 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -384,10 +384,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase discord.comma.ai.</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 16adcaa081..80cca809e0 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -384,10 +384,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>openpilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot n&apos;a pas pu identifier votre voiture. Vérifiez l&apos;intégrité des câbles et assurez-vous que toutes les connexions sont correctes, en particulier l&apos;alimentation du comma est totalement insérée dans le port OBD-II du véhicule. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index daac99ce09..2b8f7d2429 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -378,10 +378,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 9541067119..ee04810904 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -379,10 +379,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot이 차량을 식별할 수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 제대로 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index e92e7748b3..648dc3e384 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -380,10 +380,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>O openpilot não conseguiu identificar o seu carro. Verifique a integridade dos cabos e certifique-se de que todas as conexões estejam seguras, especialmente se o comma power está totalmente inserido na porta OBD-II do veículo. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index d0dea811c6..06841222cc 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -383,10 +383,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ กรุณาตรวจสอบสายเคเบิ้ลและจุดเชื่อมต่อทั้งหมดว่าแน่นหนา โดยเฉพาะ comma power ว่าได้ดันเข้าไปยังพอร์ต OBD II ของรถยนต์จนสุด หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 746425cb4e..f934b9d9cc 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -382,10 +382,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index ec1884521b..5fe66104d1 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -379,10 +379,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 discord.comma.ai。</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 835a0af30f..b7d2eb2bde 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -379,10 +379,6 @@
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
-    <message>
-        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 介面。需要幫助嗎？請加入 discord.comma.ai 。</translation>
-    </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>

From de0ac299606407dc1a363a99a62c0c9b9115681c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 6 Sep 2024 20:55:43 -0700
Subject: [PATCH 0565/1243] ci: ui preview with diff (#33498)

* diff

* not for now
---
 .github/workflows/selfdrive_tests.yaml |   3 +-
 .github/workflows/ui_preview.yaml      | 161 ++++++++++++++++---------
 2 files changed, 106 insertions(+), 58 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b2831118f6..09ac537845 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -337,7 +337,6 @@ jobs:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
         with:
@@ -353,5 +352,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ github.event.number }}
+          name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index d4dcce5f3f..9a7bb68f0d 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -1,5 +1,8 @@
 name: "ui preview"
 on:
+  push:
+    branches:
+      - master
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
@@ -10,6 +13,9 @@ on:
 
 env:
   UI_JOB_NAME: "Create UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
@@ -22,91 +28,134 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - name: Waiting for ui test to start
+      - name: Waiting for ui generation to start
         run: sleep 30
 
-      - name: Wait for ui report
+      - name: Waiting for ui generation to end
         uses: lewagon/wait-on-check-action@v1.3.4
         with:
-          ref: ${{ github.event.pull_request.head.sha }}
+          ref: ${{ env.SHA }}
           check-name: ${{ env.UI_JOB_NAME }}
           repo-token: ${{ secrets.GITHUB_TOKEN }}
           allowed-conclusions: success
           wait-interval: 20
 
-      - name: Get workflow run ID
+      - name: Getting workflow run ID
         id: get_run_id
         run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
-      - name: Checkout ci-artifacts
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-          ref: master
-
-      - name: Download artifact
+      - name: Getting proposed ui
         id: download-artifact
         uses: dawidd6/action-download-artifact@v6
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-${{ github.event.number }}
-          path: ${{ github.workspace }}/ci-artifacts
+          name: report-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting master ui
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_ui
+          ref: openpilot_master_ui
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui
+        run: |
+          git checkout --orphan=new_master_ui
+          git rm -rf *
+          git branch -D openpilot_master_ui
+          git branch -m openpilot_master_ui
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/*.png .
+          git add .
+          git commit -m "screenshots for commit ${{ env.SHA }}"
+          git push origin openpilot_master_ui --force
+
+      - name: Finding diff
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: >-
+          sudo apt-get install -y imagemagick
+
+          scenes="homescreen settings_device offroad_alert update_available prime onroad onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body"
+          A=($scenes)
+
+          DIFF=""
+          TABLE="<details>"
+          TABLE="${TABLE}<summary>All Screenshots</summary>"
+          TABLE="${TABLE}<table>"
+
+          for ((i=0; i<${#A[*]}; i=i+1));
+          do
+
+            if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
+              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
+              convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+
+              DIFF="${DIFF}<details>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
+              DIFF="${DIFF}<table>"
+
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot_master_ui/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
+            else
+              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
+            fi
+
+            INDEX=$(($i % 2))
+            if [[ $INDEX -eq 0 ]]; then
+              TABLE="${TABLE}<tr>"
+            fi
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
+              TABLE="${TABLE}</tr>"
+            fi
+          done
+
+          TABLE="${TABLE}</table>"
+          TABLE="${TABLE}</details>"
+
+          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
-      - name: Push Screenshots
-        working-directory: ${{ github.workspace }}/ci-artifacts
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_ui
         run: |
-          git checkout -b openpilot/pr-${{ github.event.number }}
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
-          git add ${{ github.workspace }}/ci-artifacts/*
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
           git commit -m "screenshots for PR #${{ github.event.number }}"
-          git push origin openpilot/pr-${{ github.event.number }} --force
+          git push origin ${{ env.BRANCH_NAME }} --force
 
       - name: Comment Screenshots on PR
+        if: github.event_name == 'pull_request_target'
         uses: thollander/actions-comment-pull-request@v2
         with:
           message: |
             <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Screenshots
-            <table>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/offroad_alert.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/update_available.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/prime.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/pair_device.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_small.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_mid.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/driver_camera.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/body.png"></td>
-                <td></td>
-              </tr>
-            </table>
+            ## UI Preview
+            ${{ steps.find_diff.outputs.DIFF }}
           comment_tag: run_id_screenshots
           pr_number: ${{ github.event.number }}
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 68257da3d5b4625b201643cc459b048aae711dae Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Sat, 7 Sep 2024 13:02:29 +0900
Subject: [PATCH 0566/1243] Multilang: kor translation update (#33499)

---
 selfdrive/ui/translations/main_ko.ts | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index ee04810904..935342d546 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -419,11 +419,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>시작을 기다리는중</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>시스템이 응답하지않습니다</translation>
     </message>
 </context>
 <context>
@@ -484,7 +484,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>원격 스냅샷</translation>
     </message>
 </context>
 <context>
@@ -1036,15 +1036,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 실험 모드 로고도 우측 상단에 표시됩니다.</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
+        <translation>상시 운전자 모니터링</translation>
     </message>
     <message>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation type="unfinished"></translation>
+        <translation>Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
     </message>
 </context>
 <context>

From eecac1069e27060ff187d5b90eca2ed4354ce6d5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 6 Sep 2024 21:06:34 -0700
Subject: [PATCH 0567/1243] joystickd: mapping for PC (#33500)

work on PC
---
 tools/joystick/joystickd.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 982af9767f..09cc16d337 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -8,6 +8,7 @@ import cereal.messaging as messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
 JS_EXPO = 0.4
@@ -43,12 +44,17 @@ class Joystick:
   def __init__(self):
     # This class supports a PlayStation 5 DualSense controller on the comma 3X
     # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
-    # TODO: the mapping can also be wrong on PC depending on the driver
     self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
-    accel_axis = 'ABS_RX'
-    steer_axis = 'ABS_Z'
-    # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
-    self.flip_map = {'ABS_RY': accel_axis}
+    if HARDWARE.get_device_type() == 'pc':
+      accel_axis = 'ABS_Z'
+      steer_axis = 'ABS_RX'
+      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
+      self.flip_map = {'ABS_RZ': accel_axis}
+    else:
+      accel_axis = 'ABS_RX'
+      steer_axis = 'ABS_Z'
+      self.flip_map = {'ABS_RY': accel_axis}
+
     self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
     self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
     self.axes_values = {accel_axis: 0., steer_axis: 0.}

From 415391c3fc855b885355cfec7db864a6542b16c2 Mon Sep 17 00:00:00 2001
From: Joshua Mack <joshnoodle@gmail.com>
Date: Sat, 7 Sep 2024 00:28:44 -0400
Subject: [PATCH 0568/1243] Multilang: Spanish translation update (#33502)

Update main_es.ts
---
 selfdrive/ui/translations/main_es.ts | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 39a13fb026..510a2d98e0 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -420,11 +420,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>Esperando para iniciar</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>Systema no responde</translation>
     </message>
 </context>
 <context>

From 374246845c0c3c3c7c9ef8764f4a21e30a920bee Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 6 Sep 2024 21:58:45 -0700
Subject: [PATCH 0569/1243] joystickd is a real process (#33490)

* true joystickd

* temp params hack, manager clears all on start

* implement main, assume js

* works

* fix enable

* clean up

* like a real controlsd

* clean up

* fix mypy

* clean up

* update refs

* clean up
---
 selfdrive/selfdrived/events.py           |  9 ++--
 selfdrive/test/process_replay/ref_commit |  2 +-
 system/manager/process_config.py         |  9 +++-
 tools/joystick/joystickd.py              | 63 ++++++++++++++++++++----
 4 files changed, 66 insertions(+), 17 deletions(-)

diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 9128f1acd8..d9c922bb90 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -320,11 +320,10 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  # TODO: add some info back
-  #axes = sm['testJoystick'].axes
-  #gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
-  #vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
-  return NormalPermanentAlert("Joystick Mode", "")
+  gb = sm['carControl'].actuators.accel / 4.
+  steer = sm['carControl'].actuators.steer
+  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", vals)
 
 def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   personality = str(personality).title()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b866e015ac..d0e5317124 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-eac137f456f25bf138677315b7c4907e2fe9971b
\ No newline at end of file
+78eb5f832bb1a53b33d952edc586b986a8e31089
\ No newline at end of file
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 8af376c624..a85bfd1f46 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -29,6 +29,12 @@ def ublox(started, params, CP: car.CarParams) -> bool:
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
+def joystick(started: bool, params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("JoystickDebugMode")
+
+def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("JoystickDebugMode")
+
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
@@ -63,7 +69,8 @@ procs = [
   NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick),
+  PythonProcess("joystickd", "tools.joystick.joystickd", joystick),
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 09cc16d337..52460031a5 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -3,15 +3,19 @@ import os
 import argparse
 import threading
 from inputs import get_gamepad
+import math
 
-import cereal.messaging as messaging
-from openpilot.common.realtime import Ratekeeper
+from cereal import messaging, car
+from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
-JS_EXPO = 0.4
+EXPO = 0.4
+MAX_LAT_ACCEL = 2.5
 
 
 class Keyboard:
@@ -80,21 +84,56 @@ class Joystick:
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm  # less action near center for fine control
+      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:
       return False
     return True
 
 
 def send_thread(joystick):
-  joystick_sock = messaging.pub_sock('testJoystick')
+  params = Params()
+  cloudlog.info("joystickd is waiting for CarParams")
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  VM = VehicleModel(CP)
+
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState'], frequency=1. / DT_CTRL)
+  pm = messaging.PubMaster(['carControl', 'controlsState'])
+
   rk = Ratekeeper(100, print_delay_threshold=None)
   while 1:
-    dat = messaging.new_message('testJoystick')
-    dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_order]
-    dat.testJoystick.buttons = [joystick.cancel]
-    joystick_sock.send(dat.to_bytes())
-    print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
+    sm.update(0)
+
+    joystick_axes = [joystick.axes_values[a] for a in joystick.axes_order]
+    if rk.frame % 20 == 0:
+      print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
+
+    cc_msg = messaging.new_message('carControl')
+    cc_msg.valid = True
+    CC = cc_msg.carControl
+    CC.enabled = sm['selfdriveState'].enabled
+    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+
+    actuators = CC.actuators
+
+    if CC.longActive:
+      actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
+
+    if CC.latActive:
+      max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
+      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
+
+      actuators.steer = clip(joystick_axes[1], -1, 1)
+      actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
+
+    pm.send('carControl', cc_msg)
+
+    cs_msg = messaging.new_message('controlsState')
+    cs_msg.valid = True
+    controlsState = cs_msg.controlsState
+    controlsState.lateralControlState.init('debugState')
+    pm.send('controlsState', cs_msg)
+
     rk.keep_time()
 
 
@@ -105,6 +144,10 @@ def joystick_thread(joystick):
     joystick.update()
 
 
+def main():
+  joystick_thread(Joystick())
+
+
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                                'openpilot must be offroad before starting joystickd. This tool supports ' +

From 9e09f42ccb9189994549bb95b917e10945154497 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 7 Sep 2024 12:59:06 +0800
Subject: [PATCH 0570/1243] ui: fix texture deletion (#33480)

fix texture deletion
---
 selfdrive/ui/qt/widgets/cameraview.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 914b04b654..b43f8c4322 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -115,7 +115,7 @@ CameraWidget::~CameraWidget() {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
     glDeleteBuffers(1, &frame_ibo);
-    glDeleteBuffers(2, textures);
+    glDeleteTextures(2, textures);
   }
   doneCurrent();
 }

From 1a9504cc7362390e8510a84244da5effee8f2e2f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 6 Sep 2024 22:32:25 -0700
Subject: [PATCH 0571/1243] ci: ui_preview: save master ref (#33503)

ref
---
 .github/workflows/ui_preview.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 9a7bb68f0d..98eadc36c2 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -100,12 +100,14 @@ jobs:
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
+              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
+
               DIFF="${DIFF}<details>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot_master_ui/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
               DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 

From 870214c90913f97d9d474636a8967e742b3b1f64 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 8 Sep 2024 00:27:44 +0800
Subject: [PATCH 0572/1243] ci: add a 0.5-second delay before taking
 screenshots of the onroad widgets (#33504)

Add a 0.5-second delay before taking screenshots of the onroad widgets
---
 selfdrive/ui/tests/test_ui/run.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 5050adfd98..578d9d7e10 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -46,7 +46,7 @@ def setup_onroad(click, pm: PubMaster):
     vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
   vipc_server.start_listener()
 
-  for packet_id in range(20):
+  for packet_id in range(30):
     for service, data in DATA.items():
       if data:
         data.clear_write_flag()

From c8465e3a21a06a8f55c44c71cb2a38a43180a4c9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Sep 2024 09:28:16 -0700
Subject: [PATCH 0573/1243] Revert "joystickd is a real process (#33490)"

This reverts commit 374246845c0c3c3c7c9ef8764f4a21e30a920bee.
---
 selfdrive/selfdrived/events.py           |  9 ++--
 selfdrive/test/process_replay/ref_commit |  2 +-
 system/manager/process_config.py         |  9 +---
 tools/joystick/joystickd.py              | 63 ++++--------------------
 4 files changed, 17 insertions(+), 66 deletions(-)

diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index d9c922bb90..9128f1acd8 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -320,10 +320,11 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  gb = sm['carControl'].actuators.accel / 4.
-  steer = sm['carControl'].actuators.steer
-  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
-  return NormalPermanentAlert("Joystick Mode", vals)
+  # TODO: add some info back
+  #axes = sm['testJoystick'].axes
+  #gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
+  #vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", "")
 
 def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   personality = str(personality).title()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d0e5317124..b866e015ac 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-78eb5f832bb1a53b33d952edc586b986a8e31089
\ No newline at end of file
+eac137f456f25bf138677315b7c4907e2fe9971b
\ No newline at end of file
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a85bfd1f46..8af376c624 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -29,12 +29,6 @@ def ublox(started, params, CP: car.CarParams) -> bool:
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
-def joystick(started: bool, params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("JoystickDebugMode")
-
-def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
-  return started and not params.get_bool("JoystickDebugMode")
-
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
@@ -69,8 +63,7 @@ procs = [
   NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick),
-  PythonProcess("joystickd", "tools.joystick.joystickd", joystick),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 52460031a5..09cc16d337 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -3,19 +3,15 @@ import os
 import argparse
 import threading
 from inputs import get_gamepad
-import math
 
-from cereal import messaging, car
-from openpilot.common.realtime import DT_CTRL, Ratekeeper
+import cereal.messaging as messaging
+from openpilot.common.realtime import Ratekeeper
 from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
-EXPO = 0.4
-MAX_LAT_ACCEL = 2.5
+JS_EXPO = 0.4
 
 
 class Keyboard:
@@ -84,56 +80,21 @@ class Joystick:
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
+      self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm  # less action near center for fine control
     else:
       return False
     return True
 
 
 def send_thread(joystick):
-  params = Params()
-  cloudlog.info("joystickd is waiting for CarParams")
-  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  VM = VehicleModel(CP)
-
-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState'], frequency=1. / DT_CTRL)
-  pm = messaging.PubMaster(['carControl', 'controlsState'])
-
+  joystick_sock = messaging.pub_sock('testJoystick')
   rk = Ratekeeper(100, print_delay_threshold=None)
   while 1:
-    sm.update(0)
-
-    joystick_axes = [joystick.axes_values[a] for a in joystick.axes_order]
-    if rk.frame % 20 == 0:
-      print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
-
-    cc_msg = messaging.new_message('carControl')
-    cc_msg.valid = True
-    CC = cc_msg.carControl
-    CC.enabled = sm['selfdriveState'].enabled
-    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
-
-    actuators = CC.actuators
-
-    if CC.longActive:
-      actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
-
-    if CC.latActive:
-      max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
-      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
-
-      actuators.steer = clip(joystick_axes[1], -1, 1)
-      actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
-
-    pm.send('carControl', cc_msg)
-
-    cs_msg = messaging.new_message('controlsState')
-    cs_msg.valid = True
-    controlsState = cs_msg.controlsState
-    controlsState.lateralControlState.init('debugState')
-    pm.send('controlsState', cs_msg)
-
+    dat = messaging.new_message('testJoystick')
+    dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_order]
+    dat.testJoystick.buttons = [joystick.cancel]
+    joystick_sock.send(dat.to_bytes())
+    print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
     rk.keep_time()
 
 
@@ -144,10 +105,6 @@ def joystick_thread(joystick):
     joystick.update()
 
 
-def main():
-  joystick_thread(Joystick())
-
-
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                                'openpilot must be offroad before starting joystickd. This tool supports ' +

From b720fe1bfefddc241f65cdb2ba9d4e059ff12ff1 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Sat, 7 Sep 2024 13:51:49 -0700
Subject: [PATCH 0574/1243] create_badges.py: Changed to higher contrast colors
 (#33509)

Changed color badge - clearer difference
---
 selfdrive/ui/translations/create_badges.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index f56f894111..3e14c33255 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -31,7 +31,7 @@ if __name__ == "__main__":
         unfinished_translations += 1
 
     percent_finished = int(100 - (unfinished_translations / total_translations * 100.))
-    color = "green" if percent_finished == 100 else "orange" if percent_finished > 90 else "red"
+    color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
 
     # Download badge
     badge_label = f"LANGUAGE {name}"

From 0317f292d0bce28c8b466c7d4ad0b56e592e3e91 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 8 Sep 2024 04:57:54 +0800
Subject: [PATCH 0575/1243] selfdrived: define and reuse longitudinal
 personality mapping (#33507)

define and reuse longitudinal personality mapping
---
 selfdrive/selfdrived/selfdrived.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 545688c60b..6a4f33c566 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -25,6 +25,7 @@ REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
+LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
@@ -403,7 +404,7 @@ class SelfdriveD:
     if self.enabled:
       clear_event_types.add(ET.NO_ENTRY)
 
-    pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality]
+    pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
     alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
                                                                                 self.state_machine.soft_disable_timer, pers])
     self.AM.add_many(self.sm.frame, alerts)

From b4bcaf6f02f76a30862a8d7859eaf9158b8ce4e0 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sat, 7 Sep 2024 18:26:46 -0300
Subject: [PATCH 0576/1243] Multilang: update pt-BR translation (#33510)

Update main_pt-BR.ts
---
 selfdrive/ui/translations/main_pt-BR.ts | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 648dc3e384..1c1ebff15b 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -420,11 +420,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>Aguardando para iniciar</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>Sistema sem Resposta</translation>
     </message>
 </context>
 <context>

From 584eb373cdf3e841d6c92b82470b28b3bedcf34b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Sep 2024 15:57:30 -0700
Subject: [PATCH 0577/1243] CI: remove 20.04 job

---
 .github/workflows/tools_tests.yaml | 31 ------------------------------
 1 file changed, 31 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 271e4bda17..1bdde2a59a 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -43,37 +43,6 @@ jobs:
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
-  test_compatibility:
-    name: test 20.04 + 3.11
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Installing ubuntu dependencies
-      run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
-    - name: Installing python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.11.4'
-    - name: Installing pip
-      run: pip install pip==24.0
-    - name: Installing uv
-      run: pip install uv
-    - name: git LFS
-      run: git lfs pull
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Getting scons cache
-      uses: 'actions/cache@v4'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-ubuntu2004
-    - name: Building openpilot
-      run: uv run scons -u -j$(nproc)
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest

From e3f05db3e07d8cc725d4833d68693f7524cb13e7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Sep 2024 16:31:49 -0700
Subject: [PATCH 0578/1243] SubMaster: init services as invalid (#33513)

* SubMaster: init services as invalid

* fix sim

* update refs

* cpp too

* update refs

* model ref
---
 cereal/messaging/__init__.py                          | 2 +-
 cereal/messaging/socketmaster.cc                      | 2 +-
 selfdrive/selfdrived/selfdrived.py                    | 4 +++-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 selfdrive/test/process_replay/ref_commit              | 2 +-
 5 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 32b7a6553f..0c420e94e0 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -174,7 +174,7 @@ class SubMaster:
 
       self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
-      self.valid[s] = True  # FIXME: this should default to False
+      self.valid[s] = False
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index 38b9842414..1a7a48980e 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -34,7 +34,7 @@ struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
   int freq = 0;
-  bool updated = false, alive = false, valid = true, ignore_alive;
+  bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
   bool is_polled = false;
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 6a4f33c566..255ce080df 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -73,7 +73,7 @@ class SelfdriveD:
                                    'controlsState', 'carControl', 'driverAssistance'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
-                                  frequency=int(1/DT_CTRL))
+                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
@@ -365,8 +365,10 @@ class SelfdriveD:
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
         if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
           self.sm.ignore_alive.append('roadCameraState')
+          self.sm.ignore_valid.append('roadCameraState')
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
+          self.sm.ignore_valid.append('wideRoadCameraState')
 
         if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
           self.state_machine.state = State.enabled
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 237713622b..66971ebde1 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-8726813f978d6baf519055f3105350cd071741f3
\ No newline at end of file
+32fe8cf4a0daa8d10a689c9ae2e51a879151c87c
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b866e015ac..be74e5cfc9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-eac137f456f25bf138677315b7c4907e2fe9971b
\ No newline at end of file
+fa642b559758928289d8092f30bb9787eb9ebcf2

From ee6d7aeb537c37e70af83c0e4cb2a454d37f3e52 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 8 Sep 2024 07:38:44 +0800
Subject: [PATCH 0579/1243] pandad: add log_once_ to prevent repeated logging
 (#33505)

add log_once_ flag
---
 selfdrive/pandad/panda_safety.cc | 8 ++++++--
 selfdrive/pandad/pandad.h        | 1 +
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index 1d0f72f223..0a14894677 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -17,6 +17,7 @@ void PandaSafety::configureSafetyMode() {
   } else if (!is_onroad) {
     initialized_ = false;
     safety_configured_ = false;
+    log_once_ = false;
   }
 }
 
@@ -46,9 +47,12 @@ std::string PandaSafety::fetchCarParams() {
   if (!params_.getBool("FirmwareQueryDone")) {
     return {};
   }
-  LOGW("Finished FW query");
 
-  LOGW("Waiting for params to set safety model");
+  if (!log_once_) {
+    LOGW("Finished FW query, Waiting for params to set safety model");
+    log_once_ = true;
+  }
+
   if (!params_.getBool("ControlsReady")) {
     return {};
   }
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index 14d97551f4..dedd8ae79a 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -19,6 +19,7 @@ private:
   void setSafetyMode(const std::string &params_string);
 
   bool initialized_ = false;
+  bool log_once_ = false;
   bool safety_configured_ = false;
   bool prev_obd_multiplexing_ = false;
   std::vector<Panda *> pandas_;

From 606943010efc84266ab649f3e7b1dae039f88d07 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 7 Sep 2024 17:03:22 -0700
Subject: [PATCH 0580/1243] Reapply "joystickd is a real process (#33490)"
 (#33514)

* Reapply "joystickd is a real process (#33490)"

This reverts commit c8465e3a21a06a8f55c44c71cb2a38a43180a4c9.

* catch this

* reset to 0 when unplugged

* catch this too

* pytest capturing breaks stdin (pytest -s) fixes
---
 selfdrive/selfdrived/events.py           |  9 ++-
 selfdrive/test/process_replay/ref_commit |  2 +-
 system/manager/process_config.py         |  9 ++-
 tools/joystick/joystickd.py              | 72 ++++++++++++++++++++----
 tools/lib/kbhit.py                       |  8 +--
 5 files changed, 77 insertions(+), 23 deletions(-)

diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 9128f1acd8..d9c922bb90 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -320,11 +320,10 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  # TODO: add some info back
-  #axes = sm['testJoystick'].axes
-  #gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
-  #vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
-  return NormalPermanentAlert("Joystick Mode", "")
+  gb = sm['carControl'].actuators.accel / 4.
+  steer = sm['carControl'].actuators.steer
+  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", vals)
 
 def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   personality = str(personality).title()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index be74e5cfc9..cfdddb0965 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fa642b559758928289d8092f30bb9787eb9ebcf2
+849fcc369f7afa78606cba636fe7c73e540e6df8
\ No newline at end of file
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 8af376c624..a85bfd1f46 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -29,6 +29,12 @@ def ublox(started, params, CP: car.CarParams) -> bool:
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
+def joystick(started: bool, params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("JoystickDebugMode")
+
+def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("JoystickDebugMode")
+
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
@@ -63,7 +69,8 @@ procs = [
   NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick),
+  PythonProcess("joystickd", "tools.joystick.joystickd", joystick),
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 09cc16d337..f39dec7d4b 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -2,16 +2,20 @@
 import os
 import argparse
 import threading
-from inputs import get_gamepad
+from inputs import UnpluggedError, get_gamepad
+import math
 
-import cereal.messaging as messaging
-from openpilot.common.realtime import Ratekeeper
+from cereal import messaging, car
+from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
-JS_EXPO = 0.4
+EXPO = 0.4
+MAX_LAT_ACCEL = 2.5
 
 
 class Keyboard:
@@ -62,7 +66,12 @@ class Joystick:
     self.cancel = False
 
   def update(self):
-    joystick_event = get_gamepad()[0]
+    try:
+      joystick_event = get_gamepad()[0]
+    except (OSError, UnpluggedError):
+      self.axes_values = {ax: 0. for ax in self.axes_values}
+      return False
+
     event = (joystick_event.code, joystick_event.state)
 
     # flip left trigger to negative accel
@@ -80,21 +89,56 @@ class Joystick:
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm  # less action near center for fine control
+      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:
       return False
     return True
 
 
 def send_thread(joystick):
-  joystick_sock = messaging.pub_sock('testJoystick')
+  params = Params()
+  cloudlog.info("joystickd is waiting for CarParams")
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  VM = VehicleModel(CP)
+
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState'], frequency=1. / DT_CTRL)
+  pm = messaging.PubMaster(['carControl', 'controlsState'])
+
   rk = Ratekeeper(100, print_delay_threshold=None)
   while 1:
-    dat = messaging.new_message('testJoystick')
-    dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_order]
-    dat.testJoystick.buttons = [joystick.cancel]
-    joystick_sock.send(dat.to_bytes())
-    print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
+    sm.update(0)
+
+    joystick_axes = [joystick.axes_values[a] for a in joystick.axes_order]
+    if rk.frame % 20 == 0:
+      print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
+
+    cc_msg = messaging.new_message('carControl')
+    cc_msg.valid = True
+    CC = cc_msg.carControl
+    CC.enabled = sm['selfdriveState'].enabled
+    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+
+    actuators = CC.actuators
+
+    if CC.longActive:
+      actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
+
+    if CC.latActive:
+      max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
+      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
+
+      actuators.steer = clip(joystick_axes[1], -1, 1)
+      actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
+
+    pm.send('carControl', cc_msg)
+
+    cs_msg = messaging.new_message('controlsState')
+    cs_msg.valid = True
+    controlsState = cs_msg.controlsState
+    controlsState.lateralControlState.init('debugState')
+    pm.send('controlsState', cs_msg)
+
     rk.keep_time()
 
 
@@ -105,6 +149,10 @@ def joystick_thread(joystick):
     joystick.update()
 
 
+def main():
+  joystick_thread(Joystick())
+
+
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                                'openpilot must be offroad before starting joystickd. This tool supports ' +
diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py
index 3881ee7d18..c6365cdfec 100755
--- a/tools/lib/kbhit.py
+++ b/tools/lib/kbhit.py
@@ -4,13 +4,13 @@ import termios
 import atexit
 from select import select
 
-STDIN_FD = sys.stdin.fileno()
 
 class KBHit:
   def __init__(self) -> None:
     ''' Creates a KBHit object that you can call to do various keyboard things.
     '''
 
+    self.stdin_fd = sys.stdin.fileno()
     self.set_kbhit_terminal()
 
   def set_kbhit_terminal(self) -> None:
@@ -18,12 +18,12 @@ class KBHit:
     '''
 
     # Save the terminal settings
-    self.old_term = termios.tcgetattr(STDIN_FD)
+    self.old_term = termios.tcgetattr(self.stdin_fd)
     self.new_term = self.old_term.copy()
 
     # New terminal setting unbuffered
     self.new_term[3] &= ~(termios.ICANON | termios.ECHO)
-    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term)
+    termios.tcsetattr(self.stdin_fd, termios.TCSAFLUSH, self.new_term)
 
     # Support normal-terminal reset at exit
     atexit.register(self.set_normal_term)
@@ -32,7 +32,7 @@ class KBHit:
     ''' Resets to normal terminal. On Windows this is a no-op.
     '''
 
-    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term)
+    termios.tcsetattr(self.stdin_fd, termios.TCSAFLUSH, self.old_term)
 
   @staticmethod
   def getch() -> str:

From b286a2f0e5206077b3ad80273b0bb5404f53deeb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 8 Sep 2024 08:06:57 +0800
Subject: [PATCH 0581/1243] transformations: standardize parameter passing by
 reference (#33469)

pass parameters by reference
---
 common/transformations/coordinates.cc      | 18 ++++++------
 common/transformations/coordinates.hpp     | 24 +++++++--------
 common/transformations/orientation.cc      | 22 +++++++-------
 common/transformations/orientation.hpp     | 16 +++++-----
 common/transformations/transformations.pxd | 34 +++++++++++-----------
 5 files changed, 57 insertions(+), 57 deletions(-)

diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc
index 5b00b53a4f..f3f10e547f 100644
--- a/common/transformations/coordinates.cc
+++ b/common/transformations/coordinates.cc
@@ -25,8 +25,8 @@ static Geodetic to_radians(Geodetic geodetic){
 }
 
 
-ECEF geodetic2ecef(Geodetic g){
-  g = to_radians(g);
+ECEF geodetic2ecef(const Geodetic &geodetic) {
+  auto g = to_radians(geodetic);
   double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
   double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
   double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
@@ -34,7 +34,7 @@ ECEF geodetic2ecef(Geodetic g){
   return {x, y, z};
 }
 
-Geodetic ecef2geodetic(ECEF e){
+Geodetic ecef2geodetic(const ECEF &e) {
   // Convert from ECEF to geodetic using Ferrari's methods
   // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
   double x = e.x;
@@ -61,10 +61,10 @@ Geodetic ecef2geodetic(ECEF e){
   return to_degrees({lat, lon, h});
 }
 
-LocalCoord::LocalCoord(Geodetic g, ECEF e){
+LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
   init_ecef <<  e.x, e.y, e.z;
 
-  g = to_radians(g);
+  auto g = to_radians(geodetic);
 
   ned2ecef_matrix <<
     -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
@@ -73,7 +73,7 @@ LocalCoord::LocalCoord(Geodetic g, ECEF e){
   ecef2ned_matrix = ned2ecef_matrix.transpose();
 }
 
-NED LocalCoord::ecef2ned(ECEF e) {
+NED LocalCoord::ecef2ned(const ECEF &e) {
   Eigen::Vector3d ecef;
   ecef << e.x, e.y, e.z;
 
@@ -81,7 +81,7 @@ NED LocalCoord::ecef2ned(ECEF e) {
   return {ned[0], ned[1], ned[2]};
 }
 
-ECEF LocalCoord::ned2ecef(NED n) {
+ECEF LocalCoord::ned2ecef(const NED &n) {
   Eigen::Vector3d ned;
   ned << n.n, n.e, n.d;
 
@@ -89,12 +89,12 @@ ECEF LocalCoord::ned2ecef(NED n) {
   return {ecef[0], ecef[1], ecef[2]};
 }
 
-NED LocalCoord::geodetic2ned(Geodetic g) {
+NED LocalCoord::geodetic2ned(const Geodetic &g) {
   ECEF e = ::geodetic2ecef(g);
   return ecef2ned(e);
 }
 
-Geodetic LocalCoord::ned2geodetic(NED n){
+Geodetic LocalCoord::ned2geodetic(const NED &n) {
   ECEF e = ned2ecef(n);
   return ::ecef2geodetic(e);
 }
diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp
index 32ec2ff66e..dc8ff7a4b6 100644
--- a/common/transformations/coordinates.hpp
+++ b/common/transformations/coordinates.hpp
@@ -7,14 +7,14 @@
 
 struct ECEF {
   double x, y, z;
-  Eigen::Vector3d to_vector(){
+  Eigen::Vector3d to_vector() const {
     return Eigen::Vector3d(x, y, z);
   }
 };
 
 struct NED {
   double n, e, d;
-  Eigen::Vector3d to_vector(){
+  Eigen::Vector3d to_vector() const {
     return Eigen::Vector3d(n, e, d);
   }
 };
@@ -24,20 +24,20 @@ struct Geodetic {
   bool radians=false;
 };
 
-ECEF geodetic2ecef(Geodetic g);
-Geodetic ecef2geodetic(ECEF e);
+ECEF geodetic2ecef(const Geodetic &g);
+Geodetic ecef2geodetic(const ECEF &e);
 
 class LocalCoord {
 public:
   Eigen::Matrix3d ned2ecef_matrix;
   Eigen::Matrix3d ecef2ned_matrix;
   Eigen::Vector3d init_ecef;
-  LocalCoord(Geodetic g, ECEF e);
-  LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
-  LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
-
-  NED ecef2ned(ECEF e);
-  ECEF ned2ecef(NED n);
-  NED geodetic2ned(Geodetic g);
-  Geodetic ned2geodetic(NED n);
+  LocalCoord(const Geodetic &g, const ECEF &e);
+  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
+
+  NED ecef2ned(const ECEF &e);
+  ECEF ned2ecef(const NED &n);
+  NED geodetic2ned(const Geodetic &g);
+  Geodetic ned2geodetic(const NED &n);
 };
diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc
index 00888c3a92..fb5e47a86a 100644
--- a/common/transformations/orientation.cc
+++ b/common/transformations/orientation.cc
@@ -7,7 +7,7 @@
 #include "common/transformations/orientation.hpp"
 #include "common/transformations/coordinates.hpp"
 
-Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
   if (quat.w() > 0){
     return quat;
   } else {
@@ -15,7 +15,7 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
   }
 }
 
-Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
   Eigen::Quaterniond q;
 
   q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
@@ -25,7 +25,7 @@ Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
 }
 
 
-Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
   // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
   // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
   // return {euler(2), euler(1), euler(0)};
@@ -36,34 +36,34 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
   return {gamma, theta, psi};
 }
 
-Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
   return quat.toRotationMatrix();
 }
 
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
   return ensure_unique(Eigen::Quaterniond(rot));
 }
 
-Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
   return quat2rot(euler2quat(euler));
 }
 
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
   return quat2euler(rot2quat(rot));
 }
 
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
   return euler2rot({roll, pitch, yaw});
 }
 
-Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
   Eigen::Quaterniond q;
   q = Eigen::AngleAxisd(angle, axis);
   return q.toRotationMatrix();
 }
 
 
-Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
   /*
     Using Rotations to Build Aerospace Coordinate Systems
     Don Koks
@@ -103,7 +103,7 @@ Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
   return {phi, theta, psi};
 }
 
-Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
   /*
     Using Rotations to Build Aerospace Coordinate Systems
     Don Koks
diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp
index 150b12cade..0874a0a814 100644
--- a/common/transformations/orientation.hpp
+++ b/common/transformations/orientation.hpp
@@ -3,15 +3,15 @@
 #include "common/transformations/coordinates.hpp"
 
 
-Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
 
-Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
-Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
-Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
 Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
-Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
 Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
-Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
-Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
-Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose);
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
index 964adf06ec..fe32e18dea 100644
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@@ -24,15 +24,15 @@ cdef extern from "orientation.hpp":
 
     double operator()(int, int)
 
-  Quaternion euler2quat(Vector3)
-  Vector3 quat2euler(Quaternion)
-  Matrix3 quat2rot(Quaternion)
-  Quaternion rot2quat(Matrix3)
-  Vector3 rot2euler(Matrix3)
-  Matrix3 euler2rot(Vector3)
+  Quaternion euler2quat(const Vector3 &)
+  Vector3 quat2euler(const Quaternion &)
+  Matrix3 quat2rot(const Quaternion &)
+  Quaternion rot2quat(const Matrix3 &)
+  Vector3 rot2euler(const Matrix3 &)
+  Matrix3 euler2rot(const Vector3 &)
   Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(ECEF, Vector3)
-  Vector3 ned_euler_from_ecef(ECEF, Vector3)
+  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
+  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
 
 
 cdef extern from "coordinates.cc":
@@ -52,21 +52,21 @@ cdef extern from "coordinates.cc":
     double alt
     bool radians
 
-  ECEF geodetic2ecef(Geodetic)
-  Geodetic ecef2geodetic(ECEF)
+  ECEF geodetic2ecef(const Geodetic &)
+  Geodetic ecef2geodetic(const ECEF &)
 
   cdef cppclass LocalCoord_c "LocalCoord":
     Matrix3 ned2ecef_matrix
     Matrix3 ecef2ned_matrix
 
-    LocalCoord_c(Geodetic, ECEF)
-    LocalCoord_c(Geodetic)
-    LocalCoord_c(ECEF)
+    LocalCoord_c(const Geodetic &, const ECEF &)
+    LocalCoord_c(const Geodetic &)
+    LocalCoord_c(const ECEF &)
 
-    NED ecef2ned(ECEF)
-    ECEF ned2ecef(NED)
-    NED geodetic2ned(Geodetic)
-    Geodetic ned2geodetic(NED)
+    NED ecef2ned(const ECEF &)
+    ECEF ned2ecef(const NED &)
+    NED geodetic2ned(const Geodetic &)
+    Geodetic ned2geodetic(const NED &)
 
 cdef extern from "coordinates.hpp":
   pass

From 762492b9bef44d21452b518629f2d3f4b74831f5 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 9 Sep 2024 09:58:26 -0700
Subject: [PATCH 0582/1243] [bot] Update Python packages (#33518)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 369 ++++++++++++++++++++++++++-------------------------
 3 files changed, 190 insertions(+), 183 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index c0a9ab5c39..ef7102a8ae 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c0a9ab5c39197d48cc920a818a85610e526f9e73
+Subproject commit ef7102a8ae2334d77ff4b0be512c073e81b01d18
diff --git a/panda b/panda
index aac60b8a79..fcccbb3a13 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit aac60b8a7938d4d32c0c02608058022e4d876156
+Subproject commit fcccbb3a131cc8f60025fc7da9b9fdb7a4e3acf7
diff --git a/uv.lock b/uv.lock
index 141cf78797..fb10566645 100644
--- a/uv.lock
+++ b/uv.lock
@@ -241,47 +241,47 @@ wheels = [
 
 [[package]]
 name = "cffi"
-version = "1.17.0"
+version = "1.17.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "pycparser" },
 ]
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 ]
 
 [[package]]

From 838746c831752e49d76d3dd146e4d7891888e66e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 9 Sep 2024 10:35:22 -0700
Subject: [PATCH 0583/1243] ui preview: keyboard (#33520)

keyboard
---
 .github/workflows/ui_preview.yaml |  2 +-
 selfdrive/ui/tests/test_ui/run.py | 11 ++++++++++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 98eadc36c2..877951f623 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device offroad_alert update_available prime onroad onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body"
+          scenes="homescreen settings_device offroad_alert update_available prime onroad onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 578d9d7e10..f5560efa72 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -77,6 +77,14 @@ def setup_body(click, pm: PubMaster):
   DATA['carState'].carState.fuelGauge = 50.0
   setup_onroad(click, pm)
 
+def setup_keyboard(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(250, 575)
+  click(2020, 218)
+  click(1830, 80)
+  click(2035, 808)
+  click(90, 480)
+
 def setup_driver_camera(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(1950, 435)
@@ -143,7 +151,8 @@ CASES = {
   "driver_camera": setup_driver_camera,
   "body": setup_body,
   "offroad_alert": setup_offroad_alert,
-  "update_available": setup_update_available
+  "update_available": setup_update_available,
+  "keyboard": setup_keyboard
 }
 
 TEST_DIR = pathlib.Path(__file__).parent

From d73a787e8ab01b1e3c452785b7920816d5b8065f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 9 Sep 2024 12:03:34 -0700
Subject: [PATCH 0584/1243] release files: add tools/joystick (#33525)

---
 release/release_files.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/release/release_files.py b/release/release_files.py
index 5e9371c6fc..788d45b88e 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -52,6 +52,7 @@ blacklist = [
 whitelist = [
   "tools/lib/",
   "tools/bodyteleop/",
+  "tools/joystick/",
 
   "tinygrad_repo/openpilot/compile2.py",
   "tinygrad_repo/extra/onnx.py",

From d6644c457a41ca51db0a4915475233028b84541a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 9 Sep 2024 12:04:04 -0700
Subject: [PATCH 0585/1243] test manager again in CI (#33523)

* test manager again

* fix

* whitelist joystickd
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 system/manager/test/test_manager.py    | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 09ac537845..b47d06f06d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -60,7 +60,7 @@ jobs:
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
     - name: Static analysis
       timeout-minutes: 1
       run: |
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index e5960d1113..497f4f8240 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -18,7 +18,6 @@ MAX_STARTUP_TIME = 3
 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
-@pytest.mark.tici
 class TestManager:
   def setup_method(self):
     HARDWARE.set_power_save(False)

From 592778ab29b9125703032e011d52455e44d840f4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 9 Sep 2024 14:11:07 -0700
Subject: [PATCH 0586/1243] inputs is real dependency (#33524)

inputs is real dep
---
 pyproject.toml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index b42eb67141..2f4ce136b6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -55,6 +55,9 @@ dependencies = [
   "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
   "future-fstrings",
 
+  # joystickd
+  "inputs",
+
   # these should be removed
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
@@ -96,7 +99,6 @@ dev = [
   "azure-storage-blob",
   "dictdiffer",
   "flaky",
-  "inputs",
   "lru-dict",
   "matplotlib",
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",

From 343de54030eea5eb898e7e0dd2be844d8d5b8be0 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 10 Sep 2024 05:34:11 +0800
Subject: [PATCH 0587/1243] ui: consolidate prime state management into
 `PrimeState` Class (#33473)

new class PrimeState
---
 selfdrive/ui/SConscript                 |  4 +--
 selfdrive/ui/qt/home.cc                 |  5 ++-
 selfdrive/ui/qt/network/networking.cc   | 19 +++++-----
 selfdrive/ui/qt/network/networking.h    |  3 ++
 selfdrive/ui/qt/network/wifi_manager.cc |  7 ----
 selfdrive/ui/qt/network/wifi_manager.h  |  1 +
 selfdrive/ui/qt/offroad/settings.cc     | 14 ++++----
 selfdrive/ui/qt/offroad/settings.h      |  1 -
 selfdrive/ui/qt/prime_state.cc          | 48 +++++++++++++++++++++++++
 selfdrive/ui/qt/prime_state.h           | 33 +++++++++++++++++
 selfdrive/ui/qt/widgets/prime.cc        | 37 +++++--------------
 selfdrive/ui/qt/widgets/prime.h         |  3 --
 selfdrive/ui/ui.cc                      | 28 ++-------------
 selfdrive/ui/ui.h                       | 20 ++---------
 14 files changed, 118 insertions(+), 105 deletions(-)
 create mode 100644 selfdrive/ui/qt/prime_state.cc
 create mode 100644 selfdrive/ui/qt/prime_state.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 319ca4547c..1ea4d44dc4 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -16,7 +16,7 @@ if arch == "Darwin":
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
-widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
+widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
@@ -26,7 +26,7 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
-qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc",
+qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index af946c7987..648f3685c7 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -150,9 +150,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     left_widget->addWidget(new PrimeAdWidget);
     left_widget->setStyleSheet("border-radius: 10px;");
 
-    left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : 1);
-    connect(uiState(), &UIState::primeChanged, [=](bool prime) {
-      left_widget->setCurrentIndex(prime ? 0 : 1);
+    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
+      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
     });
 
     home_layout->addWidget(left_widget, 1);
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 250fa0fbf8..22d9c01efe 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -6,7 +6,6 @@
 #include <QScrollBar>
 #include <QStyle>
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -73,6 +72,11 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   main_layout->setCurrentWidget(wifiScreen);
 }
 
+void Networking::setPrimeType(PrimeState::Type type) {
+  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
+  wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
+}
+
 void Networking::refresh() {
   wifiWidget->refresh();
   an->refresh();
@@ -204,17 +208,16 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   // Set initial config
   wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);
 
-  connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) {
-    bool gsmVisible = prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE;
-    roamingToggle->setVisible(gsmVisible);
-    editApnButton->setVisible(gsmVisible);
-    meteredToggle->setVisible(gsmVisible);
-  });
-
   main_layout->addWidget(new ScrollView(list, this));
   main_layout->addStretch(1);
 }
 
+void AdvancedNetworking::setGsmVisible(bool visible) {
+  roamingToggle->setVisible(visible);
+  editApnButton->setVisible(visible);
+  meteredToggle->setVisible(visible);
+}
+
 void AdvancedNetworking::refresh() {
   ipLabel->setText(wifi->ipv4_address);
   tetheringToggle->setEnabled(true);
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 9b6af005ea..4fd604039b 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -3,6 +3,7 @@
 #include <vector>
 
 #include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/qt/prime_state.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
@@ -56,6 +57,7 @@ class AdvancedNetworking : public QWidget {
   Q_OBJECT
 public:
   explicit AdvancedNetworking(QWidget* parent = 0, WifiManager* wifi = 0);
+  void setGsmVisible(bool visible);
 
 private:
   LabelControl* ipLabel;
@@ -81,6 +83,7 @@ class Networking : public QFrame {
 
 public:
   explicit Networking(QWidget* parent = 0, bool show_advanced = true);
+  void setPrimeType(PrimeState::Type type);
   WifiManager* wifi = nullptr;
 
 private:
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index b0c9535273..ddf13d26b7 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -2,10 +2,6 @@
 
 #include <utility>
 
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "selfdrive/ui/qt/util.h"
 
@@ -445,9 +441,6 @@ void WifiManager::addTetheringConnection() {
 }
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
-  int prime_type = uiState()->primeType();
-  int ipv4_forward = (prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE);
-
   if (!ipv4_forward) {
     QTimer::singleShot(5000, this, [=] {
       qWarning() << "net.ipv4.ip_forward = 0";
diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h
index 2f6a1829d7..5d18b87d86 100644
--- a/selfdrive/ui/qt/network/wifi_manager.h
+++ b/selfdrive/ui/qt/network/wifi_manager.h
@@ -42,6 +42,7 @@ public:
   QMap<QString, Network> seenNetworks;
   QMap<QDBusObjectPath, QString> knownConnections;
   QString ipv4_address;
+  bool ipv4_forward = false;
 
   explicit WifiManager(QObject* parent);
   void start();
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index fc92a471d6..7024a2a802 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -247,8 +247,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(translateBtn);
 
-  QObject::connect(uiState(), &UIState::primeTypeChanged, [this] (PrimeType type) {
-    pair_device->setVisible(type == PrimeType::PRIME_TYPE_UNPAIRED);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this] (PrimeState::Type type) {
+    pair_device->setVisible(type == PrimeState::PRIME_TYPE_UNPAIRED);
   });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
@@ -335,11 +335,6 @@ void DevicePanel::poweroff() {
   }
 }
 
-void DevicePanel::showEvent(QShowEvent *event) {
-  pair_device->setVisible(uiState()->primeType() == PrimeType::PRIME_TYPE_UNPAIRED);
-  ListWidget::showEvent(event);
-}
-
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
@@ -386,9 +381,12 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
 
+  auto networking = new Networking(this);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
+
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
-    {tr("Network"), new Networking(this)},
+    {tr("Network"), networking},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
   };
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 35a044bdd2..68ba0d1898 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -42,7 +42,6 @@ class DevicePanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DevicePanel(SettingsWindow *parent);
-  void showEvent(QShowEvent *event) override;
 
 signals:
   void reviewTrainingGuide();
diff --git a/selfdrive/ui/qt/prime_state.cc b/selfdrive/ui/qt/prime_state.cc
new file mode 100644
index 0000000000..f12daf1e3c
--- /dev/null
+++ b/selfdrive/ui/qt/prime_state.cc
@@ -0,0 +1,48 @@
+#include "selfdrive/ui/qt/prime_state.h"
+
+#include <QJsonDocument>
+
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+PrimeState::PrimeState(QObject* parent) : QObject(parent) {
+  const char *env_prime_type = std::getenv("PRIME_TYPE");
+  auto type = env_prime_type ? env_prime_type : Params().get("PrimeType");
+
+  if (!type.empty()) {
+    prime_type = static_cast<PrimeState::Type>(std::atoi(type.c_str()));
+  }
+
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
+    QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeState::handleReply);
+  }
+
+  // Emit the initial state change
+  QTimer::singleShot(1, [this]() { emit changed(prime_type); });
+}
+
+void PrimeState::handleReply(const QString& response, bool success) {
+  if (!success) return;
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting pairing and PrimeState status";
+    return;
+  }
+
+  QJsonObject json = doc.object();
+  bool is_paired = json["is_paired"].toBool();
+  auto type = static_cast<PrimeState::Type>(json["prime_type"].toInt());
+  setType(is_paired ? type : PrimeState::PRIME_TYPE_UNPAIRED);
+}
+
+void PrimeState::setType(PrimeState::Type type) {
+  if (type != prime_type) {
+    prime_type = type;
+    Params().put("PrimeType", std::to_string(prime_type));
+    emit changed(prime_type);
+  }
+}
diff --git a/selfdrive/ui/qt/prime_state.h b/selfdrive/ui/qt/prime_state.h
new file mode 100644
index 0000000000..0e2e3bb043
--- /dev/null
+++ b/selfdrive/ui/qt/prime_state.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#include <QObject>
+
+class PrimeState : public QObject {
+  Q_OBJECT
+
+public:
+
+ enum Type {
+   PRIME_TYPE_UNKNOWN = -2,
+   PRIME_TYPE_UNPAIRED = -1,
+   PRIME_TYPE_NONE = 0,
+   PRIME_TYPE_MAGENTA = 1,
+   PRIME_TYPE_LITE = 2,
+   PRIME_TYPE_BLUE = 3,
+   PRIME_TYPE_MAGENTA_NEW = 4,
+   PRIME_TYPE_PURPLE = 5,
+ };
+
+ PrimeState(QObject *parent);
+ void setType(PrimeState::Type type);
+ inline PrimeState::Type currentType() const { return prime_type; }
+ inline bool isSubscribed() const { return prime_type > PrimeState::PRIME_TYPE_NONE; }
+
+signals:
+  void changed(PrimeState::Type prime_type);
+
+private:
+  void handleReply(const QString &response, bool success);
+
+  PrimeState::Type prime_type = PrimeState::PRIME_TYPE_UNKNOWN;
+};
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index f86258ea4f..9bc96fcdad 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -246,33 +246,12 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   sp_retain.setRetainSizeWhenHidden(true);
   setSizePolicy(sp_retain);
 
-  // set up API requests
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
-
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &SetupWidget::replyFinished);
-  }
-}
-
-void SetupWidget::replyFinished(const QString &response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting pairing and prime status";
-    return;
-  }
-
-  QJsonObject json = doc.object();
-  bool is_paired = json["is_paired"].toBool();
-  PrimeType prime_type = static_cast<PrimeType>(json["prime_type"].toInt());
-  uiState()->setPrimeType(is_paired ? prime_type : PrimeType::PRIME_TYPE_UNPAIRED);
-
-  if (!is_paired) {
-    mainLayout->setCurrentIndex(0);
-  } else {
-    popup->reject();
-    mainLayout->setCurrentIndex(1);
-  }
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this](PrimeState::Type type) {
+    if (type == PrimeState::PRIME_TYPE_UNPAIRED) {
+      mainLayout->setCurrentIndex(0);  // Display "Pair your device" widget
+    } else {
+      popup->reject();
+      mainLayout->setCurrentIndex(1);  // Display Wi-Fi prompt widget
+    }
+  });
 }
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index eac71bcddb..d1ba334e81 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -66,7 +66,4 @@ signals:
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-
-private slots:
-  void replyFinished(const QString &response, bool success);
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 1a3198c936..cbe05edfc9 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -210,13 +210,8 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState",
   });
-
-  Params params;
-  language = QString::fromStdString(params.get("LanguageSetting"));
-  auto prime_value = params.get("PrimeType");
-  if (!prime_value.empty()) {
-    prime_type = static_cast<PrimeType>(std::atoi(prime_value.c_str()));
-  }
+  prime_state = new PrimeState(this);
+  language = QString::fromStdString(Params().get("LanguageSetting"));
 
   // update timer
   timer = new QTimer(this);
@@ -229,31 +224,12 @@ void UIState::update() {
   update_state(this);
   updateStatus();
 
-  if (std::getenv("PRIME_TYPE")) {
-      setPrimeType((PrimeType)atoi(std::getenv("PRIME_TYPE")));
-  }
-
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
 }
 
-void UIState::setPrimeType(PrimeType type) {
-  if (type != prime_type) {
-    bool prev_prime = hasPrime();
-
-    prime_type = type;
-    Params().put("PrimeType", std::to_string(prime_type));
-    emit primeTypeChanged(prime_type);
-
-    bool prime = hasPrime();
-    if (prev_prime != prime) {
-      emit primeChanged(prime);
-    }
-  }
-}
-
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 73b8c5ddeb..8cf2f52d58 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -15,6 +15,7 @@
 #include "common/params.h"
 #include "common/timing.h"
 #include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/prime_state.h"
 
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
@@ -40,17 +41,6 @@ typedef enum UIStatus {
   STATUS_ENGAGED,
 } UIStatus;
 
-enum PrimeType {
-  PRIME_TYPE_UNKNOWN = -2,
-  PRIME_TYPE_UNPAIRED = -1,
-  PRIME_TYPE_NONE = 0,
-  PRIME_TYPE_MAGENTA = 1,
-  PRIME_TYPE_LITE = 2,
-  PRIME_TYPE_BLUE = 3,
-  PRIME_TYPE_MAGENTA_NEW = 4,
-  PRIME_TYPE_PURPLE = 5,
-};
-
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
@@ -94,10 +84,6 @@ public:
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 
-  void setPrimeType(PrimeType type);
-  inline PrimeType primeType() const { return prime_type; }
-  inline bool hasPrime() const { return prime_type > PrimeType::PRIME_TYPE_NONE; }
-
   int fb_w = 0, fb_h = 0;
 
   std::unique_ptr<SubMaster> sm;
@@ -108,12 +94,11 @@ public:
   QString language;
 
   QTransform car_space_transform;
+  PrimeState *prime_state;
 
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
-  void primeTypeChanged(PrimeType prime_type);
 
 private slots:
   void update();
@@ -121,7 +106,6 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
-  PrimeType prime_type = PrimeType::PRIME_TYPE_UNKNOWN;
 };
 
 UIState *uiState();

From f1331ae9bca8411b6609dcc50ca0fdf6d99bea0e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 9 Sep 2024 14:35:40 -0700
Subject: [PATCH 0588/1243] ci: make ui preview more deterministic  (#33526)

set ping time
---
 selfdrive/ui/tests/test_ui/run.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index f5560efa72..4ae9e4e611 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -169,6 +169,7 @@ class TestUI:
   def setup(self):
     self.pm = PubMaster(list(DATA.keys()))
     DATA['deviceState'].deviceState.networkType = log.DeviceState.NetworkType.wifi
+    DATA['deviceState'].deviceState.lastAthenaPingTime = 0
     for _ in range(10):
       self.pm.send('deviceState', DATA['deviceState'])
       DATA['deviceState'].clear_write_flag()

From c8eb5916a7c2585f4e2b452988608d90045ce3b8 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Mon, 9 Sep 2024 20:20:42 -0700
Subject: [PATCH 0589/1243] Keyboard UX: Easier to type URLs (#33517)

Easier access to / and -
---
 selfdrive/ui/qt/widgets/keyboard.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc
index 370e9a53cc..629ea94f20 100644
--- a/selfdrive/ui/qt/widgets/keyboard.cc
+++ b/selfdrive/ui/qt/widgets/keyboard.cc
@@ -11,7 +11,7 @@
 const QString BACKSPACE_KEY = "⌫";
 const QString ENTER_KEY = "→";
 
-const QMap<QString, int> KEY_STRETCH = {{"  ", 5}, {ENTER_KEY, 2}};
+const QMap<QString, int> KEY_STRETCH = {{"  ", 3}, {ENTER_KEY, 2}};
 
 const QStringList CONTROL_BUTTONS = {"↑", "↓", "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY};
 
@@ -107,7 +107,7 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
     {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"},
     {"a", "s", "d", "f", "g", "h", "j", "k", "l"},
     {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY},
-    {"123", "  ", ".", ENTER_KEY},
+    {"123", "/", "-", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, lowercase));
 

From 650ee44e898920e092a1c08ec0ad4d1b9b6f8e6d Mon Sep 17 00:00:00 2001
From: Shengming Yuan <11619780+ssysm@users.noreply.github.com>
Date: Tue, 10 Sep 2024 00:53:15 -0400
Subject: [PATCH 0590/1243] ui: update CHS/CHT translation (#33529)

---
 selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++----
 selfdrive/ui/translations/main_zh-CHT.ts | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 5fe66104d1..d900202515 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -419,11 +419,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>等待开始</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>系统无响应</translation>
     </message>
 </context>
 <context>
@@ -476,7 +476,7 @@
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
-        <translation>全天候 LTE 連線</translation>
+        <translation>全天候 LTE 连接</translation>
     </message>
     <message>
         <source>1 year of drive storage</source>
@@ -484,7 +484,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>远程快照</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index b7d2eb2bde..91b1cf3866 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -419,11 +419,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>等待開始</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>系統無回應</translation>
     </message>
 </context>
 <context>
@@ -484,7 +484,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>遠端快照</translation>
     </message>
 </context>
 <context>

From 47409ab4d40c18d4a1e3030585646fbab7729e41 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 11 Sep 2024 02:53:10 +0800
Subject: [PATCH 0591/1243] ui: refactor CameraView to serve as a generic
 vision stream display class (#33457)

refactor transform
---
 selfdrive/ui/qt/offroad/driverview.cc      |  14 ++-
 selfdrive/ui/qt/offroad/driverview.h       |   1 +
 selfdrive/ui/qt/onroad/annotated_camera.cc |  63 ++++++++----
 selfdrive/ui/qt/onroad/annotated_camera.h  |   2 +-
 selfdrive/ui/qt/onroad/onroad_home.cc      |   2 +-
 selfdrive/ui/qt/widgets/cameraview.cc      | 106 +++------------------
 selfdrive/ui/qt/widgets/cameraview.h       |  16 +---
 selfdrive/ui/ui.cc                         |  52 +++-------
 selfdrive/ui/ui.h                          |  43 ++++-----
 selfdrive/ui/watch3.cc                     |   6 +-
 tools/cabana/videowidget.cc                |   6 +-
 tools/cabana/videowidget.h                 |   2 +-
 12 files changed, 119 insertions(+), 194 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index df9bb24651..00f7415cba 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -7,7 +7,7 @@
 
 const int FACE_IMG_SIZE = 130;
 
-DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
   face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
   QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
   QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
@@ -75,3 +75,15 @@ void DriverViewWindow::paintGL() {
   p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
 }
+
+mat4 DriverViewWindow::calcFrameMatrix() {
+  const float driver_view_ratio = 2.0;
+  const float yscale = stream_height * driver_view_ratio / stream_width;
+  const float xscale = yscale * glHeight() / glWidth() * stream_width / stream_height;
+  return mat4{{
+    xscale,  0.0, 0.0, 0.0,
+    0.0,  yscale, 0.0, 0.0,
+    0.0,  0.0, 1.0, 0.0,
+    0.0,  0.0, 0.0, 1.0,
+  }};
+}
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 155e4ede32..00acb68d29 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -12,6 +12,7 @@ signals:
   void done();
 
 protected:
+  mat4 calcFrameMatrix() override;
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
   void paintGL() override;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index b538f19dde..c528501cbe 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -10,7 +10,8 @@
 #include "selfdrive/ui/qt/util.h"
 
 // Window that shows camera view and variety of info drawn on top
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
+    : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
   pm = std::make_unique<PubMaster>(std::vector<const char*>{"uiDebug"});
 
   main_layout = new QVBoxLayout(this);
@@ -125,22 +126,54 @@ void AnnotatedCameraWidget::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void AnnotatedCameraWidget::updateFrameMat() {
-  CameraWidget::updateFrameMat();
-  UIState *s = uiState();
+mat4 AnnotatedCameraWidget::calcFrameMatrix() {
+  // Project point at "infinity" to compute x and y offsets
+  // to ensure this ends up in the middle of the screen
+  // for narrow come and a little lower for wide cam.
+  // TODO: use proper perspective transform?
+
+  // Select intrinsic matrix and calibration based on camera type
+  auto *s = uiState();
+  bool wide_cam = active_stream_type == VISION_STREAM_WIDE_ROAD;
+  const auto &intrinsic_matrix = wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX;
+  const auto &calibration = wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
+
+   // Compute the calibration transformation matrix
+  const auto calib_transform = intrinsic_matrix * calibration;
+
+  float zoom = wide_cam ? 2.0 : 1.1;
+  Eigen::Vector3f inf(1000., 0., 0.);
+  auto Kep = calib_transform * inf;
+
   int w = width(), h = height();
+  float center_x = intrinsic_matrix(0, 2);
+  float center_y = intrinsic_matrix(1, 2);
 
-  s->fb_w = w;
-  s->fb_h = h;
+  float max_x_offset = center_x * zoom - w / 2 - 5;
+  float max_y_offset = center_y * zoom - h / 2 - 5;
+  float x_offset = std::clamp<float>((Kep.x() / Kep.z() - center_x) * zoom, -max_x_offset, max_x_offset);
+  float y_offset = std::clamp<float>((Kep.y() / Kep.z() - center_y) * zoom, -max_y_offset, max_y_offset);
 
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
   // 3) Put (0, 0) in top left corner of video
-  s->car_space_transform.reset();
-  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
-      .scale(zoom, zoom)
-      .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
+  Eigen::Matrix3f video_transform =(Eigen::Matrix3f() <<
+    zoom, 0.0f, (w / 2 - x_offset) - (center_x * zoom),
+    0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
+    0.0f, 0.0f, 1.0f).finished();
+
+  s->car_space_transform = video_transform * calib_transform;
+  s->clip_region = rect().adjusted(-500, -500, 500, 500);
+
+  float zx = zoom * 2 * center_x / w;
+  float zy = zoom * 2 * center_y / h;
+  return mat4{{
+    zx, 0.0, 0.0, -x_offset / w * 2,
+    0.0, zy, 0.0, y_offset / h * 2,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
 }
 
 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
@@ -271,18 +304,8 @@ void AnnotatedCameraWidget::paintGL() {
         wide_cam_requested = false;
       }
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-      // for replay of old routes, never go to widecam
-      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-
-    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
-    if (s->scene.calibration_valid) {
-      auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
-      CameraWidget::updateCalibration(calib);
-    } else {
-      CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
-    }
     CameraWidget::setFrameId(model.getFrameId());
     CameraWidget::paintGL();
   }
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 4a4196b22c..3820de5d86 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -36,7 +36,7 @@ protected:
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
-  void updateFrameMat() override;
+  mat4 calcFrameMatrix() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 823e14bf3c..080f9bd50f 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -21,7 +21,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   split->addWidget(nvg);
 
   if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, this);
     split->insertWidget(0, arCam);
   }
 
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index b43f8c4322..674e5e999c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -7,13 +7,7 @@
 #endif
 
 #include <cmath>
-#include <set>
-#include <string>
-#include <utility>
-
 #include <QApplication>
-#include <QOpenGLBuffer>
-#include <QOffscreenSurface>
 
 namespace {
 
@@ -66,40 +60,10 @@ const char frame_fragment_shader[] =
   "}\n";
 #endif
 
-mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 2.0;
-  const float yscale = stream_height * driver_view_ratio / stream_width;
-  const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
-  mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, 0.0,
-    0.0,  yscale, 0.0, 0.0,
-    0.0,  0.0, 1.0, 0.0,
-    0.0,  0.0, 0.0, 1.0,
-  }};
-  return transform;
-}
-
-mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) {
-  float zx = 1, zy = 1;
-  if (frame_aspect_ratio > widget_aspect_ratio) {
-    zy = widget_aspect_ratio / frame_aspect_ratio;
-  } else {
-    zx = frame_aspect_ratio / widget_aspect_ratio;
-  }
-
-  const mat4 frame_transform = {{
-    zx, 0.0, 0.0, 0.0,
-    0.0, zy, 0.0, 0.0,
-    0.0, 0.0, 1.0, 0.0,
-    0.0, 0.0, 0.0, 1.0,
-  }};
-  return frame_transform;
-}
-
 } // namespace
 
-CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
-                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
@@ -214,59 +178,19 @@ void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
   available_streams = streams;
 }
 
-void CameraWidget::updateFrameMat() {
-  int w = glWidth(), h = glHeight();
+mat4 CameraWidget::calcFrameMatrix() {
+  // Scale the frame to fit the widget while maintaining the aspect ratio.
+  float widget_aspect_ratio = (float)width() / height();
+  float frame_aspect_ratio = (float)stream_width / stream_height;
+  float zx = std::min(frame_aspect_ratio / widget_aspect_ratio, 1.0f);
+  float zy = std::min(widget_aspect_ratio / frame_aspect_ratio, 1.0f);
 
-  if (zoomed_view) {
-    if (active_stream_type == VISION_STREAM_DRIVER) {
-      if (stream_width > 0 && stream_height > 0) {
-        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
-      }
-    } else {
-      // Project point at "infinity" to compute x and y offsets
-      // to ensure this ends up in the middle of the screen
-      // for narrow come and a little lower for wide cam.
-      // TODO: use proper perspective transform?
-      if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
-        intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
-        zoom = 2.0;
-      } else {
-        intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
-        zoom = 1.1;
-      }
-      const vec3 inf = {{1000., 0., 0.}};
-      const vec3 Ep = matvecmul3(calibration, inf);
-      const vec3 Kep = matvecmul3(intrinsic_matrix, Ep);
-
-      float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom;
-      float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom;
-
-      float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5;
-      float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5;
-
-      x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
-      y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
-
-      float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
-      float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
-      const mat4 frame_transform = {{
-        zx, 0.0, 0.0, -x_offset / w * 2,
-        0.0, zy, 0.0, y_offset / h * 2,
-        0.0, 0.0, 1.0, 0.0,
-        0.0, 0.0, 0.0, 1.0,
-      }};
-      frame_mat = frame_transform;
-    }
-  } else if (stream_width > 0 && stream_height > 0) {
-    // fit frame to widget size
-    float widget_aspect_ratio = (float)w / h;
-    float frame_aspect_ratio = (float)stream_width  / stream_height;
-    frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
-  }
-}
-
-void CameraWidget::updateCalibration(const mat3 &calib) {
-  calibration = calib;
+  return mat4{{
+    zx, 0.0, 0.0, 0.0,
+    0.0, zy, 0.0, 0.0,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
 }
 
 void CameraWidget::paintGL() {
@@ -293,7 +217,7 @@ void CameraWidget::paintGL() {
   VisionBuf *frame = frames[frame_idx].second;
   assert(frame != nullptr);
 
-  updateFrameMat();
+  auto frame_mat = calcFrameMatrix();
 
   glViewport(0, 0, glWidth(), glHeight());
   glBindVertexArray(frame_vao);
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 85ec498735..73f4858c4b 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -34,7 +34,7 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
 
 public:
   using QOpenGLWidget::QOpenGLWidget;
-  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
   void setBackgroundColor(const QColor &color) { bg = color; }
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
@@ -51,21 +51,17 @@ signals:
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual void updateFrameMat();
-  void updateCalibration(const mat3 &calib);
+  virtual mat4 calcFrameMatrix();
   void vipcThread();
   void clearFrames();
 
   int glWidth();
   int glHeight();
 
-  bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  mat4 frame_mat = {};
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
@@ -81,14 +77,6 @@ protected:
   std::atomic<VisionStreamType> requested_stream_type;
   std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
-
-  // Calibration
-  float x_offset = 0;
-  float y_offset = 0;
-  float zoom = 1.0;
-  mat3 calibration = DEFAULT_CALIBRATION;
-  mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
-
   std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index cbe05edfc9..852980d54e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1,13 +1,11 @@
 #include "selfdrive/ui/ui.h"
 
 #include <algorithm>
-#include <cassert>
 #include <cmath>
 
 #include <QtConcurrent>
 
 #include "common/transformations/orientation.hpp"
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
@@ -19,20 +17,10 @@
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
 static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
-  const float margin = 500.0f;
-  const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin};
-
-  const vec3 pt = (vec3){{in_x, in_y, in_z}};
-  const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
-  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
-
-  // Project.
-  QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});
-  if (clip_region.contains(point)) {
-    *out = point;
-    return true;
-  }
-  return false;
+  Eigen::Vector3f input(in_x, in_y, in_z);
+  auto transformed = s->car_space_transform * input;
+  *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
+  return s->clip_region.contains(*out);
 }
 
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
@@ -119,29 +107,19 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
 
   if (sm.updated("liveCalibration")) {
+    auto list2rot = [](const capnp::List<float>::Reader &rpy_list) ->Eigen::Matrix3f {
+      return euler2rot({rpy_list[0], rpy_list[1], rpy_list[2]}).cast<float>();
+    };
+
     auto live_calib = sm["liveCalibration"].getLiveCalibration();
-    auto rpy_list = live_calib.getRpyCalib();
-    auto wfde_list = live_calib.getWideFromDeviceEuler();
-    Eigen::Vector3d rpy;
-    Eigen::Vector3d wfde;
-    if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2];
-    if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2];
-    Eigen::Matrix3d device_from_calib = euler2rot(rpy);
-    Eigen::Matrix3d wide_from_device = euler2rot(wfde);
-    Eigen::Matrix3d view_from_device;
-    view_from_device << 0, 1, 0,
-                        0, 0, 1,
-                        1, 0, 0;
-    Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib;
-    Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib;
-    for (int i = 0; i < 3; i++) {
-      for (int j = 0; j < 3; j++) {
-        scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j);
-        scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j);
-      }
+    if (live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED) {
+      auto device_from_calib = list2rot(live_calib.getRpyCalib());
+      auto wide_from_device = list2rot(live_calib.getWideFromDeviceEuler());
+      s->scene.view_from_calib = VIEW_FROM_DEVICE * device_from_calib;
+      s->scene.view_from_wide_calib = VIEW_FROM_DEVICE * wide_from_device * device_from_calib;
+    } else {
+      s->scene.view_from_calib = s->scene.view_from_wide_calib = VIEW_FROM_DEVICE;
     }
-    scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
-    scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
     auto pandaStates = sm["pandaStates"].getPandaStates();
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 8cf2f52d58..8a06a4cccb 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -1,19 +1,18 @@
 #pragma once
 
+#include <eigen3/Eigen/Dense>
 #include <memory>
 #include <string>
 
-#include <QObject>
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
 #include <QPolygonF>
-#include <QTransform>
 
 #include "cereal/messaging/messaging.h"
 #include "common/mat.h"
 #include "common/params.h"
-#include "common/timing.h"
+#include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/prime_state.h"
 
@@ -25,15 +24,22 @@ const int BACKLIGHT_OFFROAD = 50;
 
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
-constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
-constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
+const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
+  0.0, 1.0, 0.0,
+  0.0, 0.0, 1.0,
+  1.0, 0.0, 0.0).finished();
+
+const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
+  2648.0, 0.0, 1928.0 / 2,
+  0.0, 2648.0, 1208.0 / 2,
+  0.0, 0.0, 1.0).finished();
+
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
+const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
+  567.0, 0.0, 1928.0 / 2,
+  0.0, 567.0, 1208.0 / 2,
+  0.0, 0.0, 1.0).finished();
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
@@ -47,13 +53,9 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 };
 
-
 typedef struct UIScene {
-  bool calibration_valid = false;
-  bool calibration_wide_valid  = false;
-  bool wide_cam = true;
-  mat3 view_from_calib = DEFAULT_CALIBRATION;
-  mat3 view_from_wide_calib = DEFAULT_CALIBRATION;
+  Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE;
+  Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
   cereal::PandaState::PandaType pandaType;
 
   // modelV2
@@ -84,18 +86,16 @@ public:
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 
-  int fb_w = 0, fb_h = 0;
-
   std::unique_ptr<SubMaster> sm;
-
   UIStatus status;
   UIScene scene = {};
 
   QString language;
-
-  QTransform car_space_transform;
   PrimeState *prime_state;
 
+  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
+  QRectF clip_region;
+
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
@@ -150,7 +150,6 @@ void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model);
-void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index c14e03aa6e..258e2a7bd6 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,14 +19,14 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
   }
 
   return a.exec();
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 48f768c819..07d283787f 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -148,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -420,8 +420,8 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
   }
 }
 
-StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent)
-    : CameraWidget(stream_name, stream_type, zoom, parent) {
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
+    : CameraWidget(stream_name, stream_type, parent) {
   fade_animation = new QPropertyAnimation(this, "overlayOpacity");
   fade_animation->setDuration(500);
   fade_animation->setStartValue(0.2f);
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 76364083a8..17bec78545 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -64,7 +64,7 @@ class StreamCameraView : public CameraWidget {
   Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
 
 public:
-  StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
+  StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
   void paintGL() override;
   void showPausedOverlay() { fade_animation->start(); }
   float overlayOpacity() const { return overlay_opacity; }

From d018fd56da8eb45c19bcd01c201f41ad733781da Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 10 Sep 2024 15:55:18 -0700
Subject: [PATCH 0592/1243] AEB prep (#33515)

* init aeb

* remove that for now
---
 cereal/car.capnp               | 2 ++
 selfdrive/selfdrived/events.py | 9 +++++++++
 2 files changed, 11 insertions(+)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index cfaa2238c8..e80d64651b 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -115,6 +115,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     actuatorsApiUnavailable @120;
     espActive @121;
     personalityChanged @122;
+    aeb @123;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -371,6 +372,7 @@ struct CarControl {
       pid @1;
       stopping @2;
       starting @3;
+      emergencyBraking @4;
     }
   }
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index d9c922bb90..471e46b88f 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -388,6 +388,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        priority=Priority.LOWEST),
   },
 
+  EventName.aeb: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Emergency Braking: Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"),
+  },
+
   EventName.stockAeb: {
     ET.PERMANENT: Alert(
       "BRAKE!",

From d02e9393d204ae9e0992b30098ad7e55d98ba237 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 10 Sep 2024 18:58:01 -0700
Subject: [PATCH 0593/1243] this probably shouldn't go here

---
 cereal/car.capnp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index e80d64651b..31c4445af1 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -372,7 +372,6 @@ struct CarControl {
       pid @1;
       stopping @2;
       starting @3;
-      emergencyBraking @4;
     }
   }
 

From e951b7093f830fefe490af795f24b891e1c45916 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 10 Sep 2024 20:52:12 -0700
Subject: [PATCH 0594/1243] point tinygrad_repo to commaai/tinygrad (#33536)

update submodule
---
 .gitmodules   | 2 +-
 tinygrad_repo | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index ad6530de9a..54c7393986 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,4 +15,4 @@
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git
diff --git a/tinygrad_repo b/tinygrad_repo
index ae5d1407ee..f51aa0fc7c 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit ae5d1407ee844a97a52ad3756835d38e7e2b9e1b
+Subproject commit f51aa0fc7cdbac710e640172db280cfb747d2718

From b9dbefc491024537574b97b33918258bda3aa582 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Sep 2024 13:20:07 -0700
Subject: [PATCH 0595/1243] Deprecate testJoystick (#33539)

* Deprecate testJoystick

* fix
---
 cereal/log.capnp                           | 2 +-
 cereal/services.py                         | 1 -
 system/webrtc/tests/test_stream_session.py | 2 +-
 3 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 258c1f7ab4..d6629206b3 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2407,7 +2407,6 @@ struct Event {
     uiDebug @102 :UIDebug;
 
     # *********** debug ***********
-    testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
     driverEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
@@ -2476,5 +2475,6 @@ struct Event {
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+    testJoystickDEPRECATED @52 :Joystick;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index 926461aec2..e47ddc6c3f 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -75,7 +75,6 @@ _services: dict[str, tuple] = {
 
   # debug
   "uiDebug": (True, 0., 1),
-  "testJoystick": (True, 0.),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),
   "wideRoadEncodeData": (False, 20.),
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index 113fa5e7e6..6683c65804 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -50,7 +50,7 @@ class TestStreamSession:
     tested_msgs = [
       {"type": "customReservedRawData0", "data": "test"}, # primitive
       {"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
-      {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
+      {"type": "testJoystickDEPRECATED", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
     ]
 
     mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)

From 13d947375a5908d68b33bf3b51b799f8021a35a6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Sep 2024 14:02:00 -0700
Subject: [PATCH 0596/1243] plotjuggler: add bin/ to LD_LIBRARY_PATH (#33538)

---
 tools/plotjuggler/juggle.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 82bd36622f..6f52e70006 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -16,6 +16,8 @@ from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
+os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
+
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")

From b168c6f9af4ba45cdab1a66e770b6d9c236acf6e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Sep 2024 15:02:38 -0700
Subject: [PATCH 0597/1243] controlsd is driven by selfdriveState (#33541)

* controlsd is driven by selfdriveState

* update refs
---
 selfdrive/controls/controlsd.py                 | 2 +-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4492b21b47..80331c6ee7 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -37,7 +37,7 @@ class Controls:
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='carState')
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a2ba4a5787..d94c1d1f52 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -485,7 +485,7 @@ CONFIGS = [
     subs=["carControl", "controlsState"],
     ignore=["logMonoTime", ],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("carState"),
+    should_recv_callback=MessageBasedRcvCallback("selfdriveState"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index cfdddb0965..49d920fe2a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-849fcc369f7afa78606cba636fe7c73e540e6df8
\ No newline at end of file
+13d947375a5908d68b33bf3b51b799f8021a35a6
\ No newline at end of file

From eae369c7dd373ea93f3214253f8f316275881e2f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Sep 2024 16:18:47 -0700
Subject: [PATCH 0598/1243] carControl cleanup

---
 cereal/car.capnp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 31c4445af1..0ccd00c0ba 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -336,12 +336,10 @@ struct CarControl {
   latActive @11: Bool;
   longActive @12: Bool;
 
-  # Actuator commands as computed by controlsd
+  # Final actuator commands
   actuators @6 :Actuators;
 
-  # moved to CarOutput
-  actuatorsOutputDEPRECATED @10 :Actuators;
-
+  # Blinker controls
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
@@ -431,6 +429,7 @@ struct CarControl {
   activeDEPRECATED @7 :Bool;
   rollDEPRECATED @8 :Float32;
   pitchDEPRECATED @9 :Float32;
+  actuatorsOutputDEPRECATED @10 :Actuators;
 }
 
 struct CarOutput {

From 188de7b90ee6005eb4e817f46ddae8463a6e928e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Sep 2024 17:23:33 -0700
Subject: [PATCH 0599/1243] CI: disable devcontainer until it's faster. not
 worth 5m

---
 .github/workflows/tools_tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 1bdde2a59a..c1c3552472 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -46,6 +46,7 @@ jobs:
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
+    if: false  # we can re-enable once this is faster
     steps:
     - uses: actions/checkout@v4
       with:

From 9211b701ce7e5ce2716a245ade2cccdf8629d4ce Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Sep 2024 17:23:53 -0700
Subject: [PATCH 0600/1243] carControl API cleanup (#33543)

carControl cleanup
---
 cereal/car.capnp | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 0ccd00c0ba..f5469a54d7 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -350,21 +350,21 @@ struct CarControl {
   hudControl @5 :HUDControl;
 
   struct Actuators {
-    # range from 0.0 - 1.0
-    gas @0: Float32;
-    brake @1: Float32;
-    # range from -1.0 - 1.0
-    steer @2: Float32;
-    # value sent over can to the car
-    steerOutputCan @8: Float32;
+    # lateral commands, mutually exclusive
+    steer @2: Float32;  # [0.0, 1.0]
     steeringAngleDeg @3: Float32;
-
     curvature @7: Float32;
 
-    speed @6: Float32; # m/s
-    accel @4: Float32; # m/s^2
+    # longitudinal commands
+    accel @4: Float32;  # m/s^2
     longControlState @5: LongControlState;
 
+    # these are only for logging the actual values sent to the car over CAN
+    gas @0: Float32;   # [0.0, 1.0]
+    brake @1: Float32; # [0.0, 1.0]
+    steerOutputCan @8: Float32;   # value sent over can to the car
+    speed @6: Float32;  # m/s
+
     enum LongControlState @0xe40f3a917d908282{
       off @0;
       pid @1;

From 82f8db87f464ad826c03f116a35940331304667f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 14:10:18 -0700
Subject: [PATCH 0601/1243] add longitudinal maneuvers (#33527)

* add longitudinal profiles

* stash

* unfortunately even longitudinalPlan causes circle

* add to process config

* reach target speed smoothly

* stash

* works

* clean up

* debug alert

* rename

* fix

* better text

* toggle via exp button

* try coming to a stop better, smoother target reaching

* closer to target

* revert controlsd migration

* add description to alert

* generate report from local logs

* hide bad maneuvers

* pdflike

* Revert "pdflike"

This reverts commit 6d4af1bf9be2e9e0798eaecf026a53d860da7613.

* try this

* use alert manager

* fix that check

* wat

* Revert "wat"

This reverts commit 93d0d27ab838d3f580d06ff212f380e0b912d599.

* some clean up

* rm

* cleanup

* move

* fix test

* more fix

* clean up

* fix that
---
 cereal/car.capnp                              |   1 +
 cereal/log.capnp                              |   6 +
 cereal/services.py                            |   1 +
 common/params.cc                              |   1 +
 release/release_files.py                      |   1 +
 selfdrive/selfdrived/events.py                |  16 ++
 selfdrive/selfdrived/selfdrived.py            |   8 +-
 system/manager/process_config.py              |   9 +-
 .../longitudinal_maneuvers/generate_report.py | 115 ++++++++++++
 tools/longitudinal_maneuvers/maneuversd.py    | 165 ++++++++++++++++++
 10 files changed, 320 insertions(+), 3 deletions(-)
 create mode 100755 tools/longitudinal_maneuvers/generate_report.py
 create mode 100755 tools/longitudinal_maneuvers/maneuversd.py

diff --git a/cereal/car.capnp b/cereal/car.capnp
index f5469a54d7..2c18c7c617 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -54,6 +54,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     manualRestart @30;
     lowSpeedLockout @31;
     joystickDebug @34;
+    longitudinalManeuver @124;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
     preDriverDistracted @37;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index d6629206b3..6cd7fe7534 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2304,6 +2304,11 @@ struct EncodeData {
   height @5 :UInt32;
 }
 
+struct DebugAlert {
+  alertText1 @0 :Text;
+  alertText2 @1 :Text;
+}
+
 struct UserFlag {
 }
 
@@ -2411,6 +2416,7 @@ struct Event {
     driverEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
     qRoadEncodeData @89 :EncodeData;
+    alertDebug @133 :DebugAlert;
 
     livestreamRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
diff --git a/cereal/services.py b/cereal/services.py
index e47ddc6c3f..d94c3f11fb 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -75,6 +75,7 @@ _services: dict[str, tuple] = {
 
   # debug
   "uiDebug": (True, 0., 1),
+  "alertDebug": (True, 0.),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),
   "wideRoadEncodeData": (False, 20.),
diff --git a/common/params.cc b/common/params.cc
index 0932acd54d..c75a09e28b 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -158,6 +158,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
+    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LongitudinalPersonality", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/release/release_files.py b/release/release_files.py
index 788d45b88e..afd0d468b6 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -53,6 +53,7 @@ whitelist = [
   "tools/lib/",
   "tools/bodyteleop/",
   "tools/joystick/",
+  "tools/longitudinal_maneuvers/",
 
   "tinygrad_repo/openpilot/compile2.py",
   "tinygrad_repo/extra/onnx.py",
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 471e46b88f..29ab060d9b 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -325,6 +325,17 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
   return NormalPermanentAlert("Joystick Mode", vals)
 
+
+def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  ad = sm['alertDebug']
+  audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none
+  alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal
+  alert_size = AlertSize.mid if ad.alertText2 else AlertSize.small
+  return Alert(ad.alertText1, ad.alertText2,
+               alert_status, alert_size,
+               Priority.LOW, VisualAlert.none, audible_alert, 0.2)
+
+
 def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   personality = str(personality).title()
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
@@ -344,6 +355,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
   },
 
+  EventName.longitudinalManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode"),
+  },
+
   EventName.selfdriveInitializing: {
     ET.NO_ENTRY: NoEntryAlert("System Initializing"),
   },
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 255ce080df..4559c82bd6 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -61,7 +61,7 @@ class SelfdriveD:
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -70,7 +70,7 @@ class SelfdriveD:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -135,6 +135,10 @@ class SelfdriveD:
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
+    if self.sm.recv_frame['alertDebug'] > 0:
+      self.events.add(EventName.longitudinalManeuver)
+      self.startup_event = None
+
     # Add startup event
     if self.startup_event is not None:
       self.events.add(self.startup_event)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a85bfd1f46..538c55813b 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -35,6 +35,12 @@ def joystick(started: bool, params, CP: car.CarParams) -> bool:
 def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
   return started and not params.get_bool("JoystickDebugMode")
 
+def long_maneuver(started: bool, params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LongitudinalManeuverMode")
+
+def not_long_maneuver(started: bool, params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("LongitudinalManeuverMode")
+
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
@@ -81,7 +87,8 @@ procs = [
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
+  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
new file mode 100755
index 0000000000..262ea93ef3
--- /dev/null
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+import argparse
+import base64
+import io
+import os
+import time
+from pathlib import Path
+import matplotlib.pyplot as plt
+
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware.hw import Paths
+
+
+def report(platform, maneuvers):
+  output_path = Path(__file__).resolve().parent / "longitudinal_reports"
+  output_fn = output_path / f"{platform}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
+  output_path.mkdir(exist_ok=True)
+  with open(output_fn, "w") as f:
+    f.write("<h1>Longitudinal maneuver report</h1>\n")
+    f.write(f"<h3>{platform}</h3>\n")
+    for description, runs in maneuvers:
+      print('plotting maneuver:', description, 'runs:', len(runs))
+      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+      f.write(f"<h2>{description}</h2>\n")
+      for run, msgs in enumerate(runs):
+        t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
+        t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
+        t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+        t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
+
+        longActive = [m.longActive for m in carControl]
+        gasPressed = [m.gasPressed for m in carState]
+        brakePressed = [m.brakePressed for m in carState]
+
+        maneuver_valid = all(longActive) and not (any(gasPressed) or any(brakePressed))
+
+        _open = 'open' if maneuver_valid else ''
+        title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
+
+        f.write(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
+
+        plt.rcParams['font.size'] = 40
+        fig = plt.figure(figsize=(30, 25))
+        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 3, 1, 1]})
+
+        ax[0].grid(linewidth=4)
+        ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
+        ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
+        ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
+        ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
+        # TODO localizer accel
+        ax[0].set_ylabel('Acceleration (m/s^2)')
+        #ax[0].set_ylim(-6.5, 6.5)
+        ax[0].legend()
+
+        ax[1].grid(linewidth=4)
+        ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
+        ax[1].set_ylabel('Velocity (m/s)')
+        ax[1].legend()
+
+        ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
+        ax[3].plot(t_carState, gasPressed, label='gasPressed', linewidth=6)
+        ax[3].plot(t_carState, brakePressed, label='brakePressed', linewidth=6)
+        for i in (2, 3):
+          ax[i].set_yticks([0, 1], minor=False)
+          ax[i].set_ylim(-1, 2)
+          ax[i].legend()
+
+        ax[-1].set_xlabel("Time (s)")
+        fig.tight_layout()
+
+        buffer = io.BytesIO()
+        fig.savefig(buffer, format='png')
+        buffer.seek(0)
+        f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+        f.write("</details>\n")
+
+  print(f"\nReport written to {output_fn}\n")
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Generate longitudinal maneuver report from route')
+  parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
+
+  args = parser.parse_args()
+
+  if '/' in args.route or '|' in args.route:
+    lr = LogReader(args.route)
+  else:
+    segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
+    lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs])
+
+  CP = lr.first('carParams')
+  platform = CP.carFingerprint
+  print('processing report for', platform)
+
+  maneuvers: list[tuple[str, list[list]]] = []
+  active_prev = False
+  description_prev = None
+
+  for msg in lr:
+    if msg.which() == 'alertDebug':
+      active = 'Maneuver Active' in msg.alertDebug.alertText1
+      if active and not active_prev:
+        if msg.alertDebug.alertText2 == description_prev:
+          maneuvers[-1][1].append([])
+        else:
+          maneuvers.append((msg.alertDebug.alertText2, [[]]))
+        description_prev = maneuvers[-1][0]
+      active_prev = active
+
+    if active_prev:
+      maneuvers[-1][1][-1].append(msg)
+
+  report(platform, maneuvers)
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
new file mode 100755
index 0000000000..30304a37c2
--- /dev/null
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+from dataclasses import dataclass
+
+from cereal import messaging, car
+from opendbc.car.common.conversions import Conversions as CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+@dataclass
+class Action:
+  accel: float      # m/s^2
+  duration: float   # seconds
+
+
+@dataclass
+class Maneuver:
+  description: str
+  actions: list[Action]
+  repeat: int = 0
+  initial_speed: float = 0.  # m/s
+
+  _active: bool = False
+  _finished: bool = False
+  _action_index: int = 0
+  _action_frames: int = 0
+  _ready_cnt: int = 0
+  _repeated: int = 0
+
+  def get_accel(self, v_ego: float, enabled: bool, standstill: bool) -> float:
+    ready = abs(v_ego - self.initial_speed) < 0.3 and enabled and not standstill
+    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
+
+    if self._ready_cnt > (3. / DT_MDL):
+      self._active = True
+
+    if not self._active:
+      return min(max(self.initial_speed - v_ego, -2.), 2.)
+
+    action = self.actions[self._action_index]
+
+    self._action_frames += 1
+
+    # reached duration of action
+    if self._action_frames > (action.duration / DT_MDL):
+      # next action
+      if self._action_index < len(self.actions) - 1:
+        self._action_index += 1
+        self._action_frames = 0
+      # repeat maneuver
+      elif self._repeated < self.repeat:
+        self._repeated += 1
+        self._action_index = 0
+        self._action_frames = 0
+        self._active = False
+      # finish maneuver
+      else:
+        self._finished = True
+
+    return action.accel
+
+  @property
+  def finished(self):
+    return self._finished
+
+  @property
+  def active(self):
+    return self._active
+
+
+MANEUVERS = [
+  Maneuver(
+   "creep: alternate between +1m/s^2 and -1m/s^2",
+   [
+     Action(1, 2), Action(-1, 2),
+     Action(1, 2), Action(-1, 2),
+     Action(1, 2), Action(-1, 2),
+   ],
+   repeat=1,
+   initial_speed=0.,
+  ),
+  Maneuver(
+    "brake step response: -1m/s^2 from 20mph",
+    [Action(-1, 3)],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "brake step response: -4m/s^2 from 20mph",
+    [Action(-4, 3)],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "gas step response: +1m/s^2 from 20mph",
+    [Action(1, 3)],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "gas step response: +4m/s^2 from 20mph",
+    [Action(4, 3)],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+]
+
+
+def main():
+  params = Params()
+  cloudlog.info("joystickd is waiting for CarParams")
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  sm = messaging.SubMaster(['carState', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
+
+  maneuvers = iter(MANEUVERS)
+  maneuver = None
+
+  while True:
+    sm.update()
+
+    if maneuver is None:
+      maneuver = next(maneuvers, None)
+
+    alert_msg = messaging.new_message('alertDebug')
+    alert_msg.valid = True
+
+    plan_send = messaging.new_message('longitudinalPlan')
+    plan_send.valid = sm.all_checks()
+
+    longitudinalPlan = plan_send.longitudinalPlan
+    accel = 0
+    cs = sm['carState']
+    v_ego = max(cs.vEgo, 0)
+
+    if maneuver is not None:
+      accel = maneuver.get_accel(v_ego, cs.cruiseState.enabled, cs.cruiseState.standstill)
+
+      if maneuver.active:
+        alert_msg.alertDebug.alertText1 = f'Maneuver Active: {accel:0.2f} m/s^2'
+      else:
+        alert_msg.alertDebug.alertText1 = f'Reaching Speed: {maneuver.initial_speed * CV.MS_TO_MPH:0.2f} mph'
+      alert_msg.alertDebug.alertText2 = f'{maneuver.description}'
+    else:
+      alert_msg.alertDebug.alertText1 = 'Maneuvers Finished'
+
+    pm.send('alertDebug', alert_msg)
+
+    longitudinalPlan.aTarget = accel
+    longitudinalPlan.shouldStop = v_ego < CP.vEgoStopping and accel < 1e-2
+
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True
+    longitudinalPlan.hasLead = True
+
+    pm.send('longitudinalPlan', plan_send)
+
+    assistance_send = messaging.new_message('driverAssistance')
+    assistance_send.valid = True
+    pm.send('driverAssistance', assistance_send)
+
+    if maneuver is not None and maneuver.finished:
+      maneuver = None

From 5305f7a95eefb2876d2c2bf8a823cfbde77cca31 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 16:10:48 -0700
Subject: [PATCH 0602/1243] maneuversd: add second line warning

---
 selfdrive/selfdrived/events.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 29ab060d9b..9ed1b454f0 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -357,7 +357,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.longitudinalManeuver: {
     ET.WARNING: longitudinal_maneuver_alert,
-    ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode"),
+    ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode",
+                                       "Ensure road ahead is clear"),
   },
 
   EventName.selfdriveInitializing: {

From 5f0aa663c8d20e6b368d05205521bcecd6fb37e1 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Thu, 12 Sep 2024 16:51:42 -0700
Subject: [PATCH 0603/1243] [bot] Update Python packages (#33549)

* Update Python packages

* bump

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 235 +++++++++++++++++++++++++++------------------------
 3 files changed, 127 insertions(+), 112 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ef7102a8ae..b43d3003c5 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ef7102a8ae2334d77ff4b0be512c073e81b01d18
+Subproject commit b43d3003c50d88f4b9d5735b48a101f77a577c54
diff --git a/panda b/panda
index fcccbb3a13..b8a2a8678f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit fcccbb3a131cc8f60025fc7da9b9fdb7a4e3acf7
+Subproject commit b8a2a8678fc201d7c02453a4fb819389d0fbf53b
diff --git a/uv.lock b/uv.lock
index fb10566645..aec5037de8 100644
--- a/uv.lock
+++ b/uv.lock
@@ -160,16 +160,16 @@ wheels = [
 
 [[package]]
 name = "azure-core"
-version = "1.30.2"
+version = "1.31.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "requests" },
     { name = "six" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 }
+sdist = { url = "https://files.pythonhosted.org/packages/03/7a/f79ad135a276a37e61168495697c14ba1721a52c3eab4dae2941929c79f8/azure_core-1.31.0.tar.gz", hash = "sha256:656a0dd61e1869b1506b7c6a3b31d62f15984b1a573d6326f6aa2f3e4123284b", size = 277147 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/d7/69d53f37733f8cb844862781767aef432ff3152bc9b9864dc98c7e286ce9/azure_core-1.30.2-py3-none-any.whl", hash = "sha256:cf019c1ca832e96274ae85abd3d9f752397194d9fea3b41487290562ac8abe4a", size = 194253 },
+    { url = "https://files.pythonhosted.org/packages/01/8e/fcb6a77d3029d2a7356f38dbc77cf7daa113b81ddab76b5593d23321e44c/azure_core-1.31.0-py3-none-any.whl", hash = "sha256:22954de3777e0250029360ef31d80448ef1be13b80a459bff80ba7073379e2cd", size = 197399 },
 ]
 
 [[package]]
@@ -473,7 +473,7 @@ wheels = [
 
 [package.optional-dependencies]
 toml = [
-    { name = "tomli", marker = "python_full_version == '3.11'" },
+    { name = "tomli", marker = "python_full_version <= '3.11'" },
 ]
 
 [[package]]
@@ -791,14 +791,14 @@ wheels = [
 
 [[package]]
 name = "importlib-metadata"
-version = "8.4.0"
+version = "8.5.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "zipp" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/c0/bd/fa8ce65b0a7d4b6d143ec23b0f5fd3f7ab80121078c465bc02baeaab22dc/importlib_metadata-8.4.0.tar.gz", hash = "sha256:9a547d3bc3608b025f93d403fdd1aae741c24fbb8314df4b155675742ce303c5", size = 54320 }
+sdist = { url = "https://files.pythonhosted.org/packages/cd/12/33e59336dca5be0c398a7482335911a33aa0e20776128f038019f1a95f1b/importlib_metadata-8.5.0.tar.gz", hash = "sha256:71522656f0abace1d072b9e5481a48f07c138e00f079c38c8f883823f9c26bd7", size = 55304 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c0/14/362d31bf1076b21e1bcdcb0dc61944822ff263937b804a79231df2774d28/importlib_metadata-8.4.0-py3-none-any.whl", hash = "sha256:66f342cc6ac9818fc6ff340576acd24d65ba0b3efabb2b4ac08b598965a4a2f1", size = 26269 },
+    { url = "https://files.pythonhosted.org/packages/a0/d9/a1e041c5e7caa9a05c925f4bdbdfb7f006d1f74996af53467bc394c97be7/importlib_metadata-8.5.0-py3-none-any.whl", hash = "sha256:45e54197d28b7a7f1559e60b95e7c567032b602131fbd588f1497f47880aa68b", size = 26514 },
 ]
 
 [[package]]
@@ -1240,41 +1240,56 @@ wheels = [
 
 [[package]]
 name = "multidict"
-version = "6.0.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f9/79/722ca999a3a09a63b35aac12ec27dfa8e5bb3a38b0f857f7a1a209a88836/multidict-6.0.5.tar.gz", hash = "sha256:f7e301075edaf50500f0b341543c41194d8df3ae5caf4702f2095f3ca73dd8da", size = 59867 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5f/da/b10ea65b850b54f44a6479177c6987f456bc2d38f8dc73009b78afcf0ede/multidict-6.0.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f285e862d2f153a70586579c15c44656f888806ed0e5b56b64489afe4a2dbfba", size = 50815 },
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 [[package]]

From d414f8c3b6a4243b2d0d529aad512ae57a2d24fb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 17:18:34 -0700
Subject: [PATCH 0604/1243] log alertDebug to qlog

---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index d94c3f11fb..40d9b38c05 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -75,7 +75,7 @@ _services: dict[str, tuple] = {
 
   # debug
   "uiDebug": (True, 0., 1),
-  "alertDebug": (True, 0.),
+  "alertDebug": (True, 0., 1.),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),
   "wideRoadEncodeData": (False, 20.),

From 5fc79bda64717c9c018794e72f21d5fb517fdbd7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 17:34:12 -0700
Subject: [PATCH 0605/1243] decimate alertDebug (#33550)

* decimate alertDebug

* int
---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index 40d9b38c05..e56f8f0c1b 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -75,7 +75,7 @@ _services: dict[str, tuple] = {
 
   # debug
   "uiDebug": (True, 0., 1),
-  "alertDebug": (True, 0., 1.),
+  "alertDebug": (True, 20., 5),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),
   "wideRoadEncodeData": (False, 20.),

From 03ea2b180faa0521e7ab48b9e87881058940d11c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 20:25:22 -0700
Subject: [PATCH 0606/1243] longitudinal maneuver report improvements (#33551)

* switch to route name

* add car params and relative time

* separate plots, easier to read
---
 .../longitudinal_maneuvers/generate_report.py | 23 ++++++++++++++-----
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 262ea93ef3..b3ab8d9a7a 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -3,7 +3,7 @@ import argparse
 import base64
 import io
 import os
-import time
+import json
 from pathlib import Path
 import matplotlib.pyplot as plt
 
@@ -11,15 +11,21 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware.hw import Paths
 
 
-def report(platform, maneuvers):
+def format_car_params(CP):
+  return json.dumps({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
+
+
+def report(platform, route, CP, maneuvers):
   output_path = Path(__file__).resolve().parent / "longitudinal_reports"
-  output_fn = output_path / f"{platform}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
+  output_fn = output_path / f"{platform}_{route}.html"
   output_path.mkdir(exist_ok=True)
   with open(output_fn, "w") as f:
     f.write("<h1>Longitudinal maneuver report</h1>\n")
     f.write(f"<h3>{platform}</h3>\n")
+    f.write(f"<h3>{route}</h3>\n")
+    f.write(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
     for description, runs in maneuvers:
-      print('plotting maneuver:', description, 'runs:', len(runs))
+      print(f'plotting maneuver: {description}, runs: {len(runs)}')
       f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
       f.write(f"<h2>{description}</h2>\n")
       for run, msgs in enumerate(runs):
@@ -28,6 +34,11 @@ def report(platform, maneuvers):
         t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
         t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
 
+        t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
+        t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
+        t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+        t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
+
         longActive = [m.longActive for m in carControl]
         gasPressed = [m.gasPressed for m in carState]
         brakePressed = [m.brakePressed for m in carState]
@@ -41,7 +52,7 @@ def report(platform, maneuvers):
 
         plt.rcParams['font.size'] = 40
         fig = plt.figure(figsize=(30, 25))
-        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 3, 1, 1]})
+        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})
 
         ax[0].grid(linewidth=4)
         ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
@@ -112,4 +123,4 @@ if __name__ == '__main__':
     if active_prev:
       maneuvers[-1][1][-1].append(msg)
 
-  report(platform, maneuvers)
+  report(platform, args.route, CP, maneuvers)

From f89b59baa88ec5a2e3512bb18d7cdb985e9155c3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 21:17:28 -0700
Subject: [PATCH 0607/1243] Long maneuver report markers (#33552)

* check for overrides as well

* only used twice

* longActive is false for gas pressed

* label cross time

* love pycharm
---
 .../longitudinal_maneuvers/generate_report.py | 35 +++++++++++++------
 tools/longitudinal_maneuvers/maneuversd.py    |  9 +++--
 2 files changed, 29 insertions(+), 15 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index b3ab8d9a7a..1592a97d65 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -3,7 +3,7 @@ import argparse
 import base64
 import io
 import os
-import json
+import pprint
 from pathlib import Path
 import matplotlib.pyplot as plt
 
@@ -12,12 +12,12 @@ from openpilot.system.hardware.hw import Paths
 
 
 def format_car_params(CP):
-  return json.dumps({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
+  return pprint.pformat({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
 
 
 def report(platform, route, CP, maneuvers):
   output_path = Path(__file__).resolve().parent / "longitudinal_reports"
-  output_fn = output_path / f"{platform}_{route}.html"
+  output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
   output_path.mkdir(exist_ok=True)
   with open(output_fn, "w") as f:
     f.write("<h1>Longitudinal maneuver report</h1>\n")
@@ -34,24 +34,36 @@ def report(platform, route, CP, maneuvers):
         t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
         t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
 
+        # make time relative seconds
         t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
         t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
         t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
         t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
 
+        # maneuver validity
         longActive = [m.longActive for m in carControl]
-        gasPressed = [m.gasPressed for m in carState]
-        brakePressed = [m.brakePressed for m in carState]
-
-        maneuver_valid = all(longActive) and not (any(gasPressed) or any(brakePressed))
+        maneuver_valid = all(longActive)
 
         _open = 'open' if maneuver_valid else ''
         title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
 
         f.write(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
 
+        # get first acceleration target and first intersection
+        aTarget = longitudinalPlan[0].aTarget
+        target_cross_time = None
+        f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
+        for t, cs in zip(t_carState, carState, strict=True):
+          if (0 < aTarget < cs.aEgo) or (0 > aTarget > cs.aEgo):
+            f.write(f', <strong>crossed in {t:.3f}s</strong>')
+            target_cross_time = t
+            break
+        else:
+          f.write(', <strong>not crossed</strong>')
+        f.write('</h3>')
+
         plt.rcParams['font.size'] = 40
-        fig = plt.figure(figsize=(30, 25))
+        fig = plt.figure(figsize=(30, 26))
         ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})
 
         ax[0].grid(linewidth=4)
@@ -64,14 +76,17 @@ def report(platform, route, CP, maneuvers):
         #ax[0].set_ylim(-6.5, 6.5)
         ax[0].legend()
 
+        if target_cross_time is not None:
+          ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+
         ax[1].grid(linewidth=4)
         ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
         ax[1].set_ylabel('Velocity (m/s)')
         ax[1].legend()
 
         ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
-        ax[3].plot(t_carState, gasPressed, label='gasPressed', linewidth=6)
-        ax[3].plot(t_carState, brakePressed, label='brakePressed', linewidth=6)
+        ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
+        ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
         for i in (2, 3):
           ax[i].set_yticks([0, 1], minor=False)
           ax[i].set_ylim(-1, 2)
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 30304a37c2..15f0c7a4e8 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -28,8 +28,8 @@ class Maneuver:
   _ready_cnt: int = 0
   _repeated: int = 0
 
-  def get_accel(self, v_ego: float, enabled: bool, standstill: bool) -> float:
-    ready = abs(v_ego - self.initial_speed) < 0.3 and enabled and not standstill
+  def get_accel(self, v_ego: float, long_active: bool, standstill: bool) -> float:
+    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not standstill
     self._ready_cnt = (self._ready_cnt + 1) if ready else 0
 
     if self._ready_cnt > (3. / DT_MDL):
@@ -132,11 +132,10 @@ def main():
 
     longitudinalPlan = plan_send.longitudinalPlan
     accel = 0
-    cs = sm['carState']
-    v_ego = max(cs.vEgo, 0)
+    v_ego = max(sm['carState'].vEgo, 0)
 
     if maneuver is not None:
-      accel = maneuver.get_accel(v_ego, cs.cruiseState.enabled, cs.cruiseState.standstill)
+      accel = maneuver.get_accel(v_ego, sm['carControl'].longActive, sm['carState'].cruiseState.standstill)
 
       if maneuver.active:
         alert_msg.alertDebug.alertText1 = f'Maneuver Active: {accel:0.2f} m/s^2'

From fa892a97557d119a75e2b1c442f1eec8bc4ac015 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 22:29:00 -0700
Subject: [PATCH 0608/1243] Simple longitudinal maneuver summary (#33553)

* check for overrides as well

* only used twice

* longActive is false for gas pressed

* label cross time

* love pycharm

* quick summary

* add min/max

* show unreached maneuvers
---
 tools/longitudinal_maneuvers/generate_report.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 1592a97d65..88f78416b4 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -4,6 +4,7 @@ import base64
 import io
 import os
 import pprint
+from collections import defaultdict
 from pathlib import Path
 import matplotlib.pyplot as plt
 
@@ -19,6 +20,7 @@ def report(platform, route, CP, maneuvers):
   output_path = Path(__file__).resolve().parent / "longitudinal_reports"
   output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
   output_path.mkdir(exist_ok=True)
+  target_cross_times = defaultdict(list)
   with open(output_fn, "w") as f:
     f.write("<h1>Longitudinal maneuver report</h1>\n")
     f.write(f"<h3>{platform}</h3>\n")
@@ -57,6 +59,8 @@ def report(platform, route, CP, maneuvers):
           if (0 < aTarget < cs.aEgo) or (0 > aTarget > cs.aEgo):
             f.write(f', <strong>crossed in {t:.3f}s</strong>')
             target_cross_time = t
+            if maneuver_valid:
+              target_cross_times[description].append(t)
             break
         else:
           f.write(', <strong>not crossed</strong>')
@@ -101,6 +105,14 @@ def report(platform, route, CP, maneuvers):
         f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
         f.write("</details>\n")
 
+    f.write("<h2>Summary</h2>\n")
+    for description, runs in maneuvers:
+      times = target_cross_times[description]
+      f.write(f"<h3>{description}</h3>\n")
+      f.write(f"<p>Target crossed {len(times)} out of {len(runs)} runs</p>\n")
+      if len(times):
+        f.write(f"<p>Mean time to cross: {sum(times) / len(times):.3f}s, min: {min(times):.3f}s, max: {max(times):.3f}s</p>\n")
+
   print(f"\nReport written to {output_fn}\n")
 
 

From 50b0089602bbc0f600d360c40d3fb307579b41f8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 14 Sep 2024 02:13:47 +0800
Subject: [PATCH 0609/1243] panda: using reference in loop (#33554)

using reference in loop
---
 selfdrive/pandad/panda.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index bc81d7de91..4376d85795 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -47,7 +47,7 @@ std::vector<std::string> Panda::list(bool usb_only) {
 
 #ifndef __APPLE__
   if (!usb_only) {
-    for (auto s : PandaSpiHandle::list()) {
+    for (const auto &s : PandaSpiHandle::list()) {
       if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
         serials.push_back(s);
       }
@@ -169,7 +169,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   int32_t pos = 0;
   uint8_t send_buf[2 * USB_TX_SOFT_LIMIT];
 
-  for (auto cmsg : can_data_list) {
+  for (const auto &cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
     if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {

From 4897c9821dc71884a392ca5fca209fd7d0e2d3eb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 14 Sep 2024 02:13:59 +0800
Subject: [PATCH 0610/1243] panda.cc: pass capnp list by reference (#33555)

pass by reference
---
 selfdrive/pandad/panda.cc | 2 +-
 selfdrive/pandad/panda.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 4376d85795..5372e54aef 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -206,7 +206,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   if (pos > 0) write_func(send_buf, pos);
 }
 
-void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
+void Panda::can_send(const capnp::List<cereal::CanData>::Reader &can_data_list) {
   pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) {
     handle->bulk_write(3, data, size, 5);
   });
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 26ad4dc32c..af31c2316e 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -79,7 +79,7 @@ public:
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
-  void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
+  void can_send(const capnp::List<cereal::CanData>::Reader &can_data_list);
   bool can_receive(std::vector<can_frame>& out_vec);
   void can_reset_communications();
 

From 3da5ddae71ad8d7c1637653646532219d90cb39d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 13 Sep 2024 14:47:04 -0700
Subject: [PATCH 0611/1243] fix maneuversd.py

---
 tools/longitudinal_maneuvers/maneuversd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 15f0c7a4e8..892d58da00 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -112,7 +112,7 @@ def main():
   cloudlog.info("joystickd is waiting for CarParams")
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  sm = messaging.SubMaster(['carState', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
+  sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
 
   maneuvers = iter(MANEUVERS)

From 6ec603872b9c4e73cf3e377e6060c75605cb199d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 13 Sep 2024 15:58:00 -0700
Subject: [PATCH 0612/1243] long maneuvers: add start from stop (#33556)

* long maneuvers: add start from stop

* fix

* git ignore
---
 tools/longitudinal_maneuvers/.gitignore    |  1 +
 tools/longitudinal_maneuvers/maneuversd.py | 16 ++++++++++++----
 2 files changed, 13 insertions(+), 4 deletions(-)
 create mode 100644 tools/longitudinal_maneuvers/.gitignore

diff --git a/tools/longitudinal_maneuvers/.gitignore b/tools/longitudinal_maneuvers/.gitignore
new file mode 100644
index 0000000000..e819fa6268
--- /dev/null
+++ b/tools/longitudinal_maneuvers/.gitignore
@@ -0,0 +1 @@
+/longitudinal_reports/
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 892d58da00..5096c19a0b 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -28,8 +28,10 @@ class Maneuver:
   _ready_cnt: int = 0
   _repeated: int = 0
 
-  def get_accel(self, v_ego: float, long_active: bool, standstill: bool) -> float:
-    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not standstill
+  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
+    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
+    if self.initial_speed < 0.01:
+      ready = v_ego < 0.1 and standstill
     self._ready_cnt = (self._ready_cnt + 1) if ready else 0
 
     if self._ready_cnt > (3. / DT_MDL):
@@ -70,6 +72,12 @@ class Maneuver:
 
 
 MANEUVERS = [
+  Maneuver(
+   "start from stop",
+   [Action(1.5, 3)],
+   repeat=3,
+   initial_speed=0.,
+  ),
   Maneuver(
    "creep: alternate between +1m/s^2 and -1m/s^2",
    [
@@ -135,12 +143,12 @@ def main():
     v_ego = max(sm['carState'].vEgo, 0)
 
     if maneuver is not None:
-      accel = maneuver.get_accel(v_ego, sm['carControl'].longActive, sm['carState'].cruiseState.standstill)
+      accel = maneuver.get_accel(v_ego, sm['carControl'].longActive, sm['carState'].standstill, sm['carState'].cruiseState.standstill)
 
       if maneuver.active:
         alert_msg.alertDebug.alertText1 = f'Maneuver Active: {accel:0.2f} m/s^2'
       else:
-        alert_msg.alertDebug.alertText1 = f'Reaching Speed: {maneuver.initial_speed * CV.MS_TO_MPH:0.2f} mph'
+        alert_msg.alertDebug.alertText1 = f'Setting up to {maneuver.initial_speed * CV.MS_TO_MPH:0.2f} mph'
       alert_msg.alertDebug.alertText2 = f'{maneuver.description}'
     else:
       alert_msg.alertDebug.alertText1 = 'Maneuvers Finished'

From dcbeda1e85cccb5884c0bc8033fafe5b560110c6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 13 Sep 2024 19:34:27 -0700
Subject: [PATCH 0613/1243] deprecate controlsState.aTarget (#33558)

deprecate
---
 cereal/log.capnp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 6cd7fe7534..ddde5e4d16 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -735,7 +735,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
-  aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
   forceDecel @51 :Bool;
@@ -881,6 +880,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
   startMonoTimeDEPRECATED @48 :UInt64;
   cumLagMsDEPRECATED @15 :Float32;
+  aTargetDEPRECATED @35 :Float32;
 }
 
 struct DrivingModelData {

From fd893dfcb760fa097133c7c9bd964bd3e292fdbd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 17 Sep 2024 00:45:15 +0800
Subject: [PATCH 0614/1243] replay: optimize decompressZST with pre-allocated
 buffer (#33562)

improve decompressZST
---
 tools/replay/util.cc | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 81e87b7dd3..0ae0c05f9b 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -329,8 +329,17 @@ std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool>
 
   // Initialize input and output buffers
   ZSTD_inBuffer input = {in, in_size, 0};
+
+  // Estimate and reserve memory for decompressed data
+  size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in, in_size);
+  if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) {
+    estimatedDecompressedSize = in_size * 2;  // Use a fallback size
+  }
+
   std::string decompressedData;
-  const size_t bufferSize = ZSTD_DStreamOutSize();  // recommended output buffer size
+  decompressedData.reserve(estimatedDecompressedSize);
+
+  const size_t bufferSize = ZSTD_DStreamOutSize();  // Recommended output buffer size
   std::string outputBuffer(bufferSize, '\0');
 
   while (input.pos < input.size && !(abort && *abort)) {

From 01bf17a8ca0f24bb0ee2c5708eb116953d462719 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 16 Sep 2024 11:45:35 -0700
Subject: [PATCH 0615/1243] [bot] Update Python packages (#33566)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |  2 +-
 panda        |  2 +-
 uv.lock      | 78 ++++++++++++++++++++++++++--------------------------
 3 files changed, 41 insertions(+), 41 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index b43d3003c5..57ebdbfa05 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b43d3003c50d88f4b9d5735b48a101f77a577c54
+Subproject commit 57ebdbfa0553d4002bf1fd654e4631931f2b676c
diff --git a/panda b/panda
index b8a2a8678f..2526d1ee4b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b8a2a8678fc201d7c02453a4fb819389d0fbf53b
+Subproject commit 2526d1ee4b7b740b5f5786c25638ee1528d425be
diff --git a/uv.lock b/uv.lock
index aec5037de8..3775b4e288 100644
--- a/uv.lock
+++ b/uv.lock
@@ -773,11 +773,11 @@ wheels = [
 
 [[package]]
 name = "idna"
-version = "3.8"
+version = "3.10"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e8/ac/e349c5e6d4543326c6883ee9491e3921e0d07b55fdf3cce184b40d63e72a/idna-3.8.tar.gz", hash = "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603", size = 189467 }
+sdist = { url = "https://files.pythonhosted.org/packages/f1/70/7703c29685631f5a7590aa73f1f1d3fa9a380e654b86af429e0934a32f7d/idna-3.10.tar.gz", hash = "sha256:12f65c9b470abda6dc35cf8e63cc574b1c52b11df2c86030af0ac09b01b13ea9", size = 190490 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/22/7e/d71db821f177828df9dea8c42ac46473366f191be53080e552e628aad991/idna-3.8-py3-none-any.whl", hash = "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac", size = 66894 },
+    { url = "https://files.pythonhosted.org/packages/76/c6/c88e154df9c4e1a2a66ccf0005a88dfb2650c1dffb6f5ce603dfbd452ce3/idna-3.10-py3-none-any.whl", hash = "sha256:946d195a0d259cbba61165e88e65941f16e9b36ea6ddb97f00452bae8b1287d3", size = 70442 },
 ]
 
 [[package]]
@@ -1707,11 +1707,11 @@ wheels = [
 
 [[package]]
 name = "platformdirs"
-version = "4.3.2"
+version = "4.3.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/75/a0/d7cab8409cdc7d39b037c85ac46d92434fb6595432e069251b38e5c8dd0e/platformdirs-4.3.2.tar.gz", hash = "sha256:9e5e27a08aa095dd127b9f2e764d74254f482fef22b0970773bfba79d091ab8c", size = 21276 }
+sdist = { url = "https://files.pythonhosted.org/packages/f5/19/f7bee3a71decedd8d7bc4d3edb7970b8e899f3caef257b0f0d623f2f7b11/platformdirs-4.3.3.tar.gz", hash = "sha256:d4e0b7d8ec176b341fb03cb11ca12d0276faa8c485f9cd218f613840463fc2c0", size = 21304 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/da/8b/d497999c4017b80678017ddce745cf675489c110681ad3c84a55eddfd3e7/platformdirs-4.3.2-py3-none-any.whl", hash = "sha256:eb1c8582560b34ed4ba105009a4badf7f6f85768b30126f351328507b2beb617", size = 18417 },
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From ea532c7a7c00ad0270ab978a05094d247bebfad7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 17 Sep 2024 05:05:57 +0800
Subject: [PATCH 0616/1243] cabana: improve isMessageActive (#33563)

improve isMessageActive
---
 tools/cabana/messageswidget.cc | 21 +++++++++------------
 tools/cabana/messageswidget.h  |  1 -
 2 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index d6c2fd0ea9..5c0c2eaba6 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -14,16 +14,18 @@
 #include "tools/cabana/commands.h"
 
 static bool isMessageActive(const MessageId &id) {
-  if (auto dummy_stream = dynamic_cast<DummyStream *>(can)) {
-    return true;
-  }
   if (id.source == INVALID_SOURCE) {
     return false;
   }
   // Check if the message is active based on time difference and frequency
   const auto &m = can->lastMessage(id);
   float delta = can->currentSec() - m.ts;
-  return (m.freq == 0 && delta < 1.5) || (m.freq > 0 && ((delta - 1.0 / settings.fps) < (5.0 / m.freq)));
+
+  if (m.freq < std::numeric_limits<double>::epsilon()) {
+    return delta < 1.5;
+  }
+
+  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
 }
 
 MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
@@ -215,8 +217,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors));
   } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
     return QVariant::fromValue((void*)(&can->lastMessage(item.id).dat));
-  } else if (role == Qt::ForegroundRole && !item.active) {
-    return settings.theme == DARK_THEME ? QApplication::palette().color(QPalette::Text).darker(150) : QColor(Qt::gray);
+  } else if (role == Qt::ForegroundRole && !isMessageActive(item.id)) {
+    return QApplication::palette().color(QPalette::Disabled, QPalette::Text);
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
@@ -335,11 +337,9 @@ bool MessageListModel::filterAndSort() {
   std::vector<Item> items;
   items.reserve(all_messages.size());
   for (const auto &id : all_messages) {
-    bool active = isMessageActive(id);
-    if (active || show_inactive_messages) {
+    if (show_inactive_messages || isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
-                  .active = active,
                   .name = msg ? msg->name : UNTITLED,
                   .node = msg ? msg->transmitter : QString()};
       if (match(item))
@@ -364,9 +364,6 @@ void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool ha
     if (filterAndSort()) return;
   }
 
-  for (auto &item : items_) {
-    item.active = isMessageActive(item.id);
-  }
   // Update viewport
   emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1));
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 823fcb74e3..0fc09519a3 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -45,7 +45,6 @@ public:
     MessageId id;
     QString name;
     QString node;
-    bool active;
     bool operator==(const Item &other) const {
       return id == other.id && name == other.name && node == other.node;
     }

From 782d959b4c7ed9b86d01deec3ea426cf1c43051c Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 17 Sep 2024 06:47:15 +0800
Subject: [PATCH 0617/1243] CI: continuously send messages to keep them active
 during alert screenshots (#33544)

keep alive
---
 selfdrive/ui/tests/test_ui/run.py | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 4ae9e4e611..b6e99190fc 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -10,9 +10,9 @@ import os
 import pywinctl
 import time
 
-from cereal import messaging, log
+from cereal import log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal.messaging import PubMaster
+from cereal.messaging import PubMaster, log_from_bytes
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
@@ -94,16 +94,16 @@ def setup_driver_camera(click, pm: PubMaster):
 
 def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.SelfdriveState.AlertStatus.normal):
   print(f'setup onroad alert, size: {size}')
-  setup_onroad(click, pm)
-  dat = messaging.new_message('selfdriveState')
-  cs = dat.selfdriveState
+  state = DATA['selfdriveState']
+  origin_state_bytes = state.to_bytes()
+  cs = state.selfdriveState
   cs.alertText1 = text1
   cs.alertText2 = text2
   cs.alertSize = size
   cs.alertStatus = status
   cs.alertType = "test_onroad_alert"
-  pm.send('selfdriveState', dat)
-  time.sleep(UI_DELAY)
+  setup_onroad(click, pm)
+  DATA['selfdriveState'] = log_from_bytes(origin_state_bytes).as_builder()
 
 def setup_onroad_alert_small(click, pm: PubMaster):
   setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)

From 5be53a39f05339c95a5bfcc2ea9b95bb9ba1a65b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 16 Sep 2024 15:47:59 -0700
Subject: [PATCH 0618/1243] Cruise speed: 0 is considered unset (#33449)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* give 10 frames of tolerance to reset -- WARNING: hacks inside

old-commit-hash: d72ac9e53d211074b059f049f8ebc89b9cff1c58

* comment

old-commit-hash: adf1ef88b692132c37d865fc973189fdf971464f

* more conventional

old-commit-hash: 552aa2c159fc535682d098425e827d8cb56911c1

* move

old-commit-hash: fe88ac0afc5aa7438d5b36908744124bc1cb68c9

* oh tf

old-commit-hash: 98d8659bd0f61dd512693807ea29d2f0c78f7514

* better

old-commit-hash: 5ddda806a008cc189758491f91a4a4d0aeb8d343

* this is fine 🔥

* INIT NOT UNINIT

* only vCruise changes here

* update refs
---
 selfdrive/car/cruise.py                  | 3 +++
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index e2d83033d6..b92d0c7465 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -53,6 +53,9 @@ class VCruiseHelper:
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+        if CS.cruiseState.speed == 0:
+          self.v_cruise_kph = V_CRUISE_UNSET
+          self.v_cruise_cluster_kph = V_CRUISE_UNSET
     else:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 49d920fe2a..e08f65f499 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-13d947375a5908d68b33bf3b51b799f8021a35a6
\ No newline at end of file
+dbaa29106eb93267699c822e4937126b4307805a
\ No newline at end of file

From 2e6e977c934aa81995945461667ad7ece6fbc434 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 16 Sep 2024 16:06:02 -0700
Subject: [PATCH 0619/1243] Longitudinal planner: wait for valid cruise speed
 (#33568)

* Revert "only vCruise changes here"

This reverts commit 4f5659b5d53e9bac3357781bce262a29d3b1d14e.

* less nonsense
---
 selfdrive/controls/lib/longitudinal_planner.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 103d3f7047..0b65119383 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -13,7 +13,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
-from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
+from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
@@ -101,12 +101,15 @@ class LongitudinalPlanner:
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
+    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
     force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
     reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
+    # PCM cruise speed may be updated a few cycles later, check if initialized
+    reset_state = reset_state or not v_cruise_initialized
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)

From df5b45a2850a70cec2256bcbce91fbbe650e9161 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Sep 2024 18:05:07 -0700
Subject: [PATCH 0620/1243] modeld has gone up a bit

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index d4ec3c2fff..21fd4b1f11 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -46,7 +46,7 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 13.0,
+  "selfdrive.modeld.modeld": 17.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,

From 6b7996de911837009bdc0fa55dcea8959459695d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Sep 2024 18:05:20 -0700
Subject: [PATCH 0621/1243] jenkins fixups for agnos 11 (#33569)

* jenkins fixups for agnos 11

* just do this for now
---
 selfdrive/test/setup_device_ci.sh | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index fdc222e7e7..fff01d260b 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -1,6 +1,7 @@
 #!/usr/bin/env bash
 
 set -e
+set -x
 
 if [ -z "$SOURCE_DIR" ]; then
   echo "SOURCE_DIR must be set"
@@ -17,9 +18,11 @@ if [ -z "$TEST_DIR" ]; then
   exit 1
 fi
 
-umount /data/safe_staging/merged/ || true
-sudo umount /data/safe_staging/merged/ || true
-rm -rf /data/safe_staging/* || true
+rm -rf /data/safe_staging/ || true
+if [ -d /data/safe_staging/ ]; then
+  sudo umount /data/safe_staging/merged/ || true
+  rm -rf /data/safe_staging/ || true
+fi
 
 CONTINUE_PATH="/data/continue.sh"
 tee $CONTINUE_PATH << EOF

From f294162b2c18c06987ef18a287d3862aea32080d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Sep 2024 19:23:04 -0700
Subject: [PATCH 0622/1243] bump up cpu budget

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 21fd4b1f11..5bc6bff1c2 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -32,7 +32,7 @@ CPU usage budget
 * total CPU usage of openpilot (sum(PROCS.values())
   should not exceed MAX_TOTAL_CPU
 """
-MAX_TOTAL_CPU = 260.  # total for all 8 cores
+MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 18.0,

From a3d587b93d08bc850350f57199ed302a2b8e657f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 16 Sep 2024 22:27:29 -0700
Subject: [PATCH 0623/1243] maneuversd: check for longActive again

---
 tools/longitudinal_maneuvers/maneuversd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 5096c19a0b..6100a7ca89 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -31,7 +31,7 @@ class Maneuver:
   def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
     ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
     if self.initial_speed < 0.01:
-      ready = v_ego < 0.1 and standstill
+      ready = ready and standstill
     self._ready_cnt = (self._ready_cnt + 1) if ready else 0
 
     if self._ready_cnt > (3. / DT_MDL):

From 23716986011814e4ef1c4ea72c5e2d2afc8184b0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 16 Sep 2024 22:59:37 -0700
Subject: [PATCH 0624/1243] maneuver report: use livePose acceleration and add
 description

---
 tools/longitudinal_maneuvers/generate_report.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 88f78416b4..f487225054 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -16,7 +16,7 @@ def format_car_params(CP):
   return pprint.pformat({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
 
 
-def report(platform, route, CP, maneuvers):
+def report(platform, route, _description, CP, maneuvers):
   output_path = Path(__file__).resolve().parent / "longitudinal_reports"
   output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
   output_path.mkdir(exist_ok=True)
@@ -25,6 +25,8 @@ def report(platform, route, CP, maneuvers):
     f.write("<h1>Longitudinal maneuver report</h1>\n")
     f.write(f"<h3>{platform}</h3>\n")
     f.write(f"<h3>{route}</h3>\n")
+    if _description is not None:
+      f.write(f"<h3>Description: {_description}</h3>\n")
     f.write(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
     for description, runs in maneuvers:
       print(f'plotting maneuver: {description}, runs: {len(runs)}')
@@ -34,17 +36,19 @@ def report(platform, route, CP, maneuvers):
         t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
         t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
         t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+        t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
         t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
 
         # make time relative seconds
         t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
         t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
         t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+        t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
         t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
 
         # maneuver validity
         longActive = [m.longActive for m in carControl]
-        maneuver_valid = all(longActive)
+        maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)
 
         _open = 'open' if maneuver_valid else ''
         title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
@@ -55,8 +59,8 @@ def report(platform, route, CP, maneuvers):
         aTarget = longitudinalPlan[0].aTarget
         target_cross_time = None
         f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
-        for t, cs in zip(t_carState, carState, strict=True):
-          if (0 < aTarget < cs.aEgo) or (0 > aTarget > cs.aEgo):
+        for t, lp in zip(t_livePose, livePose, strict=True):
+          if (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x):
             f.write(f', <strong>crossed in {t:.3f}s</strong>')
             target_cross_time = t
             if maneuver_valid:
@@ -75,6 +79,7 @@ def report(platform, route, CP, maneuvers):
         ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
         ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
         ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
+        ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
         # TODO localizer accel
         ax[0].set_ylabel('Acceleration (m/s^2)')
         #ax[0].set_ylim(-6.5, 6.5)
@@ -119,6 +124,7 @@ def report(platform, route, CP, maneuvers):
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Generate longitudinal maneuver report from route')
   parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
+  parser.add_argument('description', type=str, default=None)
 
   args = parser.parse_args()
 
@@ -150,4 +156,4 @@ if __name__ == '__main__':
     if active_prev:
       maneuvers[-1][1][-1].append(msg)
 
-  report(platform, args.route, CP, maneuvers)
+  report(platform, args.route, args.description, CP, maneuvers)

From 306316755b73835112c322144368fbeeb3515dac Mon Sep 17 00:00:00 2001
From: Andrei Radulescu <andi.radulescu@gmail.com>
Date: Tue, 17 Sep 2024 20:03:25 +0300
Subject: [PATCH 0625/1243] agnos: move metadrive-simulator & rerun-sdk to a
 separate tools group (#33570)

---
 pyproject.toml |  7 +++++--
 uv.lock        | 10 ++++++----
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 2f4ce136b6..8ed4ff855b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -101,7 +101,6 @@ dev = [
   "flaky",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "parameterized >=0.8, <0.9",
   #"pprofile",
   "pyautogui",
@@ -109,7 +108,6 @@ dev = [
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
-  "rerun-sdk >= 0.18",
   "tabulate",
   "types-requests",
   "types-tabulate",
@@ -118,6 +116,11 @@ dev = [
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
+tools = [
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "rerun-sdk >= 0.18",
+]
+
 [project.urls]
 Homepage = "https://comma.ai"
 
diff --git a/uv.lock b/uv.lock
index 3775b4e288..16207cf26e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1481,7 +1481,6 @@ dev = [
     { name = "flaky" },
     { name = "lru-dict" },
     { name = "matplotlib" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
     { name = "parameterized" },
     { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
@@ -1489,7 +1488,6 @@ dev = [
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
     { name = "pywinctl" },
-    { name = "rerun-sdk" },
     { name = "tabulate" },
     { name = "types-requests" },
     { name = "types-tabulate" },
@@ -1517,6 +1515,10 @@ testing = [
     { name = "pytest-xdist" },
     { name = "ruff" },
 ]
+tools = [
+    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
+    { name = "rerun-sdk" },
+]
 
 [package.metadata]
 requires-dist = [
@@ -1541,7 +1543,7 @@ requires-dist = [
     { name = "libusb1" },
     { name = "lru-dict", marker = "extra == 'dev'" },
     { name = "matplotlib", marker = "extra == 'dev'" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'dev'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl" },
+    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl" },
     { name = "mkdocs", marker = "extra == 'docs'" },
     { name = "mypy", marker = "extra == 'testing'" },
     { name = "natsort", marker = "extra == 'docs'" },
@@ -1575,7 +1577,7 @@ requires-dist = [
     { name = "pywinctl", marker = "extra == 'dev'" },
     { name = "pyzmq" },
     { name = "requests" },
-    { name = "rerun-sdk", marker = "extra == 'dev'", specifier = ">=0.18" },
+    { name = "rerun-sdk", marker = "extra == 'tools'", specifier = ">=0.18" },
     { name = "ruff", marker = "extra == 'testing'" },
     { name = "scons" },
     { name = "sentry-sdk" },

From 3e0ec64e9a235794a910723798912fce57ccb2ff Mon Sep 17 00:00:00 2001
From: Nelson Chen <crazysim@gmail.com>
Date: Tue, 17 Sep 2024 13:37:41 -0700
Subject: [PATCH 0626/1243] Longitudinal manuever docs (#33561)

* Make output longitudinal maneuvers HTML smaller so users can throw them onto jsfiddle and etc.

* Add an initial meaty readme for longitudinal maneuver tool

Feel free to trim!

* simplify instructions

* revert

revert

* remove broken video, better image

* details

* discord

* final

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/longitudinal_maneuvers/README.md | 43 ++++++++++++++++++++++++++
 1 file changed, 43 insertions(+)
 create mode 100644 tools/longitudinal_maneuvers/README.md

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
new file mode 100644
index 0000000000..b0f5897d08
--- /dev/null
+++ b/tools/longitudinal_maneuvers/README.md
@@ -0,0 +1,43 @@
+# Longitudinal Maneuvers Testing Tool
+
+Test your vehicle's longitudinal control with this tool. The tool will test the vehicle's ability to follow a few longitudinal maneuvers and includes a tool to generate a report from the route.
+
+<details><summary>Sample snapshot of a report.</summary><img width="600px" src="https://github.com/user-attachments/assets/d18d0c7d-2bde-44c1-8e86-1741ed442ad8"></details>
+
+## Instructions
+
+1. Check out a development branch such as `master` on your comma device.
+2. Locate either a large empty parking lot or road devoid of any car or foot traffic. Flat, straight road is preferred. The full maneuver suite can take 1 mile or more if left running, however it is recommended to disengage openpilot between maneuvers and turn around if there is not enough space.
+3. Turn off the vehicle and set this parameter which will signal to openpilot to start the longitudinal maneuver daemon:
+
+   ```sh
+   echo -n 1 > /data/params/d/LongitudinalManeuverMode
+   ```
+
+4. Turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert:
+
+   ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
+
+5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. If so, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
+6. When the testing is complete, you'll see an alert that says "Maneuvers Finished," complete the route by pulling over and turning off the vehicle.
+
+   ![fin2](https://github.com/user-attachments/assets/c06960ae-7cfb-44af-beaa-4dc28848e49d)
+
+7. Visit https://connect.comma.ai and locate the route(s). They will stand out with lots of orange intervals in their timeline. Ensure "All logs" show as "uploaded."
+
+   ![image](https://github.com/user-attachments/assets/cfe4c6d9-752f-4b24-b421-4b90a01933dc)
+
+8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
+
+    ```sh
+    $ python tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation'
+
+    processing report for LEXUS_ES_TSS2
+    plotting maneuver: start from stop, runs: 4
+    plotting maneuver: creep: alternate between +1m/s^2 and -1m/s^2, runs: 2
+    plotting maneuver: gas step response: +1m/s^2 from 20mph, runs: 2
+
+    Report written to /home/batman/openpilot/tools/longitudinal_maneuvers/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_0000010e--5b26bc3be7.html
+    ```
+
+You can reach out on [Discord](https://discord.comma.ai) if you have any questions about these instructions or the tool itself.

From e549f7af45e49390b38f66d1894167091f867479 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Sep 2024 19:23:27 -0400
Subject: [PATCH 0627/1243] tests: fix selfdrive state machine import (#33571)

* selfdrive: Fix state machine test imports

* it's the same file

* Update selfdrive/selfdrived/tests/test_state_machine.py

* Update selfdrive/selfdrived/tests/test_state_machine.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/selfdrived/tests/test_state_machine.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/tests/test_state_machine.py b/selfdrive/selfdrived/tests/test_state_machine.py
index 4274ba9f67..b720f48f1e 100644
--- a/selfdrive/selfdrived/tests/test_state_machine.py
+++ b/selfdrive/selfdrived/tests/test_state_machine.py
@@ -1,6 +1,6 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.selfdrive import StateMachine, SOFT_DISABLE_TIME
+from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
 
 State = log.SelfdriveState.OpenpilotState

From fe2bd2e0e3ecd43fba2eeb2ddd52620325a0b4c1 Mon Sep 17 00:00:00 2001
From: Nelson Chen <crazysim@gmail.com>
Date: Tue, 17 Sep 2024 16:42:24 -0700
Subject: [PATCH 0628/1243] Add clip to longitudinal_maneuvers README (#33574)

Added to step 5, really ties together the images from step 4 and 6.
---
 tools/longitudinal_maneuvers/README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index b0f5897d08..f1981d9b1e 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -19,6 +19,9 @@ Test your vehicle's longitudinal control with this tool. The tool will test the
    ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
 
 5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. If so, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
+
+   ![cog-clip-00 01 11 250-00 01 22 250](https://github.com/user-attachments/assets/c312c1cc-76e8-46e1-a05e-bb9dfb58994f)
+
 6. When the testing is complete, you'll see an alert that says "Maneuvers Finished," complete the route by pulling over and turning off the vehicle.
 
    ![fin2](https://github.com/user-attachments/assets/c06960ae-7cfb-44af-beaa-4dc28848e49d)

From 163e7406c2cfe6e4f75be1a5e70e44b3f19c0adf Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Tue, 17 Sep 2024 17:54:24 -0700
Subject: [PATCH 0629/1243] [bot] Update Python packages (#33576)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |  2 +-
 panda        |  2 +-
 uv.lock      | 25 ++++++++++++-------------
 3 files changed, 14 insertions(+), 15 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 57ebdbfa05..c8beb979ec 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 57ebdbfa0553d4002bf1fd654e4631931f2b676c
+Subproject commit c8beb979ecd675adeae0c35df7ba4b71f90685d6
diff --git a/panda b/panda
index 2526d1ee4b..93aedd987b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2526d1ee4b7b740b5f5786c25638ee1528d425be
+Subproject commit 93aedd987bda7e267210689b877eb87f288fc6ab
diff --git a/uv.lock b/uv.lock
index 16207cf26e..3d60cefd68 100644
--- a/uv.lock
+++ b/uv.lock
@@ -190,7 +190,7 @@ wheels = [
 
 [[package]]
 name = "azure-storage-blob"
-version = "12.22.0"
+version = "12.23.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "azure-core" },
@@ -198,9 +198,9 @@ dependencies = [
     { name = "isodate" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/92/de/9cea85c0d5fc21f99bcf9f060fc2287cb95236b70431fa63cb69890a121e/azure-storage-blob-12.22.0.tar.gz", hash = "sha256:b3804bb4fe8ab1c32771fa464053da772a682c2737b19da438a3f4e5e3b3736e", size = 564873 }
+sdist = { url = "https://files.pythonhosted.org/packages/6b/64/eb0fbd7865463d9551bcfd6a92947d235f2128aa0b12b6f0254959aa31eb/azure_storage_blob-12.23.0.tar.gz", hash = "sha256:2fadbceda1d99c4a72dfd32e0122d7bca8b5e8d2563f5c624d634aeaff49c9df", size = 566106 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/a8/52/b578c94048469fbf9f6378e2b2a46a2d0ccba3d59a7845dbed22ebf61601/azure_storage_blob-12.22.0-py3-none-any.whl", hash = "sha256:bb7d2d824ce3f11f14a27ee7d9281289f7e072ac8311c52e3652672455b7d5e8", size = 404892 },
+    { url = "https://files.pythonhosted.org/packages/60/02/024b71fc0af7a361cfaecbd96120615ef53787e0b4213285e18eb259d198/azure_storage_blob-12.23.0-py3-none-any.whl", hash = "sha256:8ac4b34624ed075eda1e38f0c6dadb601e1b199e27a09aa63edc429bf4a23329", size = 405594 },
 ]
 
 [[package]]
@@ -603,11 +603,11 @@ wheels = [
 
 [[package]]
 name = "filelock"
-version = "3.16.0"
+version = "3.16.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e6/76/3981447fd369539aba35797db99a8e2ff7ed01d9aa63e9344a31658b8d81/filelock-3.16.0.tar.gz", hash = "sha256:81de9eb8453c769b63369f87f11131a7ab04e367f8d97ad39dc230daa07e3bec", size = 18008 }
+sdist = { url = "https://files.pythonhosted.org/packages/9d/db/3ef5bb276dae18d6ec2124224403d1d67bccdbefc17af4cc8f553e341ab1/filelock-3.16.1.tar.gz", hash = "sha256:c249fbfcd5db47e5e2d6d62198e565475ee65e4831e2561c8e313fa7eb961435", size = 18037 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/2f/95/f9310f35376024e1086c59cbb438d319fc9a4ef853289ce7c661539edbd4/filelock-3.16.0-py3-none-any.whl", hash = "sha256:f6ed4c963184f4c84dd5557ce8fece759a3724b37b80c6c4f20a2f63a4dc6609", size = 16170 },
+    { url = "https://files.pythonhosted.org/packages/b9/f8/feced7779d755758a52d1f6635d990b8d98dc0a29fa568bbe0625f18fdf3/filelock-3.16.1-py3-none-any.whl", hash = "sha256:2082e5703d51fbf98ea75855d9d5527e33d8ff23099bec374a134febee6946b0", size = 16163 },
 ]
 
 [[package]]
@@ -1709,11 +1709,11 @@ wheels = [
 
 [[package]]
 name = "platformdirs"
-version = "4.3.3"
+version = "4.3.6"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f5/19/f7bee3a71decedd8d7bc4d3edb7970b8e899f3caef257b0f0d623f2f7b11/platformdirs-4.3.3.tar.gz", hash = "sha256:d4e0b7d8ec176b341fb03cb11ca12d0276faa8c485f9cd218f613840463fc2c0", size = 21304 }
+sdist = { url = "https://files.pythonhosted.org/packages/13/fc/128cc9cb8f03208bdbf93d3aa862e16d376844a14f9a0ce5cf4507372de4/platformdirs-4.3.6.tar.gz", hash = "sha256:357fb2acbc885b0419afd3ce3ed34564c13c9b95c89360cd9563f73aa5e2b907", size = 21302 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/69/e6/7c8e8c326903bd97c6c0c47e0a3c5de815faaae986cab7defdeddf5fddcd/platformdirs-4.3.3-py3-none-any.whl", hash = "sha256:50a5450e2e84f44539718293cbb1da0a0885c9d14adf21b77bae4e66fc99d9b5", size = 18437 },
+    { url = "https://files.pythonhosted.org/packages/3c/a6/bc1012356d8ece4d66dd75c4b9fc6c1f6650ddd5991e421177d9f8f671be/platformdirs-4.3.6-py3-none-any.whl", hash = "sha256:73e575e1408ab8103900836b97580d5307456908a03e92031bab39e4554cc3fb", size = 18439 },
 ]
 
 [[package]]
@@ -4598,15 +4598,14 @@ wheels = [
 
 [[package]]
 name = "pytest-cpp"
-version = "2.5.0"
+version = "2.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "colorama" },
     { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/0f/72/6da4fd6ea5afd44e10dbed76ef666c0732e27317a753099bc163f3330a91/pytest-cpp-2.5.0.tar.gz", hash = "sha256:695604baa21bc95291bb4ea7263a7aa960753de57c2d17d224c4652fbcf65cdc", size = 465039 }
+sdist = { url = "https://files.pythonhosted.org/packages/cf/a1/c2679d7ff2da20a0f89c7820ae2739cde739eac9b43c192531117b31b5f4/pytest_cpp-2.6.0.tar.gz", hash = "sha256:c2f49d3c038539ac84786a94d852e4f4619c34c95979c2bc69c20b3bdf051d85", size = 465490 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/32/d5/b7b5c75dc2e11555898fbec78f88970c43f27439436ac83e65de6afcd2c6/pytest_cpp-2.5.0-py3-none-any.whl", hash = "sha256:137bcaa6487307b4c362245fcd4abf35de64ee85e6375f4d06cd31e6a64f9701", size = 15064 },
+    { url = "https://files.pythonhosted.org/packages/2a/44/dc2f5d53165264ae5831f361fe7723c45da05718a97015b2eddc452cf503/pytest_cpp-2.6.0-py3-none-any.whl", hash = "sha256:b33de94609450feea2fba9efff3558b8ac8f1fdf40a99e263b395d4798b911bb", size = 15074 },
 ]
 
 [[package]]

From 45b887a08e6dac09a47264dd9936bf3602cb65bd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 18 Sep 2024 12:04:08 +0800
Subject: [PATCH 0630/1243] ci: add toggles to ui report (#33577)

add toggles
---
 .github/workflows/ui_preview.yaml | 2 +-
 selfdrive/ui/tests/test_ui/run.py | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 877951f623..7880ecdea6 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device offroad_alert update_available prime onroad onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index b6e99190fc..6f8acb1a53 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -40,6 +40,11 @@ def setup_homescreen(click, pm: PubMaster):
 def setup_settings_device(click, pm: PubMaster):
   click(100, 100)
 
+def setup_settings_toggles(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 760)
+  time.sleep(UI_DELAY)
+
 def setup_onroad(click, pm: PubMaster):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
@@ -141,6 +146,7 @@ CASES = {
   "prime": setup_homescreen,
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
+  "settings_toggles": setup_settings_toggles,
   "onroad": setup_onroad,
   "onroad_sidebar": setup_onroad_sidebar,
   "onroad_alert_small": setup_onroad_alert_small,

From 41a7fa06235cc4ad58921b18d40f199cdf9205bb Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 18 Sep 2024 13:57:02 -0400
Subject: [PATCH 0631/1243] FCA Giorgio: Reserve safety ID (#33580)

reserve safety ID for FCA Giorgio
---
 cereal/car.capnp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 2c18c7c617..d08d89c1d9 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -619,6 +619,7 @@ struct CarParams {
     volkswagenMqbEvo @29;
     chryslerCusw @30;
     psa @31;
+    fcaGiorgio @32;
   }
 
   enum SteerControlType {

From b733b875f8e06195c89511717031d1fcfc880fd2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 18 Sep 2024 15:51:03 -0700
Subject: [PATCH 0632/1243] camerad: ci -> sensor rename (#33582)

* camerad: ci -> sensor rename

* no behavior change for now
---
 system/camerad/cameras/camera_common.cc |  22 +--
 system/camerad/cameras/camera_common.h  |   3 +-
 system/camerad/cameras/camera_qcom2.cc  | 211 +++++++++++-------------
 system/camerad/cameras/camera_qcom2.h   |  27 +--
 system/camerad/cameras/camera_util.cc   |  15 +-
 system/camerad/sensors/ar0231.cc        |   6 +-
 6 files changed, 138 insertions(+), 146 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 6c745e1cde..e99b4168bc 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -19,15 +19,15 @@ class ImgProc {
 public:
   ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
     char args[4096];
-    const SensorInfo *ci = s->ci.get();
+    const SensorInfo *sensor = s->sensor.get();
     snprintf(args, sizeof(args),
              "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
              "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
-             ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset,
+             sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset,
              b->rgb_width, b->rgb_height, buf_width, uv_offset,
-             static_cast<unsigned short>(ci->image_sensor), ci->hdr_offset, s->camera_num == 1);
+             static_cast<unsigned short>(sensor->image_sensor), sensor->hdr_offset, s->cc.camera_num == 1);
     const char *cl_file = "cameras/process_raw.cl";
     cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
@@ -67,9 +67,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   stream_type = type;
   frame_buf_count = frame_cnt;
 
-  const SensorInfo *ci = s->ci.get();
+  const SensorInfo *sensor = s->sensor.get();
   // RAW frame
-  const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
+  const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
   camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
   camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
@@ -79,8 +79,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   }
   LOGD("allocated %d CL buffers", frame_buf_count);
 
-  rgb_width = ci->frame_width;
-  rgb_height = ci->hdr_offset > 0 ? (ci->frame_height - ci->hdr_offset) / 2 : ci->frame_height;
+  rgb_width = sensor->frame_width;
+  rgb_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
 
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
@@ -151,9 +151,9 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setProcessingTime(frame_data.processing_time);
 
   const float ev = c->cur_ev[frame_data.frame_id % 3];
-  const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f);
+  const float perc = util::map_val(ev, c->sensor->min_ev, c->sensor->max_ev, 0.0f, 100.0f);
   framed.setExposureValPercent(perc);
-  framed.setSensor(c->ci->image_sensor);
+  framed.setSensor(c->sensor->image_sensor);
 }
 
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
@@ -294,10 +294,10 @@ void camerad_thread() {
 
   {
     MultiCameraState cameras;
+    cameras.pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
     VisionIpcServer vipc_server("camerad", device_id, context);
 
-    cameras_open(&cameras);
-    cameras_init(&vipc_server, &cameras, device_id, context);
+    cameras_init(&cameras, &vipc_server, device_id, context);
 
     vipc_server.start_listener();
 
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 7c2fbaeec8..03d9cfd6ae 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -71,8 +71,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
 void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
-void cameras_open(MultiCameraState *s);
+void cameras_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
 void cameras_run(MultiCameraState *s);
 void cameras_close(MultiCameraState *s);
 void camerad_thread();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 0648ddf4de..a2c836c730 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -17,25 +17,27 @@
 #include "media/cam_req_mgr.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
+
+#include "common/params.h"
 #include "common/swaglog.h"
 
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
-// For debugging:
-// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
-
 ExitHandler do_exit;
 
 CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
   : multi_cam_state(multi_camera_state),
-    camera_num(config.camera_num),
-    stream_type(config.stream_type),
-    focal_len(config.focal_len),
-    publish_name(config.publish_name),
-    init_camera_state(config.init_camera_state),
-    enabled(config.enabled) {
+    enabled(config.enabled) ,
+    cc(config) {
+}
+
+CameraState::~CameraState() {
+  if (open) {
+    camera_close();
+  }
 }
 
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -50,8 +52,8 @@ int CameraState::clear_req_queue() {
 
 void CameraState::sensors_start() {
   if (!enabled) return;
-  LOGD("starting sensor %d", camera_num);
-  sensors_i2c(ci->start_reg_array.data(), ci->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
+  LOGD("starting sensor %d", cc.camera_num);
+  sensors_i2c(sensor->start_reg_array.data(), sensor->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
 }
 
 void CameraState::sensors_poke(int request_id) {
@@ -66,7 +68,7 @@ void CameraState::sensors_poke(int request_id) {
 
   int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
   if (ret != 0) {
-    LOGE("** sensor %d FAILED poke, disabling", camera_num);
+    LOGE("** sensor %d FAILED poke, disabling", cc.camera_num);
     enabled = false;
     return;
   }
@@ -96,7 +98,7 @@ void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len,
 
   int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
   if (ret != 0) {
-    LOGE("** sensor %d FAILED i2c, disabling", camera_num);
+    LOGE("** sensor %d FAILED i2c, disabling", cc.camera_num);
     enabled = false;
     return;
   }
@@ -125,8 +127,8 @@ int CameraState::sensors_init() {
   auto i2c_info = mm.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1);
 
-  probe->camera_id = camera_num;
-  i2c_info->slave_addr = ci->getSlaveAddress(camera_num);
+  probe->camera_id = cc.camera_num;
+  i2c_info->slave_addr = sensor->getSlaveAddress(cc.camera_num);
   // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
   //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
   i2c_info->i2c_freq_mode = I2C_FAST_MODE;
@@ -136,8 +138,8 @@ int CameraState::sensors_init() {
   probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
   probe->op_code = 3;   // don't care?
   probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
-  probe->reg_addr = ci->probe_reg_addr;
-  probe->expected_data = ci->probe_expected_data;
+  probe->reg_addr = sensor->probe_reg_addr;
+  probe->expected_data = sensor->probe_expected_data;
   probe->data_mask = 0;
 
   //buf_desc[1].size = buf_desc[1].length = 148;
@@ -159,7 +161,7 @@ int CameraState::sensors_init() {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = ci->mclk_frequency;
+  power->power_settings[0].config_val_low = sensor->mclk_frequency;
   power = power_set_wait(power, 1);
 
   // reset high
@@ -312,10 +314,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (io_mem_handle != 0) {
     io_cfg[0].mem_handle[0] = io_mem_handle;
     io_cfg[0].planes[0] = (struct cam_plane_cfg){
-      .width = ci->frame_width,
-      .height = ci->frame_height + ci->extra_height,
-      .plane_stride = ci->frame_stride,
-      .slice_height = ci->frame_height + ci->extra_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
+      .plane_stride = sensor->frame_stride,
+      .slice_height = sensor->frame_height + sensor->extra_height,
       .meta_stride = 0x0,  // YUV has meta(stride=0x400, size=0x5000)
       .meta_size = 0x0,
       .meta_offset = 0x0,
@@ -325,10 +327,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
       .h_init = 0x0,
       .v_init = 0x0,
     };
-    io_cfg[0].format = ci->mipi_format;                    // CAM_FORMAT_UBWC_TP10 for YUV
+    io_cfg[0].format = sensor->mipi_format;                    // CAM_FORMAT_UBWC_TP10 for YUV
     io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
     io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
-    io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);  // bits per pixel
+    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);  // bits per pixel
     io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;   // CAM_ISP_IFE_OUT_RES_FULL for YUV
     io_cfg[0].fence = fence;
     io_cfg[0].direction = CAM_BUF_OUTPUT;
@@ -409,9 +411,9 @@ void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
   std::vector<std::pair<Rect, float>> ae_targets = {
     // (Rect, F)
-    std::make_pair((Rect){96, 250, 1734, 524}, 567.0), // wide
+    std::make_pair((Rect){96, 250, 1734, 524}, 567.0),  // wide
     std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road
-    std::make_pair((Rect){96, 242, 1736, 906}, 567.0) // driver
+    std::make_pair((Rect){96, 242, 1736, 906}, 567.0)   // driver
   };
   int h_ref = 1208;
   /*
@@ -422,7 +424,7 @@ void CameraState::set_exposure_rect() {
       [0, 0, 1]
     ]
   */
-  auto ae_target = ae_targets[camera_num];
+  auto ae_target = ae_targets[cc.camera_num];
   Rect xywh_ref = ae_target.first;
   float fl_ref = ae_target.second;
 
@@ -435,9 +437,9 @@ void CameraState::set_exposure_rect() {
 }
 
 void CameraState::sensor_set_parameters() {
-  dc_gain_weight = ci->dc_gain_min_weight;
-  gain_idx = ci->analog_gain_rec_idx;
-  cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
+  dc_gain_weight = sensor->dc_gain_min_weight;
+  gain_idx = sensor->analog_gain_rec_idx;
+  cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight) * sensor->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
 void CameraState::camera_map_bufs() {
@@ -458,11 +460,11 @@ void CameraState::camera_map_bufs() {
 void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
-  LOGD("camera init %d", camera_num);
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+  LOGD("camera init %d", cc.camera_num);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
   camera_map_bufs();
 
-  fl_pix = focal_len / ci->pixel_size_mm;
+  fl_pix = cc.focal_len / sensor->pixel_size_mm;
   set_exposure_rect();
 }
 
@@ -473,23 +475,24 @@ void CameraState::camera_open() {
     return;
   }
 
+  open = true;
   configISP();
   configCSIPHY();
   linkDevices();
 }
 
 bool CameraState::openSensor() {
-  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
+  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", cc.camera_num);
   assert(sensor_fd >= 0);
-  LOGD("opened sensor for %d", camera_num);
+  LOGD("opened sensor for %d", cc.camera_num);
 
   // init memorymanager for this camera
   mm.init(multi_cam_state->video0_fd);
 
-  LOGD("-- Probing sensor %d", camera_num);
+  LOGD("-- Probing sensor %d", cc.camera_num);
 
-  auto init_sensor_lambda = [this](SensorInfo *sensor) {
-    ci.reset(sensor);
+  auto init_sensor_lambda = [this](SensorInfo *s) {
+    sensor.reset(s);
     int ret = sensors_init();
     if (ret == 0) {
       sensor_set_parameters();
@@ -501,11 +504,11 @@ bool CameraState::openSensor() {
   if (!init_sensor_lambda(new AR0231) &&
       !init_sensor_lambda(new OX03C10) &&
       !init_sensor_lambda(new OS04C10)) {
-    LOGE("** sensor %d FAILED bringup, disabling", camera_num);
+    LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
     return false;
   }
-  LOGD("-- Probing sensor %d success", camera_num);
+  LOGD("-- Probing sensor %d success", cc.camera_num);
 
   // create session
   struct cam_req_mgr_session_info session_info = {};
@@ -521,7 +524,7 @@ bool CameraState::openSensor() {
   LOGD("acquire sensor dev");
 
   LOG("-- Configuring sensor");
-  sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
+  sensors_i2c(sensor->init_reg_array.data(), sensor->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
   return true;
 }
 
@@ -531,30 +534,29 @@ void CameraState::configISP() {
   if (!enabled) return;
 
   struct cam_isp_in_port_info in_port_info = {
-    .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num],
-
+    .res_type = cc.phy,
     .lane_type = CAM_ISP_LANE_TYPE_DPHY,
     .lane_num = 4,
     .lane_cfg = 0x3210,
 
     .vc = 0x0,
-    .dt = ci->frame_data_type,
-    .format = ci->mipi_format,
+    .dt = sensor->frame_data_type,
+    .format = sensor->mipi_format,
 
     .test_pattern = 0x2,  // 0x3?
     .usage_type = 0x0,
 
     .left_start = 0,
-    .left_stop = ci->frame_width - 1,
-    .left_width = ci->frame_width,
+    .left_stop = sensor->frame_width - 1,
+    .left_width = sensor->frame_width,
 
     .right_start = 0,
-    .right_stop = ci->frame_width - 1,
-    .right_width = ci->frame_width,
+    .right_stop = sensor->frame_width - 1,
+    .right_width = sensor->frame_width,
 
     .line_start = 0,
-    .line_stop = ci->frame_height + ci->extra_height - 1,
-    .height = ci->frame_height + ci->extra_height,
+    .line_stop = sensor->frame_height + sensor->extra_height - 1,
+    .height = sensor->frame_height + sensor->extra_height,
 
     .pixel_clk = 0x0,
     .batch_size = 0x0,
@@ -565,9 +567,9 @@ void CameraState::configISP() {
     .num_out_res = 0x1,
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
-      .format = ci->mipi_format,
-      .width = ci->frame_width,
-      .height = ci->frame_height + ci->extra_height,
+      .format = sensor->mipi_format,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -590,9 +592,9 @@ void CameraState::configISP() {
 }
 
 void CameraState::configCSIPHY() {
-  csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num);
+  csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", cc.camera_num);
   assert(csiphy_fd >= 0);
-  LOGD("opened csiphy for %d", camera_num);
+  LOGD("opened csiphy for %d", cc.camera_num);
 
   struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
   auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info);
@@ -659,15 +661,7 @@ void CameraState::linkDevices() {
   //LOGD("start sensor: %d", ret);
 }
 
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(v, device_id, ctx);
-  s->road_cam.camera_init(v, device_id, ctx);
-  s->wide_road_cam.camera_init(v, device_id, ctx);
-
-  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
-}
-
-void cameras_open(MultiCameraState *s) {
+void cameras_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
   LOG("-- Opening devices");
   // video0 is req_mgr, the target of many ioctls
   s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
@@ -706,17 +700,23 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
+  // open
   s->driver_cam.camera_open();
   LOGD("driver camera opened");
   s->road_cam.camera_open();
   LOGD("road camera opened");
   s->wide_road_cam.camera_open();
   LOGD("wide road camera opened");
+
+  // init
+  s->driver_cam.camera_init(v, device_id, ctx);
+  s->road_cam.camera_init(v, device_id, ctx);
+  s->wide_road_cam.camera_init(v, device_id, ctx);
 }
 
 void CameraState::camera_close() {
   // stop devices
-  LOG("-- Stop devices %d", camera_num);
+  LOG("-- Stop devices %d", cc.camera_num);
 
   if (enabled) {
     // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
@@ -762,15 +762,7 @@ void CameraState::camera_close() {
   // destroyed session
   struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle};
   ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
-  LOGD("destroyed session %d: %d", camera_num, ret);
-}
-
-void cameras_close(MultiCameraState *s) {
-  s->driver_cam.camera_close();
-  s->road_cam.camera_close();
-  s->wide_road_cam.camera_close();
-
-  delete s->pm;
+  LOGD("destroyed session %d: %d", cc.camera_num, ret);
 }
 
 void CameraState::handle_camera_event(void *evdat) {
@@ -789,7 +781,7 @@ void CameraState::handle_camera_event(void *evdat) {
 
     // check for skipped frames
     if (main_id > frame_id_last + 1 && !skipped) {
-      LOGE("camera %d realign", camera_num);
+      LOGE("camera %d realign", cc.camera_num);
       clear_req_queue();
       enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
       skipped = true;
@@ -799,7 +791,7 @@ void CameraState::handle_camera_event(void *evdat) {
 
     // check for dropped requests
     if (real_id > request_id_last + 1) {
-      LOGE("camera %d dropped requests %ld %ld", camera_num, real_id, request_id_last);
+      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
       enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
     }
 
@@ -812,7 +804,7 @@ void CameraState::handle_camera_event(void *evdat) {
     meta_data.request_id = real_id;
     meta_data.timestamp_sof = timestamp;
     exp_lock.lock();
-    meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
+    meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
     meta_data.high_conversion_gain = dc_gain_enabled;
     meta_data.integ_lines = exposure_time;
     meta_data.measured_grey_fraction = measured_grey_fraction;
@@ -823,7 +815,7 @@ void CameraState::handle_camera_event(void *evdat) {
     enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
   } else { // not ready
     if (main_id > frame_id_last + 10) {
-      LOGE("camera %d reset after half second of no response", camera_num);
+      LOGE("camera %d reset after half second of no response", cc.camera_num);
       clear_req_queue();
       enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
       frame_id_last = main_id;
@@ -833,7 +825,7 @@ void CameraState::handle_camera_event(void *evdat) {
 }
 
 void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) {
-  float score = ci->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx);
+  float score = sensor->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx);
   if (score < best_ev_score) {
     new_exp_t = exp_t;
     new_exp_g = exp_g_idx;
@@ -859,10 +851,10 @@ void CameraState::set_camera_exposure(float grey_frac) {
   const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3];
 
   // Scale target grey between 0.1 and 0.4 depending on lighting conditions
-  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + ci->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
+  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
   float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
 
-  float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, ci->min_ev, ci->max_ev);
+  float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
   float k = (1.0 - k_ev) / 3.0;
   desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
 
@@ -873,19 +865,20 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // Hysteresis around high conversion gain
   // We usually want this on since it results in lower noise, but turn off in very bright day scenes
   bool enable_dc_gain = dc_gain_enabled;
-  if (!enable_dc_gain && target_grey < ci->dc_gain_on_grey) {
+  if (!enable_dc_gain && target_grey < sensor->dc_gain_on_grey) {
     enable_dc_gain = true;
-    dc_gain_weight = ci->dc_gain_min_weight;
-  } else if (enable_dc_gain && target_grey > ci->dc_gain_off_grey) {
+    dc_gain_weight = sensor->dc_gain_min_weight;
+  } else if (enable_dc_gain && target_grey > sensor->dc_gain_off_grey) {
     enable_dc_gain = false;
-    dc_gain_weight = ci->dc_gain_max_weight;
+    dc_gain_weight = sensor->dc_gain_max_weight;
   }
 
-  if (enable_dc_gain && dc_gain_weight < ci->dc_gain_max_weight) {dc_gain_weight += 1;}
-  if (!enable_dc_gain && dc_gain_weight > ci->dc_gain_min_weight) {dc_gain_weight -= 1;}
+  if (enable_dc_gain && dc_gain_weight < sensor->dc_gain_max_weight) {dc_gain_weight += 1;}
+  if (!enable_dc_gain && dc_gain_weight > sensor->dc_gain_min_weight) {dc_gain_weight -= 1;}
 
   std::string gain_bytes, time_bytes;
   if (env_ctrl_exp_from_params) {
+    static Params params;
     gain_bytes = params.get("CameraDebugExpGain");
     time_bytes = params.get("CameraDebugExpTime");
   }
@@ -901,14 +894,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
   } else {
     // Simple brute force optimizer to choose sensor parameters
     // to reach desired EV
-    for (int g = std::max((int)ci->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)ci->analog_gain_max_idx, gain_idx + 1); g++) {
-      float gain = ci->sensor_analog_gains[g] * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
+    for (int g = std::max((int)sensor->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)sensor->analog_gain_max_idx, gain_idx + 1); g++) {
+      float gain = sensor->sensor_analog_gains[g] * (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
 
       // Compute optimal time for given gain
-      int t = std::clamp(int(std::round(desired_ev / gain)), ci->exposure_time_min, ci->exposure_time_max);
+      int t = std::clamp(int(std::round(desired_ev / gain)), sensor->exposure_time_min, sensor->exposure_time_max);
 
       // Only go below recommended gain when absolutely necessary to not overexpose
-      if (g < ci->analog_gain_rec_idx && t > 20 && g < gain_idx) {
+      if (g < sensor->analog_gain_rec_idx && t > 20 && g < gain_idx) {
         continue;
       }
 
@@ -921,12 +914,12 @@ void CameraState::set_camera_exposure(float grey_frac) {
   measured_grey_fraction = grey_frac;
   target_grey_fraction = target_grey;
 
-  analog_gain_frac = ci->sensor_analog_gains[new_exp_g];
+  analog_gain_frac = sensor->sensor_analog_gains[new_exp_g];
   gain_idx = new_exp_g;
   exposure_time = new_exp_t;
   dc_gain_enabled = enable_dc_gain;
 
-  float gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
+  float gain = analog_gain_frac * (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
   cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
   exp_lock.unlock();
@@ -937,39 +930,35 @@ void CameraState::set_camera_exposure(float grey_frac) {
   if (ms < 60) {
     util::sleep_for(60 - ms);
   }
-  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
+  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
 
-  auto exp_reg_array = ci->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled);
-  sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
+  auto exp_reg_array = sensor->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled);
+  sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
 }
 
 void CameraState::run() {
-  util::set_thread_name(publish_name);
+  util::set_thread_name(cc.publish_name);
 
   for (uint32_t cnt = 0; !do_exit; ++cnt) {
     // Acquire the buffer; continue if acquisition fails
     if (!buf.acquire()) continue;
 
     MessageBuilder msg;
-    auto framed = (msg.initEvent().*init_camera_state)();
+    auto framed = (msg.initEvent().*cc.init_camera_state)();
     fill_frame_data(framed, buf.cur_frame_data, this);
 
     // Log raw frames for road camera
-    if (env_log_raw_frames && stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
+    if (env_log_raw_frames && cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
       framed.setImage(get_raw_frame_image(&buf));
     }
-    // Log frame id for road and wide road cameras
-    if (stream_type != VISION_STREAM_DRIVER) {
-      LOGT(buf.cur_frame_data.frame_id, "%s: Image set", publish_name);
-    }
 
     // Process camera registers and set camera exposure
-    ci->processRegisters(this, framed);
-    set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, stream_type != VISION_STREAM_DRIVER ? 2 : 4));
+    sensor->processRegisters(this, framed);
+    set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message
-    multi_cam_state->pm->send(publish_name, msg);
-    if (stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
+    multi_cam_state->pm->send(cc.publish_name, msg);
+    if (cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
       publish_thumbnail(multi_cam_state->pm, &buf);  // this takes 10ms???
     }
   }
@@ -1019,11 +1008,9 @@ void cameras_run(MultiCameraState *s) {
         if (env_debug_frames) {
           printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl,
                  event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status);
+          do_exit = do_exit || event_data->u.frame_msg.frame_id > (1*20);
         }
 
-        // for debugging
-        //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20);
-
         if (event_data->session_hdl == s->road_cam.session_handle) {
           s->road_cam.handle_camera_event(event_data);
         } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
@@ -1045,6 +1032,4 @@ void cameras_run(MultiCameraState *s) {
   LOG(" ************** STOPPING **************");
 
   for (auto &t : threads) t.join();
-
-  cameras_close(s);
 }
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 02ebeb71f3..bd53a326f3 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -3,10 +3,11 @@
 #include <memory>
 #include <utility>
 
+#include "media/cam_isp_ife.h"
+
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/cameras/camera_util.h"
 #include "system/camerad/sensors/sensor.h"
-#include "common/params.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4
@@ -18,6 +19,7 @@ struct CameraConfig {
   const char *publish_name;
   cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
   bool enabled;
+  uint32_t phy;
 };
 
 const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
@@ -27,6 +29,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .publish_name = "wideRoadCameraState",
   .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
   .enabled = !getenv("DISABLE_WIDE_ROAD"),
+  .phy = CAM_ISP_IFE_IN_RES_PHY_0,
 };
 
 const CameraConfig ROAD_CAMERA_CONFIG = {
@@ -36,6 +39,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .publish_name = "roadCameraState",
   .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
+  .phy = CAM_ISP_IFE_IN_RES_PHY_1,
 };
 
 const CameraConfig DRIVER_CAMERA_CONFIG = {
@@ -45,17 +49,16 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .publish_name = "driverCameraState",
   .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
+  .phy = CAM_ISP_IFE_IN_RES_PHY_2,
 };
 
 class CameraState {
 public:
+  CameraConfig cc;
   MultiCameraState *multi_cam_state = nullptr;
-  std::unique_ptr<const SensorInfo> ci;
+  std::unique_ptr<const SensorInfo> sensor;
   bool enabled = true;
-  VisionStreamType stream_type;
-  const char *publish_name = nullptr;
-  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)() = nullptr;
-  float focal_len = 0;
+  bool open = false;
 
   std::mutex exp_lock;
 
@@ -77,10 +80,10 @@ public:
   unique_fd sensor_fd;
   unique_fd csiphy_fd;
 
-  int camera_num = 0;
   float fl_pix = 0;
 
   CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
+  ~CameraState();
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
@@ -128,14 +131,16 @@ private:
   void configISP();
   void configCSIPHY();
   void linkDevices();
-
-  // for debugging
-  Params params;
 };
 
 class MultiCameraState {
 public:
   MultiCameraState();
+  ~MultiCameraState() {
+    if (pm != nullptr) {
+      delete pm;
+    }
+  };
 
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
@@ -147,5 +152,5 @@ public:
   CameraState wide_road_cam;
   CameraState driver_cam;
 
-  PubMaster *pm;
+  PubMaster *pm = nullptr;
 };
diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
index 7bd23fd9fe..4d78556800 100644
--- a/system/camerad/cameras/camera_util.cc
+++ b/system/camerad/cameras/camera_util.cc
@@ -10,6 +10,9 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 
+// For debugging:
+// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
+
 // ************** low level camera helpers ****************
 int do_cam_control(int fd, int op_code, void *handle, int size) {
   struct cam_control camcontrol = {0};
@@ -93,11 +96,7 @@ void release(int video0_fd, uint32_t handle) {
   assert(ret == 0);
 }
 
-void release_fd(int video0_fd, uint32_t handle) {
-  // handle to fd
-  close(handle>>16);
-  release(video0_fd, handle);
-}
+// *** MemoryManager ***
 
 void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
   lock.lock();
@@ -129,7 +128,11 @@ MemoryManager::~MemoryManager() {
       x.second.pop();
       LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
       munmap(ptr, size_lookup[ptr]);
-      release_fd(video0_fd, handle_lookup[ptr]);
+
+      // release fd
+      close(handle_lookup[ptr] >> 16);
+      release(video0_fd, handle_lookup[ptr]);
+
       handle_lookup.erase(ptr);
       size_lookup.erase(ptr);
     }
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 9b688389c4..143e04c0b3 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -33,7 +33,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
 
   std::map<uint16_t, std::pair<int, int>> registers;
   for (int register_row = 0; register_row < 2; register_row++) {
-    uint8_t *registers_raw = data + c->ci->frame_stride * register_row;
+    uint8_t *registers_raw = data + c->sensor->frame_stride * register_row;
     assert(registers_raw[0] == 0x0a);  // Start of line
 
     int value_tag_count = 0;
@@ -58,7 +58,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
           cur_addr += 2;
           first_val_idx = val_idx;
         } else {
-          registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row);
+          registers[cur_addr] = std::make_pair(first_val_idx + c->sensor->frame_stride * register_row, val_idx + c->sensor->frame_stride * register_row);
         }
 
         value_tag_count++;
@@ -121,7 +121,7 @@ AR0231::AR0231() {
 
 void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {
   const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
-  uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset;
+  uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->sensor->registers_offset;
 
   if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
     LOGE("unexpected register data found");

From 5378e63812dc3775e673dadc629b59ae282c60cf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 18 Sep 2024 21:01:38 -0700
Subject: [PATCH 0633/1243] it's not really rgb

---
 system/camerad/cameras/camera_common.cc | 24 ++++++++++++------------
 system/camerad/cameras/camera_common.h  |  2 +-
 system/camerad/cameras/camera_qcom2.cc  |  8 ++++----
 system/camerad/test/test_ae_gray.cc     |  6 +++---
 4 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index e99b4168bc..c89fc7f83a 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -26,7 +26,7 @@ public:
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
              "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
              sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset,
-             b->rgb_width, b->rgb_height, buf_width, uv_offset,
+             b->out_img_width, b->out_img_height, buf_width, uv_offset,
              static_cast<unsigned short>(sensor->image_sensor), sensor->hdr_offset, s->cc.camera_num == 1);
     const char *cl_file = "cameras/process_raw.cl";
     cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
@@ -79,20 +79,20 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   }
   LOGD("allocated %d CL buffers", frame_buf_count);
 
-  rgb_width = sensor->frame_width;
-  rgb_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
+  out_img_width = sensor->frame_width;
+  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
 
-  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
-  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
-  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
-  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height));
+  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, out_img_width);
+  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, out_img_height);
+  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, out_img_width));
+  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, out_img_height));
   size_t nv12_uv_offset = nv12_width * nv12_height;
 
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
@@ -118,7 +118,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, cur_frame_data.integ_lines);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
@@ -244,7 +244,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
 }
 
 void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
-  auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
+  auto thumbnail = yuv420_to_jpeg(b, b->out_img_width / 4, b->out_img_height / 4);
   if (thumbnail.size() == 0) return;
 
   MessageBuilder msg;
@@ -264,7 +264,7 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk
   unsigned int lum_total = 0;
   for (int y = ae_xywh.y; y < ae_xywh.y + ae_xywh.h; y += y_skip) {
     for (int x = ae_xywh.x; x < ae_xywh.x + ae_xywh.w; x += x_skip) {
-      uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
+      uint8_t lum = pix_ptr[(y * b->out_img_width) + x];
       lum_binning[lum]++;
       lum_total += 1;
     }
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 03d9cfd6ae..567a03c193 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -58,7 +58,7 @@ public:
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs;
   std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
-  int rgb_width, rgb_height;
+  int out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index a2c836c730..aa787dea8f 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -429,10 +429,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, buf.rgb_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, buf.rgb_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.rgb_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.rgb_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc
index be9a0cc59f..0620551ec6 100644
--- a/system/camerad/test/test_ae_gray.cc
+++ b/system/camerad/test/test_ae_gray.cc
@@ -34,11 +34,11 @@ TEST_CASE("camera.test_set_exposure_target") {
   uint8_t * fb_y = new uint8_t[W*H];
   vb.y = fb_y;
   cb.cur_yuv_buf = &vb;
-  cb.rgb_width = W;
-  cb.rgb_height = H;
+  cb.out_img_width = W;
+  cb.out_img_height = H;
   Rect rect = {0, 0, W-1, H-1};
 
-  printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
+  printf("AE test patterns %dx%d\n", cb.out_img_width, cb.out_img_height);
 
   // mix of 5 tones
   uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max

From 718835a825ec77d25d6d95dd58a719c16f14a3fb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 18 Sep 2024 21:10:45 -0700
Subject: [PATCH 0634/1243] camerad: prep part 2 (#33584)

* no camerastate in sensors

* bring this over

* and encoder
---
 system/camerad/cameras/camera_qcom2.cc |  2 +-
 system/camerad/cameras/camera_util.h   | 30 +++++++++++++-------------
 system/camerad/sensors/ar0231.cc       | 13 ++++++-----
 system/camerad/sensors/sensor.h        |  4 ++--
 system/loggerd/encoder/encoder.h       |  6 ++++--
 5 files changed, 28 insertions(+), 27 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index aa787dea8f..6febbf36a9 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -953,7 +953,7 @@ void CameraState::run() {
     }
 
     // Process camera registers and set camera exposure
-    sensor->processRegisters(this, framed);
+    sensor->processRegisters((uint8_t *)buf.cur_camera_buf->addr, framed);
     set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message
diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h
index 891ce3e793..a2e7bfb434 100644
--- a/system/camerad/cameras/camera_util.h
+++ b/system/camerad/cameras/camera_util.h
@@ -18,22 +18,22 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, i
 void release(int video0_fd, uint32_t handle);
 
 class MemoryManager {
-  public:
-    void init(int _video0_fd) { video0_fd = _video0_fd; }
-    ~MemoryManager();
+public:
+  void init(int _video0_fd) { video0_fd = _video0_fd; }
+  ~MemoryManager();
 
-    template <class T>
-    auto alloc(int len, uint32_t *handle) {
-      return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
-    }
+  template <class T>
+  auto alloc(int len, uint32_t *handle) {
+    return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+  }
 
-  private:
-    void *alloc_buf(int len, uint32_t *handle);
-    void free(void *ptr);
+private:
+  void *alloc_buf(int len, uint32_t *handle);
+  void free(void *ptr);
 
-    std::mutex lock;
-    std::map<void *, uint32_t> handle_lookup;
-    std::map<void *, int> size_lookup;
-    std::map<int, std::queue<void *> > cached_allocations;
-    int video0_fd;
+  std::mutex lock;
+  std::map<void *, uint32_t> handle_lookup;
+  std::map<void *, int> size_lookup;
+  std::map<int, std::queue<void *> > cached_allocations;
+  int video0_fd;
 };
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 143e04c0b3..74f09dfa61 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -2,7 +2,6 @@
 
 #include "common/swaglog.h"
 #include "system/camerad/cameras/camera_common.h"
-#include "system/camerad/cameras/camera_qcom2.h"
 #include "system/camerad/sensors/sensor.h"
 
 namespace {
@@ -17,7 +16,7 @@ const float sensor_analog_gains_AR0231[] = {
     5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
     7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
 
-std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
+std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) {
   // This function builds a lookup table from register address, to a pair of indices in the
   // buffer where to read this address. The buffer contains padding bytes,
   // as well as markers to indicate the type of the next byte.
@@ -33,7 +32,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
 
   std::map<uint16_t, std::pair<int, int>> registers;
   for (int register_row = 0; register_row < 2; register_row++) {
-    uint8_t *registers_raw = data + c->sensor->frame_stride * register_row;
+    uint8_t *registers_raw = data + s->frame_stride * register_row;
     assert(registers_raw[0] == 0x0a);  // Start of line
 
     int value_tag_count = 0;
@@ -58,7 +57,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
           cur_addr += 2;
           first_val_idx = val_idx;
         } else {
-          registers[cur_addr] = std::make_pair(first_val_idx + c->sensor->frame_stride * register_row, val_idx + c->sensor->frame_stride * register_row);
+          registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row);
         }
 
         value_tag_count++;
@@ -119,9 +118,9 @@ AR0231::AR0231() {
   target_grey_factor = 1.0;
 }
 
-void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {
+void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
   const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
-  uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->sensor->registers_offset;
+  uint8_t *data = cur_buf + registers_offset;
 
   if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
     LOGE("unexpected register data found");
@@ -129,7 +128,7 @@ void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed
   }
 
   if (ar0231_register_lut.empty()) {
-    ar0231_register_lut = ar0231_build_register_lut(c, data);
+    ar0231_register_lut = ar0231_build_register_lut(this, data);
   }
   std::map<uint16_t, uint16_t> registers;
   for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index add514b117..22083eb62b 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -19,7 +19,7 @@ public:
   virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
   virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
   virtual int getSlaveAddress(int port) const { assert(0); }
-  virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
+  virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {}
 
   cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
   float pixel_size_mm;
@@ -68,7 +68,7 @@ public:
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
-  void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override;
+  void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override;
 
 private:
   mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 72848609ef..20352ac093 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -1,5 +1,9 @@
 #pragma once
 
+// has to be in this order
+#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/videodev2.h>
+
 #include <cassert>
 #include <cstdint>
 #include <memory>
@@ -12,8 +16,6 @@
 #include "system/camerad/cameras/camera_common.h"
 #include "system/loggerd/loggerd.h"
 
-#define V4L2_BUF_FLAG_KEYFRAME 8
-
 class VideoEncoder {
 public:
   VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);

From 102f1b0d85d5dae73882dd45e2659414c2849fd3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 18 Sep 2024 22:16:25 -0700
Subject: [PATCH 0635/1243] loggerd: fix mac build

---
 system/loggerd/encoder/encoder.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 20352ac093..96ad4ffeb0 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -1,8 +1,12 @@
 #pragma once
 
 // has to be in this order
+#ifdef __linux__
 #include "third_party/linux/include/v4l2-controls.h"
 #include <linux/videodev2.h>
+#else
+#define V4L2_BUF_FLAG_KEYFRAME 8
+#endif
 
 #include <cassert>
 #include <cstdint>

From aca0ee3eea88b2493e62f9eb6c48776f76e54279 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 19 Sep 2024 13:19:57 +0800
Subject: [PATCH 0636/1243] locationd: replaced the loop and setattr with
 direct attribute assignment (#33466)

replaced the loop and setattr with direct attribute assignment
---
 selfdrive/locationd/locationd.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 14a315da85..4cde1e5ad4 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -31,9 +31,8 @@ POSENET_STD_HIST_HALF = 20
 
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
   assert len(values) == len(stds) == 3
-  for i, d in enumerate(("x", "y", "z")):
-    setattr(measurement, d, float(values[i]))
-    setattr(measurement, f"{d}Std", float(stds[i]))
+  measurement.x, measurement.y, measurement.z = map(float, values)
+  measurement.xStd, measurement.yStd, measurement.zStd = map(float, stds)
   measurement.valid = valid
 
 

From 80013219fea02e2f5ced149d8304524aa4227901 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 18 Sep 2024 22:24:53 -0700
Subject: [PATCH 0637/1243] camerad: abstract out ISP handling (#33583)

* spectra and tici

* master

* move the rest

* rm stupid indirection

* start move

* multi cam state is dead

* rest is moved

* lil more

* mv that

* lil more

* fix pc build

* we haven't done rgb for a while

* bring this stuff back

* fix mac?

* no camera in ui!

* i remember why we always cut mac

* fix mac build

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/ui/qt/widgets/cameraview.h    |   2 -
 system/camerad/SConscript               |   2 +-
 system/camerad/cameras/camera_common.cc |  60 +-
 system/camerad/cameras/camera_common.h  |  12 +-
 system/camerad/cameras/camera_qcom2.cc  | 883 ++++--------------------
 system/camerad/cameras/camera_qcom2.h   | 156 -----
 system/camerad/cameras/spectra.cc       | 695 +++++++++++++++++++
 system/camerad/cameras/spectra.h        |  87 +++
 system/camerad/cameras/tici.h           |  49 ++
 system/camerad/sensors/ar0231.cc        |   1 -
 system/camerad/sensors/sensor.h         |   3 +-
 11 files changed, 971 insertions(+), 979 deletions(-)
 delete mode 100644 system/camerad/cameras/camera_qcom2.h
 create mode 100644 system/camerad/cameras/spectra.cc
 create mode 100644 system/camerad/cameras/spectra.h
 create mode 100644 system/camerad/cameras/tici.h

diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 73f4858c4b..29aa8493c7 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -23,11 +23,9 @@
 #endif
 
 #include "msgq/visionipc/visionipc_client.h"
-#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/ui.h"
 
 const int FRAME_BUFFER_SIZE = 5;
-static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);
 
 class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   Q_OBJECT
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 511664c275..4e2eddeb42 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic']
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
-                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                         'cameras/spectra.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index c89fc7f83a..a4ac385440 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -10,16 +10,13 @@
 #include "common/swaglog.h"
 #include "third_party/linux/include/msm_media_info.h"
 
-#include "system/camerad/cameras/camera_qcom2.h"
-#ifdef QCOM2
-#include "CL/cl_ext_qcom.h"
-#endif
+#include "system/camerad/cameras/spectra.h"
+
 
 class ImgProc {
 public:
-  ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
+  ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const SensorInfo *sensor, int camera_num, int buf_width, int uv_offset) {
     char args[4096];
-    const SensorInfo *sensor = s->sensor.get();
     snprintf(args, sizeof(args),
              "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
@@ -27,7 +24,7 @@ public:
              "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
              sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset,
              b->out_img_width, b->out_img_height, buf_width, uv_offset,
-             static_cast<unsigned short>(sensor->image_sensor), sensor->hdr_offset, s->cc.camera_num == 1);
+             static_cast<unsigned short>(sensor->image_sensor), sensor->hdr_offset, camera_num == 1);
     const char *cl_file = "cameras/process_raw.cl";
     cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
@@ -62,12 +59,13 @@ private:
   cl_command_queue queue;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
   stream_type = type;
   frame_buf_count = frame_cnt;
 
-  const SensorInfo *sensor = s->sensor.get();
+  const SensorInfo *sensor = cam->sensor.get();
+
   // RAW frame
   const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
   camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
@@ -95,7 +93,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
-  imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
+  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset);
 }
 
 CameraBuf::~CameraBuf() {
@@ -138,24 +136,6 @@ void CameraBuf::queue(size_t buf_idx) {
 
 // common functions
 
-void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) {
-  framed.setFrameId(frame_data.frame_id);
-  framed.setRequestId(frame_data.request_id);
-  framed.setTimestampEof(frame_data.timestamp_eof);
-  framed.setTimestampSof(frame_data.timestamp_sof);
-  framed.setIntegLines(frame_data.integ_lines);
-  framed.setGain(frame_data.gain);
-  framed.setHighConversionGain(frame_data.high_conversion_gain);
-  framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction);
-  framed.setTargetGreyFraction(frame_data.target_grey_fraction);
-  framed.setProcessingTime(frame_data.processing_time);
-
-  const float ev = c->cur_ev[frame_data.frame_id % 3];
-  const float perc = util::map_val(ev, c->sensor->min_ev, c->sensor->max_ev, 0.0f, 100.0f);
-  framed.setExposureValPercent(perc);
-  framed.setSensor(c->sensor->image_sensor);
-}
-
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
   const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
 
@@ -283,30 +263,6 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk
   return lum_med / 256.0;
 }
 
-void camerad_thread() {
-  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-#ifdef QCOM2
-  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
-  cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
-#else
-  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-#endif
-
-  {
-    MultiCameraState cameras;
-    cameras.pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
-    VisionIpcServer vipc_server("camerad", device_id, context);
-
-    cameras_init(&cameras, &vipc_server, device_id, context);
-
-    vipc_server.start_listener();
-
-    cameras_run(&cameras);
-  }
-
-  CL_CHECK(clReleaseContext(context));
-}
-
 int open_v4l_by_name_and_index(const char name[], int index, int flags) {
   for (int v4l_index = 0; /**/; ++v4l_index) {
     std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 567a03c193..d1f0b0d0e1 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -8,6 +8,7 @@
 #include "common/queue.h"
 #include "common/util.h"
 
+
 const int YUV_BUFFER_COUNT = 20;
 
 enum CameraType {
@@ -39,7 +40,7 @@ typedef struct FrameMetadata {
   float processing_time;
 } FrameMetadata;
 
-struct MultiCameraState;
+class SpectraCamera;
 class CameraState;
 class ImgProc;
 
@@ -62,18 +63,13 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
   bool acquire();
   void queue(size_t buf_idx);
 };
 
-void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
+void camerad_thread();
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
 void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
-void cameras_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
-void cameras_run(MultiCameraState *s);
-void cameras_close(MultiCameraState *s);
-void camerad_thread();
-
 int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 6febbf36a9..3b2b9db330 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1,4 +1,5 @@
-#include "system/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/spectra.h"
 
 #include <poll.h>
 #include <sys/ioctl.h>
@@ -11,759 +12,62 @@
 #include <string>
 #include <vector>
 
+#include "CL/cl_ext_qcom.h"
+
 #include "media/cam_defs.h"
-#include "media/cam_isp.h"
-#include "media/cam_isp_ife.h"
-#include "media/cam_req_mgr.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 
+#include "common/clutil.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 
-const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 ExitHandler do_exit;
 
-CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
-  : multi_cam_state(multi_camera_state),
-    enabled(config.enabled) ,
-    cc(config) {
-}
-
-CameraState::~CameraState() {
-  if (open) {
-    camera_close();
-  }
-}
-
-
-int CameraState::clear_req_queue() {
-  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
-  req_mgr_flush_request.session_hdl = session_handle;
-  req_mgr_flush_request.link_hdl = link_handle;
-  req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
-  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
-  // LOGD("flushed all req: %d", ret);
-  return ret;
-}
-
-// ************** high level camera helpers ****************
-
-void CameraState::sensors_start() {
-  if (!enabled) return;
-  LOGD("starting sensor %d", cc.camera_num);
-  sensors_i2c(sensor->start_reg_array.data(), sensor->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
-}
-
-void CameraState::sensors_poke(int request_id) {
-  uint32_t cam_packet_handle = 0;
-  int size = sizeof(struct cam_packet);
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-  pkt->num_cmd_buf = 0;
-  pkt->kmd_cmd_buf_index = -1;
-  pkt->header.size = size;
-  pkt->header.op_code = CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP;
-  pkt->header.request_id = request_id;
-
-  int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
-  if (ret != 0) {
-    LOGE("** sensor %d FAILED poke, disabling", cc.camera_num);
-    enabled = false;
-    return;
-  }
-}
-
-void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
-  // LOGD("sensors_i2c: %d", len);
-  uint32_t cam_packet_handle = 0;
-  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-  pkt->num_cmd_buf = 1;
-  pkt->kmd_cmd_buf_index = -1;
-  pkt->header.size = size;
-  pkt->header.op_code = op_code;
-  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
-
-  buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
-  buf_desc[0].type = CAM_CMD_BUF_I2C;
-
-  auto i2c_random_wr = mm.alloc<struct cam_cmd_i2c_random_wr>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
-  i2c_random_wr->header.count = len;
-  i2c_random_wr->header.op_code = 1;
-  i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
-  i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE;
-  i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
-  memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
-
-  int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
-  if (ret != 0) {
-    LOGE("** sensor %d FAILED i2c, disabling", cc.camera_num);
-    enabled = false;
-    return;
-  }
-}
-
-static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
-  cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
-  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
-  unconditional_wait->delay = delay_ms;
-  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
-  return (struct cam_cmd_power *)(unconditional_wait + 1);
-}
-
-int CameraState::sensors_init() {
-  uint32_t cam_packet_handle = 0;
-  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-  pkt->num_cmd_buf = 2;
-  pkt->kmd_cmd_buf_index = -1;
-  pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
-  pkt->header.size = size;
-  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
-
-  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
-  buf_desc[0].type = CAM_CMD_BUF_LEGACY;
-  auto i2c_info = mm.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
-  auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1);
-
-  probe->camera_id = cc.camera_num;
-  i2c_info->slave_addr = sensor->getSlaveAddress(cc.camera_num);
-  // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
-  //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
-  i2c_info->i2c_freq_mode = I2C_FAST_MODE;
-  i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO;
-
-  probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
-  probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
-  probe->op_code = 3;   // don't care?
-  probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
-  probe->reg_addr = sensor->probe_reg_addr;
-  probe->expected_data = sensor->probe_expected_data;
-  probe->data_mask = 0;
-
-  //buf_desc[1].size = buf_desc[1].length = 148;
-  buf_desc[1].size = buf_desc[1].length = 196;
-  buf_desc[1].type = CAM_CMD_BUF_I2C;
-  auto power_settings = mm.alloc<struct cam_cmd_power>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-
-  // power on
-  struct cam_cmd_power *power = power_settings.get();
-  power->count = 4;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
-  power->power_settings[0].power_seq_type = 3; // clock??
-  power->power_settings[1].power_seq_type = 1; // analog
-  power->power_settings[2].power_seq_type = 2; // digital
-  power->power_settings[3].power_seq_type = 8; // reset low
-  power = power_set_wait(power, 1);
-
-  // set clock
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
-  power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = sensor->mclk_frequency;
-  power = power_set_wait(power, 1);
-
-  // reset high
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
-  power->power_settings[0].power_seq_type = 8;
-  power->power_settings[0].config_val_low = 1;
-  // wait 650000 cycles @ 19.2 mhz = 33.8 ms
-  power = power_set_wait(power, 34);
-
-  // probe happens here
-
-  // disable clock
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = 0;
-  power = power_set_wait(power, 1);
-
-  // reset high
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 8;
-  power->power_settings[0].config_val_low = 1;
-  power = power_set_wait(power, 1);
-
-  // reset low
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 8;
-  power->power_settings[0].config_val_low = 0;
-  power = power_set_wait(power, 1);
-
-  // power off
-  power->count = 3;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 2;
-  power->power_settings[1].power_seq_type = 1;
-  power->power_settings[2].power_seq_type = 3;
-
-  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
-  LOGD("probing the sensor: %d", ret);
-  return ret;
-}
-
-void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
-  uint32_t cam_packet_handle = 0;
-  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  if (io_mem_handle != 0) {
-    size += sizeof(struct cam_buf_io_cfg);
-  }
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-  pkt->num_cmd_buf = 2;
-  pkt->kmd_cmd_buf_index = 0;
-  // YUV has kmd_cmd_buf_offset = 1780
-  // I guess this is the ISP command
-  // YUV also has patch_offset = 0x1030 and num_patches = 10
-
-  if (io_mem_handle != 0) {
-    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
-    pkt->num_io_configs = 1;
-  }
-
-  if (io_mem_handle != 0) {
-    pkt->header.op_code = 0xf000001;
-    pkt->header.request_id = request_id;
-  } else {
-    pkt->header.op_code = 0xf000000;
-  }
-  pkt->header.size = size;
-  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
-  struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
-
-  // TODO: support MMU
-  buf_desc[0].size = 65624;
-  buf_desc[0].length = 0;
-  buf_desc[0].type = CAM_CMD_BUF_DIRECT;
-  buf_desc[0].meta_data = 3;
-  buf_desc[0].mem_handle = buf0_mem_handle;
-  buf_desc[0].offset = buf0_offset;
-
-  // parsed by cam_isp_packet_generic_blob_handler
-  struct isp_packet {
-    uint32_t type_0;
-    cam_isp_resource_hfr_config resource_hfr;
-
-    uint32_t type_1;
-    cam_isp_clock_config clock;
-    uint64_t extra_rdi_hz[3];
-
-    uint32_t type_2;
-    cam_isp_bw_config bw;
-    struct cam_isp_bw_vote extra_rdi_vote[6];
-  } __attribute__((packed)) tmp;
-  memset(&tmp, 0, sizeof(tmp));
-
-  tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG;
-  tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8;
-  static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20);
-  tmp.resource_hfr = {
-    .num_ports = 1,  // 10 for YUV (but I don't think we need them)
-    .port_hfr_config[0] = {
-      .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
-      .subsample_pattern = 1,
-      .subsample_period = 0,
-      .framedrop_pattern = 1,
-      .framedrop_period = 0,
-    }};
-
-  tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
-  tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
-  static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
-  tmp.clock = {
-    .usage_type = 1, // dual mode
-    .num_rdi = 4,
-    .left_pix_hz = 404000000,
-    .right_pix_hz = 404000000,
-    .rdi_hz[0] = 404000000,
-  };
-
-
-  tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG;
-  tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
-  static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
-  tmp.bw = {
-    .usage_type = 1, // dual mode
-    .num_rdi = 4,
-    .left_pix_vote = {
-      .resource_id = 0,
-      .cam_bw_bps = 450000000,
-      .ext_bw_bps = 450000000,
-    },
-    .rdi_vote[0] = {
-      .resource_id = 0,
-      .cam_bw_bps = 8706200000,
-      .ext_bw_bps = 8706200000,
-    },
-  };
-
-  static_assert(offsetof(struct isp_packet, type_2) == 0x60);
-
-  buf_desc[1].size = sizeof(tmp);
-  buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
-  buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
-  buf_desc[1].type = CAM_CMD_BUF_GENERIC;
-  buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memcpy(buf2.get(), &tmp, sizeof(tmp));
-
-  if (io_mem_handle != 0) {
-    io_cfg[0].mem_handle[0] = io_mem_handle;
-    io_cfg[0].planes[0] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
-      .plane_stride = sensor->frame_stride,
-      .slice_height = sensor->frame_height + sensor->extra_height,
-      .meta_stride = 0x0,  // YUV has meta(stride=0x400, size=0x5000)
-      .meta_size = 0x0,
-      .meta_offset = 0x0,
-      .packer_config = 0x0,  // 0xb for YUV
-      .mode_config = 0x0,    // 0x9ef for YUV
-      .tile_config = 0x0,
-      .h_init = 0x0,
-      .v_init = 0x0,
-    };
-    io_cfg[0].format = sensor->mipi_format;                    // CAM_FORMAT_UBWC_TP10 for YUV
-    io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
-    io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
-    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);  // bits per pixel
-    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;   // CAM_ISP_IFE_OUT_RES_FULL for YUV
-    io_cfg[0].fence = fence;
-    io_cfg[0].direction = CAM_BUF_OUTPUT;
-    io_cfg[0].subsample_pattern = 0x1;
-    io_cfg[0].framedrop_pattern = 0x1;
-  }
-
-  int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
-  assert(ret == 0);
-  if (ret != 0) {
-    LOGE("isp config failed");
-  }
-}
-
-void CameraState::enqueue_buffer(int i, bool dp) {
-  int ret;
-  uint64_t request_id = request_ids[i];
-
-  if (buf_handle[i] && sync_objs[i]) {
-    // wait
-    struct cam_sync_wait sync_wait = {0};
-    sync_wait.sync_obj = sync_objs[i];
-    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
-    ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
-    if (ret != 0) {
-      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
-      // TODO: handle frame drop cleanly
-    }
-
-    buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
-    if (dp) buf.queue(i);
-
-    // destroy old output fence
-    struct cam_sync_info sync_destroy = {0};
-    sync_destroy.sync_obj = sync_objs[i];
-    ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
-    if (ret != 0) {
-      LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
-    }
-  }
-
-  // create output fence
-  struct cam_sync_info sync_create = {0};
-  strcpy(sync_create.name, "NodeOutputPortFence");
-  ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
-  if (ret != 0) {
-    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
-  }
-  sync_objs[i] = sync_create.sync_obj;
-
-  // schedule request with camera request manager
-  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
-  req_mgr_sched_request.session_hdl = session_handle;
-  req_mgr_sched_request.link_hdl = link_handle;
-  req_mgr_sched_request.req_id = request_id;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
-  if (ret != 0) {
-    LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id);
-  }
-
-  // poke sensor, must happen after schedule
-  sensors_poke(request_id);
-
-  // submit request to the ife
-  config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
-}
-
-void CameraState::enqueue_req_multi(uint64_t start, int n, bool dp) {
-  for (uint64_t i = start; i < start + n; ++i) {
-    request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
-    enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
-  }
-}
-
-// ******************* camera *******************
-
-void CameraState::set_exposure_rect() {
-  // set areas for each camera, shouldn't be changed
-  std::vector<std::pair<Rect, float>> ae_targets = {
-    // (Rect, F)
-    std::make_pair((Rect){96, 250, 1734, 524}, 567.0),  // wide
-    std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road
-    std::make_pair((Rect){96, 242, 1736, 906}, 567.0)   // driver
-  };
-  int h_ref = 1208;
-  /*
-    exposure target intrinics is
-    [
-      [F, 0, 0.5*ae_xywh[2]]
-      [0, F, 0.5*H-ae_xywh[1]]
-      [0, 0, 1]
-    ]
-  */
-  auto ae_target = ae_targets[cc.camera_num];
-  Rect xywh_ref = ae_target.first;
-  float fl_ref = ae_target.second;
-
-  ae_xywh = (Rect){
-    std::max(0, buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
-  };
-}
-
-void CameraState::sensor_set_parameters() {
-  dc_gain_weight = sensor->dc_gain_min_weight;
-  gain_idx = sensor->analog_gain_rec_idx;
-  cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight) * sensor->sensor_analog_gains[gain_idx] * exposure_time;
-}
-
-void CameraState::camera_map_bufs() {
-  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
-    // configure ISP to put the image in place
-    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
-    mem_mgr_map_cmd.num_hdl = 1;
-    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
-    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
-  }
-  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
-}
-
-void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
-  if (!enabled) return;
-
-  LOGD("camera init %d", cc.camera_num);
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
-  camera_map_bufs();
-
-  fl_pix = cc.focal_len / sensor->pixel_size_mm;
-  set_exposure_rect();
-}
-
-void CameraState::camera_open() {
-  if (!enabled) return;
 
-  if (!openSensor()) {
-    return;
-  }
+// high level camera state
+class CameraState : public SpectraCamera {
+public:
+  std::mutex exp_lock;
 
-  open = true;
-  configISP();
-  configCSIPHY();
-  linkDevices();
-}
+  int exposure_time = 5;
+  bool dc_gain_enabled = false;
+  int dc_gain_weight = 0;
+  int gain_idx = 0;
+  float analog_gain_frac = 0;
 
-bool CameraState::openSensor() {
-  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", cc.camera_num);
-  assert(sensor_fd >= 0);
-  LOGD("opened sensor for %d", cc.camera_num);
+  float cur_ev[3] = {};
+  float best_ev_score = 0;
+  int new_exp_g = 0;
+  int new_exp_t = 0;
 
-  // init memorymanager for this camera
-  mm.init(multi_cam_state->video0_fd);
+  Rect ae_xywh = {};
+  float measured_grey_fraction = 0;
+  float target_grey_fraction = 0.3;
 
-  LOGD("-- Probing sensor %d", cc.camera_num);
+  float fl_pix = 0;
 
-  auto init_sensor_lambda = [this](SensorInfo *s) {
-    sensor.reset(s);
-    int ret = sensors_init();
-    if (ret == 0) {
-      sensor_set_parameters();
-    }
-    return ret == 0;
-  };
+  CameraState(SpectraMaster *master, const CameraConfig &config) : SpectraCamera(master, config) {};
+  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
+  void set_camera_exposure(float grey_frac);
 
-  // Try different sensors one by one until it success.
-  if (!init_sensor_lambda(new AR0231) &&
-      !init_sensor_lambda(new OX03C10) &&
-      !init_sensor_lambda(new OS04C10)) {
-    LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
-    enabled = false;
-    return false;
-  }
-  LOGD("-- Probing sensor %d success", cc.camera_num);
-
-  // create session
-  struct cam_req_mgr_session_info session_info = {};
-  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
-  LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
-  session_handle = session_info.session_hdl;
-
-  // access the sensor
-  LOGD("-- Accessing sensor");
-  auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr);
-  assert(sensor_dev_handle_);
-  sensor_dev_handle = *sensor_dev_handle_;
-  LOGD("acquire sensor dev");
-
-  LOG("-- Configuring sensor");
-  sensors_i2c(sensor->init_reg_array.data(), sensor->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
-  return true;
-}
+  void set_exposure_rect();
+  void run();
 
-void CameraState::configISP() {
-  // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
-  // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
-  if (!enabled) return;
+  void init() {
+    fl_pix = cc.focal_len / sensor->pixel_size_mm;
+    set_exposure_rect();
 
-  struct cam_isp_in_port_info in_port_info = {
-    .res_type = cc.phy,
-    .lane_type = CAM_ISP_LANE_TYPE_DPHY,
-    .lane_num = 4,
-    .lane_cfg = 0x3210,
-
-    .vc = 0x0,
-    .dt = sensor->frame_data_type,
-    .format = sensor->mipi_format,
-
-    .test_pattern = 0x2,  // 0x3?
-    .usage_type = 0x0,
-
-    .left_start = 0,
-    .left_stop = sensor->frame_width - 1,
-    .left_width = sensor->frame_width,
-
-    .right_start = 0,
-    .right_stop = sensor->frame_width - 1,
-    .right_width = sensor->frame_width,
-
-    .line_start = 0,
-    .line_stop = sensor->frame_height + sensor->extra_height - 1,
-    .height = sensor->frame_height + sensor->extra_height,
-
-    .pixel_clk = 0x0,
-    .batch_size = 0x0,
-    .dsp_mode = CAM_ISP_DSP_MODE_NONE,
-    .hbi_cnt = 0x0,
-    .custom_csid = 0x0,
-
-    .num_out_res = 0x1,
-    .data[0] = (struct cam_isp_out_port_info){
-      .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
-      .format = sensor->mipi_format,
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
-      .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
-    },
-  };
-  struct cam_isp_resource isp_resource = {
-    .resource_id = CAM_ISP_RES_ID_PORT,
-    .handle_type = CAM_HANDLE_USER_POINTER,
-    .res_hdl = (uint64_t)&in_port_info,
-    .length = sizeof(in_port_info),
+    dc_gain_weight = sensor->dc_gain_min_weight;
+    gain_idx = sensor->analog_gain_rec_idx;
+    cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight) * sensor->sensor_analog_gains[gain_idx] * exposure_time;
   };
 
-  auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource);
-  assert(isp_dev_handle_);
-  isp_dev_handle = *isp_dev_handle_;
-  LOGD("acquire isp dev");
-
-  // config ISP
-  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
-                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
-  config_isp(0, 0, 1, buf0_handle, 0);
-}
-
-void CameraState::configCSIPHY() {
-  csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", cc.camera_num);
-  assert(csiphy_fd >= 0);
-  LOGD("opened csiphy for %d", cc.camera_num);
-
-  struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
-  auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info);
-  assert(csiphy_dev_handle_);
-  csiphy_dev_handle = *csiphy_dev_handle_;
-  LOGD("acquire csiphy dev");
-
-  // config csiphy
-  LOG("-- Config CSI PHY");
-  {
-    uint32_t cam_packet_handle = 0;
-    int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-    pkt->num_cmd_buf = 1;
-    pkt->kmd_cmd_buf_index = -1;
-    pkt->header.size = size;
-    struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
-
-    buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
-    buf_desc[0].type = CAM_CMD_BUF_GENERIC;
-
-    auto csiphy_info = mm.alloc<struct cam_csiphy_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
-    csiphy_info->lane_mask = 0x1f;
-    csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
-    csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
-    csiphy_info->combo_mode = 0x0;
-    csiphy_info->lane_cnt = 0x4;
-    csiphy_info->secure_mode = 0x0;
-    csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL;
-    csiphy_info->data_rate = 48000000;  // Calculated by camera_freqs.py
-
-    int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
-    assert(ret_ == 0);
-  }
-}
-
-void CameraState::linkDevices() {
-  LOG("-- Link devices");
-  struct cam_req_mgr_link_info req_mgr_link_info = {0};
-  req_mgr_link_info.session_hdl = session_handle;
-  req_mgr_link_info.num_devices = 2;
-  req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
-  req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
-  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
-  link_handle = req_mgr_link_info.link_hdl;
-  LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
-
-  struct cam_req_mgr_link_control req_mgr_link_control = {0};
-  req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE;
-  req_mgr_link_control.session_hdl = session_handle;
-  req_mgr_link_control.num_links = 1;
-  req_mgr_link_control.link_hdls[0] = link_handle;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
-  LOGD("link control: %d", ret);
-
-  ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle);
-  LOGD("start csiphy: %d", ret);
-  ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
-  LOGD("start isp: %d", ret);
-  assert(ret == 0);
-
-  // TODO: this is unneeded, should we be doing the start i2c in a different way?
-  //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
-  //LOGD("start sensor: %d", ret);
-}
-
-void cameras_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  LOG("-- Opening devices");
-  // video0 is req_mgr, the target of many ioctls
-  s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
-  assert(s->video0_fd >= 0);
-  LOGD("opened video0");
-
-  // video1 is cam_sync, the target of some ioctls
-  s->cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
-  assert(s->cam_sync_fd >= 0);
-  LOGD("opened video1 (cam_sync)");
-
-  // looks like there's only one of these
-  s->isp_fd = open_v4l_by_name_and_index("cam-isp");
-  assert(s->isp_fd >= 0);
-  LOGD("opened isp");
-
-  // query icp for MMU handles
-  LOG("-- Query ICP for MMU handles");
-  struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
-  struct cam_query_cap_cmd query_cap_cmd = {0};
-  query_cap_cmd.handle_type = 1;
-  query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
-  query_cap_cmd.size = sizeof(isp_query_cap_cmd);
-  int ret = do_cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
-  assert(ret == 0);
-  LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
-  LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
-  s->device_iommu = isp_query_cap_cmd.device_iommu.non_secure;
-  s->cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
-
-  // subscribe
-  LOG("-- Subscribing");
-  struct v4l2_event_subscription sub = {0};
-  sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
-  sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
-  ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
-  LOGD("req mgr subscribe: %d", ret);
-
-  // open
-  s->driver_cam.camera_open();
-  LOGD("driver camera opened");
-  s->road_cam.camera_open();
-  LOGD("road camera opened");
-  s->wide_road_cam.camera_open();
-  LOGD("wide road camera opened");
-
-  // init
-  s->driver_cam.camera_init(v, device_id, ctx);
-  s->road_cam.camera_init(v, device_id, ctx);
-  s->wide_road_cam.camera_init(v, device_id, ctx);
-}
-
-void CameraState::camera_close() {
-  // stop devices
-  LOG("-- Stop devices %d", cc.camera_num);
-
-  if (enabled) {
-    // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
-    // LOGD("stop sensor: %d", ret);
-    int ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
-    LOGD("stop isp: %d", ret);
-    ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle);
-    LOGD("stop csiphy: %d", ret);
-    // link control stop
-    LOG("-- Stop link control");
-    struct cam_req_mgr_link_control req_mgr_link_control = {0};
-    req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE;
-    req_mgr_link_control.session_hdl = session_handle;
-    req_mgr_link_control.num_links = 1;
-    req_mgr_link_control.link_hdls[0] = link_handle;
-    ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
-    LOGD("link control stop: %d", ret);
-
-    // unlink
-    LOG("-- Unlink");
-    struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0};
-    req_mgr_unlink_info.session_hdl = session_handle;
-    req_mgr_unlink_info.link_hdl = link_handle;
-    ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
-    LOGD("unlink: %d", ret);
-
-    // release devices
-    LOGD("-- Release devices");
-    ret = device_control(multi_cam_state->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
-    LOGD("release isp: %d", ret);
-    ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
-    LOGD("release csiphy: %d", ret);
-
-    for (int i = 0; i < FRAME_BUF_COUNT; i++) {
-      release(multi_cam_state->video0_fd, buf_handle[i]);
-    }
-    LOGD("released buffers");
-  }
+  // TODO: this should move to SpectraCamera
+  void handle_camera_event(void *evdat);
+};
 
-  int ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
-  LOGD("release sensor: %d", ret);
-
-  // destroyed session
-  struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle};
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
-  LOGD("destroyed session %d: %d", cc.camera_num, ret);
-}
 
 void CameraState::handle_camera_event(void *evdat) {
   if (!enabled) return;
@@ -824,6 +128,35 @@ void CameraState::handle_camera_event(void *evdat) {
   }
 }
 
+void CameraState::set_exposure_rect() {
+  // set areas for each camera, shouldn't be changed
+  std::vector<std::pair<Rect, float>> ae_targets = {
+    // (Rect, F)
+    std::make_pair((Rect){96, 250, 1734, 524}, 567.0),  // wide
+    std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road
+    std::make_pair((Rect){96, 242, 1736, 906}, 567.0)   // driver
+  };
+  int h_ref = 1208;
+  /*
+    exposure target intrinics is
+    [
+      [F, 0, 0.5*ae_xywh[2]]
+      [0, F, 0.5*H-ae_xywh[1]]
+      [0, 0, 1]
+    ]
+  */
+  auto ae_target = ae_targets[cc.camera_num];
+  Rect xywh_ref = ae_target.first;
+  float fl_ref = ae_target.second;
+
+  ae_xywh = (Rect){
+    std::max(0, buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+  };
+}
+
 void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) {
   float score = sensor->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx);
   if (score < best_ev_score) {
@@ -939,13 +272,31 @@ void CameraState::set_camera_exposure(float grey_frac) {
 void CameraState::run() {
   util::set_thread_name(cc.publish_name);
 
+  std::vector<const char*> pubs = {cc.publish_name};
+  if (cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail");
+  PubMaster pm(pubs);
+
   for (uint32_t cnt = 0; !do_exit; ++cnt) {
     // Acquire the buffer; continue if acquisition fails
     if (!buf.acquire()) continue;
 
     MessageBuilder msg;
     auto framed = (msg.initEvent().*cc.init_camera_state)();
-    fill_frame_data(framed, buf.cur_frame_data, this);
+    framed.setFrameId(buf.cur_frame_data.frame_id);
+    framed.setRequestId(buf.cur_frame_data.request_id);
+    framed.setTimestampEof(buf.cur_frame_data.timestamp_eof);
+    framed.setTimestampSof(buf.cur_frame_data.timestamp_sof);
+    framed.setIntegLines(buf.cur_frame_data.integ_lines);
+    framed.setGain(buf.cur_frame_data.gain);
+    framed.setHighConversionGain(buf.cur_frame_data.high_conversion_gain);
+    framed.setMeasuredGreyFraction(buf.cur_frame_data.measured_grey_fraction);
+    framed.setTargetGreyFraction(buf.cur_frame_data.target_grey_fraction);
+    framed.setProcessingTime(buf.cur_frame_data.processing_time);
+
+    const float ev = cur_ev[buf.cur_frame_data.frame_id % 3];
+    const float perc = util::map_val(ev, sensor->min_ev, sensor->max_ev, 0.0f, 100.0f);
+    framed.setExposureValPercent(perc);
+    framed.setSensor(sensor->image_sensor);
 
     // Log raw frames for road camera
     if (env_log_raw_frames && cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
@@ -957,38 +308,58 @@ void CameraState::run() {
     set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message
-    multi_cam_state->pm->send(cc.publish_name, msg);
+    pm.send(cc.publish_name, msg);
     if (cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
-      publish_thumbnail(multi_cam_state->pm, &buf);  // this takes 10ms???
+      publish_thumbnail(&pm, &buf);  // this takes 10ms???
     }
   }
 }
 
-MultiCameraState::MultiCameraState()
-  : driver_cam(this, DRIVER_CAMERA_CONFIG),
-    road_cam(this, ROAD_CAMERA_CONFIG),
-    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
-}
+void camerad_thread() {
+  /*
+    TODO: future cleanups
+    - centralize enabled handling
+    - open/init/etc mess
+    - no ISP stuff in this file
+  */
+
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
+  cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
+
+  VisionIpcServer v("camerad", device_id, ctx);
+
+  // *** initial ISP init ***
+  SpectraMaster m;
+  m.init();
+
+  // *** per-cam init ***
+  std::vector<CameraState*> cams = {
+   new CameraState(&m, ROAD_CAMERA_CONFIG),
+   new CameraState(&m, WIDE_ROAD_CAMERA_CONFIG),
+   new CameraState(&m, DRIVER_CAMERA_CONFIG),
+  };
+  for (auto cam : cams) cam->camera_open();
+  for (auto cam : cams) cam->camera_init(&v, device_id, ctx);
+  for (auto cam : cams) cam->init();
+  v.start_listener();
 
-void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
-  if (s->driver_cam.enabled) threads.emplace_back(&CameraState::run, &s->driver_cam);
-  if (s->road_cam.enabled) threads.emplace_back(&CameraState::run, &s->road_cam);
-  if (s->wide_road_cam.enabled) threads.emplace_back(&CameraState::run, &s->wide_road_cam);
+  for (auto cam : cams) {
+    if (cam->enabled) threads.emplace_back(&CameraState::run, cam);
+  }
 
   // start devices
   LOG("-- Starting devices");
-  s->driver_cam.sensors_start();
-  s->road_cam.sensors_start();
-  s->wide_road_cam.sensors_start();
+  for (auto cam : cams) cam->sensors_start();
 
   // poll events
   LOG("-- Dequeueing Video events");
   while (!do_exit) {
     struct pollfd fds[1] = {{0}};
 
-    fds[0].fd = s->video0_fd;
+    fds[0].fd = m.video0_fd;
     fds[0].events = POLLPRI;
 
     int ret = poll(fds, std::size(fds), 1000);
@@ -1011,15 +382,11 @@ void cameras_run(MultiCameraState *s) {
           do_exit = do_exit || event_data->u.frame_msg.frame_id > (1*20);
         }
 
-        if (event_data->session_hdl == s->road_cam.session_handle) {
-          s->road_cam.handle_camera_event(event_data);
-        } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
-          s->wide_road_cam.handle_camera_event(event_data);
-        } else if (event_data->session_hdl == s->driver_cam.session_handle) {
-          s->driver_cam.handle_camera_event(event_data);
-        } else {
-          LOGE("Unknown vidioc event source");
-          assert(false);
+        for (auto cam : cams) {
+          if (event_data->session_hdl == cam->session_handle) {
+            cam->handle_camera_event(event_data);
+            break;
+          }
         }
       } else {
         LOGE("unhandled event %d\n", ev.type);
@@ -1030,6 +397,6 @@ void cameras_run(MultiCameraState *s) {
   }
 
   LOG(" ************** STOPPING **************");
-
   for (auto &t : threads) t.join();
+  for (auto cam : cams) delete cam;
 }
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
deleted file mode 100644
index bd53a326f3..0000000000
--- a/system/camerad/cameras/camera_qcom2.h
+++ /dev/null
@@ -1,156 +0,0 @@
-#pragma once
-
-#include <memory>
-#include <utility>
-
-#include "media/cam_isp_ife.h"
-
-#include "system/camerad/cameras/camera_common.h"
-#include "system/camerad/cameras/camera_util.h"
-#include "system/camerad/sensors/sensor.h"
-#include "common/util.h"
-
-#define FRAME_BUF_COUNT 4
-
-struct CameraConfig {
-  int camera_num;
-  VisionStreamType stream_type;
-  float focal_len;  // millimeters
-  const char *publish_name;
-  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
-  bool enabled;
-  uint32_t phy;
-};
-
-const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
-  .camera_num = 0,
-  .stream_type = VISION_STREAM_WIDE_ROAD,
-  .focal_len = 1.71,
-  .publish_name = "wideRoadCameraState",
-  .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
-  .enabled = !getenv("DISABLE_WIDE_ROAD"),
-  .phy = CAM_ISP_IFE_IN_RES_PHY_0,
-};
-
-const CameraConfig ROAD_CAMERA_CONFIG = {
-  .camera_num = 1,
-  .stream_type = VISION_STREAM_ROAD,
-  .focal_len = 8.0,
-  .publish_name = "roadCameraState",
-  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
-  .enabled = !getenv("DISABLE_ROAD"),
-  .phy = CAM_ISP_IFE_IN_RES_PHY_1,
-};
-
-const CameraConfig DRIVER_CAMERA_CONFIG = {
-  .camera_num = 2,
-  .stream_type = VISION_STREAM_DRIVER,
-  .focal_len = 1.71,
-  .publish_name = "driverCameraState",
-  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
-  .enabled = !getenv("DISABLE_DRIVER"),
-  .phy = CAM_ISP_IFE_IN_RES_PHY_2,
-};
-
-class CameraState {
-public:
-  CameraConfig cc;
-  MultiCameraState *multi_cam_state = nullptr;
-  std::unique_ptr<const SensorInfo> sensor;
-  bool enabled = true;
-  bool open = false;
-
-  std::mutex exp_lock;
-
-  int exposure_time = 5;
-  bool dc_gain_enabled = false;
-  int dc_gain_weight = 0;
-  int gain_idx = 0;
-  float analog_gain_frac = 0;
-
-  float cur_ev[3] = {};
-  float best_ev_score = 0;
-  int new_exp_g = 0;
-  int new_exp_t = 0;
-
-  Rect ae_xywh = {};
-  float measured_grey_fraction = 0;
-  float target_grey_fraction = 0.3;
-
-  unique_fd sensor_fd;
-  unique_fd csiphy_fd;
-
-  float fl_pix = 0;
-
-  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
-  ~CameraState();
-  void handle_camera_event(void *evdat);
-  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
-  void set_camera_exposure(float grey_frac);
-
-  void sensors_start();
-
-  void camera_open();
-  void set_exposure_rect();
-  void sensor_set_parameters();
-  void camera_map_bufs();
-  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
-  void camera_close();
-  void run();
-
-  int32_t session_handle = -1;
-  int32_t sensor_dev_handle = -1;
-  int32_t isp_dev_handle = -1;
-  int32_t csiphy_dev_handle = -1;
-
-  int32_t link_handle = -1;
-
-  int buf0_handle = 0;
-  int buf_handle[FRAME_BUF_COUNT] = {};
-  int sync_objs[FRAME_BUF_COUNT] = {};
-  uint64_t request_ids[FRAME_BUF_COUNT] = {};
-  uint64_t request_id_last = 0;
-  uint64_t frame_id_last = 0;
-  uint64_t idx_offset = 0;
-  bool skipped = true;
-
-  CameraBuf buf;
-  MemoryManager mm;
-
-  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
-  void enqueue_req_multi(uint64_t start, int n, bool dp);
-  void enqueue_buffer(int i, bool dp);
-  int clear_req_queue();
-
-  int sensors_init();
-  void sensors_poke(int request_id);
-  void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
-
-private:
-  bool openSensor();
-  void configISP();
-  void configCSIPHY();
-  void linkDevices();
-};
-
-class MultiCameraState {
-public:
-  MultiCameraState();
-  ~MultiCameraState() {
-    if (pm != nullptr) {
-      delete pm;
-    }
-  };
-
-  unique_fd video0_fd;
-  unique_fd cam_sync_fd;
-  unique_fd isp_fd;
-  int device_iommu = -1;
-  int cdm_iommu = -1;
-
-  CameraState road_cam;
-  CameraState wide_road_cam;
-  CameraState driver_cam;
-
-  PubMaster *pm = nullptr;
-};
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
new file mode 100644
index 0000000000..609d77bf0f
--- /dev/null
+++ b/system/camerad/cameras/spectra.cc
@@ -0,0 +1,695 @@
+#include <sys/ioctl.h>
+
+#include <cassert>
+#include <cstring>
+#include <string>
+#include <vector>
+
+#include "media/cam_defs.h"
+#include "media/cam_isp.h"
+#include "media/cam_isp_ife.h"
+#include "media/cam_req_mgr.h"
+#include "media/cam_sensor_cmn_header.h"
+#include "media/cam_sync.h"
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+#include "system/camerad/cameras/spectra.h"
+
+
+// *** helpers ***
+
+static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
+  cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = delay_ms;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  return (struct cam_cmd_power *)(unconditional_wait + 1);
+}
+
+// *** SpectraMaster ***
+
+void SpectraMaster::init() {
+  LOG("-- Opening devices");
+  // video0 is req_mgr, the target of many ioctls
+  video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
+  assert(video0_fd >= 0);
+  LOGD("opened video0");
+
+  // video1 is cam_sync, the target of some ioctls
+  cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
+  assert(cam_sync_fd >= 0);
+  LOGD("opened video1 (cam_sync)");
+
+  // looks like there's only one of these
+  isp_fd = open_v4l_by_name_and_index("cam-isp");
+  assert(isp_fd >= 0);
+  LOGD("opened isp");
+
+  // query icp for MMU handles
+  LOG("-- Query ICP for MMU handles");
+  struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
+  struct cam_query_cap_cmd query_cap_cmd = {0};
+  query_cap_cmd.handle_type = 1;
+  query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
+  query_cap_cmd.size = sizeof(isp_query_cap_cmd);
+  int ret = do_cam_control(isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
+  assert(ret == 0);
+  LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
+  LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
+  device_iommu = isp_query_cap_cmd.device_iommu.non_secure;
+  cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
+
+  // subscribe
+  LOG("-- Subscribing");
+  struct v4l2_event_subscription sub = {0};
+  sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
+  sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
+  ret = HANDLE_EINTR(ioctl(video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
+  LOGD("req mgr subscribe: %d", ret);
+}
+
+// *** SpectraCamera ***
+
+SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
+  : m(master),
+    enabled(config.enabled) ,
+    cc(config) {
+  mm.init(m->video0_fd);
+}
+
+SpectraCamera::~SpectraCamera() {
+  if (open) {
+    camera_close();
+  }
+}
+
+int SpectraCamera::clear_req_queue() {
+  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
+  req_mgr_flush_request.session_hdl = session_handle;
+  req_mgr_flush_request.link_hdl = link_handle;
+  req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
+  int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
+  // LOGD("flushed all req: %d", ret);
+  return ret;
+}
+
+void SpectraCamera::camera_open() {
+  if (!enabled) return;
+
+  if (!openSensor()) {
+    return;
+  }
+
+  open = true;
+  configISP();
+  configCSIPHY();
+  linkDevices();
+}
+
+void SpectraCamera::camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+  if (!enabled) return;
+
+  LOGD("camera init %d", cc.camera_num);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
+  camera_map_bufs();
+}
+
+void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
+  for (uint64_t i = start; i < start + n; ++i) {
+    request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
+    enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
+  }
+}
+
+void SpectraCamera::sensors_start() {
+  if (!enabled) return;
+  LOGD("starting sensor %d", cc.camera_num);
+  sensors_i2c(sensor->start_reg_array.data(), sensor->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
+}
+
+void SpectraCamera::sensors_poke(int request_id) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  pkt->num_cmd_buf = 0;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.size = size;
+  pkt->header.op_code = CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP;
+  pkt->header.request_id = request_id;
+
+  int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
+  if (ret != 0) {
+    LOGE("** sensor %d FAILED poke, disabling", cc.camera_num);
+    enabled = false;
+    return;
+  }
+}
+
+void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
+  // LOGD("sensors_i2c: %d", len);
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  pkt->num_cmd_buf = 1;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.size = size;
+  pkt->header.op_code = op_code;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
+  buf_desc[0].type = CAM_CMD_BUF_I2C;
+
+  auto i2c_random_wr = mm.alloc<struct cam_cmd_i2c_random_wr>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  i2c_random_wr->header.count = len;
+  i2c_random_wr->header.op_code = 1;
+  i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
+  i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE;
+  i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
+
+  int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
+  if (ret != 0) {
+    LOGE("** sensor %d FAILED i2c, disabling", cc.camera_num);
+    enabled = false;
+    return;
+  }
+}
+
+int SpectraCamera::sensors_init() {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
+  buf_desc[0].type = CAM_CMD_BUF_LEGACY;
+  auto i2c_info = mm.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1);
+
+  probe->camera_id = cc.camera_num;
+  i2c_info->slave_addr = sensor->getSlaveAddress(cc.camera_num);
+  // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
+  //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
+  i2c_info->i2c_freq_mode = I2C_FAST_MODE;
+  i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO;
+
+  probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->op_code = 3;   // don't care?
+  probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
+  probe->reg_addr = sensor->probe_reg_addr;
+  probe->expected_data = sensor->probe_expected_data;
+  probe->data_mask = 0;
+
+  //buf_desc[1].size = buf_desc[1].length = 148;
+  buf_desc[1].size = buf_desc[1].length = 196;
+  buf_desc[1].type = CAM_CMD_BUF_I2C;
+  auto power_settings = mm.alloc<struct cam_cmd_power>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+
+  // power on
+  struct cam_cmd_power *power = power_settings.get();
+  power->count = 4;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 3; // clock??
+  power->power_settings[1].power_seq_type = 1; // analog
+  power->power_settings[2].power_seq_type = 2; // digital
+  power->power_settings[3].power_seq_type = 8; // reset low
+  power = power_set_wait(power, 1);
+
+  // set clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = sensor->mclk_frequency;
+  power = power_set_wait(power, 1);
+
+  // reset high
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  // wait 650000 cycles @ 19.2 mhz = 33.8 ms
+  power = power_set_wait(power, 34);
+
+  // probe happens here
+
+  // disable clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = 0;
+  power = power_set_wait(power, 1);
+
+  // reset high
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  power = power_set_wait(power, 1);
+
+  // reset low
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 0;
+  power = power_set_wait(power, 1);
+
+  // power off
+  power->count = 3;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 2;
+  power->power_settings[1].power_seq_type = 1;
+  power->power_settings[2].power_seq_type = 3;
+
+  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
+  LOGD("probing the sensor: %d", ret);
+  return ret;
+}
+
+void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  if (io_mem_handle != 0) {
+    size += sizeof(struct cam_buf_io_cfg);
+  }
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = 0;
+
+  if (io_mem_handle != 0) {
+    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
+    pkt->num_io_configs = 1;
+  }
+
+  if (io_mem_handle != 0) {
+    pkt->header.op_code = 0xf000001;
+    pkt->header.request_id = request_id;
+  } else {
+    pkt->header.op_code = 0xf000000;
+    pkt->header.request_id = 1;
+  }
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+  struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
+
+  // TODO: support MMU
+  buf_desc[0].size = 65624;
+  buf_desc[0].length = 0;
+  buf_desc[0].type = CAM_CMD_BUF_DIRECT;
+  buf_desc[0].meta_data = 3;
+  buf_desc[0].mem_handle = buf0_mem_handle;
+  buf_desc[0].offset = buf0_offset;
+
+  // parsed by cam_isp_packet_generic_blob_handler
+  struct isp_packet {
+    uint32_t type_0;
+    cam_isp_resource_hfr_config resource_hfr;
+
+    uint32_t type_1;
+    cam_isp_clock_config clock;
+    uint64_t extra_rdi_hz[3];
+
+    uint32_t type_2;
+    cam_isp_bw_config bw;
+    struct cam_isp_bw_vote extra_rdi_vote[6];
+  } __attribute__((packed)) tmp;
+  memset(&tmp, 0, sizeof(tmp));
+
+  tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG;
+  tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8;
+  static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20);
+  tmp.resource_hfr = {
+    .num_ports = 1,  // 10 for YUV (but I don't think we need them)
+    .port_hfr_config[0] = {
+      .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
+      .subsample_pattern = 1,
+      .subsample_period = 0,
+      .framedrop_pattern = 1,
+      .framedrop_period = 0,
+    }};
+
+  tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
+  tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
+  static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
+  tmp.clock = {
+    .usage_type = 1, // dual mode
+    .num_rdi = 4,
+    .left_pix_hz = 404000000,
+    .right_pix_hz = 404000000,
+    .rdi_hz[0] = 404000000,
+  };
+
+  tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG;
+  tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
+  static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
+  tmp.bw = {
+    .usage_type = 1, // dual mode
+    .num_rdi = 4,
+    .left_pix_vote = {
+      .resource_id = 0,
+      .cam_bw_bps = 450000000,
+      .ext_bw_bps = 450000000,
+    },
+    .rdi_vote[0] = {
+      .resource_id = 0,
+      .cam_bw_bps = 8706200000,
+      .ext_bw_bps = 8706200000,
+    },
+  };
+
+  static_assert(offsetof(struct isp_packet, type_2) == 0x60);
+
+  buf_desc[1].size = sizeof(tmp);
+  buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
+  buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
+  buf_desc[1].type = CAM_CMD_BUF_GENERIC;
+  buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
+  auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memcpy(buf2.get(), &tmp, sizeof(tmp));
+
+  if (io_mem_handle != 0) {
+    io_cfg[0].mem_handle[0] = io_mem_handle;
+    io_cfg[0].planes[0] = (struct cam_plane_cfg){
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
+      .plane_stride = sensor->frame_stride,
+      .slice_height = sensor->frame_height + sensor->extra_height,
+      .meta_stride = 0x0,  // YUV has meta(stride=0x400, size=0x5000)
+      .meta_size = 0x0,
+      .meta_offset = 0x0,
+      .packer_config = 0x0,  // 0xb for YUV
+      .mode_config = 0x0,    // 0x9ef for YUV
+      .tile_config = 0x0,
+      .h_init = 0x0,
+      .v_init = 0x0,
+    };
+    io_cfg[0].format = sensor->mipi_format;                    // CAM_FORMAT_UBWC_TP10 for YUV
+    io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
+    io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
+    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);  // bits per pixel
+    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;   // CAM_ISP_IFE_OUT_RES_FULL for YUV
+    io_cfg[0].fence = fence;
+    io_cfg[0].direction = CAM_BUF_OUTPUT;
+    io_cfg[0].subsample_pattern = 0x1;
+    io_cfg[0].framedrop_pattern = 0x1;
+  }
+
+  int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
+  assert(ret == 0);
+  if (ret != 0) {
+    LOGE("isp config failed");
+  }
+}
+
+void SpectraCamera::enqueue_buffer(int i, bool dp) {
+  int ret;
+  uint64_t request_id = request_ids[i];
+
+  if (buf_handle[i] && sync_objs[i]) {
+    // wait
+    struct cam_sync_wait sync_wait = {0};
+    sync_wait.sync_obj = sync_objs[i];
+    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
+    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+    if (ret != 0) {
+      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
+      // TODO: handle frame drop cleanly
+    }
+
+    buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
+    if (dp) buf.queue(i);
+
+    // destroy old output fence
+    struct cam_sync_info sync_destroy = {0};
+    sync_destroy.sync_obj = sync_objs[i];
+    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    if (ret != 0) {
+      LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
+    }
+  }
+
+  // create output fence
+  struct cam_sync_info sync_create = {0};
+  strcpy(sync_create.name, "NodeOutputPortFence");
+  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  if (ret != 0) {
+    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+  }
+  sync_objs[i] = sync_create.sync_obj;
+
+  // schedule request with camera request manager
+  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
+  req_mgr_sched_request.session_hdl = session_handle;
+  req_mgr_sched_request.link_hdl = link_handle;
+  req_mgr_sched_request.req_id = request_id;
+  ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
+  if (ret != 0) {
+    LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id);
+  }
+
+  // poke sensor, must happen after schedule
+  sensors_poke(request_id);
+
+  // submit request to the ife
+  config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
+}
+
+void SpectraCamera::camera_map_bufs() {
+  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+    // configure ISP to put the image in place
+    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+    mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
+    mem_mgr_map_cmd.num_hdl = 1;
+    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
+    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
+    int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+  }
+  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
+}
+
+bool SpectraCamera::openSensor() {
+  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", cc.camera_num);
+  assert(sensor_fd >= 0);
+  LOGD("opened sensor for %d", cc.camera_num);
+
+  LOGD("-- Probing sensor %d", cc.camera_num);
+
+  auto init_sensor_lambda = [this](SensorInfo *s) {
+    sensor.reset(s);
+    return (sensors_init() == 0);
+  };
+
+  // Figure out which sensor we have
+  if (!init_sensor_lambda(new AR0231) &&
+      !init_sensor_lambda(new OX03C10) &&
+      !init_sensor_lambda(new OS04C10)) {
+    LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
+    enabled = false;
+    return false;
+  }
+  LOGD("-- Probing sensor %d success", cc.camera_num);
+
+  // create session
+  struct cam_req_mgr_session_info session_info = {};
+  int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
+  LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
+  session_handle = session_info.session_hdl;
+
+  // access the sensor
+  LOGD("-- Accessing sensor");
+  auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr);
+  assert(sensor_dev_handle_);
+  sensor_dev_handle = *sensor_dev_handle_;
+  LOGD("acquire sensor dev");
+
+  LOG("-- Configuring sensor");
+  sensors_i2c(sensor->init_reg_array.data(), sensor->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
+  return true;
+}
+
+void SpectraCamera::configISP() {
+  // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
+  // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
+  if (!enabled) return;
+
+  struct cam_isp_in_port_info in_port_info = {
+    .res_type = cc.phy,
+    .lane_type = CAM_ISP_LANE_TYPE_DPHY,
+    .lane_num = 4,
+    .lane_cfg = 0x3210,
+
+    .vc = 0x0,
+    .dt = sensor->frame_data_type,
+    .format = sensor->mipi_format,
+
+    .test_pattern = 0x2,  // 0x3?
+    .usage_type = 0x0,
+
+    .left_start = 0,
+    .left_stop = sensor->frame_width - 1,
+    .left_width = sensor->frame_width,
+
+    .right_start = 0,
+    .right_stop = sensor->frame_width - 1,
+    .right_width = sensor->frame_width,
+
+    .line_start = 0,
+    .line_stop = sensor->frame_height + sensor->extra_height - 1,
+    .height = sensor->frame_height + sensor->extra_height,
+
+    .pixel_clk = 0x0,
+    .batch_size = 0x0,
+    .dsp_mode = CAM_ISP_DSP_MODE_NONE,
+    .hbi_cnt = 0x0,
+    .custom_csid = 0x0,
+
+    .num_out_res = 0x1,
+    .data[0] = (struct cam_isp_out_port_info){
+      .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
+      .format = sensor->mipi_format,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
+      .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
+    },
+  };
+  struct cam_isp_resource isp_resource = {
+    .resource_id = CAM_ISP_RES_ID_PORT,
+    .handle_type = CAM_HANDLE_USER_POINTER,
+    .res_hdl = (uint64_t)&in_port_info,
+    .length = sizeof(in_port_info),
+  };
+
+  auto isp_dev_handle_ = device_acquire(m->isp_fd, session_handle, &isp_resource);
+  assert(isp_dev_handle_);
+  isp_dev_handle = *isp_dev_handle_;
+  LOGD("acquire isp dev");
+
+  // config ISP
+  alloc_w_mmu_hdl(m->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
+                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu);
+  config_isp(0, 0, 1, buf0_handle, 0);
+}
+
+void SpectraCamera::configCSIPHY() {
+  csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", cc.camera_num);
+  assert(csiphy_fd >= 0);
+  LOGD("opened csiphy for %d", cc.camera_num);
+
+  struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
+  auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info);
+  assert(csiphy_dev_handle_);
+  csiphy_dev_handle = *csiphy_dev_handle_;
+  LOGD("acquire csiphy dev");
+
+  // config csiphy
+  LOG("-- Config CSI PHY");
+  {
+    uint32_t cam_packet_handle = 0;
+    int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
+    auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+    pkt->num_cmd_buf = 1;
+    pkt->kmd_cmd_buf_index = -1;
+    pkt->header.size = size;
+    struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+    buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
+    buf_desc[0].type = CAM_CMD_BUF_GENERIC;
+
+    auto csiphy_info = mm.alloc<struct cam_csiphy_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    csiphy_info->lane_mask = 0x1f;
+    csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
+    csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
+    csiphy_info->combo_mode = 0x0;
+    csiphy_info->lane_cnt = 0x4;
+    csiphy_info->secure_mode = 0x0;
+    csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL;
+    csiphy_info->data_rate = 48000000;  // Calculated by camera_freqs.py
+
+    int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
+    assert(ret_ == 0);
+  }
+}
+
+void SpectraCamera::linkDevices() {
+  LOG("-- Link devices");
+  struct cam_req_mgr_link_info req_mgr_link_info = {0};
+  req_mgr_link_info.session_hdl = session_handle;
+  req_mgr_link_info.num_devices = 2;
+  req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
+  req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
+  int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  link_handle = req_mgr_link_info.link_hdl;
+  LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
+
+  struct cam_req_mgr_link_control req_mgr_link_control = {0};
+  req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE;
+  req_mgr_link_control.session_hdl = session_handle;
+  req_mgr_link_control.num_links = 1;
+  req_mgr_link_control.link_hdls[0] = link_handle;
+  ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  LOGD("link control: %d", ret);
+
+  ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle);
+  LOGD("start csiphy: %d", ret);
+  ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
+  LOGD("start isp: %d", ret);
+  assert(ret == 0);
+}
+
+void SpectraCamera::camera_close() {
+  LOG("-- Stop devices %d", cc.camera_num);
+
+  if (enabled) {
+    // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
+    // LOGD("stop sensor: %d", ret);
+    int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
+    LOGD("stop isp: %d", ret);
+    ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle);
+    LOGD("stop csiphy: %d", ret);
+    // link control stop
+    LOG("-- Stop link control");
+    struct cam_req_mgr_link_control req_mgr_link_control = {0};
+    req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE;
+    req_mgr_link_control.session_hdl = session_handle;
+    req_mgr_link_control.num_links = 1;
+    req_mgr_link_control.link_hdls[0] = link_handle;
+    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+    LOGD("link control stop: %d", ret);
+
+    // unlink
+    LOG("-- Unlink");
+    struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0};
+    req_mgr_unlink_info.session_hdl = session_handle;
+    req_mgr_unlink_info.link_hdl = link_handle;
+    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
+    LOGD("unlink: %d", ret);
+
+    // release devices
+    LOGD("-- Release devices");
+    ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
+    LOGD("release isp: %d", ret);
+    ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
+    LOGD("release csiphy: %d", ret);
+
+    for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+      release(m->video0_fd, buf_handle[i]);
+    }
+    LOGD("released buffers");
+  }
+
+  int ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
+  LOGD("release sensor: %d", ret);
+
+  // destroyed session
+  struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle};
+  ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
+  LOGD("destroyed session %d: %d", cc.camera_num, ret);
+}
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
new file mode 100644
index 0000000000..baa5cbc32f
--- /dev/null
+++ b/system/camerad/cameras/spectra.h
@@ -0,0 +1,87 @@
+#pragma once
+
+#include <memory>
+#include <utility>
+
+#include "media/cam_isp_ife.h"
+
+#include "common/util.h"
+#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/camera_util.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/sensors/sensor.h"
+
+#define FRAME_BUF_COUNT 4
+
+const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
+
+// For use with the Spectra 280 ISP in the SDM845
+// https://github.com/commaai/agnos-kernel-sdm845
+
+
+class SpectraMaster {
+public:
+  void init();
+
+  unique_fd video0_fd;
+  unique_fd cam_sync_fd;
+  unique_fd isp_fd;
+  int device_iommu = -1;
+  int cdm_iommu = -1;
+};
+
+class SpectraCamera {
+public:
+  SpectraCamera(SpectraMaster *master, const CameraConfig &config);
+  ~SpectraCamera();
+
+  void camera_open();
+  void camera_close();
+  void camera_map_bufs();
+  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
+
+  int clear_req_queue();
+  void enqueue_buffer(int i, bool dp);
+  void enqueue_req_multi(uint64_t start, int n, bool dp);
+
+  int sensors_init();
+  void sensors_start();
+  void sensors_poke(int request_id);
+  void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
+
+  bool openSensor();
+  void configISP();
+  void configCSIPHY();
+  void linkDevices();
+
+  // *** state ***
+
+  bool open = false;
+  bool enabled = true;
+  CameraConfig cc;
+  std::unique_ptr<const SensorInfo> sensor;
+
+  unique_fd sensor_fd;
+  unique_fd csiphy_fd;
+
+  int32_t session_handle = -1;
+  int32_t sensor_dev_handle = -1;
+  int32_t isp_dev_handle = -1;
+  int32_t csiphy_dev_handle = -1;
+
+  int32_t link_handle = -1;
+
+  int buf0_handle = 0;
+  int buf_handle[FRAME_BUF_COUNT] = {};
+  int sync_objs[FRAME_BUF_COUNT] = {};
+  uint64_t request_ids[FRAME_BUF_COUNT] = {};
+  uint64_t request_id_last = 0;
+  uint64_t frame_id_last = 0;
+  uint64_t idx_offset = 0;
+  bool skipped = true;
+
+  CameraBuf buf;
+  MemoryManager mm;
+  SpectraMaster *m;
+};
diff --git a/system/camerad/cameras/tici.h b/system/camerad/cameras/tici.h
new file mode 100644
index 0000000000..228ff8e284
--- /dev/null
+++ b/system/camerad/cameras/tici.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include "common/util.h"
+#include "cereal/gen/cpp/log.capnp.h"
+#include "msgq/visionipc/visionipc_server.h"
+
+#include "media/cam_isp_ife.h"
+
+// For the comma 3/3X three camera platform
+
+struct CameraConfig {
+  int camera_num;
+  VisionStreamType stream_type;
+  float focal_len;  // millimeters
+  const char *publish_name;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
+  bool enabled;
+  uint32_t phy;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+  .camera_num = 0,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .focal_len = 1.71,
+  .publish_name = "wideRoadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
+  .enabled = !getenv("DISABLE_WIDE_ROAD"),
+  .phy = CAM_ISP_IFE_IN_RES_PHY_0,
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+  .camera_num = 1,
+  .stream_type = VISION_STREAM_ROAD,
+  .focal_len = 8.0,
+  .publish_name = "roadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
+  .enabled = !getenv("DISABLE_ROAD"),
+  .phy = CAM_ISP_IFE_IN_RES_PHY_1,
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+  .camera_num = 2,
+  .stream_type = VISION_STREAM_DRIVER,
+  .focal_len = 1.71,
+  .publish_name = "driverCameraState",
+  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
+  .enabled = !getenv("DISABLE_DRIVER"),
+  .phy = CAM_ISP_IFE_IN_RES_PHY_2,
+};
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 74f09dfa61..ce8b0c0a4b 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -1,7 +1,6 @@
 #include <cassert>
 
 #include "common/swaglog.h"
-#include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"
 
 namespace {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 22083eb62b..4ab09a9fd2 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -6,7 +6,8 @@
 #include <utility>
 #include <vector>
 #include "media/cam_sensor.h"
-#include "system/camerad/cameras/camera_common.h"
+
+#include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"

From e018a20bc2b7e40b957b7bc9d90cacea2473bcc1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 18 Sep 2024 22:47:42 -0700
Subject: [PATCH 0638/1243] longitudinal maneuver readme: small improvements

---
 tools/longitudinal_maneuvers/README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index f1981d9b1e..66ec697912 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -1,6 +1,6 @@
 # Longitudinal Maneuvers Testing Tool
 
-Test your vehicle's longitudinal control with this tool. The tool will test the vehicle's ability to follow a few longitudinal maneuvers and includes a tool to generate a report from the route.
+Test your vehicle's longitudinal control tuning with this tool. The tool will test the vehicle's ability to follow a few longitudinal maneuvers and includes a tool to generate a report from the route.
 
 <details><summary>Sample snapshot of a report.</summary><img width="600px" src="https://github.com/user-attachments/assets/d18d0c7d-2bde-44c1-8e86-1741ed442ad8"></details>
 
@@ -18,11 +18,11 @@ Test your vehicle's longitudinal control with this tool. The tool will test the
 
    ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
 
-5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. If so, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
+5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
 
    ![cog-clip-00 01 11 250-00 01 22 250](https://github.com/user-attachments/assets/c312c1cc-76e8-46e1-a05e-bb9dfb58994f)
 
-6. When the testing is complete, you'll see an alert that says "Maneuvers Finished," complete the route by pulling over and turning off the vehicle.
+6. When the testing is complete, you'll see an alert that says "Maneuvers Finished." Complete the route by pulling over and turning off the vehicle.
 
    ![fin2](https://github.com/user-attachments/assets/c06960ae-7cfb-44af-beaa-4dc28848e49d)
 

From 08b731cbd7587ef750ce4b60d3978e8a473b515e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 18 Sep 2024 22:48:15 -0700
Subject: [PATCH 0639/1243] Lexus ES TSS2: improve start from stop for ICE
 variants (#33586)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index c8beb979ec..b937eefca1 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c8beb979ecd675adeae0c35df7ba4b71f90685d6
+Subproject commit b937eefca19a70f38ddd2a9ffbc9d331f581ec9d

From fc8762ab51d8dd9e45997497af2a7c5bbb5b812d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 19 Sep 2024 13:53:47 +0800
Subject: [PATCH 0640/1243] ci: fix ui report issues (#33585)

* fix ui report issues

* fix indentation

* Update selfdrive/ui/tests/test_ui/run.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/tests/test_ui/run.py | 21 +++++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 6f8acb1a53..eee0ada266 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -12,7 +12,7 @@ import time
 
 from cereal import log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal.messaging import PubMaster, log_from_bytes
+from cereal.messaging import PubMaster, log_from_bytes, sub_sock
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
@@ -51,7 +51,15 @@ def setup_onroad(click, pm: PubMaster):
     vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
   vipc_server.start_listener()
 
-  for packet_id in range(30):
+  uidebug_received_cnt = 0
+  packet_id = 0
+  uidebug_sock = sub_sock('uiDebug')
+
+  # Condition check for uiDebug processing
+  check_uidebug = DATA['deviceState'].deviceState.started and not DATA['carParams'].carParams.notCar
+
+  # Loop until 20 'uiDebug' messages are received
+  while uidebug_received_cnt <= 20:
     for service, data in DATA.items():
       if data:
         data.clear_write_flag()
@@ -60,6 +68,13 @@ def setup_onroad(click, pm: PubMaster):
     for stream_type, _, image in STREAMS:
       vipc_server.send(stream_type, image, packet_id, packet_id, packet_id)
 
+    if check_uidebug:
+      while uidebug_sock.receive(non_blocking=True):
+        uidebug_received_cnt += 1
+    else:
+      uidebug_received_cnt += 1
+
+    packet_id += 1
     time.sleep(0.05)
 
 def setup_onroad_wide(click, pm: PubMaster):
@@ -70,10 +85,12 @@ def setup_onroad_wide(click, pm: PubMaster):
 def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
   click(500, 500)
+  setup_onroad(click, pm)
 
 def setup_onroad_wide_sidebar(click, pm: PubMaster):
   setup_onroad_wide(click, pm)
   click(500, 500)
+  setup_onroad_wide(click, pm)
 
 def setup_body(click, pm: PubMaster):
   DATA['carParams'].carParams.carName = "BODY"

From 467bd749447b3613d24391bee4b1ce3fece57dbe Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 01:33:24 +0800
Subject: [PATCH 0641/1243] camerad: remove `CameraType` enum from
 `camera_common.h` (#33588)

remove CameraType from camera_common.h
---
 system/camerad/cameras/camera_common.h | 6 ------
 system/loggerd/encoder/encoder.h       | 1 -
 system/loggerd/encoderd.cc             | 8 ++++----
 system/loggerd/loggerd.h               | 8 --------
 tools/replay/framereader.h             | 2 +-
 tools/replay/logreader.h               | 1 -
 tools/replay/util.h                    | 7 +++++++
 7 files changed, 12 insertions(+), 21 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index d1f0b0d0e1..0536ecc7f3 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -11,12 +11,6 @@
 
 const int YUV_BUFFER_COUNT = 20;
 
-enum CameraType {
-  RoadCam = 0,
-  DriverCam,
-  WideRoadCam
-};
-
 // for debugging
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 96ad4ffeb0..1296f78f61 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -17,7 +17,6 @@
 #include "cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc.h"
 #include "common/queue.h"
-#include "system/camerad/cameras/camera_common.h"
 #include "system/loggerd/loggerd.h"
 
 class VideoEncoder {
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 1b45df6827..4186e13ef1 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -18,12 +18,12 @@ struct EncoderdState {
   // Sync logic for startup
   std::atomic<int> encoders_ready = 0;
   std::atomic<uint32_t> start_frame_id = 0;
-  bool camera_ready[WideRoadCam + 1] = {};
-  bool camera_synced[WideRoadCam + 1] = {};
+  bool camera_ready[VISION_STREAM_WIDE_ROAD + 1] = {};
+  bool camera_synced[VISION_STREAM_WIDE_ROAD + 1] = {};
 };
 
 // Handle initial encoder syncing by waiting for all encoders to reach the same frame id
-bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) {
+bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_id) {
   if (s->camera_synced[cam_type]) return true;
 
   if (s->max_waiting > 1 && s->encoders_ready != s->max_waiting) {
@@ -85,7 +85,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
       }
       lagging = false;
 
-      if (!sync_encoders(s, cam_info.type, extra.frame_id)) {
+      if (!sync_encoders(s, cam_info.stream_type, extra.frame_id)) {
         continue;
       }
       if (do_exit) break;
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 7c80ba51a2..e8cdadda06 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -5,7 +5,6 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/services.h"
 #include "msgq/visionipc/visionipc_client.h"
-#include "system/camerad/cameras/camera_common.h"
 #include "system/hardware/hw.h"
 #include "common/params.h"
 #include "common/swaglog.h"
@@ -51,7 +50,6 @@ class LogCameraInfo {
 public:
   const char *thread_name;
   int fps = MAIN_FPS;
-  CameraType type;
   VisionStreamType stream_type;
   std::vector<EncoderInfo> encoder_infos;
 };
@@ -112,42 +110,36 @@ const EncoderInfo qcam_encoder_info = {
 
 const LogCameraInfo road_camera_info{
   .thread_name = "road_cam_encoder",
-  .type = RoadCam,
   .stream_type = VISION_STREAM_ROAD,
   .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
 };
 
 const LogCameraInfo wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
-  .type = WideRoadCam,
   .stream_type = VISION_STREAM_WIDE_ROAD,
   .encoder_infos = {main_wide_road_encoder_info}
 };
 
 const LogCameraInfo driver_camera_info{
   .thread_name = "driver_cam_encoder",
-  .type = DriverCam,
   .stream_type = VISION_STREAM_DRIVER,
   .encoder_infos = {main_driver_encoder_info}
 };
 
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
-  .type = RoadCam,
   .stream_type = VISION_STREAM_ROAD,
   .encoder_infos = {stream_road_encoder_info}
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
-  .type = WideRoadCam,
   .stream_type = VISION_STREAM_WIDE_ROAD,
   .encoder_infos = {stream_wide_road_encoder_info}
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
-  .type = DriverCam,
   .stream_type = VISION_STREAM_DRIVER,
   .encoder_infos = {stream_driver_encoder_info}
 };
diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h
index 7a4d024aa2..03ea5be8b2 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,8 +4,8 @@
 #include <vector>
 
 #include "msgq/visionipc/visionbuf.h"
-#include "system/camerad/cameras/camera_common.h"
 #include "tools/replay/filereader.h"
+#include "tools/replay/util.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index ab35954db6..f8d60ffadd 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -4,7 +4,6 @@
 #include <vector>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "system/camerad/cameras/camera_common.h"
 #include "tools/replay/util.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
diff --git a/tools/replay/util.h b/tools/replay/util.h
index c3b016c391..d6c26a3471 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -4,6 +4,13 @@
 #include <deque>
 #include <functional>
 #include <string>
+#include "cereal/messaging/messaging.h"
+
+enum CameraType {
+  RoadCam = 0,
+  DriverCam,
+  WideRoadCam
+};
 
 enum class ReplyMsgType {
   Info,

From 78db1369146d98e71933633eff154b27a2b21864 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 01:41:51 +0800
Subject: [PATCH 0642/1243] camerad: remove libyuv dependency (#33593)

remove libyuv
---
 system/camerad/SConscript               | 2 +-
 system/camerad/cameras/camera_common.cc | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 4e2eddeb42..f5cbc15748 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic']
+libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
                          'cameras/spectra.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index a4ac385440..dcb5a70987 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -3,7 +3,6 @@
 #include <cassert>
 #include <string>
 
-#include "third_party/libyuv/include/libyuv.h"
 #include <jpeglib.h>
 
 #include "common/clutil.h"
@@ -153,7 +152,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
   int in_stride = b->cur_yuv_buf->stride;
 
   // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
-  std::unique_ptr<uint8[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
+  std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
   uint8_t *y_plane = buf.get();
   uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
   uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;

From c95f0f039f0c7163ebf85904b2ba16477038b0f9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 01:45:57 +0800
Subject: [PATCH 0643/1243] camerad: move debugging parameters from
 camera_common.h to camera_qcom2.cc (#33589)

move debugging parameters

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/camerad/cameras/camera_common.h | 5 -----
 system/camerad/cameras/camera_qcom2.cc | 5 +++++
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 0536ecc7f3..f745300e1c 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -11,11 +11,6 @@
 
 const int YUV_BUFFER_COUNT = 20;
 
-// for debugging
-const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
-const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
-const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
-
 typedef struct FrameMetadata {
   uint32_t frame_id;
   uint32_t request_id;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 3b2b9db330..9785ceef9b 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -25,6 +25,11 @@
 
 ExitHandler do_exit;
 
+// for debugging
+const bool env_debug_frames = getenv("DEBUG_FRAMES") != nullptr;
+const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != nullptr;
+const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
+
 
 // high level camera state
 class CameraState : public SpectraCamera {

From b852aba670d67271c455fcc33d8a8b5b90256429 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 01:58:06 +0800
Subject: [PATCH 0644/1243] camerad: fix POLLPRI event check in poll loop
 (#33591)

fix event check in poll loop to validate POLLPRI
---
 system/camerad/cameras/camera_qcom2.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 9785ceef9b..1b717754d7 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -374,7 +374,7 @@ void camerad_thread() {
       break;
     }
 
-    if (!fds[0].revents) continue;
+    if (!(fds[0].revents & POLLPRI)) continue;
 
     struct v4l2_event ev = {0};
     ret = HANDLE_EINTR(ioctl(fds[0].fd, VIDIOC_DQEVENT, &ev));

From 943aa616b376f3c8f1f9361ecf0e591a0533850b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 01:58:49 +0800
Subject: [PATCH 0645/1243] camerad: add helper function get_gain_factor
 (#33594)

---
 system/camerad/cameras/camera_qcom2.cc | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 1b717754d7..58ec47b040 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -60,20 +60,23 @@ public:
   void set_exposure_rect();
   void run();
 
+  float get_gain_factor() const {
+    return (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
+  }
+
   void init() {
     fl_pix = cc.focal_len / sensor->pixel_size_mm;
     set_exposure_rect();
 
     dc_gain_weight = sensor->dc_gain_min_weight;
     gain_idx = sensor->analog_gain_rec_idx;
-    cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight) * sensor->sensor_analog_gains[gain_idx] * exposure_time;
+    cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * sensor->sensor_analog_gains[gain_idx] * exposure_time;
   };
 
   // TODO: this should move to SpectraCamera
   void handle_camera_event(void *evdat);
 };
 
-
 void CameraState::handle_camera_event(void *evdat) {
   if (!enabled) return;
   struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
@@ -113,7 +116,7 @@ void CameraState::handle_camera_event(void *evdat) {
     meta_data.request_id = real_id;
     meta_data.timestamp_sof = timestamp;
     exp_lock.lock();
-    meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
+    meta_data.gain = analog_gain_frac * get_gain_factor();
     meta_data.high_conversion_gain = dc_gain_enabled;
     meta_data.integ_lines = exposure_time;
     meta_data.measured_grey_fraction = measured_grey_fraction;
@@ -233,7 +236,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
     // Simple brute force optimizer to choose sensor parameters
     // to reach desired EV
     for (int g = std::max((int)sensor->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)sensor->analog_gain_max_idx, gain_idx + 1); g++) {
-      float gain = sensor->sensor_analog_gains[g] * (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
+      float gain = sensor->sensor_analog_gains[g] * get_gain_factor();
 
       // Compute optimal time for given gain
       int t = std::clamp(int(std::round(desired_ev / gain)), sensor->exposure_time_min, sensor->exposure_time_max);
@@ -257,7 +260,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
   exposure_time = new_exp_t;
   dc_gain_enabled = enable_dc_gain;
 
-  float gain = analog_gain_frac * (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
+  float gain = analog_gain_frac * get_gain_factor();
   cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
   exp_lock.unlock();

From eea06b4c3eda8c7d1dfadcc244954d9919402ee1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 19 Sep 2024 11:22:46 -0700
Subject: [PATCH 0646/1243] camerad: camera_util is spectra (#33597)

* camerad: camera_util is spectra

* lil more

* mv that

* fix build

* runs on device

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/SConscript             |   4 +-
 system/camerad/cameras/camera_util.cc | 140 --------------------------
 system/camerad/cameras/camera_util.h  |  39 -------
 system/camerad/cameras/spectra.cc     | 138 +++++++++++++++++++++++--
 system/camerad/cameras/spectra.h      |  31 +++++-
 tools/replay/camera.cc                |   4 +-
 6 files changed, 166 insertions(+), 190 deletions(-)
 delete mode 100644 system/camerad/cameras/camera_util.cc
 delete mode 100644 system/camerad/cameras/camera_util.h

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index f5cbc15748..8bafd83f08 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -2,8 +2,8 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
 
-camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
-                         'cameras/spectra.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
+                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
deleted file mode 100644
index 4d78556800..0000000000
--- a/system/camerad/cameras/camera_util.cc
+++ /dev/null
@@ -1,140 +0,0 @@
-#include "system/camerad/cameras/camera_util.h"
-
-#include <string.h>
-
-#include <cassert>
-
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-// For debugging:
-// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
-
-// ************** low level camera helpers ****************
-int do_cam_control(int fd, int op_code, void *handle, int size) {
-  struct cam_control camcontrol = {0};
-  camcontrol.op_code = op_code;
-  camcontrol.handle = (uint64_t)handle;
-  if (size == 0) {
-    camcontrol.size = 8;
-    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
-  } else {
-    camcontrol.size = size;
-    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
-  }
-
-  int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
-  if (ret == -1) {
-    LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
-  }
-  return ret;
-}
-
-std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
-  struct cam_acquire_dev_cmd cmd = {
-    .session_handle = session_handle,
-    .handle_type = CAM_HANDLE_USER_POINTER,
-    .num_resources = (uint32_t)(data ? num_resources : 0),
-    .resource_hdl = (uint64_t)data,
-  };
-  int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
-  return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
-}
-
-int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
-  struct cam_config_dev_cmd cmd = {
-    .session_handle = session_handle,
-    .dev_handle = dev_handle,
-    .packet_handle = packet_handle,
-  };
-  return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
-}
-
-int device_control(int fd, int op_code, int session_handle, int dev_handle) {
-  // start stop and release are all the same
-  struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
-  return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
-}
-
-void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) {
-  struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
-  mem_mgr_alloc_cmd.len = len;
-  mem_mgr_alloc_cmd.align = align;
-  mem_mgr_alloc_cmd.flags = flags;
-  mem_mgr_alloc_cmd.num_hdl = 0;
-  if (mmu_hdl != 0) {
-    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
-    mem_mgr_alloc_cmd.num_hdl++;
-  }
-  if (mmu_hdl2 != 0) {
-    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
-    mem_mgr_alloc_cmd.num_hdl++;
-  }
-
-  do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
-  *handle = mem_mgr_alloc_cmd.out.buf_handle;
-
-  void *ptr = NULL;
-  if (mem_mgr_alloc_cmd.out.fd > 0) {
-    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
-    assert(ptr != MAP_FAILED);
-  }
-
-  // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
-
-  return ptr;
-}
-
-void release(int video0_fd, uint32_t handle) {
-  struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
-  mem_mgr_release_cmd.buf_handle = handle;
-
-  int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
-  assert(ret == 0);
-}
-
-// *** MemoryManager ***
-
-void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
-  lock.lock();
-  void *ptr;
-  if (!cached_allocations[size].empty()) {
-    ptr = cached_allocations[size].front();
-    cached_allocations[size].pop();
-    *handle = handle_lookup[ptr];
-  } else {
-    ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
-    handle_lookup[ptr] = *handle;
-    size_lookup[ptr] = size;
-  }
-  lock.unlock();
-  memset(ptr, 0, size);
-  return ptr;
-}
-
-void MemoryManager::free(void *ptr) {
-  lock.lock();
-  cached_allocations[size_lookup[ptr]].push(ptr);
-  lock.unlock();
-}
-
-MemoryManager::~MemoryManager() {
-  for (auto& x : cached_allocations) {
-    while (!x.second.empty()) {
-      void *ptr = x.second.front();
-      x.second.pop();
-      LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
-      munmap(ptr, size_lookup[ptr]);
-
-      // release fd
-      close(handle_lookup[ptr] >> 16);
-      release(video0_fd, handle_lookup[ptr]);
-
-      handle_lookup.erase(ptr);
-      size_lookup.erase(ptr);
-    }
-  }
-}
diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h
deleted file mode 100644
index a2e7bfb434..0000000000
--- a/system/camerad/cameras/camera_util.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include <functional>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <optional>
-#include <queue>
-
-#include <media/cam_req_mgr.h>
-
-std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
-int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
-int device_control(int fd, int op_code, int session_handle, int dev_handle);
-int do_cam_control(int fd, int op_code, void *handle, int size);
-void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                      int mmu_hdl = 0, int mmu_hdl2 = 0);
-void release(int video0_fd, uint32_t handle);
-
-class MemoryManager {
-public:
-  void init(int _video0_fd) { video0_fd = _video0_fd; }
-  ~MemoryManager();
-
-  template <class T>
-  auto alloc(int len, uint32_t *handle) {
-    return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
-  }
-
-private:
-  void *alloc_buf(int len, uint32_t *handle);
-  void free(void *ptr);
-
-  std::mutex lock;
-  std::map<void *, uint32_t> handle_lookup;
-  std::map<void *, int> size_lookup;
-  std::map<int, std::queue<void *> > cached_allocations;
-  int video0_fd;
-};
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 609d77bf0f..42aa32c8b0 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1,9 +1,7 @@
-#include <sys/ioctl.h>
-
+#include <stdint.h>
 #include <cassert>
-#include <cstring>
-#include <string>
-#include <vector>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
 
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
@@ -14,11 +12,94 @@
 
 #include "common/util.h"
 #include "common/swaglog.h"
-
 #include "system/camerad/cameras/spectra.h"
 
+// For debugging:
+// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
+
+// ************** low level camera helpers ****************
+
+int do_cam_control(int fd, int op_code, void *handle, int size) {
+  struct cam_control camcontrol = {0};
+  camcontrol.op_code = op_code;
+  camcontrol.handle = (uint64_t)handle;
+  if (size == 0) {
+    camcontrol.size = 8;
+    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
+  } else {
+    camcontrol.size = size;
+    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
+  }
+
+  int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
+  if (ret == -1) {
+    LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
+  }
+  return ret;
+}
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
+  struct cam_acquire_dev_cmd cmd = {
+    .session_handle = session_handle,
+    .handle_type = CAM_HANDLE_USER_POINTER,
+    .num_resources = (uint32_t)(data ? num_resources : 0),
+    .resource_hdl = (uint64_t)data,
+  };
+  int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
+  return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
+}
+
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
+  struct cam_config_dev_cmd cmd = {
+    .session_handle = session_handle,
+    .dev_handle = dev_handle,
+    .packet_handle = packet_handle,
+  };
+  return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
+}
+
+int device_control(int fd, int op_code, int session_handle, int dev_handle) {
+  // start stop and release are all the same
+  struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
+  return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
+}
+
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) {
+  struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
+  mem_mgr_alloc_cmd.len = len;
+  mem_mgr_alloc_cmd.align = align;
+  mem_mgr_alloc_cmd.flags = flags;
+  mem_mgr_alloc_cmd.num_hdl = 0;
+  if (mmu_hdl != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+  if (mmu_hdl2 != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+
+  do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
+  *handle = mem_mgr_alloc_cmd.out.buf_handle;
+
+  void *ptr = NULL;
+  if (mem_mgr_alloc_cmd.out.fd > 0) {
+    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
+    assert(ptr != MAP_FAILED);
+  }
+
+  // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
+
+  return ptr;
+}
+
+void release(int video0_fd, uint32_t handle) {
+  struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
+  mem_mgr_release_cmd.buf_handle = handle;
 
-// *** helpers ***
+  int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
+  assert(ret == 0);
+}
 
 static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
@@ -28,6 +109,49 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   return (struct cam_cmd_power *)(unconditional_wait + 1);
 }
 
+// *** MemoryManager ***
+
+void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
+  lock.lock();
+  void *ptr;
+  if (!cached_allocations[size].empty()) {
+    ptr = cached_allocations[size].front();
+    cached_allocations[size].pop();
+    *handle = handle_lookup[ptr];
+  } else {
+    ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
+    handle_lookup[ptr] = *handle;
+    size_lookup[ptr] = size;
+  }
+  lock.unlock();
+  memset(ptr, 0, size);
+  return ptr;
+}
+
+void MemoryManager::free(void *ptr) {
+  lock.lock();
+  cached_allocations[size_lookup[ptr]].push(ptr);
+  lock.unlock();
+}
+
+MemoryManager::~MemoryManager() {
+  for (auto& x : cached_allocations) {
+    while (!x.second.empty()) {
+      void *ptr = x.second.front();
+      x.second.pop();
+      LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
+      munmap(ptr, size_lookup[ptr]);
+
+      // release fd
+      close(handle_lookup[ptr] >> 16);
+      release(video0_fd, handle_lookup[ptr]);
+
+      handle_lookup.erase(ptr);
+      size_lookup.erase(ptr);
+    }
+  }
+}
+
 // *** SpectraMaster ***
 
 void SpectraMaster::init() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index baa5cbc32f..5c84d527dd 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -4,10 +4,10 @@
 #include <utility>
 
 #include "media/cam_isp_ife.h"
+#include "media/cam_req_mgr.h"
 
 #include "common/util.h"
 #include "system/camerad/cameras/tici.h"
-#include "system/camerad/cameras/camera_util.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"
 
@@ -19,6 +19,35 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 // https://github.com/commaai/agnos-kernel-sdm845
 
 
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
+int device_control(int fd, int op_code, int session_handle, int dev_handle);
+int do_cam_control(int fd, int op_code, void *handle, int size);
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                      int mmu_hdl = 0, int mmu_hdl2 = 0);
+void release(int video0_fd, uint32_t handle);
+
+class MemoryManager {
+public:
+  void init(int _video0_fd) { video0_fd = _video0_fd; }
+  ~MemoryManager();
+
+  template <class T>
+  auto alloc(int len, uint32_t *handle) {
+    return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+  }
+
+private:
+  void *alloc_buf(int len, uint32_t *handle);
+  void free(void *ptr);
+
+  std::mutex lock;
+  std::map<void *, uint32_t> handle_lookup;
+  std::map<void *, int> size_lookup;
+  std::map<int, std::queue<void *> > cached_allocations;
+  int video0_fd;
+};
+
 class SpectraMaster {
 public:
   void init();
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index ded966da6d..914c18e15f 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,7 +1,9 @@
 #include "tools/replay/camera.h"
 
-#include <capnp/dynamic.h>
 #include <cassert>
+#include <algorithm>
+
+#include <capnp/dynamic.h>
 
 #include "third_party/linux/include/msm_media_info.h"
 #include "tools/replay/util.h"

From 34f5ba46b314cb31a15af38662393973a18b9e34 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 02:34:37 +0800
Subject: [PATCH 0647/1243] camerad: move `handle_camera_event` to
 SpectraCamera class (#33595)

move handle event

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.cc |  4 +-
 system/camerad/cameras/camera_common.h  |  9 +--
 system/camerad/cameras/camera_qcom2.cc  | 80 ++-----------------------
 system/camerad/cameras/spectra.cc       | 49 +++++++++++++++
 system/camerad/cameras/spectra.h        |  1 +
 5 files changed, 59 insertions(+), 84 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index dcb5a70987..769557d70b 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -102,7 +102,7 @@ CameraBuf::~CameraBuf() {
   if (imgproc) delete imgproc;
 }
 
-bool CameraBuf::acquire() {
+bool CameraBuf::acquire(int expo_time) {
   if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
   if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
@@ -115,7 +115,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, cur_frame_data.integ_lines);
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index f745300e1c..6140d24b1c 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -19,13 +19,6 @@ typedef struct FrameMetadata {
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
 
-  // Exposure
-  unsigned int integ_lines;
-  bool high_conversion_gain;
-  float gain;
-  float measured_grey_fraction;
-  float target_grey_fraction;
-
   float processing_time;
 } FrameMetadata;
 
@@ -53,7 +46,7 @@ public:
   CameraBuf() = default;
   ~CameraBuf();
   void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
-  bool acquire();
+  bool acquire(int expo_time);
   void queue(size_t buf_idx);
 };
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 58ec47b040..3c27ccbadd 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -34,8 +34,6 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
 // high level camera state
 class CameraState : public SpectraCamera {
 public:
-  std::mutex exp_lock;
-
   int exposure_time = 5;
   bool dc_gain_enabled = false;
   int dc_gain_weight = 0;
@@ -72,69 +70,8 @@ public:
     gain_idx = sensor->analog_gain_rec_idx;
     cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * sensor->sensor_analog_gains[gain_idx] * exposure_time;
   };
-
-  // TODO: this should move to SpectraCamera
-  void handle_camera_event(void *evdat);
 };
 
-void CameraState::handle_camera_event(void *evdat) {
-  if (!enabled) return;
-  struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
-  assert(event_data->session_hdl == session_handle);
-  assert(event_data->u.frame_msg.link_hdl == link_handle);
-
-  uint64_t timestamp = event_data->u.frame_msg.timestamp;
-  uint64_t main_id = event_data->u.frame_msg.frame_id;
-  uint64_t real_id = event_data->u.frame_msg.request_id;
-
-  if (real_id != 0) { // next ready
-    if (real_id == 1) {idx_offset = main_id;}
-    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
-
-    // check for skipped frames
-    if (main_id > frame_id_last + 1 && !skipped) {
-      LOGE("camera %d realign", cc.camera_num);
-      clear_req_queue();
-      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
-      skipped = true;
-    } else if (main_id == frame_id_last + 1) {
-      skipped = false;
-    }
-
-    // check for dropped requests
-    if (real_id > request_id_last + 1) {
-      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
-      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
-    }
-
-    // metas
-    frame_id_last = main_id;
-    request_id_last = real_id;
-
-    auto &meta_data = buf.camera_bufs_metadata[buf_idx];
-    meta_data.frame_id = main_id - idx_offset;
-    meta_data.request_id = real_id;
-    meta_data.timestamp_sof = timestamp;
-    exp_lock.lock();
-    meta_data.gain = analog_gain_frac * get_gain_factor();
-    meta_data.high_conversion_gain = dc_gain_enabled;
-    meta_data.integ_lines = exposure_time;
-    meta_data.measured_grey_fraction = measured_grey_fraction;
-    meta_data.target_grey_fraction = target_grey_fraction;
-    exp_lock.unlock();
-
-    // dispatch
-    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
-  } else { // not ready
-    if (main_id > frame_id_last + 10) {
-      LOGE("camera %d reset after half second of no response", cc.camera_num);
-      clear_req_queue();
-      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
-      frame_id_last = main_id;
-      skipped = true;
-    }
-  }
-}
 
 void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
@@ -250,8 +187,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
     }
   }
 
-  exp_lock.lock();
-
   measured_grey_fraction = grey_frac;
   target_grey_fraction = target_grey;
 
@@ -263,8 +198,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
   float gain = analog_gain_frac * get_gain_factor();
   cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
-  exp_lock.unlock();
-
   // Processing a frame takes right about 50ms, so we need to wait a few ms
   // so we don't send i2c commands around the frame start.
   int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000;
@@ -286,7 +219,7 @@ void CameraState::run() {
 
   for (uint32_t cnt = 0; !do_exit; ++cnt) {
     // Acquire the buffer; continue if acquisition fails
-    if (!buf.acquire()) continue;
+    if (!buf.acquire(exposure_time)) continue;
 
     MessageBuilder msg;
     auto framed = (msg.initEvent().*cc.init_camera_state)();
@@ -294,11 +227,11 @@ void CameraState::run() {
     framed.setRequestId(buf.cur_frame_data.request_id);
     framed.setTimestampEof(buf.cur_frame_data.timestamp_eof);
     framed.setTimestampSof(buf.cur_frame_data.timestamp_sof);
-    framed.setIntegLines(buf.cur_frame_data.integ_lines);
-    framed.setGain(buf.cur_frame_data.gain);
-    framed.setHighConversionGain(buf.cur_frame_data.high_conversion_gain);
-    framed.setMeasuredGreyFraction(buf.cur_frame_data.measured_grey_fraction);
-    framed.setTargetGreyFraction(buf.cur_frame_data.target_grey_fraction);
+    framed.setIntegLines(exposure_time);
+    framed.setGain(analog_gain_frac * get_gain_factor());
+    framed.setHighConversionGain(dc_gain_enabled);
+    framed.setMeasuredGreyFraction(measured_grey_fraction);
+    framed.setTargetGreyFraction(target_grey_fraction);
     framed.setProcessingTime(buf.cur_frame_data.processing_time);
 
     const float ev = cur_ev[buf.cur_frame_data.frame_id % 3];
@@ -328,7 +261,6 @@ void camerad_thread() {
     TODO: future cleanups
     - centralize enabled handling
     - open/init/etc mess
-    - no ISP stuff in this file
   */
 
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 42aa32c8b0..603dfe032b 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -817,3 +817,52 @@ void SpectraCamera::camera_close() {
   ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
   LOGD("destroyed session %d: %d", cc.camera_num, ret);
 }
+
+void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
+  if (!enabled) return;
+
+  uint64_t timestamp = event_data->u.frame_msg.timestamp;
+  uint64_t main_id = event_data->u.frame_msg.frame_id;
+  uint64_t real_id = event_data->u.frame_msg.request_id;
+
+  if (real_id != 0) { // next ready
+    if (real_id == 1) {idx_offset = main_id;}
+    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
+
+    // check for skipped frames
+    if (main_id > frame_id_last + 1 && !skipped) {
+      LOGE("camera %d realign", cc.camera_num);
+      clear_req_queue();
+      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
+      skipped = true;
+    } else if (main_id == frame_id_last + 1) {
+      skipped = false;
+    }
+
+    // check for dropped requests
+    if (real_id > request_id_last + 1) {
+      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
+      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
+    }
+
+    // metas
+    frame_id_last = main_id;
+    request_id_last = real_id;
+
+    auto &meta_data = buf.camera_bufs_metadata[buf_idx];
+    meta_data.frame_id = main_id - idx_offset;
+    meta_data.request_id = real_id;
+    meta_data.timestamp_sof = timestamp;
+
+    // dispatch
+    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
+  } else { // not ready
+    if (main_id > frame_id_last + 10) {
+      LOGE("camera %d reset after half second of no response", cc.camera_num);
+      clear_req_queue();
+      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
+      frame_id_last = main_id;
+      skipped = true;
+    }
+  }
+}
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 5c84d527dd..9d412481f1 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -65,6 +65,7 @@ public:
   ~SpectraCamera();
 
   void camera_open();
+  void handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
   void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);

From 7a11d0180b68fb95e9bd7416e4caf1c036bafed7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 04:09:41 +0800
Subject: [PATCH 0648/1243] locationd: improve circular buffer handling with
 np.roll (#33470)

improve circular buffer handling
---
 selfdrive/locationd/locationd.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 4cde1e5ad4..7f5541b8c2 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -49,7 +49,7 @@ class LocationEstimator:
 
     self.debug = debug
 
-    self.posenet_stds = [POSENET_STD_INITIAL_VALUE] * (POSENET_STD_HIST_HALF * 2)
+    self.posenet_stds = np.array([POSENET_STD_INITIAL_VALUE] * (POSENET_STD_HIST_HALF * 2))
     self.car_speed = 0.0
     self.camodo_yawrate_distribution = np.array([0.0, 10.0])  # mean, std
     self.device_from_calib = np.eye(3)
@@ -168,8 +168,8 @@ class LocationEstimator:
       if np.linalg.norm(rot_calib_std) > 10 * ROTATION_SANITY_CHECK or np.linalg.norm(trans_calib_std) > 10 * TRANS_SANITY_CHECK:
         return HandleLogResult.INPUT_INVALID
 
-      self.posenet_stds.pop(0)
-      self.posenet_stds.append(trans_calib_std[0])
+      self.posenet_stds = np.roll(self.posenet_stds, -1)
+      self.posenet_stds[-1] = trans_calib_std[0]
 
       # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
       rot_calib_std *= 10

From 81a0e3716e8caa75eadd2f859b53bdcc7a0ab48a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 19 Sep 2024 13:30:11 -0700
Subject: [PATCH 0649/1243] longitudinal report: description is optional

---
 tools/longitudinal_maneuvers/generate_report.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index f487225054..712d76d95b 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -124,7 +124,7 @@ def report(platform, route, _description, CP, maneuvers):
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Generate longitudinal maneuver report from route')
   parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
-  parser.add_argument('description', type=str, default=None)
+  parser.add_argument('description', type=str, nargs='?')
 
   args = parser.parse_args()
 

From 91e342fc58ddef69d14c3f9dffabcdbdc14fb623 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 19 Sep 2024 14:14:22 -0700
Subject: [PATCH 0650/1243] longitudinal maneuver report: require two frames
 above target (#33602)

require two frames
---
 tools/longitudinal_maneuvers/generate_report.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 712d76d95b..36e2d3eecc 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -59,13 +59,18 @@ def report(platform, route, _description, CP, maneuvers):
         aTarget = longitudinalPlan[0].aTarget
         target_cross_time = None
         f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
+
+        # Localizer is noisy, require two consecutive 20Hz frames above threshold
+        prev_crossed = False
         for t, lp in zip(t_livePose, livePose, strict=True):
-          if (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x):
+          crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
+          if crossed and prev_crossed:
             f.write(f', <strong>crossed in {t:.3f}s</strong>')
             target_cross_time = t
             if maneuver_valid:
               target_cross_times[description].append(t)
             break
+          prev_crossed = crossed
         else:
           f.write(', <strong>not crossed</strong>')
         f.write('</h3>')

From eaebea0968ed87a276551f1ce8f747f476bf06b5 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Sep 2024 05:16:48 +0800
Subject: [PATCH 0651/1243] camerad: cleanup includes (#33600)

cleanup includes

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.h | 1 -
 system/camerad/cameras/camera_qcom2.cc | 2 --
 system/camerad/cameras/spectra.cc      | 1 -
 system/camerad/cameras/spectra.h       | 1 -
 4 files changed, 5 deletions(-)

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 6140d24b1c..e0e16e18fc 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <fcntl.h>
 #include <memory>
 
 #include "cereal/messaging/messaging.h"
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 3c27ccbadd..97e4d9b756 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -14,9 +14,7 @@
 
 #include "CL/cl_ext_qcom.h"
 
-#include "media/cam_defs.h"
 #include "media/cam_sensor_cmn_header.h"
-#include "media/cam_sync.h"
 
 #include "common/clutil.h"
 #include "common/params.h"
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 603dfe032b..c479f10241 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -6,7 +6,6 @@
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_req_mgr.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 9d412481f1..936d8d168e 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -3,7 +3,6 @@
 #include <memory>
 #include <utility>
 
-#include "media/cam_isp_ife.h"
 #include "media/cam_req_mgr.h"
 
 #include "common/util.h"

From df9b8f0222ad9e75fa56033552611cb3d3192463 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 19 Sep 2024 16:14:29 -0700
Subject: [PATCH 0652/1243] camerad: final debayer prep (#33598)

* prep part 4?

* cleanup

* little less magic

* reorg

* final touches

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 common/util.h                     |   2 +
 system/camerad/cameras/spectra.cc | 214 ++++++++++++++++--------------
 system/camerad/cameras/spectra.h  |   5 +-
 system/camerad/cameras/tici.h     |   2 +
 4 files changed, 126 insertions(+), 97 deletions(-)

diff --git a/common/util.h b/common/util.h
index 186873ac21..7cfa008509 100644
--- a/common/util.h
+++ b/common/util.h
@@ -37,6 +37,8 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
 
+#define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
+
 namespace util {
 
 void set_thread_name(const char* name);
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index c479f10241..58758f9feb 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -395,20 +395,15 @@ int SpectraCamera::sensors_init() {
   return ret;
 }
 
-void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
-  uint32_t cam_packet_handle = 0;
-  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx) {
+  printf("cam cmd buf %lu %lu\n", sizeof(struct cam_cmd_buf_desc), sizeof(struct cam_buf_io_cfg));
+  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);
   }
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
-  pkt->num_cmd_buf = 2;
-  pkt->kmd_cmd_buf_index = 0;
 
-  if (io_mem_handle != 0) {
-    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
-    pkt->num_io_configs = 1;
-  }
+  uint32_t cam_packet_handle = 0;
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
 
   if (io_mem_handle != 0) {
     pkt->header.op_code = 0xf000001;
@@ -418,96 +413,124 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
     pkt->header.request_id = 1;
   }
   pkt->header.size = size;
-  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
-  struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
-
-  // TODO: support MMU
-  buf_desc[0].size = 65624;
-  buf_desc[0].length = 0;
-  buf_desc[0].type = CAM_CMD_BUF_DIRECT;
-  buf_desc[0].meta_data = 3;
-  buf_desc[0].mem_handle = buf0_mem_handle;
-  buf_desc[0].offset = buf0_offset;
-
-  // parsed by cam_isp_packet_generic_blob_handler
-  struct isp_packet {
-    uint32_t type_0;
-    cam_isp_resource_hfr_config resource_hfr;
-
-    uint32_t type_1;
-    cam_isp_clock_config clock;
-    uint64_t extra_rdi_hz[3];
-
-    uint32_t type_2;
-    cam_isp_bw_config bw;
-    struct cam_isp_bw_vote extra_rdi_vote[6];
-  } __attribute__((packed)) tmp;
-  memset(&tmp, 0, sizeof(tmp));
-
-  tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG;
-  tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8;
-  static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20);
-  tmp.resource_hfr = {
-    .num_ports = 1,  // 10 for YUV (but I don't think we need them)
-    .port_hfr_config[0] = {
-      .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
-      .subsample_pattern = 1,
-      .subsample_period = 0,
-      .framedrop_pattern = 1,
-      .framedrop_period = 0,
-    }};
-
-  tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
-  tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
-  static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
-  tmp.clock = {
-    .usage_type = 1, // dual mode
-    .num_rdi = 4,
-    .left_pix_hz = 404000000,
-    .right_pix_hz = 404000000,
-    .rdi_hz[0] = 404000000,
-  };
 
-  tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG;
-  tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
-  static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
-  tmp.bw = {
-    .usage_type = 1, // dual mode
-    .num_rdi = 4,
-    .left_pix_vote = {
-      .resource_id = 0,
-      .cam_bw_bps = 450000000,
-      .ext_bw_bps = 450000000,
-    },
-    .rdi_vote[0] = {
-      .resource_id = 0,
-      .cam_bw_bps = 8706200000,
-      .ext_bw_bps = 8706200000,
-    },
-  };
+  // *** kmd cmd buf ***
+  {
+    pkt->kmd_cmd_buf_index = 0;
+    pkt->kmd_cmd_buf_offset = 0;
+  }
 
-  static_assert(offsetof(struct isp_packet, type_2) == 0x60);
+  // *** patches ***
+  {
+    pkt->num_patches = 0;
+    pkt->patch_offset = 0x0;
+  }
 
-  buf_desc[1].size = sizeof(tmp);
-  buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
-  buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
-  buf_desc[1].type = CAM_CMD_BUF_GENERIC;
-  buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memcpy(buf2.get(), &tmp, sizeof(tmp));
+  // *** cmd buf ***
+  {
+    struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+    pkt->num_cmd_buf = 2;
+
+    // *** first command ***
+    // TODO: support MMU
+    buf_desc[0].size = buf0_size;
+    buf_desc[0].length = 0;
+    buf_desc[0].type = CAM_CMD_BUF_DIRECT;
+    buf_desc[0].meta_data = 3;
+    buf_desc[0].mem_handle = buf0_handle;
+    buf_desc[0].offset = ALIGNED_SIZE(buf0_size, buf0_alignment)*buf0_idx;
+
+    // *** second command ***
+    // parsed by cam_isp_packet_generic_blob_handler
+    struct isp_packet {
+      uint32_t type_0;
+      cam_isp_resource_hfr_config resource_hfr;
+
+      uint32_t type_1;
+      cam_isp_clock_config clock;
+      uint64_t extra_rdi_hz[3];
+
+      uint32_t type_2;
+      cam_isp_bw_config bw;
+      struct cam_isp_bw_vote extra_rdi_vote[6];
+    } __attribute__((packed)) tmp;
+    memset(&tmp, 0, sizeof(tmp));
+
+    tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG;
+    tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8;
+    static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20);
+    tmp.resource_hfr = {
+      .num_ports = 1,  // 10 for YUV (but I don't think we need them)
+      .port_hfr_config[0] = {
+        .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
+        .subsample_pattern = 1,
+        .subsample_period = 0,
+        .framedrop_pattern = 1,
+        .framedrop_period = 0,
+      }};
+
+    tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
+    tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
+    static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38);
+    tmp.clock = {
+      .usage_type = 1, // dual mode
+      .num_rdi = 4,
+      .left_pix_hz = 404000000,
+      .right_pix_hz = 404000000,
+      .rdi_hz[0] = 404000000,
+    };
 
+    tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG;
+    tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8;
+    static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0);
+    tmp.bw = {
+      .usage_type = 1, // dual mode
+      .num_rdi = 4,
+      .left_pix_vote = {
+        .resource_id = 0,
+        .cam_bw_bps = 450000000,
+        .ext_bw_bps = 450000000,
+      },
+      .rdi_vote[0] = {
+        .resource_id = 0,
+        .cam_bw_bps = 8706200000,
+        .ext_bw_bps = 8706200000,
+      },
+    };
+
+    static_assert(offsetof(struct isp_packet, type_2) == 0x60);
+
+    buf_desc[1].size = sizeof(tmp);
+    buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
+    buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
+    buf_desc[1].type = CAM_CMD_BUF_GENERIC;
+    buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
+    auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+    memcpy(buf2.get(), &tmp, sizeof(tmp));
+  }
+
+  // *** io config ***
   if (io_mem_handle != 0) {
+    // configure output frame
+    pkt->num_io_configs = 1;
+    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
+
+    struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
+    io_cfg[0].offsets[0] = 0;
     io_cfg[0].mem_handle[0] = io_mem_handle;
+
     io_cfg[0].planes[0] = (struct cam_plane_cfg){
       .width = sensor->frame_width,
       .height = sensor->frame_height + sensor->extra_height,
       .plane_stride = sensor->frame_stride,
       .slice_height = sensor->frame_height + sensor->extra_height,
-      .meta_stride = 0x0,  // YUV has meta(stride=0x400, size=0x5000)
+
+      // these are for UBWC, we'll want that eventually
+      .meta_stride = 0x0,
       .meta_size = 0x0,
       .meta_offset = 0x0,
-      .packer_config = 0x0,  // 0xb for YUV
-      .mode_config = 0x0,    // 0x9ef for YUV
+      .packer_config = 0x0,
+      .mode_config = 0x0,
       .tile_config = 0x0,
       .h_init = 0x0,
       .v_init = 0x0,
@@ -525,9 +548,6 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
 
   int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
   assert(ret == 0);
-  if (ret != 0) {
-    LOGE("isp config failed");
-  }
 }
 
 void SpectraCamera::enqueue_buffer(int i, bool dp) {
@@ -580,7 +600,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   sensors_poke(request_id);
 
   // submit request to the ife
-  config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
+  config_isp(buf_handle[i], sync_objs[i], request_id, i);
 }
 
 void SpectraCamera::camera_map_bufs() {
@@ -639,11 +659,10 @@ bool SpectraCamera::openSensor() {
 }
 
 void SpectraCamera::configISP() {
-  // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
-  // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
   if (!enabled) return;
 
   struct cam_isp_in_port_info in_port_info = {
+    // ISP input to the CSID
     .res_type = cc.phy,
     .lane_type = CAM_ISP_LANE_TYPE_DPHY,
     .lane_num = 4,
@@ -674,6 +693,7 @@ void SpectraCamera::configISP() {
     .hbi_cnt = 0x0,
     .custom_csid = 0x0,
 
+    // ISP outputs
     .num_out_res = 0x1,
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
@@ -696,9 +716,11 @@ void SpectraCamera::configISP() {
   LOGD("acquire isp dev");
 
   // config ISP
-  alloc_w_mmu_hdl(m->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
-                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu);
-  config_isp(0, 0, 1, buf0_handle, 0);
+  // TODO: unclear where this 15 comes from
+  alloc_w_mmu_hdl(m->video0_fd, 15*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment,
+                  CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                  m->device_iommu, m->cdm_iommu);
+  config_isp(0, 0, 1, 0);
 }
 
 void SpectraCamera::configCSIPHY() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 936d8d168e..a42540cc8f 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -68,7 +68,7 @@ public:
   void camera_close();
   void camera_map_bufs();
   void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
-  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
+  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx);
 
   int clear_req_queue();
   void enqueue_buffer(int i, bool dp);
@@ -101,6 +101,9 @@ public:
 
   int32_t link_handle = -1;
 
+  const int buf0_size = 65624; // unclear what this is and how it's determined, for internal ISP use? it's just copied from an ioctl dump
+  const int buf0_alignment = 0x20;
+
   int buf0_handle = 0;
   int buf_handle[FRAME_BUF_COUNT] = {};
   int sync_objs[FRAME_BUF_COUNT] = {};
diff --git a/system/camerad/cameras/tici.h b/system/camerad/cameras/tici.h
index 228ff8e284..d0b2aece6d 100644
--- a/system/camerad/cameras/tici.h
+++ b/system/camerad/cameras/tici.h
@@ -18,6 +18,8 @@ struct CameraConfig {
   uint32_t phy;
 };
 
+// NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
+// If you don't do this, the strobe GPIO is an output (even in reset it seems!)
 const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .camera_num = 0,
   .stream_type = VISION_STREAM_WIDE_ROAD,

From bdb4b87fa59fd82a74a17459cb87fae14f34039b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 19 Sep 2024 16:39:27 -0700
Subject: [PATCH 0653/1243] rm debug print

---
 system/camerad/cameras/spectra.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 58758f9feb..b8b8959f67 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -396,7 +396,6 @@ int SpectraCamera::sensors_init() {
 }
 
 void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx) {
-  printf("cam cmd buf %lu %lu\n", sizeof(struct cam_cmd_buf_desc), sizeof(struct cam_buf_io_cfg));
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);

From f79aca8e1ef9160a93b2609146b4074b2343f75c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 19 Sep 2024 17:42:44 -0700
Subject: [PATCH 0654/1243] exec DM model with gpu (#33397)

* half

old-commit-hash: 9f72eca003d4637ca7fe847ebaf925c694fc2e84

* optimed

old-commit-hash: 6e36e2a12e09275ec21d1590012a92b05ca52ff5

* thneed

old-commit-hash: 419a06c09c0c767d828bcd1e118bc575898c343a

* exec

old-commit-hash: 0059c27ec11b076a37f65d604ed135ea6541b1a6

* runner

old-commit-hash: 34232ada94450ce541eaef546197fa219810a891

* runs but

old-commit-hash: 3db37c00b6a64908293b4de8d8b56e80308cd8f2

* it is 01

old-commit-hash: a160d81eb1a7e77abbef959b44f602610f68f665

* np

old-commit-hash: c1caff6ba648cc2c0094c71b2ea074f01c3c2dc8

* module url

old-commit-hash: 6f4902c4d384263a53e2c1d14d93b5ff864b6a5f

* new

old-commit-hash: 779ae79b1bc3df6374fb6663ac8592e107a6e504

* ds fast

* is this work

* corcention

* real timing

* no reg

* interim gather

* 0e4a9c7b

* fa69be01, and halve

* list

* cleanup

* slighly faster

* setprotlt

* expected

* replay ref

* more powar

* reluctantly

* bump tg

* 8

* less

* less

* bump tg

* better than exp

* closer

* cc

* see diff

* commits

* was right

* to 32 cast

* remove dlc file

* support both

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 .gitattributes                                |  1 -
 selfdrive/modeld/SConscript                   |  4 +++
 selfdrive/modeld/dmonitoringmodeld            | 10 +++++++
 selfdrive/modeld/dmonitoringmodeld.py         | 30 +++++++++++--------
 .../modeld/models/dmonitoring_model.current   |  4 +--
 .../modeld/models/dmonitoring_model.onnx      |  4 +--
 .../modeld/models/dmonitoring_model_q.dlc     |  3 --
 selfdrive/modeld/runners/onnxmodel.py         | 13 +++++---
 selfdrive/monitoring/helpers.py               |  4 +--
 .../process_replay/model_replay_ref_commit    |  2 +-
 selfdrive/test/test_onroad.py                 |  3 +-
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 system/manager/process_config.py              |  2 +-
 tinygrad_repo                                 |  2 +-
 14 files changed, 53 insertions(+), 31 deletions(-)
 create mode 100755 selfdrive/modeld/dmonitoringmodeld
 delete mode 100644 selfdrive/modeld/models/dmonitoring_model_q.dlc

diff --git a/.gitattributes b/.gitattributes
index 8781a7371f..eda2505d0e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2,7 +2,6 @@
 
 # to move existing files into LFS:
 # git add --renormalize .
-*.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index d572915c72..d472998416 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -69,6 +69,10 @@ if arch == "larch64" or GetOption('pc_thneed'):
 
   lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
+  fn_dm = File("models/dmonitoring_model").abspath
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
+  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
+
   thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
   lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
new file mode 100755
index 0000000000..80157e1751
--- /dev/null
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
+exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index a388bf089c..d648a4511a 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -6,6 +6,7 @@ import time
 import ctypes
 import numpy as np
 from pathlib import Path
+from setproctitle import setproctitle
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -14,16 +15,18 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid, CLContext
 
 CALIB_LEN = 3
-REG_SCALE = 0.25
 MODEL_WIDTH = 1440
 MODEL_HEIGHT = 960
-OUTPUT_SIZE = 84
+FEATURE_LEN = 512
+OUTPUT_SIZE = 84 + FEATURE_LEN
+
+PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATHS = {
-  ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
+  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
   ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
 
 class DriverStateResult(ctypes.Structure):
@@ -49,21 +52,22 @@ class DMonitoringModelResult(ctypes.Structure):
     ("driver_state_lhd", DriverStateResult),
     ("driver_state_rhd", DriverStateResult),
     ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float)]
+    ("wheel_on_right_prob", ctypes.c_float),
+    ("features", ctypes.c_float*FEATURE_LEN)]
 
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   model: ModelRunner
 
-  def __init__(self):
+  def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
     self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
       'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
       'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
     self.model.addInput("input_img", None)
     self.model.addInput("calib", self.inputs['calib'])
 
@@ -76,17 +80,17 @@ class ModelState:
     input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
     input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
 
-    t1 = time.perf_counter()
     self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    t1 = time.perf_counter()
     self.model.execute()
     t2 = time.perf_counter()
     return self.output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
+  msg.faceOrientation = list(ds_result.face_orientation)
   msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
+  msg.facePosition = list(ds_result.face_position[:2])
   msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
   msg.faceProb = sigmoid(ds_result.face_prob)
   msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
@@ -115,14 +119,16 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
 
 def main():
   gc.disable()
+  setproctitle(PROCESS_NAME)
   set_realtime_priority(1)
 
-  model = ModelState()
+  cl_context = CLContext()
+  model = ModelState(cl_context)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
   Params().put_bool("DmModelInitialized", True)
 
   cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index f935ab06b3..121871ef2b 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-5ec97a39-0095-4cea-adfa-6d72b1966cc1
-26cac7a9757a27c783a365403040a1bd27ccdaea
\ No newline at end of file
+fa69be01-b430-4504-9d72-7dcb058eb6dd
+d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dd3a6aba2e..dcc727510e 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683
-size 16132780
+oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
+size 7196502
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
deleted file mode 100644
index fc285954d4..0000000000
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46
-size 4488449
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index 69b44a5a97..2145035a9f 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -14,8 +14,12 @@ def attributeproto_fp16_to_fp32(attr):
   attr.data_type = 1
   attr.raw_data = float32_list.astype(np.float32).tobytes()
 
-def convert_fp16_to_fp32(path):
-  model = onnx.load(path)
+def convert_fp16_to_fp32(onnx_path_or_bytes):
+  if isinstance(onnx_path_or_bytes, bytes):
+    model = onnx.load_from_string(onnx_path_or_bytes)
+  elif isinstance(onnx_path_or_bytes, str):
+    model = onnx.load(onnx_path_or_bytes)
+
   for i in model.graph.initializer:
     if i.data_type == 10:
       attributeproto_fp16_to_fp32(i)
@@ -23,6 +27,8 @@ def convert_fp16_to_fp32(path):
     if i.type.tensor_type.elem_type == 10:
       i.type.tensor_type.elem_type = 1
   for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+        i.attribute[0].i = 1
     for a in i.attribute:
       if hasattr(a, 't'):
         if a.t.data_type == 10:
@@ -61,7 +67,6 @@ class ONNXModel(RunModel):
   def __init__(self, path, output, runtime, use_tf8, cl_context):
     self.inputs = {}
     self.output = output
-    self.use_tf8 = use_tf8
 
     self.session = create_ort_session(path, fp16_to_fp32=True)
     self.input_names = [x.name for x in self.session.get_inputs()]
@@ -85,7 +90,7 @@ class ONNXModel(RunModel):
     return None
 
   def execute(self):
-    inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
+    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
     inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
     outputs = self.session.run(None, inputs)
     assert len(outputs) == 1, "Only single model outputs are supported"
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 2a7979221a..08cc049ab0 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -33,8 +33,8 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.25
-    self._EE_THRESH12 = 7.5
+    self._EE_THRESH11 = 0.4
+    self._EE_THRESH12 = 15.0
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 66971ebde1..2c757dde11 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-32fe8cf4a0daa8d10a689c9ae2e51a879151c87c
+91d1089681f427a3916b42984d5df04eb94a0b90
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 5bc6bff1c2..964848e3d3 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -32,6 +32,7 @@ CPU usage budget
 * total CPU usage of openpilot (sum(PROCS.values())
   should not exceed MAX_TOTAL_CPU
 """
+
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
@@ -312,7 +313,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
 
   def test_camera_processing_time(self):
     result = "\n"
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index eb3a515b76..3b9d65b85a 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -34,7 +34,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 538c55813b..98a875bf97 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -63,7 +63,7 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
diff --git a/tinygrad_repo b/tinygrad_repo
index f51aa0fc7c..3e15fa0dae 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit f51aa0fc7cdbac710e640172db280cfb747d2718
+Subproject commit 3e15fa0daefae75e2ddef98f82be5b5d37820631

From 5e024b775b373208c712ea944b414dd531f6c390 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 19 Sep 2024 18:08:40 -0700
Subject: [PATCH 0655/1243] fix big cars test (#33603)

export and fix platforms
---
 selfdrive/car/tests/big_cars_test.sh | 8 ++++----
 selfdrive/car/tests/test_models.py   | 1 +
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
index 8b0e96d980..863b8bead0 100755
--- a/selfdrive/car/tests/big_cars_test.sh
+++ b/selfdrive/car/tests/big_cars_test.sh
@@ -4,9 +4,9 @@ SCRIPT_DIR=$(dirname "$0")
 BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
 cd $BASEDIR
 
-MAX_EXAMPLES=300
-INTERNAL_SEG_CNT=300
-FILEREADER_CACHE=1
-INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
+export MAX_EXAMPLES=300
+export INTERNAL_SEG_CNT=300
+export FILEREADER_CACHE=1
+export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
 
 cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 0548f52764..460b9f196d 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -57,6 +57,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
     segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))
     segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list))
     for platform, segment in segment_list:
+      platform = MIGRATION.get(platform, platform)
       segment_name = SegmentName(segment)
       test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
                                                 segment=segment_name.segment_num)))

From ffb6e11f968525f41567aedb8bd5a24b88998afd Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 19 Sep 2024 20:55:11 -0700
Subject: [PATCH 0656/1243] Revert "exec DM model with gpu" (#33604)

Revert "exec DM model with gpu (#33397)"

This reverts commit f79aca8e1ef9160a93b2609146b4074b2343f75c.
---
 .gitattributes                                |  1 +
 selfdrive/modeld/SConscript                   |  4 ---
 selfdrive/modeld/dmonitoringmodeld            | 10 -------
 selfdrive/modeld/dmonitoringmodeld.py         | 30 ++++++++-----------
 .../modeld/models/dmonitoring_model.current   |  4 +--
 .../modeld/models/dmonitoring_model.onnx      |  4 +--
 .../modeld/models/dmonitoring_model_q.dlc     |  3 ++
 selfdrive/modeld/runners/onnxmodel.py         | 13 +++-----
 selfdrive/monitoring/helpers.py               |  4 +--
 .../process_replay/model_replay_ref_commit    |  2 +-
 selfdrive/test/test_onroad.py                 |  3 +-
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 system/manager/process_config.py              |  2 +-
 tinygrad_repo                                 |  2 +-
 14 files changed, 31 insertions(+), 53 deletions(-)
 delete mode 100755 selfdrive/modeld/dmonitoringmodeld
 create mode 100644 selfdrive/modeld/models/dmonitoring_model_q.dlc

diff --git a/.gitattributes b/.gitattributes
index eda2505d0e..8781a7371f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2,6 +2,7 @@
 
 # to move existing files into LFS:
 # git add --renormalize .
+*.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index d472998416..d572915c72 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -69,10 +69,6 @@ if arch == "larch64" or GetOption('pc_thneed'):
 
   lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
-  fn_dm = File("models/dmonitoring_model").abspath
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
-  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
-
   thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
   lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
deleted file mode 100755
index 80157e1751..0000000000
--- a/selfdrive/modeld/dmonitoringmodeld
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
-exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index d648a4511a..a388bf089c 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -6,7 +6,6 @@ import time
 import ctypes
 import numpy as np
 from pathlib import Path
-from setproctitle import setproctitle
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -15,18 +14,16 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid, CLContext
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
 
 CALIB_LEN = 3
+REG_SCALE = 0.25
 MODEL_WIDTH = 1440
 MODEL_HEIGHT = 960
-FEATURE_LEN = 512
-OUTPUT_SIZE = 84 + FEATURE_LEN
-
-PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
+OUTPUT_SIZE = 84
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
+  ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
   ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
 
 class DriverStateResult(ctypes.Structure):
@@ -52,22 +49,21 @@ class DMonitoringModelResult(ctypes.Structure):
     ("driver_state_lhd", DriverStateResult),
     ("driver_state_rhd", DriverStateResult),
     ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float),
-    ("features", ctypes.c_float*FEATURE_LEN)]
+    ("wheel_on_right_prob", ctypes.c_float)]
 
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   model: ModelRunner
 
-  def __init__(self, cl_ctx):
+  def __init__(self):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
     self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
       'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
       'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
     self.model.addInput("input_img", None)
     self.model.addInput("calib", self.inputs['calib'])
 
@@ -80,17 +76,17 @@ class ModelState:
     input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
     input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
 
-    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
     t1 = time.perf_counter()
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
     self.model.execute()
     t2 = time.perf_counter()
     return self.output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = list(ds_result.face_orientation)
+  msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
   msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = list(ds_result.face_position[:2])
+  msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
   msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
   msg.faceProb = sigmoid(ds_result.face_prob)
   msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
@@ -119,16 +115,14 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
 
 def main():
   gc.disable()
-  setproctitle(PROCESS_NAME)
   set_realtime_priority(1)
 
-  cl_context = CLContext()
-  model = ModelState(cl_context)
+  model = ModelState()
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
   Params().put_bool("DmModelInitialized", True)
 
   cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index 121871ef2b..f935ab06b3 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-fa69be01-b430-4504-9d72-7dcb058eb6dd
-d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
+5ec97a39-0095-4cea-adfa-6d72b1966cc1
+26cac7a9757a27c783a365403040a1bd27ccdaea
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dcc727510e..dd3a6aba2e 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
-size 7196502
+oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683
+size 16132780
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
new file mode 100644
index 0000000000..fc285954d4
--- /dev/null
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46
+size 4488449
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index 2145035a9f..69b44a5a97 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -14,12 +14,8 @@ def attributeproto_fp16_to_fp32(attr):
   attr.data_type = 1
   attr.raw_data = float32_list.astype(np.float32).tobytes()
 
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
+def convert_fp16_to_fp32(path):
+  model = onnx.load(path)
   for i in model.graph.initializer:
     if i.data_type == 10:
       attributeproto_fp16_to_fp32(i)
@@ -27,8 +23,6 @@ def convert_fp16_to_fp32(onnx_path_or_bytes):
     if i.type.tensor_type.elem_type == 10:
       i.type.tensor_type.elem_type = 1
   for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-        i.attribute[0].i = 1
     for a in i.attribute:
       if hasattr(a, 't'):
         if a.t.data_type == 10:
@@ -67,6 +61,7 @@ class ONNXModel(RunModel):
   def __init__(self, path, output, runtime, use_tf8, cl_context):
     self.inputs = {}
     self.output = output
+    self.use_tf8 = use_tf8
 
     self.session = create_ort_session(path, fp16_to_fp32=True)
     self.input_names = [x.name for x in self.session.get_inputs()]
@@ -90,7 +85,7 @@ class ONNXModel(RunModel):
     return None
 
   def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
+    inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
     inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
     outputs = self.session.run(None, inputs)
     assert len(outputs) == 1, "Only single model outputs are supported"
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 08cc049ab0..2a7979221a 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -33,8 +33,8 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.4
-    self._EE_THRESH12 = 15.0
+    self._EE_THRESH11 = 0.25
+    self._EE_THRESH12 = 7.5
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2c757dde11..66971ebde1 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-91d1089681f427a3916b42984d5df04eb94a0b90
+32fe8cf4a0daa8d10a689c9ae2e51a879151c87c
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 964848e3d3..5bc6bff1c2 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -32,7 +32,6 @@ CPU usage budget
 * total CPU usage of openpilot (sum(PROCS.values())
   should not exceed MAX_TOTAL_CPU
 """
-
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
@@ -313,7 +312,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
 
   def test_camera_processing_time(self):
     result = "\n"
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 3b9d65b85a..eb3a515b76 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -34,7 +34,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 98a875bf97..538c55813b 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -63,7 +63,7 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
diff --git a/tinygrad_repo b/tinygrad_repo
index 3e15fa0dae..f51aa0fc7c 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 3e15fa0daefae75e2ddef98f82be5b5d37820631
+Subproject commit f51aa0fc7cdbac710e640172db280cfb747d2718

From 20c983897baff67fed8667223cc5d08f87e71940 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 19 Sep 2024 20:57:42 -0700
Subject: [PATCH 0657/1243] camerad: set patch_offset

---
 system/camerad/cameras/spectra.cc | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index b8b8959f67..a02ec01d28 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -419,12 +419,6 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
     pkt->kmd_cmd_buf_offset = 0;
   }
 
-  // *** patches ***
-  {
-    pkt->num_patches = 0;
-    pkt->patch_offset = 0x0;
-  }
-
   // *** cmd buf ***
   {
     struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
@@ -545,6 +539,12 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
     io_cfg[0].framedrop_pattern = 0x1;
   }
 
+  // *** patches ***
+  {
+    pkt->num_patches = 0;
+    pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
+  }
+
   int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
   assert(ret == 0);
 }

From 3c5ed2f7160f8609695bcb13036f2e1714e53f23 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 19 Sep 2024 21:57:11 -0700
Subject: [PATCH 0658/1243] Longitudinal maneuver report: display pitch
 (#33610)

* export and fix platforms

* test

* display pitch

* Revert "test"

This reverts commit 80c57fda9afcb6e6cae002f54d8ffbe46c2feb01.

* Revert "export and fix platforms"

This reverts commit 614e62d775799a9af1e76ab9025dc96bbe1b83c6.

* add to top

* Revert "display pitch"

This reverts commit 5bad8c0be71aba914490848473782ed7c4a1ca83.
---
 tools/longitudinal_maneuvers/generate_report.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 36e2d3eecc..dff7a857bc 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -75,6 +75,9 @@ def report(platform, route, _description, CP, maneuvers):
           f.write(', <strong>not crossed</strong>')
         f.write('</h3>')
 
+        pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
+        f.write(f'<h3 style="font-weight: normal">Average pitch: <strong>{sum(pitches) / len(pitches):0.2f} degrees</strong></h3>')
+
         plt.rcParams['font.size'] = 40
         fig = plt.figure(figsize=(30, 26))
         ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})

From fe61b436b230637b9c54f15a7ab5535fd806f030 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 19 Sep 2024 21:58:00 -0700
Subject: [PATCH 0659/1243] fix import

---
 tools/longitudinal_maneuvers/generate_report.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index dff7a857bc..a396e51127 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -3,6 +3,7 @@ import argparse
 import base64
 import io
 import os
+import math
 import pprint
 from collections import defaultdict
 from pathlib import Path

From 48938098e0d15f3a1e91b68cbb91ced7209ba103 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 19 Sep 2024 22:09:53 -0700
Subject: [PATCH 0660/1243] Add modelExecutionTime to DrivingModelData (#33606)

* Add model execution time to DrivingModelData

* Update model replay ref commit

* Update ref commit again

* Ignore this field in model replay

* Back to original ref commit

* Bring back

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 cereal/log.capnp                                | 1 +
 selfdrive/modeld/fill_model_msg.py              | 1 +
 selfdrive/test/process_replay/model_replay.py   | 1 +
 selfdrive/test/process_replay/process_replay.py | 2 +-
 4 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index ddde5e4d16..75df44edec 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -887,6 +887,7 @@ struct DrivingModelData {
   frameId @0 :UInt32;
   frameIdExtra @1 :UInt32;
   frameDropPerc @6 :Float32;
+  modelExecutionTime @7 :Float32;
 
   action @2 :ModelDataV2.Action;
 
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 1c7ae49580..9cdd7e4c52 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -62,6 +62,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
+  driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 4402ca31d6..bb7c0b0a8e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -105,6 +105,7 @@ if __name__ == "__main__":
       ignore = [
         'logMonoTime',
         'drivingModelData.frameDropPerc',
+        'drivingModelData.modelExecutionTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index d94c1d1f52..59f6c6cc53 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -571,7 +571,7 @@ CONFIGS = [
     proc_name="modeld",
     pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
-    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
+    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,

From 580388e209630fc806fa9ed89aa7fe0c7bf0fcdd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 19 Sep 2024 22:10:07 -0700
Subject: [PATCH 0661/1243] Deprecate ModelDataV2.gpuExecutionTime (#33607)

Deprecate gpuExecutionTime
---
 cereal/log.capnp                      | 8 ++++----
 tools/latencylogger/README.md         | 2 +-
 tools/latencylogger/latency_logger.py | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 75df44edec..87be2ceb99 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -933,7 +933,6 @@ struct ModelDataV2 {
   frameDropPerc @2 :Float32;
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
-  gpuExecutionTime @17 :Float32;
   rawPredictions @16 :Data;
 
   # predicted future position, orientation, etc..
@@ -960,12 +959,13 @@ struct ModelDataV2 {
   # Model perceived motion
   temporalPose @21 :Pose;
 
+  # e2e lateral planner
+  action @26: Action;
+
+  gpuExecutionTimeDEPRECATED @17 :Float32;
   navEnabledDEPRECATED @22 :Bool;
   locationMonoTimeDEPRECATED @24 :UInt64;
-
-  # e2e lateral planner
   lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
-  action @26: Action;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
index 24169dfaef..110970308a 100644
--- a/tools/latencylogger/README.md
+++ b/tools/latencylogger/README.md
@@ -51,7 +51,7 @@ Frame ID: 1202
     Execution finished                                   63.002552
     modelV2 published                                    63.148747
     modelV2.modelExecutionTime                           23.62649142742157
-    modelV2.gpuExecutionTime                             0.0
+    modelV2.gpuExecutionTimeDEPRECATED                   0.0
   plannerd
     longitudinalPlan published                           69.715999
     longitudinalPlan.solverExecutionTime                 0.5619999719783664
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index f145cc35e4..32df0da4b5 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -23,7 +23,7 @@ MSGQ_TO_SERVICE = {
 }
 SERVICE_TO_DURATIONS = {
   'camerad': ['processingTime'],
-  'modeld': ['modelExecutionTime', 'gpuExecutionTime'],
+  'modeld': ['modelExecutionTime', 'gpuExecutionTimeDEPRECATED'],
   'plannerd': ['solverExecutionTime'],
 }
 

From 07f3f93bd9cc7617aa43d228403fd49376078545 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 21 Sep 2024 02:15:49 +0800
Subject: [PATCH 0662/1243] camerad: remove SpectraCamera inheritance from
 CameraState and simplify initialization (#33611)

remove inherit

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_qcom2.cc | 146 ++++++++++++-------------
 system/camerad/cameras/spectra.cc      |   6 +-
 system/camerad/cameras/spectra.h       |   3 +-
 3 files changed, 71 insertions(+), 84 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 97e4d9b756..1bbd8202b2 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -29,9 +29,10 @@ const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != nullptr;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
 
 
-// high level camera state
-class CameraState : public SpectraCamera {
+class CameraState {
 public:
+  SpectraCamera camera;
+  std::thread thread;
   int exposure_time = 5;
   bool dc_gain_enabled = false;
   int dc_gain_weight = 0;
@@ -49,27 +50,35 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : SpectraCamera(master, config) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
+  ~CameraState();
+  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
-
   void set_exposure_rect();
   void run();
 
   float get_gain_factor() const {
-    return (1 + dc_gain_weight * (sensor->dc_gain_factor-1) / sensor->dc_gain_max_weight);
+    return (1 + dc_gain_weight * (camera.sensor->dc_gain_factor-1) / camera.sensor->dc_gain_max_weight);
   }
+};
 
-  void init() {
-    fl_pix = cc.focal_len / sensor->pixel_size_mm;
-    set_exposure_rect();
+void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+  camera.camera_open(v, device_id, ctx);
 
-    dc_gain_weight = sensor->dc_gain_min_weight;
-    gain_idx = sensor->analog_gain_rec_idx;
-    cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * sensor->sensor_analog_gains[gain_idx] * exposure_time;
-  };
-};
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
+  set_exposure_rect();
 
+  dc_gain_weight = camera.sensor->dc_gain_min_weight;
+  gain_idx = camera.sensor->analog_gain_rec_idx;
+  cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time;
+
+  if (camera.enabled) thread = std::thread(&CameraState::run, this);
+}
+
+CameraState::~CameraState() {
+  if (thread.joinable()) thread.join();
+}
 
 void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
@@ -88,20 +97,20 @@ void CameraState::set_exposure_rect() {
       [0, 0, 1]
     ]
   */
-  auto ae_target = ae_targets[cc.camera_num];
+  auto ae_target = ae_targets[camera.cc.camera_num];
   Rect xywh_ref = ae_target.first;
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
 void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) {
-  float score = sensor->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx);
+  float score = camera.sensor->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx);
   if (score < best_ev_score) {
     new_exp_t = exp_t;
     new_exp_g = exp_g_idx;
@@ -110,7 +119,7 @@ void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_i
 }
 
 void CameraState::set_camera_exposure(float grey_frac) {
-  if (!enabled) return;
+  if (!camera.enabled) return;
   const float dt = 0.05;
 
   const float ts_grey = 10.0;
@@ -124,7 +133,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
   // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete
 
-  const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3];
+  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3];
+  const auto &sensor = camera.sensor;
 
   // Scale target grey between 0.1 and 0.4 depending on lighting conditions
   float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
@@ -194,72 +204,69 @@ void CameraState::set_camera_exposure(float grey_frac) {
   dc_gain_enabled = enable_dc_gain;
 
   float gain = analog_gain_frac * get_gain_factor();
-  cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
+  cur_ev[camera.buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
   // Processing a frame takes right about 50ms, so we need to wait a few ms
   // so we don't send i2c commands around the frame start.
-  int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000;
+  int ms = (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof) / 1000000;
   if (ms < 60) {
     util::sleep_for(60 - ms);
   }
-  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
+  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera.cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * camera.buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof));
 
   auto exp_reg_array = sensor->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled);
-  sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word);
+  camera.sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, camera.sensor->data_word);
 }
 
 void CameraState::run() {
-  util::set_thread_name(cc.publish_name);
+  util::set_thread_name(camera.cc.publish_name);
 
-  std::vector<const char*> pubs = {cc.publish_name};
-  if (cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail");
+  std::vector<const char*> pubs = {camera.cc.publish_name};
+  if (camera.cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail");
   PubMaster pm(pubs);
 
   for (uint32_t cnt = 0; !do_exit; ++cnt) {
     // Acquire the buffer; continue if acquisition fails
-    if (!buf.acquire(exposure_time)) continue;
+    if (!camera.buf.acquire(exposure_time)) continue;
 
     MessageBuilder msg;
-    auto framed = (msg.initEvent().*cc.init_camera_state)();
-    framed.setFrameId(buf.cur_frame_data.frame_id);
-    framed.setRequestId(buf.cur_frame_data.request_id);
-    framed.setTimestampEof(buf.cur_frame_data.timestamp_eof);
-    framed.setTimestampSof(buf.cur_frame_data.timestamp_sof);
+    auto framed = (msg.initEvent().*camera.cc.init_camera_state)();
+    const FrameMetadata &meta = camera.buf.cur_frame_data;
+    framed.setFrameId(meta.frame_id);
+    framed.setRequestId(meta.request_id);
+    framed.setTimestampEof(meta.timestamp_eof);
+    framed.setTimestampSof(meta.timestamp_sof);
     framed.setIntegLines(exposure_time);
     framed.setGain(analog_gain_frac * get_gain_factor());
     framed.setHighConversionGain(dc_gain_enabled);
     framed.setMeasuredGreyFraction(measured_grey_fraction);
     framed.setTargetGreyFraction(target_grey_fraction);
-    framed.setProcessingTime(buf.cur_frame_data.processing_time);
+    framed.setProcessingTime(meta.processing_time);
 
-    const float ev = cur_ev[buf.cur_frame_data.frame_id % 3];
-    const float perc = util::map_val(ev, sensor->min_ev, sensor->max_ev, 0.0f, 100.0f);
+    const float ev = cur_ev[meta.frame_id % 3];
+    const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f);
     framed.setExposureValPercent(perc);
-    framed.setSensor(sensor->image_sensor);
+    framed.setSensor(camera.sensor->image_sensor);
 
     // Log raw frames for road camera
-    if (env_log_raw_frames && cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
-      framed.setImage(get_raw_frame_image(&buf));
+    if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
+      framed.setImage(get_raw_frame_image(&camera.buf));
     }
 
     // Process camera registers and set camera exposure
-    sensor->processRegisters((uint8_t *)buf.cur_camera_buf->addr, framed);
-    set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
+    camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed);
+    set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message
-    pm.send(cc.publish_name, msg);
-    if (cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
-      publish_thumbnail(&pm, &buf);  // this takes 10ms???
+    pm.send(camera.cc.publish_name, msg);
+    if (camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
+      publish_thumbnail(&pm, &camera.buf);  // this takes 10ms???
     }
   }
 }
 
 void camerad_thread() {
-  /*
-    TODO: future cleanups
-    - centralize enabled handling
-    - open/init/etc mess
-  */
+  // TODO: centralize enabled handling
 
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
   const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
@@ -272,34 +279,23 @@ void camerad_thread() {
   m.init();
 
   // *** per-cam init ***
-  std::vector<CameraState*> cams = {
-   new CameraState(&m, ROAD_CAMERA_CONFIG),
-   new CameraState(&m, WIDE_ROAD_CAMERA_CONFIG),
-   new CameraState(&m, DRIVER_CAMERA_CONFIG),
-  };
-  for (auto cam : cams) cam->camera_open();
-  for (auto cam : cams) cam->camera_init(&v, device_id, ctx);
-  for (auto cam : cams) cam->init();
-  v.start_listener();
-
-  LOG("-- Starting threads");
-  std::vector<std::thread> threads;
-  for (auto cam : cams) {
-    if (cam->enabled) threads.emplace_back(&CameraState::run, cam);
+  std::vector<std::unique_ptr<CameraState>> cams;
+  for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
+    auto cam = std::make_unique<CameraState>(&m, config);
+    cam->init(&v, device_id ,ctx);
+    cams.emplace_back(std::move(cam));
   }
 
+  v.start_listener();
+
   // start devices
   LOG("-- Starting devices");
-  for (auto cam : cams) cam->sensors_start();
+  for (auto &cam : cams) cam->camera.sensors_start();
 
   // poll events
   LOG("-- Dequeueing Video events");
   while (!do_exit) {
-    struct pollfd fds[1] = {{0}};
-
-    fds[0].fd = m.video0_fd;
-    fds[0].events = POLLPRI;
-
+    struct pollfd fds[1] = {{.fd = m.video0_fd, .events = POLLPRI}};
     int ret = poll(fds, std::size(fds), 1000);
     if (ret < 0) {
       if (errno == EINTR || errno == EAGAIN) continue;
@@ -320,9 +316,9 @@ void camerad_thread() {
           do_exit = do_exit || event_data->u.frame_msg.frame_id > (1*20);
         }
 
-        for (auto cam : cams) {
-          if (event_data->session_hdl == cam->session_handle) {
-            cam->handle_camera_event(event_data);
+        for (auto &cam : cams) {
+          if (event_data->session_hdl == cam->camera.session_handle) {
+            cam->camera.handle_camera_event(event_data);
             break;
           }
         }
@@ -333,8 +329,4 @@ void camerad_thread() {
       LOGE("VIDIOC_DQEVENT failed, errno=%d", errno);
     }
   }
-
-  LOG(" ************** STOPPING **************");
-  for (auto &t : threads) t.join();
-  for (auto cam : cams) delete cam;
 }
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index a02ec01d28..6e967b60cc 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -218,7 +218,7 @@ int SpectraCamera::clear_req_queue() {
   return ret;
 }
 
-void SpectraCamera::camera_open() {
+void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
   if (!openSensor()) {
@@ -229,10 +229,6 @@ void SpectraCamera::camera_open() {
   configISP();
   configCSIPHY();
   linkDevices();
-}
-
-void SpectraCamera::camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  if (!enabled) return;
 
   LOGD("camera init %d", cc.camera_num);
   buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index a42540cc8f..9dd9f0341d 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -63,11 +63,10 @@ public:
   SpectraCamera(SpectraMaster *master, const CameraConfig &config);
   ~SpectraCamera();
 
-  void camera_open();
+  void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
-  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx);
 
   int clear_req_queue();

From 8d50970aefb3057cf5325d2535851c6f83a19d03 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 20 Sep 2024 14:42:21 -0700
Subject: [PATCH 0663/1243] New steer limit warning (#33608)

* New steer limit

* Update selfdrived.py

* Update selfdrived.py

* Update selfdrived.py

* Update ref
---
 selfdrive/selfdrived/selfdrived.py       | 34 ++++++++----------------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 12 insertions(+), 24 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 4559c82bd6..18ac61dec8 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -17,6 +17,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
+from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED
 
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
@@ -304,30 +305,17 @@ class SelfdriveD:
     if CS.steeringPressed:
       self.last_steering_pressed_frame = self.sm.frame
     recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
-    lac = getattr(self.sm['controlsState'].lateralControlState, self.sm['controlsState'].lateralControlState.which())
+    controlstate = self.sm['controlsState']
+    lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which())
     if lac.active and not recent_steer_pressed and not self.CP.notCar:
-      if self.CP.lateralTuning.which() == 'torque':
-        undershooting = abs(lac.desiredLateralAccel) / abs(1e-3 + lac.actualLateralAccel) > 1.2
-        turning = abs(lac.desiredLateralAccel) > 1.0
-        good_speed = CS.vEgo > 5
-        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
-        if undershooting and turning and good_speed and max_torque:
-          self.events.add(EventName.steerSaturated)
-      elif lac.saturated:
-        # TODO probably should not use dpath_points but curvature
-        dpath_points = self.sm['modelV2'].position.y
-        if len(dpath_points):
-          # Check if we deviated from the path
-          # TODO use desired vs actual curvature
-          if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-            steering_value = self.sm['carControl'].actuators.steeringAngleDeg
-          else:
-            steering_value = self.sm['carControl'].actuators.steer
-
-          left_deviation = steering_value > 0 and dpath_points[0] < -0.20
-          right_deviation = steering_value < 0 and dpath_points[0] > 0.20
-          if left_deviation or right_deviation:
-            self.events.add(EventName.steerSaturated)
+      clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED)
+      actual_lateral_accel = controlstate.curvature * (clipped_speed**2)
+      desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2)
+      undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
+      turning = abs(desired_lateral_accel) > 1.0
+      good_speed = CS.vEgo > 5
+      if undershooting and turning and good_speed and lac.saturated:
+        self.events.add(EventName.steerSaturated)
 
     # Check for FCW
     stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e08f65f499..04b3c0a6fd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dbaa29106eb93267699c822e4937126b4307805a
\ No newline at end of file
+96c2e2ab2e3a11476f1207c531893cc8e45d2b3c

From b2976631d283c54a3343fbf81a7f667ed030e398 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 20 Sep 2024 15:00:34 -0700
Subject: [PATCH 0664/1243] onnxmodel fp16_to_fp32: misc improvements (#33615)

---
 selfdrive/modeld/runners/onnxmodel.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index 69b44a5a97..a570e34305 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -14,8 +14,12 @@ def attributeproto_fp16_to_fp32(attr):
   attr.data_type = 1
   attr.raw_data = float32_list.astype(np.float32).tobytes()
 
-def convert_fp16_to_fp32(path):
-  model = onnx.load(path)
+def convert_fp16_to_fp32(onnx_path_or_bytes):
+  if isinstance(onnx_path_or_bytes, bytes):
+    model = onnx.load_from_string(onnx_path_or_bytes)
+  elif isinstance(onnx_path_or_bytes, str):
+    model = onnx.load(onnx_path_or_bytes)
+
   for i in model.graph.initializer:
     if i.data_type == 10:
       attributeproto_fp16_to_fp32(i)
@@ -23,6 +27,8 @@ def convert_fp16_to_fp32(path):
     if i.type.tensor_type.elem_type == 10:
       i.type.tensor_type.elem_type = 1
   for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
     for a in i.attribute:
       if hasattr(a, 't'):
         if a.t.data_type == 10:

From 0c0b6588649ea04ae2ab221ad3a2088bc7020895 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 20 Sep 2024 16:54:17 -0700
Subject: [PATCH 0665/1243] Lexus ES TSS2: reduce longitudinal integral and
 compensate for road pitch (#33616)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index b937eefca1..0771622149 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b937eefca19a70f38ddd2a9ffbc9d331f581ec9d
+Subproject commit 07716221498c17e1f8fd4252868fb6250e23141d

From 6fff91d91e1995db1a2c9fcb7486a7dd4840a872 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 21 Sep 2024 00:55:42 +0000
Subject: [PATCH 0666/1243] new tici updater build

---
 system/hardware/tici/updater | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 11ce7809d0..23cdc140f4 100755
--- a/system/hardware/tici/updater
+++ b/system/hardware/tici/updater
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8db3f973663e59921fcc9e5d5600a346c1e229a2e8481a874ef996d97303dc4e
-size 16631712
+oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
+size 10448792

From 2b37624deee846ce425df40b5a44746249854861 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 23 Sep 2024 05:11:59 +0800
Subject: [PATCH 0667/1243] encoderd: use const reference for VisionBuf access
 (#33621)

use const reference for VisionBuf access
---
 system/loggerd/encoderd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 4186e13ef1..feb9a921ec 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -59,7 +59,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
 
     // init encoders
     if (encoders.empty()) {
-      VisionBuf buf_info = vipc_client.buffers[0];
+      const VisionBuf &buf_info = vipc_client.buffers[0];
       LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height);
       assert(buf_info.width > 0 && buf_info.height > 0);
 

From 0bdad1fee07acaa2d91a8d6d2aee8be5a8355e35 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 23 Sep 2024 05:12:07 +0800
Subject: [PATCH 0668/1243] loggerd: direct Initialize params instead of copy
 (#33622)

Direct Initialize Instead of Copy
---
 system/loggerd/logger.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 8234cd84ad..213aa69d3e 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -40,7 +40,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   init.setOsVersion(util::read_file("/VERSION"));
 
   // log params
-  auto params = Params(util::getenv("PARAMS_COPY_PATH", ""));
+  Params params(util::getenv("PARAMS_COPY_PATH", ""));
   std::map<std::string, std::string> params_map = params.readAll();
 
   init.setGitCommit(params_map["GitCommit"]);

From 312a1b2a6565c98bfc237deede4fe5ada20f8690 Mon Sep 17 00:00:00 2001
From: Robin Reckmann <robin.reckmann@gmail.com>
Date: Mon, 23 Sep 2024 06:15:01 +0900
Subject: [PATCH 0669/1243] camerad: fix: Explicitly include necessary headers
 (#33623)

camerad: Explicitly include necessary headers
---
 system/camerad/cameras/spectra.h  | 2 ++
 system/camerad/sensors/ar0231.cc  | 1 +
 system/camerad/sensors/os04c10.cc | 2 ++
 system/camerad/sensors/ox03c10.cc | 2 ++
 4 files changed, 7 insertions(+)

diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 9dd9f0341d..e9e83ddb38 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -1,6 +1,8 @@
 #pragma once
 
+#include <functional>
 #include <memory>
+#include <optional>
 #include <utility>
 
 #include "media/cam_req_mgr.h"
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index ce8b0c0a4b..db709e355a 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -1,4 +1,5 @@
 #include <cassert>
+#include <cmath>
 
 #include "common/swaglog.h"
 #include "system/camerad/sensors/sensor.h"
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index e651d6ff7a..a741aaf4fe 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,3 +1,5 @@
+#include <cmath>
+
 #include "system/camerad/sensors/sensor.h"
 
 namespace {
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 94efa0ea24..80b9c79212 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,3 +1,5 @@
+#include <cmath>
+
 #include "system/camerad/sensors/sensor.h"
 
 namespace {

From d5039bcbbe80a0de030cbc415ff317aba30a0308 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 22 Sep 2024 14:24:37 -0700
Subject: [PATCH 0670/1243] camerad: reduce internal ISP buffer count (#33619)

---
 system/camerad/cameras/spectra.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 6e967b60cc..6e855f08e8 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -711,8 +711,7 @@ void SpectraCamera::configISP() {
   LOGD("acquire isp dev");
 
   // config ISP
-  // TODO: unclear where this 15 comes from
-  alloc_w_mmu_hdl(m->video0_fd, 15*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment,
+  alloc_w_mmu_hdl(m->video0_fd, FRAME_BUF_COUNT*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment,
                   CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                   m->device_iommu, m->cdm_iommu);
   config_isp(0, 0, 1, 0);

From 62d044c794f8e000ab1410333e6ffe99a58bbabd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 22 Sep 2024 15:49:12 -0700
Subject: [PATCH 0671/1243] camerad: IFE config definitions (#33624)

* camerad: more definitions for IFE config

* comment
---
 system/camerad/cameras/spectra.cc | 18 +++++++++++-------
 system/camerad/cameras/spectra.h  | 11 +++++++++--
 2 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 6e855f08e8..ef771a64b7 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -302,7 +302,7 @@ int SpectraCamera::sensors_init() {
   auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = -1;
-  pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
+  pkt->header.op_code = CSLDeviceTypeImageSensor | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
   pkt->header.size = size;
   struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
 
@@ -391,7 +391,11 @@ int SpectraCamera::sensors_init() {
   return ret;
 }
 
-void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx) {
+void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx) {
+  /*
+    Handles initial + per-frame IFE config.
+    IFE = Image Front End
+  */
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);
@@ -401,10 +405,10 @@ void SpectraCamera::config_isp(int io_mem_handle, int fence, int request_id, int
   auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
 
   if (io_mem_handle != 0) {
-    pkt->header.op_code = 0xf000001;
+    pkt->header.op_code =  CSLDeviceTypeIFE | OpcodesIFEUpdate;  // 0xf000001
     pkt->header.request_id = request_id;
   } else {
-    pkt->header.op_code = 0xf000000;
+    pkt->header.op_code = CSLDeviceTypeIFE | OpcodesIFEInitialConfig; // 0xf000000
     pkt->header.request_id = 1;
   }
   pkt->header.size = size;
@@ -595,7 +599,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   sensors_poke(request_id);
 
   // submit request to the ife
-  config_isp(buf_handle[i], sync_objs[i], request_id, i);
+  config_ife(buf_handle[i], sync_objs[i], request_id, i);
 }
 
 void SpectraCamera::camera_map_bufs() {
@@ -710,11 +714,11 @@ void SpectraCamera::configISP() {
   isp_dev_handle = *isp_dev_handle_;
   LOGD("acquire isp dev");
 
-  // config ISP
+  // config IFE
   alloc_w_mmu_hdl(m->video0_fd, FRAME_BUF_COUNT*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment,
                   CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                   m->device_iommu, m->cdm_iommu);
-  config_isp(0, 0, 1, 0);
+  config_ife(0, 0, 1, 0);
 }
 
 void SpectraCamera::configCSIPHY() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index e9e83ddb38..5796f47098 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -16,10 +16,17 @@
 
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
-// For use with the Spectra 280 ISP in the SDM845
+// For use with the Titan 170 ISP in the SDM845
 // https://github.com/commaai/agnos-kernel-sdm845
 
 
+// CSLDeviceType/CSLPacketOpcodesIFE from camx
+// cam_packet_header.op_code = (device << 24) | (opcode);
+#define CSLDeviceTypeImageSensor (0x1 << 24)
+#define CSLDeviceTypeIFE         (0xF << 24)
+#define OpcodesIFEInitialConfig  0x0
+#define OpcodesIFEUpdate         0x1
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
@@ -69,7 +76,7 @@ public:
   void handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
-  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_idx);
+  void config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx);
 
   int clear_req_queue();
   void enqueue_buffer(int i, bool dp);

From 900c2c83bd446b49bae35548b7403195e3a8670a Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Mon, 23 Sep 2024 16:39:36 -0400
Subject: [PATCH 0672/1243] docs: car port info cleanup (#33630)

* GC, now duplicated and out of place

* typo fix

* link to official video with better slides

* expansion and cleanup
---
 docs/car-porting/what-is-a-car-port.md | 31 ++++++++++++++++++++------
 selfdrive/car/README.md                | 19 ----------------
 2 files changed, 24 insertions(+), 26 deletions(-)
 delete mode 100644 selfdrive/car/README.md

diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md
index 622fe9e75e..55cce94da1 100644
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/car-porting/what-is-a-car-port.md
@@ -1,22 +1,39 @@
 # What is a car port?
 
-A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/car_specific.py` and `opendbc_repo/opendbc/car`.
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including:
 
-The complexity of a car port varies depending on many factors including:
 * existing openpilot support for similar cars
 * architecture and APIs available in the car
 
 
 # Structure of a car port
+
+Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
+
+## opendbc
+
+Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`:
+
 * `interface.py`: Interface for the car, defines the CarInterface class
-* `carstate.py`: Reads CAN from car and builds openpilot CarState message
-* `carcontroller.py`: Builds CAN messages to send to car
+* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages
+* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car
+* `[brand]can.py`: Composes CAN messages for carcontroller to send
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
-* `radar_interface.py`: Interface for parsing radar points from the car
+* `radar_interface.py`: Interface for parsing radar points from the car, if applicable
+
+## panda
+
+* `board/safety/safety_[brand].h`: Brand-specific safety logic
+* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
+
+## openpilot
+
+For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
 
+* `selfdrive/car/car_specific.py`: Brand-specific event logic
 
-# Overiew
+# Overview
 
 [Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
 
-https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
+https://www.youtube.com/watch?v=XxPS5TpTUnI
diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md
deleted file mode 100644
index 2c49cf2051..0000000000
--- a/selfdrive/car/README.md
+++ /dev/null
@@ -1,19 +0,0 @@
-## Car port structure
-
-### interface.py
-Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
-
-### fingerprints.py
-Fingerprints for matching to a specific car
-
-### carcontroller.py
-Builds CAN messages to send to car
-
-##### carstate.py
-Reads CAN from car and builds openpilot CarState message
-
-##### values.py
-Limits for actuation, general constants for cars, and supported car documentation
-
-##### radar_interface.py
-Interface for parsing radar points from the car

From caa33c319358f9cc0ac58c3a2ec206d4b0fdd608 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 24 Sep 2024 04:48:24 +0800
Subject: [PATCH 0673/1243] ui: refactor hud updating and rendering into
 HudRenderer class  (#33458)

refactor hud updating and rendering into DriverMonitorRenderer class
---
 selfdrive/ui/SConscript                    |   2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc |  92 +----------------
 selfdrive/ui/qt/onroad/annotated_camera.h  |  15 +--
 selfdrive/ui/qt/onroad/hud.cc              | 109 +++++++++++++++++++++
 selfdrive/ui/qt/onroad/hud.h               |  23 +++++
 selfdrive/ui/translations/main_ar.ts       |  30 +++---
 selfdrive/ui/translations/main_de.ts       |  30 +++---
 selfdrive/ui/translations/main_es.ts       |  30 +++---
 selfdrive/ui/translations/main_fr.ts       |  30 +++---
 selfdrive/ui/translations/main_ja.ts       |  30 +++---
 selfdrive/ui/translations/main_ko.ts       |  30 +++---
 selfdrive/ui/translations/main_pt-BR.ts    |  30 +++---
 selfdrive/ui/translations/main_th.ts       |  30 +++---
 selfdrive/ui/translations/main_tr.ts       |  30 +++---
 selfdrive/ui/translations/main_zh-CHS.ts   |  30 +++---
 selfdrive/ui/translations/main_zh-CHT.ts   |  30 +++---
 16 files changed, 302 insertions(+), 269 deletions(-)
 create mode 100644 selfdrive/ui/qt/onroad/hud.cc
 create mode 100644 selfdrive/ui/qt/onroad/hud.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 1ea4d44dc4..da652f7bfd 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -31,7 +31,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index c528501cbe..fd8ad19c2e 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -6,7 +6,6 @@
 #include <cmath>
 
 #include "common/swaglog.h"
-#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/util.h"
 
 // Window that shows camera view and variety of info drawn on top
@@ -23,98 +22,11 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *par
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
-  const int SET_SPEED_NA = 255;
-  const SubMaster &sm = *(s.sm);
-
-  const bool cs_alive = sm.alive("carState");
-  const auto cs = sm["controlsState"].getControlsState();
-  const auto car_state = sm["carState"].getCarState();
-
-  is_metric = s.scene.is_metric;
-
-  // Handle older routes where vCruise was in controlsState
-  float v_cruise = car_state.getVCruiseCluster() == 0.0 ? cs.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
-  setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
-  is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
-  if (is_cruise_set && !is_metric) {
-    setSpeed *= KM_TO_MILE;
-  }
-
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  status = s.status;
-
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
-
-  // update DM icon
   dmon.updateState(s);
 }
 
-void AnnotatedCameraWidget::drawHud(QPainter &p) {
-  p.save();
-
-  // Header gradient
-  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
-  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
-  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
-  p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
-
-  QString speedStr = QString::number(std::nearbyint(speed));
-  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
-
-  // Draw outer box + border to contain set speed
-  const QSize default_size = {172, 204};
-  QSize set_speed_size = default_size;
-  if (is_metric) set_speed_size.rwidth() = 200;
-
-  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-  p.setPen(QPen(whiteColor(75), 6));
-  p.setBrush(blackColor(166));
-  p.drawRoundedRect(set_speed_rect, 32, 32);
-
-  // Draw MAX
-  QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
-  QColor set_speed_color = whiteColor();
-  if (is_cruise_set) {
-    if (status == STATUS_DISENGAGED) {
-      max_color = whiteColor();
-    } else if (status == STATUS_OVERRIDE) {
-      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    }
-  } else {
-    max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
-    set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
-  }
-  p.setFont(InterFont(40, QFont::DemiBold));
-  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
-  p.setFont(InterFont(90, QFont::Bold));
-  p.setPen(set_speed_color);
-  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
-
-  // current speed
-  p.setFont(InterFont(176, QFont::Bold));
-  drawText(p, rect().center().x(), 210, speedStr);
-  p.setFont(InterFont(66));
-  drawText(p, rect().center().x(), 290, speedUnit, 200);
-
-  p.restore();
-}
-
-void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
-
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -333,8 +245,8 @@ void AnnotatedCameraWidget::paintGL() {
   }
 
   dmon.draw(painter, rect());
-
-  drawHud(painter);
+  hud.updateState(*s);
+  hud.draw(painter, rect());
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 3820de5d86..324a6d7458 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -2,7 +2,7 @@
 
 #include <QVBoxLayout>
 #include <memory>
-
+#include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
@@ -15,18 +15,10 @@ public:
   void updateState(const UIState &s);
 
 private:
-  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-
   QVBoxLayout *main_layout;
   ExperimentalButton *experimental_btn;
   DriverMonitorRenderer dmon;
-  float speed;
-  QString speedUnit;
-  float setSpeed;
-  bool is_cruise_set = false;
-  bool is_metric = false;
-  bool v_ego_cluster_seen = false;
-  int status = STATUS_DISENGAGED;
+  HudRenderer hud;
   std::unique_ptr<PubMaster> pm;
 
   int skip_frame_count = 0;
@@ -39,10 +31,7 @@ protected:
   mat4 calcFrameMatrix() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  void drawHud(QPainter &p);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
-  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
-  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
new file mode 100644
index 0000000000..ebd95dab43
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -0,0 +1,109 @@
+#include "selfdrive/ui/qt/onroad/hud.h"
+
+#include <cmath>
+
+#include "selfdrive/ui/qt/util.h"
+
+constexpr int SET_SPEED_NA = 255;
+
+HudRenderer::HudRenderer() {}
+
+void HudRenderer::updateState(const UIState &s) {
+  is_metric = s.scene.is_metric;
+  status = s.status;
+
+  const SubMaster &sm = *(s.sm);
+  if (!sm.alive("carState")) {
+    is_cruise_set = false;
+    set_speed = SET_SPEED_NA;
+    speed = 0.0;
+    return;
+  }
+
+  const auto &controls_state = sm["controlsState"].getControlsState();
+  const auto &car_state = sm["carState"].getCarState();
+
+  // Handle older routes where vCruiseCluster is not set
+  set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
+  is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA;
+
+  if (is_cruise_set && !is_metric) {
+    set_speed *= KM_TO_MILE;
+  }
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
+}
+
+void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
+  p.save();
+
+  // Draw header gradient
+  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
+  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
+  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
+  p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
+
+
+  drawSetSpeed(p, surface_rect);
+  drawCurrentSpeed(p, surface_rect);
+
+  p.restore();
+}
+
+void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
+  // Draw outer box + border to contain set speed
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+  // Draw set speed box
+  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+  p.setBrush(QColor(0, 0, 0, 166));
+  p.drawRoundedRect(set_speed_rect, 32, 32);
+
+  // Colors based on status
+  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
+  QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
+  if (is_cruise_set) {
+    if (status == STATUS_DISENGAGED) {
+      max_color = QColor(255, 255, 255);
+    } else if (status == STATUS_OVERRIDE) {
+      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
+    } else {
+      max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+      set_speed_color = QColor(255, 255, 255);
+    }
+  }
+
+  // Draw "MAX" text
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+
+  // Draw set speed
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+}
+
+void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) {
+  QString speedStr = QString::number(std::nearbyint(speed));
+
+  p.setFont(InterFont(176, QFont::Bold));
+  drawText(p, surface_rect.center().x(), 210, speedStr);
+
+  p.setFont(InterFont(66));
+  drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+}
+
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h
new file mode 100644
index 0000000000..9151b23a4d
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/hud.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <QPainter>
+#include "selfdrive/ui/ui.h"
+
+class HudRenderer : public QObject {
+public:
+  HudRenderer();
+  void updateState(const UIState &s);
+  void draw(QPainter &p, const QRect &surface_rect);
+
+private:
+  void drawSetSpeed(QPainter &p, const QRect &surface_rect);
+  void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
+  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
+
+  float speed = 0;
+  float set_speed = 0;
+  bool is_cruise_set = false;
+  bool is_metric = false;
+  bool v_ego_cluster_seen = false;
+  int status = STATUS_DISENGAGED;
+};
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index d73a5771fd..5f254e9cd4 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -87,21 +87,6 @@
         <translation>من أجل &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>كم/س</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>ميل/س</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>تشغيل وضع الراحة</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>كم/س</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>ميل/س</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 8ad55be666..4f5997228a 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -87,21 +87,6 @@
         <translation type="unfinished">für &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>ENTSPANNTER MODUS AN</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 510a2d98e0..fa50f33f15 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -87,21 +87,6 @@
         <translation>para &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>MODO CHILL</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 80cca809e0..566ed32f11 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -87,21 +87,6 @@
         <translation>pour &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mi/h</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>MODE DÉTENTE ACTIVÉ</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mi/h</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 2b8f7d2429..90c8aba00b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -87,21 +87,6 @@
         <translation type="unfinished">ﾈｯﾄﾜｰｸ名：%1</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高速度</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>チルモード</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高速度</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 935342d546..6d01b1289f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -87,21 +87,6 @@
         <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>안정 모드 사용</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 1c1ebff15b..ba50e97141 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -87,21 +87,6 @@
         <translation>para &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>LIMITE</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>MODO CHILL ON</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>LIMITE</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 06841222cc..6d89c049b1 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -87,21 +87,6 @@
         <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>กม./ชม.</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>ไมล์/ชม.</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>สูงสุด</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>คุณกำลังใช้โหมดชิล</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>กม./ชม.</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>ไมล์/ชม.</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>สูงสุด</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index f934b9d9cc..663ad8c281 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -87,21 +87,6 @@
         <translation type="unfinished">için &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation type="unfinished">km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation type="unfinished">mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation type="unfinished">MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index d900202515..494b1bc170 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -87,21 +87,6 @@
         <translation>网络名称：&quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高定速</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>轻松模式运行</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 91b1cf3866..7ce6ac6d20 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -87,21 +87,6 @@
         <translation>給 &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>輕鬆模式 ON</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

From e8bea2c78ffa92685ece511e9b554122aaf1a79d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 23 Sep 2024 14:26:28 -0700
Subject: [PATCH 0674/1243] Tomb Raider Model (#33629)

* 69acff08-5383-4103-beea-822f0d228c76/160

* 53f39907-4763-4d19-ba26-e757527c2b61/200

* 21afb89f-1397-4652-b423-abc2da32417a/200

* 21afb89f-1397-4652-b423-abc2da32417a/400

* 53f39907-4763-4d19-ba26-e757527c2b61/400

* 3fb967fd-16a8-4569-ba57-359e54deeab3/395

* Try other policy again

* 3fb967fd-16a8-4569-ba57-359e54deeab3/400

* 0136cabf-539a-4a43-bc7f-06c3654a493c/4400

* 473c0686-1ac9-4c05-9b0b-d1f1afdb6cc3/400

* 83b7993d-51a9-4e3f-904e-3fcd5763c231/400

* 021566c7-cff3-431d-8da2-17a96c888c5f/400

* Fix bugs

* Update longitudinal_planner.py

* Update fill_model_msg.py

* 8be6b59d-4449-42fd-b8e0-93c48387070f/400

* f670a748-3591-4489-a0b3-215118ddad01/400

* 790a2950-c713-4eec-838b-4f55f4fe0ccb/400

* Update model ref

* Plans start at ego

* Update ref
---
 selfdrive/controls/lib/drive_helpers.py               | 4 ++--
 selfdrive/controls/radard.py                          | 4 ++--
 selfdrive/modeld/fill_model_msg.py                    | 7 -------
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/modeld/parse_model_outputs.py               | 1 -
 selfdrive/test/longitudinal_maneuvers/plant.py        | 1 +
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 selfdrive/test/process_replay/ref_commit              | 2 +-
 8 files changed, 9 insertions(+), 16 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 64cbf473d6..369aeaf984 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -22,7 +22,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
-  if len(modelV2.temporalPose.trans):
-    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+  if len(modelV2.velocity.x):
+    vel_err = clip(modelV2.velocity.x[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index f577025fa4..a5987b4bcc 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -243,8 +243,8 @@ class RadarD:
     self.radar_state.radarErrors = list(rr.errors)
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
-    if len(sm['modelV2'].temporalPose.trans):
-      model_v_ego = sm['modelV2'].temporalPose.trans[0]
+    if len(sm['modelV2'].velocity.x):
+      model_v_ego = sm['modelV2'].velocity.x[0]
     else:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 9cdd7e4c52..18dd9c7bac 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -168,13 +168,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
     (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
   meta.hardBrakePredicted = hard_brake_predicted.item()
 
-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
-
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 2e1a60a23e..111cb76dbb 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
-size 51453312
+oid sha256:d42319e42e8ba1a818c845ee0c687ece6afd98e59fef142895be33dd230974c2
+size 62481231
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 03d03c5e1c..d57b6eab3f 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -87,7 +87,6 @@ class Parser:
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 85e2ddf8df..21f2b3b57f 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -107,6 +107,7 @@ class Plant:
     model.modelV2.position = position
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
+    velocity.x[0] = float(self.speed) # always start at current speed
     model.modelV2.velocity = velocity
     acceleration = log.XYZTData.new_message()
     acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 66971ebde1..315a15975b 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-32fe8cf4a0daa8d10a689c9ae2e51a879151c87c
+f0504b66f3f736b5bea39cc01e1a073e3be95659
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 04b3c0a6fd..e154284e3d 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-96c2e2ab2e3a11476f1207c531893cc8e45d2b3c
+d8a02c23f530dd236553b47ff7f0355929fe15fc

From 35581d31ebf4ffa228ab100decc393b446a5e3ce Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Mon, 23 Sep 2024 15:32:08 -0700
Subject: [PATCH 0675/1243] update bounties link in `CONTRIBUTING.md` (#33631)

---
 docs/CONTRIBUTING.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index c66b20c88e..d455fa6fd3 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 
 ### First contribution
 
-[Bounties](https://comma.ai/bounties) are the best place to get started.
+[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
 There's lot of bounties that don't require a comma 3/3X or a car.
 
 ## Pull Requests

From 23b1f2d646cf5e9dcdded7a264b69399d9e39867 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 23 Sep 2024 18:16:14 -0700
Subject: [PATCH 0676/1243] fix set speed color (#33634)

color
---
 selfdrive/ui/qt/onroad/hud.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index ebd95dab43..50b563b228 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -68,13 +68,13 @@ void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
   QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
   QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
   if (is_cruise_set) {
+    set_speed_color = QColor(255, 255, 255);
     if (status == STATUS_DISENGAGED) {
       max_color = QColor(255, 255, 255);
     } else if (status == STATUS_OVERRIDE) {
       max_color = QColor(0x91, 0x9b, 0x95, 0xff);
     } else {
       max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
-      set_speed_color = QColor(255, 255, 255);
     }
   }
 

From 73013bc6d62ffe4a3553b0ae0606e254b12a3aa0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 23 Sep 2024 18:39:42 -0700
Subject: [PATCH 0677/1243] Lexus ES TSS2: reduce braking overshoot (#33628)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 0771622149..0b7648ad2c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 07716221498c17e1f8fd4252868fb6250e23141d
+Subproject commit 0b7648ad2cb048b5f55a338dbd26cada01671124

From 251e2e94002494dbcad109245339991940779d36 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 23 Sep 2024 19:06:52 -0700
Subject: [PATCH 0678/1243] Clip sigmoid overlfow (#33635)

* No more C sigmoid

* Clipping

* Need to cast to float

* Update ref

* Clip

* Model refg
---
 selfdrive/modeld/dmonitoringmodeld.py         | 24 +++++++++----------
 selfdrive/modeld/models/commonmodel.cc        |  6 +----
 selfdrive/modeld/models/commonmodel.h         |  2 --
 selfdrive/modeld/models/commonmodel.pxd       |  2 --
 selfdrive/modeld/models/commonmodel_pyx.pyx   |  4 +---
 selfdrive/modeld/parse_model_outputs.py       |  4 +++-
 .../process_replay/model_replay_ref_commit    |  2 +-
 7 files changed, 18 insertions(+), 26 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index a388bf089c..0187184a7a 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -14,7 +14,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
+from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
 
 CALIB_LEN = 3
 REG_SCALE = 0.25
@@ -88,15 +88,15 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
   msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
   msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
   msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
-  msg.faceProb = sigmoid(ds_result.face_prob)
-  msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
-  msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
-  msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
-  msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
-  msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
-  msg.occludedProb = sigmoid(ds_result.occluded_prob)
-  msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
-  msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
+  msg.faceProb = float(sigmoid(ds_result.face_prob))
+  msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
+  msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
+  msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
+  msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
+  msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
+  msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
+  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
+  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
 
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
@@ -105,8 +105,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
   ds.frameId = frame_id
   ds.modelExecutionTime = execution_time
   ds.dspExecutionTime = dsp_execution_time
-  ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
-  ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
+  ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
+  ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
   ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
   fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
   fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 523ce00e43..57c14dfa88 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -47,8 +47,4 @@ ModelFrame::~ModelFrame() {
   CL_CHECK(clReleaseMemObject(u_cl));
   CL_CHECK(clReleaseMemObject(y_cl));
   CL_CHECK(clReleaseCommandQueue(q));
-}
-
-float sigmoid(float input) {
-  return 1 / (1 + expf(-input));
-}
+}
\ No newline at end of file
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 2cf79094a6..0b5d87fd6c 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -16,8 +16,6 @@
 #include "selfdrive/modeld/transforms/loadyuv.h"
 #include "selfdrive/modeld/transforms/transform.h"
 
-float sigmoid(float input);
-
 class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 7c3eb0b3d7..f37014219d 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -12,8 +12,6 @@ cdef extern from "common/clutil.h":
   cl_context cl_create_context(cl_device_id)
 
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
-  float sigmoid(float)
-
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index ecbe644e09..46ac575cc2 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -8,10 +8,8 @@ from libc.string cimport memcpy
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame
 
-def sigmoid(x):
-  return cppSigmoid(x)
 
 cdef class CLContext(BaseCLContext):
   def __cinit__(self):
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index d57b6eab3f..61dfca0a4f 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -2,7 +2,9 @@ import numpy as np
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 def sigmoid(x):
-  return 1. / (1. + np.exp(-x))
+  # -11 is around 10**14, more causes float16 overflow
+  clipped_x = np.clip(x, -11, np.inf)
+  return 1. / (1. + np.exp(-clipped_x))
 
 def softmax(x, axis=-1):
   x -= np.max(x, axis=axis, keepdims=True)
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 315a15975b..de6f6027c4 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-f0504b66f3f736b5bea39cc01e1a073e3be95659
+9d4d653d8cc361fe2ba53f74fd8fcfe1f1d559ed

From d82c4509ea6f6e85da04bd8ba9175c35fb91caf0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 23 Sep 2024 20:47:28 -0700
Subject: [PATCH 0679/1243] joystickd: split into joystickd and
 joystick_control (#33632)

* Split joystickd into joystickd and joystick_control

* Update process config

* Undeprecate testJoystick

* Static analysis fixes

* Mark as +x

* Update README

* Add testJoystick back to services

* reset if testJoystick not received

* Fix quotes

* Remove self

* Add a send thread instead

* Add joystick_control into process config

* Add main

* Add additional condition

* Fix imports
---
 cereal/log.capnp                           |   2 +-
 cereal/services.py                         |   1 +
 system/manager/process_config.py           |  12 +-
 system/webrtc/tests/test_stream_session.py |   2 +-
 tools/joystick/README.md                   |  20 +--
 tools/joystick/joystick_control.py         | 147 +++++++++++++++++++++
 tools/joystick/joystickd.py                | 141 +++-----------------
 7 files changed, 186 insertions(+), 139 deletions(-)
 create mode 100755 tools/joystick/joystick_control.py

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 87be2ceb99..c955cbf154 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2413,6 +2413,7 @@ struct Event {
     uiDebug @102 :UIDebug;
 
     # *********** debug ***********
+    testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
     driverEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
@@ -2482,6 +2483,5 @@ struct Event {
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
-    testJoystickDEPRECATED @52 :Joystick;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index e56f8f0c1b..771338f507 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -75,6 +75,7 @@ _services: dict[str, tuple] = {
 
   # debug
   "uiDebug": (True, 0., 1),
+  "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 538c55813b..bdb549fa41 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -1,4 +1,5 @@
 import os
+import operator
 
 from cereal import car
 from openpilot.common.params import Params
@@ -53,6 +54,12 @@ def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
 def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
+def or_(*fns):
+  return lambda *args: operator.or_(*(fn(*args) for fn in fns))
+
+def and_(*fns):
+  return lambda *args: operator.and_(*(fn(*args) for fn in fns))
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -75,8 +82,8 @@ procs = [
   NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick),
-  PythonProcess("joystickd", "tools.joystick.joystickd", joystick),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
+  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
@@ -100,6 +107,7 @@ procs = [
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
+  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index 6683c65804..113fa5e7e6 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -50,7 +50,7 @@ class TestStreamSession:
     tested_msgs = [
       {"type": "customReservedRawData0", "data": "test"}, # primitive
       {"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
-      {"type": "testJoystickDEPRECATED", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
+      {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
     ]
 
     mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)
diff --git a/tools/joystick/README.md b/tools/joystick/README.md
index aea93dad53..eb67060ca8 100644
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -2,33 +2,33 @@
 
 **Hardware needed**: device running openpilot, laptop, joystick (optional)
 
-With joystickd, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard.
-joystickd uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks.
+With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard.
+joystick_control uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks.
 
 ## Usage
 
-The car must be off, and openpilot must be offroad before starting `joystickd`.
+The car must be off, and openpilot must be offroad before starting `joystick_control`.
 
 ### Using a keyboard
 
-SSH into your comma device and start joystickd with the following command:
+SSH into your comma device and start joystick_control with the following command:
 
 ```shell
-tools/joystick/joystickd.py --keyboard
+tools/joystick/joystick_control.py --keyboard
 ```
 
 The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments.
 
 ### Joystick on your comma three
 
-Plug the joystick into your comma three aux USB-C port. Then, SSH into the device and start `joystickd.py`.
+Plug the joystick into your comma three aux USB-C port. Then, SSH into the device and start `joystick_control.py`.
 
 ### Joystick on your laptop
 
-In order to use a joystick over the network, we need to run joystickd locally from your laptop and have it send `testJoystick` packets over the network to the comma device.
+In order to use a joystick over the network, we need to run joystick_control locally from your laptop and have it send `testJoystick` packets over the network to the comma device.
 
 1. Connect a joystick to your PC.
-2. Connect your laptop to your comma device's hotspot and open a new SSH shell. Since joystickd is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode:
+2. Connect your laptop to your comma device's hotspot and open a new SSH shell. Since joystick_control is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode:
    ```shell
    # on your comma device
    echo -n "1" > /data/params/d/JoystickDebugMode
@@ -38,11 +38,11 @@ In order to use a joystick over the network, we need to run joystickd locally fr
    # on your comma device
    cereal/messaging/bridge {LAPTOP_IP} testJoystick
    ```
-4. Start joystickd on your laptop in ZMQ mode.
+4. Start joystick_control on your laptop in ZMQ mode.
    ```shell
    # on your laptop
    export ZMQ=1
-   tools/joystick/joystickd.py
+   tools/joystick/joystick_control.py
    ```
 
 ---
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
new file mode 100755
index 0000000000..d31546e058
--- /dev/null
+++ b/tools/joystick/joystick_control.py
@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+import os
+import argparse
+import threading
+from inputs import UnpluggedError, get_gamepad
+
+from cereal import messaging
+from openpilot.common.numpy_fast import interp, clip
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.system.hardware import HARDWARE
+from openpilot.tools.lib.kbhit import KBHit
+
+EXPO = 0.4
+
+
+class Keyboard:
+  def __init__(self):
+    self.kb = KBHit()
+    self.axis_increment = 0.05  # 5% of full actuation each key press
+    self.axes_map = {'w': 'gb', 's': 'gb',
+                     'a': 'steer', 'd': 'steer'}
+    self.axes_values = {'gb': 0., 'steer': 0.}
+    self.axes_order = ['gb', 'steer']
+    self.cancel = False
+
+  def update(self):
+    key = self.kb.getch().lower()
+    self.cancel = False
+    if key == 'r':
+      self.axes_values = {ax: 0. for ax in self.axes_values}
+    elif key == 'c':
+      self.cancel = True
+    elif key in self.axes_map:
+      axis = self.axes_map[key]
+      incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
+      self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1)
+    else:
+      return False
+    return True
+
+
+class Joystick:
+  def __init__(self):
+    # This class supports a PlayStation 5 DualSense controller on the comma 3X
+    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
+    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
+    if HARDWARE.get_device_type() == 'pc':
+      accel_axis = 'ABS_Z'
+      steer_axis = 'ABS_RX'
+      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
+      self.flip_map = {'ABS_RZ': accel_axis}
+    else:
+      accel_axis = 'ABS_RX'
+      steer_axis = 'ABS_Z'
+      self.flip_map = {'ABS_RY': accel_axis}
+
+    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
+    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
+    self.axes_values = {accel_axis: 0., steer_axis: 0.}
+    self.axes_order = [accel_axis, steer_axis]
+    self.cancel = False
+
+  def update(self):
+    try:
+      joystick_event = get_gamepad()[0]
+    except (OSError, UnpluggedError):
+      self.axes_values = {ax: 0. for ax in self.axes_values}
+      return False
+
+    event = (joystick_event.code, joystick_event.state)
+
+    # flip left trigger to negative accel
+    if event[0] in self.flip_map:
+      event = (self.flip_map[event[0]], -event[1])
+
+    if event[0] == self.cancel_button:
+      if event[1] == 1:
+        self.cancel = True
+      elif event[1] == 0:   # state 0 is falling edge
+        self.cancel = False
+    elif event[0] in self.axes_values:
+      self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
+      self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
+
+      norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
+      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
+    else:
+      return False
+    return True
+
+
+def send_thread(joystick):
+  pm = messaging.PubMaster(['testJoystick'])
+
+  rk = Ratekeeper(100, print_delay_threshold=None)
+
+  while True:
+    if rk.frame % 20 == 0:
+      print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
+
+    joystick_msg = messaging.new_message('testJoystick')
+    joystick_msg.valid = True
+    joystick_msg.testJoystick.axes = [joystick.axes_values[ax] for ax in joystick.axes_order]
+
+    pm.send('testJoystick', joystick_msg)
+
+    rk.keep_time()
+
+
+def joystick_control_thread(joystick):
+  Params().put_bool('JoystickDebugMode', True)
+  threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
+  while True:
+    joystick.update()
+
+
+def main():
+  joystick_control_thread(Joystick())
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
+                                               'openpilot must be offroad before starting joystick_control. This tool supports ' +
+                                               'a PlayStation 5 DualSense controller on the comma 3X.',
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
+  args = parser.parse_args()
+
+  if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ:
+    print("The car must be off before running joystick_control.")
+    exit()
+
+  print()
+  if args.keyboard:
+    print('Gas/brake control: `W` and `S` keys')
+    print('Steering control: `A` and `D` keys')
+    print('Buttons')
+    print('- `R`: Resets axes')
+    print('- `C`: Cancel cruise control')
+  else:
+    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
+    print('If not running on a comma device, the mapping may need to be adjusted.')
+
+  joystick = Keyboard() if args.keyboard else Joystick()
+  joystick_control_thread(joystick)
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index f39dec7d4b..f8c000c259 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -1,117 +1,30 @@
 #!/usr/bin/env python3
-import os
-import argparse
-import threading
-from inputs import UnpluggedError, get_gamepad
+
 import math
 
 from cereal import messaging, car
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
-from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.system.hardware import HARDWARE
-from openpilot.tools.lib.kbhit import KBHit
 
-EXPO = 0.4
 MAX_LAT_ACCEL = 2.5
 
 
-class Keyboard:
-  def __init__(self):
-    self.kb = KBHit()
-    self.axis_increment = 0.05  # 5% of full actuation each key press
-    self.axes_map = {'w': 'gb', 's': 'gb',
-                     'a': 'steer', 'd': 'steer'}
-    self.axes_values = {'gb': 0., 'steer': 0.}
-    self.axes_order = ['gb', 'steer']
-    self.cancel = False
-
-  def update(self):
-    key = self.kb.getch().lower()
-    self.cancel = False
-    if key == 'r':
-      self.axes_values = {ax: 0. for ax in self.axes_values}
-    elif key == 'c':
-      self.cancel = True
-    elif key in self.axes_map:
-      axis = self.axes_map[key]
-      incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
-      self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1)
-    else:
-      return False
-    return True
-
-
-class Joystick:
-  def __init__(self):
-    # This class supports a PlayStation 5 DualSense controller on the comma 3X
-    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
-    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
-    if HARDWARE.get_device_type() == 'pc':
-      accel_axis = 'ABS_Z'
-      steer_axis = 'ABS_RX'
-      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
-      self.flip_map = {'ABS_RZ': accel_axis}
-    else:
-      accel_axis = 'ABS_RX'
-      steer_axis = 'ABS_Z'
-      self.flip_map = {'ABS_RY': accel_axis}
-
-    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
-    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
-    self.axes_values = {accel_axis: 0., steer_axis: 0.}
-    self.axes_order = [accel_axis, steer_axis]
-    self.cancel = False
-
-  def update(self):
-    try:
-      joystick_event = get_gamepad()[0]
-    except (OSError, UnpluggedError):
-      self.axes_values = {ax: 0. for ax in self.axes_values}
-      return False
-
-    event = (joystick_event.code, joystick_event.state)
-
-    # flip left trigger to negative accel
-    if event[0] in self.flip_map:
-      event = (self.flip_map[event[0]], -event[1])
-
-    if event[0] == self.cancel_button:
-      if event[1] == 1:
-        self.cancel = True
-      elif event[1] == 0:   # state 0 is falling edge
-        self.cancel = False
-    elif event[0] in self.axes_values:
-      self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
-      self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
-
-      norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
-      norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
-    else:
-      return False
-    return True
-
-
-def send_thread(joystick):
+def joystickd_thread():
   params = Params()
   cloudlog.info("joystickd is waiting for CarParams")
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   VM = VehicleModel(CP)
 
-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState'], frequency=1. / DT_CTRL)
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
   pm = messaging.PubMaster(['carControl', 'controlsState'])
 
   rk = Ratekeeper(100, print_delay_threshold=None)
   while 1:
     sm.update(0)
 
-    joystick_axes = [joystick.axes_values[a] for a in joystick.axes_order]
-    if rk.frame % 20 == 0:
-      print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
-
     cc_msg = messaging.new_message('carControl')
     cc_msg.valid = True
     CC = cc_msg.carControl
@@ -121,6 +34,14 @@ def send_thread(joystick):
 
     actuators = CC.actuators
 
+    # reset joystick if it hasn't been received in a while
+    should_reset_joystick = sm.recv_frame['testJoystick'] == 0 or (sm.frame - sm.recv_frame['testJoystick'])*DT_CTRL > 0.2
+
+    if not should_reset_joystick:
+      joystick_axes = sm['testJoystick'].axes
+    else:
+      joystick_axes = [0.0, 0.0]
+
     if CC.longActive:
       actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
 
@@ -142,39 +63,9 @@ def send_thread(joystick):
     rk.keep_time()
 
 
-def joystick_thread(joystick):
-  Params().put_bool('JoystickDebugMode', True)
-  threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
-  while True:
-    joystick.update()
+def main():
+  joystickd_thread()
 
 
-def main():
-  joystick_thread(Joystick())
-
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
-                                               'openpilot must be offroad before starting joystickd. This tool supports ' +
-                                               'a PlayStation 5 DualSense controller on the comma 3X.',
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
-  args = parser.parse_args()
-
-  if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ:
-    print("The car must be off before running joystickd.")
-    exit()
-
-  print()
-  if args.keyboard:
-    print('Gas/brake control: `W` and `S` keys')
-    print('Steering control: `A` and `D` keys')
-    print('Buttons')
-    print('- `R`: Resets axes')
-    print('- `C`: Cancel cruise control')
-  else:
-    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
-    print('If not running on a comma device, the mapping may need to be adjusted.')
-
-  joystick = Keyboard() if args.keyboard else Joystick()
-  joystick_thread(joystick)
+if __name__ == "__main__":
+  main()

From 6dfc154c5943b9b6d458c5de11c6ca8aabfd5e15 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 25 Sep 2024 01:15:01 +0800
Subject: [PATCH 0680/1243] ci: add OVERRIDE and DISENGAGED state to ui report
 (#33639)

add state
---
 .github/workflows/ui_preview.yaml |  2 +-
 selfdrive/ui/tests/test_ui/run.py | 13 +++++++++++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 7880ecdea6..a2033f8180 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index eee0ada266..8c9db5a3f3 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -77,6 +77,17 @@ def setup_onroad(click, pm: PubMaster):
     packet_id += 1
     time.sleep(0.05)
 
+def setup_onroad_disengaged(click, pm: PubMaster):
+  DATA['selfdriveState'].selfdriveState.enabled = False
+  setup_onroad(click, pm)
+  DATA['selfdriveState'].selfdriveState.enabled = True
+
+def setup_onroad_override(click, pm: PubMaster):
+  DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.overriding
+  setup_onroad(click, pm)
+  DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.enabled
+
+
 def setup_onroad_wide(click, pm: PubMaster):
   DATA['selfdriveState'].selfdriveState.experimentalMode = True
   DATA["carState"].carState.vEgo = 1
@@ -165,6 +176,8 @@ CASES = {
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
   "onroad": setup_onroad,
+  "onroad_disengaged": setup_onroad_disengaged,
+  "onroad_override": setup_onroad_override,
   "onroad_sidebar": setup_onroad_sidebar,
   "onroad_alert_small": setup_onroad_alert_small,
   "onroad_alert_mid": setup_onroad_alert_mid,

From deb6b72091df94c1ac24a73be7ad6c9d7b096dc5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 24 Sep 2024 10:51:30 -0700
Subject: [PATCH 0681/1243] Safe exp in parsing (#33640)

---
 selfdrive/modeld/parse_model_outputs.py | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 61dfca0a4f..4367e9db8a 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -1,17 +1,19 @@
 import numpy as np
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
-def sigmoid(x):
+def safe_exp(x, out=None):
   # -11 is around 10**14, more causes float16 overflow
-  clipped_x = np.clip(x, -11, np.inf)
-  return 1. / (1. + np.exp(-clipped_x))
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
 
 def softmax(x, axis=-1):
   x -= np.max(x, axis=axis, keepdims=True)
   if x.dtype == np.float32 or x.dtype == np.float64:
-    np.exp(x, out=x)
+    safe_exp(x, out=x)
   else:
-    x = np.exp(x)
+    x = safe_exp(x)
   x /= np.sum(x, axis=axis, keepdims=True)
   return x
 
@@ -46,7 +48,7 @@ class Parser:
 
     n_values = (raw.shape[2] - out_N)//2
     pred_mu = raw[:,:,:n_values]
-    pred_std = np.exp(raw[:,:,n_values: 2*n_values])
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
 
     if in_N > 1:
       weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)

From 3b7a60499ef02342861b626ad255dcd874982df8 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 24 Sep 2024 15:02:43 -0400
Subject: [PATCH 0682/1243] tools: fix car porting notebooks (#33641)

* ford_vin_fingerprint fixes and updates

* subaru_fuzzy_fingerprint partial fixes

* subaru_long_accel: fixes

* subaru_steer_temp_fault fixes

* subaru_fuzzy_fingerprint more fixes
---
 .../examples/ford_vin_fingerprint.ipynb       |  71 +++--
 .../examples/subaru_fuzzy_fingerprint.ipynb   | 249 +++++++++---------
 .../examples/subaru_long_accel.ipynb          |  21 +-
 .../examples/subaru_steer_temp_fault.ipynb    |  15 +-
 4 files changed, 196 insertions(+), 160 deletions(-)

diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
index 21d1cb62c0..7b0dd656da 100644
--- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb
+++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
@@ -2,19 +2,32 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 5,
-   "metadata": {},
-   "outputs": [],
+   "execution_count": 12,
+   "metadata": {
+    "jupyter": {
+     "is_executing": true
+    }
+   },
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Got 9 Ford cars from opendbc\n"
+     ]
+    }
+   ],
    "source": [
     "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n",
     "\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
-    "from openpilot.selfdrive.car.ford.values import CAR\n",
+    "from opendbc.car.ford.values import CAR\n",
     "\n",
     "database = get_comma_car_segments_database()\n",
     "\n",
-    "platforms = [c.value for c in CAR]"
+    "platforms = [c.value for c in CAR]\n",
+    "print(f\"Got {len(platforms)} Ford cars from opendbc\")"
    ]
   },
   {
@@ -54,21 +67,24 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 13,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Got 287 segments for platform FORD BRONCO SPORT 1ST GEN, sampling 5 segments\n",
-      "Got 137 segments for platform FORD ESCAPE 4TH GEN, sampling 5 segments\n",
-      "Got 1041 segments for platform FORD EXPLORER 6TH GEN, sampling 5 segments\n",
-      "Got 5 segments for platform FORD F-150 14TH GEN, sampling 5 segments\n",
-      "Got 56 segments for platform FORD FOCUS 4TH GEN, sampling 5 segments\n",
-      "Got 637 segments for platform FORD MAVERICK 1ST GEN, sampling 5 segments\n",
-      "Got 3 segments for platform FORD F-150 LIGHTNING 1ST GEN, sampling 3 segments\n",
-      "Got 3 segments for platform FORD MUSTANG MACH-E 1ST GEN, sampling 3 segments\n"
+      "Collecting segments from commaCarSegments dataset:\n",
+      "Got 287 segments for platform FORD_BRONCO_SPORT_MK1, sampling 5 segments\n",
+      "Got 137 segments for platform FORD_ESCAPE_MK4, sampling 5 segments\n",
+      "Got 1041 segments for platform FORD_EXPLORER_MK6, sampling 5 segments\n",
+      "Got 5 segments for platform FORD_F_150_MK14, sampling 5 segments\n",
+      "Got 3 segments for platform FORD_F_150_LIGHTNING_MK1, sampling 3 segments\n",
+      "Got 56 segments for platform FORD_FOCUS_MK4, sampling 5 segments\n",
+      "Got 637 segments for platform FORD_MAVERICK_MK1, sampling 5 segments\n",
+      "Got 3 segments for platform FORD_MUSTANG_MACH_E_MK1, sampling 3 segments\n",
+      "Skipping platform: FORD_RANGER_MK2, no data available\n",
+      "Segment collection finished\n"
      ]
     }
    ],
@@ -79,6 +95,7 @@
     "\n",
     "VINS_TO_CHECK = set()\n",
     "\n",
+    "print(\"Collecting segments from commaCarSegments dataset:\")\n",
     "for platform in platforms:\n",
     "  if platform not in database:\n",
     "    print(f\"Skipping platform: {platform}, no data available\")\n",
@@ -97,31 +114,33 @@
     "    CP = lr.first(\"carParams\")\n",
     "    if \"FORD\" not in CP.carFingerprint:\n",
     "      print(segment, CP.carFingerprint)\n",
-    "    VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))"
+    "    VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))\n",
+    "\n",
+    "print(\"Segment collection finished\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 16,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "vin: 3FTTW8E34PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
+      "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN          determined platform: mock                              correct: False\n",
       "vin: 00000000000XXXXXX real platform: FORD F-150 14TH GEN                determined platform: mock                              correct: False\n",
+      "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False\n",
       "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN        determined platform: FORD MUSTANG MACH-E 1ST GEN       correct: True\n",
+      "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
+      "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
       "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN       determined platform: FORD F-150 LIGHTNING 1ST GEN      correct: True\n",
       "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN                 determined platform: mock                              correct: False\n",
-      "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False\n",
-      "vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
-      "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN          determined platform: mock                              correct: False\n",
+      "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
       "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
-      "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
+      "vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
       "vin: 5LM5J7XC1LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
-      "vin: 3FTTW8F97NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
-      "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n"
+      "vin: 3FTTW8E3XPRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n"
      ]
     }
    ],
@@ -134,7 +153,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": ".venv",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -148,9 +167,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.4"
+   "version": "3.12.3"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
index 1048011c05..708e55865b 100644
--- a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
+++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
@@ -2,32 +2,24 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 6,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
-    "from cereal import car\n",
-    "from openpilot.selfdrive.car.subaru.values import CAR, SubaruFlags\n",
-    "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n",
+    "from opendbc.car import structs\n",
+    "from opendbc.car.subaru.values import CAR, SubaruFlags\n",
+    "from opendbc.car.subaru.fingerprints import FW_VERSIONS\n",
     "\n",
     "TEST_PLATFORMS = set(CAR) - CAR.with_flags(SubaruFlags.PREGLOBAL)\n",
     "\n",
-    "Ecu = car.CarParams.Ecu\n",
+    "Ecu = structs.CarParams.Ecu\n",
     "\n",
     "FW_BY_ECU = {platform: {ecu: versions for (ecu, addr, sub_addr), versions in fw_versions.items()} for platform, fw_versions in FW_VERSIONS.items()}"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -59,7 +51,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -83,64 +75,66 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
-      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2019  years=[2020]\n",
-      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2021  years=[2020]\n",
-      "correct_year=False  platform=SUBARU FORESTER HYBRID 2020      year=2019  years=[2020]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
-      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
-      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2018  years=[2017, 2018, 2019]\n",
-      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
-      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
-      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023, 2024]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023, 2024]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023, 2024]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023, 2024]\n",
-      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
-      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU ASCENT 2023               year=2023  years=[2023]\n",
-      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2019  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2021  years=[2019, 2020, 2021]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n"
+      "SUBARU_IMPREZA 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU_IMPREZA 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU_IMPREZA 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU_IMPREZA 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU_IMPREZA 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU_IMPREZA 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "correct_year=False  platform=SUBARU_FORESTER                  year=2018  years=[2019, 2020, 2021]\n",
+      "correct_year=False  platform=SUBARU_FORESTER                  year=2018  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_FORESTER                  year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_FORESTER                  year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_FORESTER                  year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_FORESTER                  year=2020  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_FORESTER                  year=2020  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK                   year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU_FORESTER_HYBRID           year=2019  years=[2020]\n",
+      "correct_year=False  platform=SUBARU_CROSSTREK_HYBRID          year=2019  years=[2020]\n",
+      "correct_year=False  platform=SUBARU_CROSSTREK_HYBRID          year=2021  years=[2020]\n",
+      "correct_year=True   platform=SUBARU_ASCENT_2023               year=2023  years=[2023]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA                   year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA                   year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA                   year=2018  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA                   year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA                   year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA                   year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=False  platform=SUBARU_FORESTER_2022             year=2021  years=[2022, 2023, 2024]\n",
+      "correct_year=False  platform=SUBARU_FORESTER_2022             year=2021  years=[2022, 2023, 2024]\n",
+      "correct_year=True   platform=SUBARU_FORESTER_2022             year=2022  years=[2022, 2023, 2024]\n",
+      "correct_year=True   platform=SUBARU_FORESTER_2022             year=2022  years=[2022, 2023, 2024]\n",
+      "correct_year=True   platform=SUBARU_ASCENT                    year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_ASCENT                    year=2021  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK_2023              year=2023  years=[2023]\n",
+      "correct_year=True   platform=SUBARU_OUTBACK_2023              year=2023  years=[2023]\n",
+      "correct_year=False  platform=SUBARU_IMPREZA_2020              year=2019  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU_IMPREZA_2020              year=2019  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA_2020              year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA_2020              year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA_2020              year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA_2020              year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_IMPREZA_2020              year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_LEGACY                    year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_LEGACY                    year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_LEGACY                    year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU_LEGACY                    year=2020  years=[2020, 2021, 2022]\n"
      ]
     }
    ],
@@ -160,64 +154,66 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 10,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 7TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 7TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU CROSSTREK HYBRID 2020     platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU CROSSTREK HYBRID 2020     platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER HYBRID 2020      platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU ASCENT 2023               platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
-      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
-      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n"
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER                  platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK                   platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER_HYBRID           platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_CROSSTREK_HYBRID          platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_CROSSTREK_HYBRID          platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_ASCENT_2023               platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA                   platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER_2022             platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER_2022             platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER_2022             platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_FORESTER_2022             platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
+      "in_possible_platforms=True   platform=SUBARU_ASCENT                    platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_ASCENT                    platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK_2023              platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_OUTBACK_2023              platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_IMPREZA_2020              platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
+      "in_possible_platforms=True   platform=SUBARU_LEGACY                    platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_LEGACY                    platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_LEGACY                    platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
+      "in_possible_platforms=True   platform=SUBARU_LEGACY                    platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n"
      ]
     }
    ],
@@ -231,11 +227,18 @@
     "for platform, possible_platforms in codes:\n",
     "  test_platform_code(platform, possible_platforms)"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": ".venv",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -249,9 +252,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.4"
+   "version": "3.12.3"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index 35b92702a7..d4a4705d95 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -14,7 +14,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -22,8 +22,8 @@
     "import numpy as np\n",
     "\n",
     "from opendbc.can.parser import CANParser\n",
+    "from opendbc.car.subaru.values import DBC\n",
     "\n",
-    "from openpilot.selfdrive.car.subaru.values import DBC\n",
     "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
@@ -64,7 +64,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -95,11 +95,18 @@
     "ax.set_ylabel(\"Acceleration\")\n",
     "ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -113,9 +120,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.4"
+   "version": "3.12.3"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index 8b762fecb8..10abe8ed31 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -25,8 +25,8 @@
     "import numpy as np\n",
     "\n",
     "from opendbc.can.parser import CANParser\n",
+    "from opendbc.car.subaru.values import CanBus, DBC\n",
     "\n",
-    "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
     "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
     "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
@@ -85,11 +85,18 @@
     "\n",
     "    plt.show()\n"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -103,9 +110,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.4"
+   "version": "3.12.3"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

From 811bf06f8cde2db3da11172e9da585a6eba5edcf Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 25 Sep 2024 03:03:08 +0800
Subject: [PATCH 0683/1243] replay: improve README with clearer instructions
 and example (#33560)

improve README with clearer instructions and example
---
 tools/replay/README.md | 70 +++++++++++++++++++++++++++++++++++-------
 1 file changed, 59 insertions(+), 11 deletions(-)

diff --git a/tools/replay/README.md b/tools/replay/README.md
index 67cfcd75a6..65a1e7a0b3 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -1,31 +1,55 @@
 # Replay
 
-## Replay driving data
+`replay` allows you to simulate a driving session by replaying all messages logged during the use of openpilot. This provides a way to analyze and visualize system behavior as if it were live.
 
-`replay` replays all the messages logged while running openpilot.
+## Setup
+
+Before starting a replay, you need to authenticate with your comma account using `auth.py`. This will allow you to access your routes from the server.
 
 ```bash
-# Log in via browser to have access to routes from your comma account
+# Authenticate to access routes from your comma account:
 python3 tools/lib/auth.py
+```
 
-# Start a replay
+## Replay a Remote Route
+You can replay a route from your comma account by specifying the route name.
+
+```bash
+# Start a replay with a specific route:
 tools/replay/replay <route-name>
 
 # Example:
 tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
-# or use --demo to replay the default demo route:
+
+# Replay the default demo route:
 tools/replay/replay --demo
+```
 
-# watch the replay with the normal openpilot UI
-cd selfdrive/ui && ./ui
+## Replay a Local Route
+To replay a route stored locally on your machine, specify the route name and provide the path to the directory where the route files are stored.
 
-# or try out radar point visualization in Rerun:
-python3 replay/rp_visualization.py
+```bash
+# Replay a local route
+tools/replay/replay <route-name> --data_dir="/path_to/route"
+
+# Example:
+# If you have a local route stored at /path_to_routes with segments like:
+# a2a0ccea32023010|2023-07-27--13-01-19--0
+# a2a0ccea32023010|2023-07-27--13-01-19--1
+# You can replay it like this:
+tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data-dir="/path_to_routes"
+```
 
-# NOTE: To visualize radar points, make sure tools/replay/replay is running.
+## Send Messages via ZMQ
+By default, replay sends messages via MSGQ. To switch to ZMQ, set the ZMQ environment variable.
+
+```bash
+# Start replay and send messages via ZMQ:
+ZMQ=1 tools/replay/replay <route-name>
 ```
 
-## usage
+## Usage
+For more information on available options and arguments, use the help command:
 
 ``` bash
 $ tools/replay/replay -h
@@ -57,6 +81,30 @@ Arguments:
                          connect.comma.ai
 ```
 
+## Visualize the Replay in the Openpilot UI
+To visualize the replay within the openpilot UI, run the following commands:
+
+```bash
+tools/replay/replay <route-name>
+cd selfdrive/ui && ./ui
+```
+
+## Try Radar Point Visualization with Rerun
+To visualize radar points, run rp_visualization.py while tools/replay/replay is active.
+
+```bash
+tools/replay/replay <route-name>
+python3 replay/rp_visualization.py
+```
+
+## Work with plotjuggler
+If you want to use replay with plotjuggler, you can stream messages by running:
+
+```bash
+tools/replay/replay <route-name>
+tools/plotjuggler/juggle.py --stream
+```
+
 ## watch3
 
 watch all three cameras simultaneously from your comma three routes with watch3

From 1f198ff9c95f33d782ee4a36e61d9367e6d12241 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Tue, 24 Sep 2024 13:56:49 -0700
Subject: [PATCH 0684/1243] [bot] Update Python packages (#33626)

* Update Python packages

* fix build

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 panda                    |  2 +-
 selfdrive/pandad/panda.h |  2 +-
 uv.lock                  | 80 ++++++++++++++++++++--------------------
 3 files changed, 42 insertions(+), 42 deletions(-)

diff --git a/panda b/panda
index 93aedd987b..2037a2ead7 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 93aedd987bda7e267210689b877eb87f288fc6ab
+Subproject commit 2037a2ead7257deadf6165734fd19b9b87de6eb7
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index af31c2316e..2491f2eb74 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -12,7 +12,7 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
-#include "panda/board/can_definitions.h"
+#include "panda/board/can.h"
 #include "selfdrive/pandad/panda_comms.h"
 
 #define USB_TX_SOFT_LIMIT   (0x100U)
diff --git a/uv.lock b/uv.lock
index 3d60cefd68..2be225145b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -174,7 +174,7 @@ wheels = [
 
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+version = "1.18.0"
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 dependencies = [
     { name = "azure-core" },
@@ -183,9 +183,9 @@ dependencies = [
     { name = "msal-extensions" },
     { name = "typing-extensions" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/b3/5d/1c7da35dd640b4a95a38f980bb6b0b56c4e91d5b3d518ac11a2c4ebf5f62/azure_identity-1.18.0.tar.gz", hash = "sha256:f567579a65d8932fa913c76eddf3305101a15e5727a5e4aa5df649a0f553d4c3", size = 263322 }
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From fda0b70c10d5e7ff0b9a8d769e09a056ae1db058 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 25 Sep 2024 06:06:04 +0800
Subject: [PATCH 0685/1243] ui/hud: add Q_OBJECT macro (#33638)

add Q_OBJECT
---
 selfdrive/ui/qt/onroad/hud.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h
index 9151b23a4d..0b1220a27a 100644
--- a/selfdrive/ui/qt/onroad/hud.h
+++ b/selfdrive/ui/qt/onroad/hud.h
@@ -4,6 +4,8 @@
 #include "selfdrive/ui/ui.h"
 
 class HudRenderer : public QObject {
+  Q_OBJECT
+
 public:
   HudRenderer();
   void updateState(const UIState &s);

From 17b29f42af73aca89e00cded4877b0f809fa6112 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 24 Sep 2024 20:44:49 -0400
Subject: [PATCH 0686/1243] tools: notebook for HKG alt message validation
 (#33647)

---
 .../examples/hkg_canfd_gear_message.ipynb     | 277 ++++++++++++++++++
 1 file changed, 277 insertions(+)
 create mode 100644 tools/car_porting/examples/hkg_canfd_gear_message.ipynb

diff --git a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
new file mode 100644
index 0000000000..5fdbdda684
--- /dev/null
+++ b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
@@ -0,0 +1,277 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 62,
+   "id": "228a6736-de31-4255-9d72-a6ff391b968d",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Found 6 qualifying vehicles:\n",
+      "  KIA_EV6\n",
+      "  HYUNDAI_KONA_EV_2ND_GEN\n",
+      "  HYUNDAI_IONIQ_5\n",
+      "  KIA_NIRO_EV_2ND_GEN\n",
+      "  HYUNDAI_IONIQ_6\n",
+      "  GENESIS_GV60_EV_1ST_GEN\n"
+     ]
+    }
+   ],
+   "source": [
+    "from opendbc.car import structs\n",
+    "from opendbc.car.hyundai.values import CAR, HyundaiFlags\n",
+    "from opendbc.car.hyundai.fingerprints import FW_VERSIONS\n",
+    "\n",
+    "TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV))  # CAN-FD electric vehicles only\n",
+    "#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV))  # CAN-FD hybrid and ICE vehicles only\n",
+    "\n",
+    "print(f\"Found {len(TEST_PLATFORMS)} qualifying vehicles:\")\n",
+    "for platform in TEST_PLATFORMS:\n",
+    "  print(f\"  {platform}\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 63,
+   "id": "ed1c8aec-c274-4c61-b83d-711ea194bf86",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Collecting segments from commaCarSegments dataset:\n",
+      "Got 1300 segments for platform KIA_EV6, sampling 5 segments\n",
+      "Got 9 segments for platform HYUNDAI_KONA_EV_2ND_GEN, sampling 5 segments\n",
+      "Got 1570 segments for platform HYUNDAI_IONIQ_5, sampling 5 segments\n",
+      "Got 34 segments for platform KIA_NIRO_EV_2ND_GEN, sampling 5 segments\n",
+      "Got 974 segments for platform HYUNDAI_IONIQ_6, sampling 5 segments\n",
+      "Got 157 segments for platform GENESIS_GV60_EV_1ST_GEN, sampling 5 segments\n",
+      "Collected 30 segments for analysis\n"
+     ]
+    }
+   ],
+   "source": [
+    "import random\n",
+    "\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
+    "from opendbc.car.hyundai.values import CAR\n",
+    "\n",
+    "database = get_comma_car_segments_database()\n",
+    "TEST_SEGMENTS = []\n",
+    "\n",
+    "MAX_SEGS_PER_PLATFORM = 5  # TODO: Increase this to search more segments\n",
+    "\n",
+    "print(\"Collecting segments from commaCarSegments dataset:\")\n",
+    "for platform in TEST_PLATFORMS:\n",
+    "  assert(platform in database)\n",
+    "  #if platform not in database:\n",
+    "  #  print(f\"Skipping platform: {platform}, no data available\")\n",
+    "  #  continue\n",
+    "  \n",
+    "  all_segments = database[platform]\n",
+    "\n",
+    "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
+    "\n",
+    "  print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n",
+    "\n",
+    "  TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n",
+    "\n",
+    "print(f\"Collected {len(TEST_SEGMENTS)} segments for analysis\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 64,
+   "id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Analyzing segment ff2bd20623fcaeaa/2023-11-26--16-27-04/5/s    for KIA EV6 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 3f1a6480f940cf9a/2024-01-10--23-06-11/16/s   for KIA EV6 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment b0a9998109ed0053/2023-12-15--11-10-18/12/s   for KIA EV6 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 6e14aa2ed85025df/2023-11-15--13-18-12/24/s   for KIA EV6 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment a43f21df3a1ca12d/2024-01-25--08-56-22/16/s   for KIA EV6 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 1618132d68afc876/2023-12-05--13-49-24/11/s   for HYUNDAI KONA ELECTRIC 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 1618132d68afc876/2023-11-26--12-31-18/17/s   for HYUNDAI KONA ELECTRIC 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 1618132d68afc876/2023-12-05--11-51-44/3/s    for HYUNDAI KONA ELECTRIC 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 1618132d68afc876/2023-08-27--09-32-14/13/s   for HYUNDAI KONA 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 1618132d68afc876/2024-01-25--15-07-04/24/s   for HYUNDAI KONA ELECTRIC 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 223780ed74116bc2/2023-11-16--09-44-56/15/s   for HYUNDAI IONIQ 5 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment ba9951252624f37d/2024-01-20--22-33-23/118/s  for HYUNDAI IONIQ 5 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 8379b28e51ceb3b1/2023-11-09--23-21-58/92/s   for HYUNDAI IONIQ 5 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 26fac43e27cd6091/2023-11-06--12-23-21/9/s    for HYUNDAI IONIQ 5 2022\n",
+      "  GEAR_SHIFTER    gear=1.0\n",
+      "  ACCELERATOR     gear=0.0\n",
+      "Analyzing segment 5edb897a0ec7a477/2024-01-13--20-41-36/101/s  for HYUNDAI IONIQ 5 2022\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 66cf8ea23b7c2789/2023-12-04--13-48-53/5/s    for KIA NIRO EV 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment b153671049a867b3/2023-12-10--20-31-37/2/s    for KIA NIRO EV 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment b153671049a867b3/2023-12-03--21-08-30/14/s   for KIA NIRO EV 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment b153671049a867b3/2023-11-07--19-52-23/0/s    for KIA NIRO EV 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment b153671049a867b3/2023-07-12--19-25-18/6/s    for KIA NIRO EV 2ND GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 9ea4578ee2b1abcb/2023-11-18--07-59-26/11/s   for HYUNDAI IONIQ 6 2023\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 0ad7facc77922c3e/2023-12-21--17-47-25/18/s   for HYUNDAI IONIQ 6 2023\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 26968f888e7330d3/2024-01-02--11-18-37/8/s    for HYUNDAI IONIQ 6 2023\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 9ea4578ee2b1abcb/2023-11-27--21-03-24/33/s   for HYUNDAI IONIQ 6 2023\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment df7fdd56970d90fe/2024-01-07--01-04-39/26/s   for HYUNDAI IONIQ 6 2023\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 94542b2d06f7a9a6/2023-12-11--14-45-44/0/s    for GENESIS GV60 ELECTRIC 1ST GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 94542b2d06f7a9a6/2023-12-11--20-57-09/8/s    for GENESIS GV60 ELECTRIC 1ST GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 94542b2d06f7a9a6/2024-01-03--12-52-38/5/s    for GENESIS GV60 ELECTRIC 1ST GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 94542b2d06f7a9a6/2024-01-19--19-57-52/47/s   for GENESIS GV60 ELECTRIC 1ST GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analyzing segment 94542b2d06f7a9a6/2024-01-03--13-01-23/1/s    for GENESIS GV60 ELECTRIC 1ST GEN\n",
+      "  GEAR_SHIFTER    gear=4.0\n",
+      "  ACCELERATOR     gear=5.0\n",
+      "Analysis finished\n"
+     ]
+    }
+   ],
+   "source": [
+    "import copy\n",
+    "import matplotlib.pyplot as plt\n",
+    "import numpy as np\n",
+    "\n",
+    "from opendbc.can.parser import CANParser\n",
+    "from opendbc.car.hyundai.values import DBC\n",
+    "from opendbc.car.hyundai.hyundaicanfd import CanBus\n",
+    "\n",
+    "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "\n",
+    "message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n",
+    "\n",
+    "for segment in TEST_SEGMENTS:\n",
+    "  lr = LogReader(segment)\n",
+    "  CP = lr.first(\"carParams\")\n",
+    "  if CP is None:\n",
+    "    continue\n",
+    "\n",
+    "  can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n",
+    "  parser_messages = []\n",
+    "  for name in message_names:\n",
+    "    parser_messages.append((name, 0))\n",
+    "  cp = CANParser(DBC[platform][\"pt\"], parser_messages, CanBus(CP).ECAN)\n",
+    "\n",
+    "  parsed_message_history = []\n",
+    "  examples = []\n",
+    "\n",
+    "  for msg in can_msgs:\n",
+    "    cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
+    "    parsed_message_history.append(copy.copy(cp.vl))\n",
+    "\n",
+    "  print(f\"Analyzing segment {segment:<44} for {CP.carFingerprint}\")\n",
+    "  for name in message_names:\n",
+    "    if parsed_message_history[0][name][\"CHECKSUM\"] != 0:  # Message is present for this segment\n",
+    "      gear_prev = parsed_message_history[0][name][\"GEAR\"]\n",
+    "      print(f\"  {name:<15} gear={gear_prev}\")\n",
+    "      for i, parsed_messages in enumerate(parsed_message_history):\n",
+    "        gear = parsed_messages[name][\"GEAR\"]\n",
+    "        if gear != gear_prev:\n",
+    "          print(f\"  *** Signal transition found! ***\")\n",
+    "          examples.append(i)\n",
+    "        gear_prev = gear\n",
+    "\n",
+    "print(f\"Analysis finished\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "7724dd97-f62e-4fd3-9f64-63d49be669d2",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "9f393e00-8efd-40fb-a41e-d312531a83e8",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.3"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}

From 903ea9d8f314027f50a73e69e30c2ceb898e75d5 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 24 Sep 2024 19:39:00 -0700
Subject: [PATCH 0687/1243] Fix double "DEPRECATED" in
 "longitudinalActuatorDelayLowerBound" (#33648)

Fix double "DEPRECATED" in "longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED"
---
 cereal/car.capnp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index d08d89c1d9..6af474c0ee 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -714,5 +714,5 @@ struct CarParams {
   brakeMaxVDEPRECATED @16 :List(Float32);
   directAccelControlDEPRECATED @30 :Bool;
   maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
 }

From 92fff4d4863f1da320c5f684dd3284256c2aa22b Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 24 Sep 2024 20:09:07 -0700
Subject: [PATCH 0688/1243] always on DM: filter green alert at low speeds
 (#33644)

* disable visual too under 25

* seperate

* rename
---
 selfdrive/monitoring/helpers.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 2a7979221a..54c81daeab 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -57,7 +57,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 7
+    self._ALWAYS_ON_ALERT_MIN_SPEED = 11
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
@@ -337,9 +337,9 @@ class DriverMonitoring:
 
     _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
     _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_exemption = standstill and _reaching_audible
+    standstill_orange_exemption = standstill and _reaching_audible
     always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
+    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
 
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
@@ -347,7 +347,7 @@ class DriverMonitoring:
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_exemption or always_on_red_exemption or always_on_lowspeed_exemption):
+      if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
@@ -360,7 +360,7 @@ class DriverMonitoring:
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
       alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
-    elif self.awareness <= self.threshold_pre:
+    elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
       # pre green alert
       alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
 

From b4865dc4fdcd585fb7c9020ce0ca43dbf0eb1328 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 24 Sep 2024 20:33:26 -0700
Subject: [PATCH 0689/1243] Toyota: prevent lagged gas after heavy braking
 (#33649)

* bump

* update docs
---
 docs/CARS.md | 4 ++--
 opendbc_repo | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 02ed887864..e94df79787 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -279,8 +279,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
 |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
 |Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
 |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
 |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 0b7648ad2c..bda4ad475a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 0b7648ad2cb048b5f55a338dbd26cada01671124
+Subproject commit bda4ad475aaf7a92f677ac2d50b6b7af0ffdf5fc

From 87b30b291167580aae3564756441e557157f3505 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 25 Sep 2024 11:01:57 -0700
Subject: [PATCH 0690/1243] tici: max GPU power (#33650)

---
 system/hardware/tici/hardware.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index eb524dbafa..03e973fd1a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -431,8 +431,8 @@ class Tici(HardwareBase):
 
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")

From 6950abb38e24202242cc4b8ba65674b1cdeec477 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 25 Sep 2024 11:16:30 -0700
Subject: [PATCH 0691/1243] jenkins: tmp disable test_time_to_onroad

---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 799b4fbbeb..eb39781cb8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -147,7 +147,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {

From 4490608e3c0c85038a148c939d43434865134b96 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 25 Sep 2024 11:17:50 -0700
Subject: [PATCH 0692/1243] Update RELEASES.md

---
 RELEASES.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/RELEASES.md b/RELEASES.md
index 57f6979117..d69d9f8dcc 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,8 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
+* New Tomb Raider driving model
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* New Toyota TSS2 longitudinal tune
 
 Version 0.9.7 (2024-06-13)
 ========================

From ba7039785c050bb880d7da7f32c303c9d6a89c29 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 25 Sep 2024 14:21:19 -0700
Subject: [PATCH 0693/1243] More reasonable model replay tolerance (#33652)

---
 selfdrive/test/process_replay/model_replay.py | 28 ++++++++++++-------
 1 file changed, 18 insertions(+), 10 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index bb7c0b0a8e..269cf464a3 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -112,16 +112,24 @@ if __name__ == "__main__":
         'driverStateV2.dspExecutionTime'
       ]
       if PC:
-        ignore += [
-          'modelV2.laneLines.0.t',
-          'modelV2.laneLines.1.t',
-          'modelV2.laneLines.2.t',
-          'modelV2.laneLines.3.t',
-          'modelV2.roadEdges.0.t',
-          'modelV2.roadEdges.1.t',
-        ]
-      # TODO this tolerance is absurdly large
-      tolerance = 2.0 if PC else None
+        # TODO We ignore whole bunch so we can compare important stuff
+        # like posenet with reasonable tolerance
+        ignore += ['modelV2.acceleration.x',
+                   'modelV2.position.x',
+                   'modelV2.position.xStd',
+                   'modelV2.position.y',
+                   'modelV2.position.yStd',
+                   'modelV2.position.z',
+                   'modelV2.position.zStd',
+                   'drivingModelData.path.xCoefficients',]
+        for i in range(3):
+          for field in ('x', 'y', 'v', 'a'):
+            ignore.append(f'modelV2.leadsV3.{i}.{field}')
+            ignore.append(f'modelV2.leadsV3.{i}.{field}Std')
+        for i in range(4):
+          for field in ('x', 'y', 'z', 't'):
+            ignore.append(f'modelV2.laneLines.{i}.{field}')
+      tolerance = .2 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)

From 4851dacd063a742983446224b7ea84bced7a4943 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 26 Sep 2024 09:51:04 -0700
Subject: [PATCH 0694/1243] camerad: Replace ox LUT with function (#33653)

* fast eh

* need

* ;

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/ox03c10_cl.h | 43 +++++++++++++++--------------
 1 file changed, 23 insertions(+), 20 deletions(-)

diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h
index 21441902fc..b8d331f50d 100644
--- a/system/camerad/sensors/ox03c10_cl.h
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -4,28 +4,31 @@
 #define BLACK_LVL 64
 #define VIGNETTE_RSZ 1.0f
 
-constant float ox03c10_lut[] = {
-  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, // NOLINT
-  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, // NOLINT
-  3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, // NOLINT
-  6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, // NOLINT
-  1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, // NOLINT
-  1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, // NOLINT
-  2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, // NOLINT
-  4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, // NOLINT
-  9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, // NOLINT
-  1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, // NOLINT
-  3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, // NOLINT
-  7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, // NOLINT
-  1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, // NOLINT
-  6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, // NOLINT
-  1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, // NOLINT
-  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 // NOLINT
-};
+float ox_lut_func(int x) {
+  if (x < 512) {
+    return x * 5.94873e-8;
+  } else if (512 <= x < 768) {
+    return 3.0458e-05 + (x-512) * 1.19913e-7;
+  } else if (768 <= x < 1536) {
+    return 6.1154e-05 + (x-768) * 2.38493e-7;
+  } else if (1536 <= x < 1792) {
+    return 0.0002448 + (x-1536) * 9.56930e-7;
+  } else if (1792 <= x < 2048) {
+    return 0.00048977 + (x-1792) * 1.91441e-6;
+  } else if (2048 <= x < 2304) {
+    return 0.00097984 + (x-2048) * 3.82937e-6;
+  } else if (2304 <= x < 2560) {
+    return 0.0019601 + (x-2304) * 7.659055e-6;
+  } else if (2560 <= x < 2816) {
+    return 0.0039207 + (x-2560) * 1.525e-5;
+  } else {
+    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
+  }
+}
 
 float4 normalize_pv(int4 parsed, float vignette_factor) {
   // PWL
-  float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
+  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
   return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
 }
 
@@ -40,4 +43,4 @@ float3 apply_gamma(float3 rgb, int expo_time) {
   return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
 }
 
-#endif
\ No newline at end of file
+#endif

From 36a9687d5d60c0cf26387f8edcf5f6ccc9214d0d Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Thu, 26 Sep 2024 11:01:56 -0700
Subject: [PATCH 0695/1243] long planner: use temporalPose for v_model_error
 calibration (#33655)

* long planner: add flag to disable v_model_error calibration

* use temporal pose instead of flag

* udpate model replay ref
---
 selfdrive/controls/lib/drive_helpers.py               | 4 ++--
 selfdrive/modeld/fill_model_msg.py                    | 7 +++++++
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 369aeaf984..64cbf473d6 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -22,7 +22,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
-  if len(modelV2.velocity.x):
-    vel_err = clip(modelV2.velocity.x[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+  if len(modelV2.temporalPose.trans):
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 18dd9c7bac..10a1860b58 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -87,6 +87,13 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   orientation_rate = modelV2.orientationRate
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+
   # poly path
   poly_path = driving_model_data.path
   fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index de6f6027c4..7d588b26fa 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-9d4d653d8cc361fe2ba53f74fd8fcfe1f1d559ed
+666448fce191e196aac68d06e29a0745e6620db9

From e2f99426334dda3542760f8dacec124ffc85c980 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 26 Sep 2024 12:10:06 -0700
Subject: [PATCH 0696/1243] HKG: CAN-FD EV refactor, support for Genesis GV70
 Electrified (#33657)

* bump opendbc

* regen CARS.md

* bump opendbc to master
---
 docs/CARS.md | 3 ++-
 opendbc_repo | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e94df79787..eea3eef1fc 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 288 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -55,6 +55,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/opendbc_repo b/opendbc_repo
index bda4ad475a..b11c159d87 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit bda4ad475aaf7a92f677ac2d50b6b7af0ffdf5fc
+Subproject commit b11c159d87635ce698ec79d55516f202afa86f91

From 876f1921124059aa0395ed5131d7943ca10364f8 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 26 Sep 2024 16:40:44 -0700
Subject: [PATCH 0697/1243] exec DM model with gpu (#33609)

* half

old-commit-hash: 9f72eca003d4637ca7fe847ebaf925c694fc2e84

* optimed

old-commit-hash: 6e36e2a12e09275ec21d1590012a92b05ca52ff5

* thneed

old-commit-hash: 419a06c09c0c767d828bcd1e118bc575898c343a

* exec

old-commit-hash: 0059c27ec11b076a37f65d604ed135ea6541b1a6

* runner

old-commit-hash: 34232ada94450ce541eaef546197fa219810a891

* runs but

old-commit-hash: 3db37c00b6a64908293b4de8d8b56e80308cd8f2

* it is 01

old-commit-hash: a160d81eb1a7e77abbef959b44f602610f68f665

* np

old-commit-hash: c1caff6ba648cc2c0094c71b2ea074f01c3c2dc8

* module url

old-commit-hash: 6f4902c4d384263a53e2c1d14d93b5ff864b6a5f

* new

old-commit-hash: 779ae79b1bc3df6374fb6663ac8592e107a6e504

* ds fast

* is this work

* corcention

* real timing

* no reg

* interim gather

* 0e4a9c7b

* fa69be01, and halve

* list

* cleanup

* slighly faster

* setprotlt

* expected

* replay ref

* more powar

* reluctantly

* bump tg

* 8

* less

* less

* bump tg

* better than exp

* closer

* cc

* see diff

* commits

* was right

* to 32 cast

* remove dlc file

* support both

* dspExecutionTime -> gpuExecutionTime

* ignore

* time ref

* ref commit

* last

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 .gitattributes                                |  1 -
 cereal/log.capnp                              |  3 +-
 selfdrive/modeld/SConscript                   |  4 ++
 selfdrive/modeld/dmonitoringmodeld            | 10 +++++
 selfdrive/modeld/dmonitoringmodeld.py         | 37 +++++++++++--------
 .../modeld/models/dmonitoring_model.current   |  4 +-
 .../modeld/models/dmonitoring_model.onnx      |  4 +-
 .../modeld/models/dmonitoring_model_q.dlc     |  3 --
 selfdrive/modeld/runners/onnxmodel.py         |  3 +-
 selfdrive/monitoring/helpers.py               |  4 +-
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../process_replay/model_replay_ref_commit    |  2 +-
 .../test/process_replay/process_replay.py     |  2 +-
 selfdrive/test/test_onroad.py                 |  3 +-
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 system/manager/process_config.py              |  2 +-
 tinygrad_repo                                 |  2 +-
 17 files changed, 53 insertions(+), 35 deletions(-)
 create mode 100755 selfdrive/modeld/dmonitoringmodeld
 delete mode 100644 selfdrive/modeld/models/dmonitoring_model_q.dlc

diff --git a/.gitattributes b/.gitattributes
index 8781a7371f..eda2505d0e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2,7 +2,6 @@
 
 # to move existing files into LFS:
 # git add --renormalize .
-*.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
diff --git a/cereal/log.capnp b/cereal/log.capnp
index c955cbf154..3d5f7d9d7f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2012,7 +2012,8 @@ struct Joystick {
 struct DriverStateV2 {
   frameId @0 :UInt32;
   modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
+  dspExecutionTimeDEPRECATED @2 :Float32;
+  gpuExecutionTime @8 :Float32;
   rawPredictions @3 :Data;
 
   poorVisionProb @4 :Float32;
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index d572915c72..d472998416 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -69,6 +69,10 @@ if arch == "larch64" or GetOption('pc_thneed'):
 
   lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
+  fn_dm = File("models/dmonitoring_model").abspath
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
+  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
+
   thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
   lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
new file mode 100755
index 0000000000..80157e1751
--- /dev/null
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
+exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 0187184a7a..3030b31a0c 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -6,6 +6,7 @@ import time
 import ctypes
 import numpy as np
 from pathlib import Path
+from setproctitle import setproctitle
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -14,16 +15,19 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
 
 CALIB_LEN = 3
-REG_SCALE = 0.25
 MODEL_WIDTH = 1440
 MODEL_HEIGHT = 960
-OUTPUT_SIZE = 84
+FEATURE_LEN = 512
+OUTPUT_SIZE = 84 + FEATURE_LEN
+
+PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATHS = {
-  ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
+  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
   ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
 
 class DriverStateResult(ctypes.Structure):
@@ -49,21 +53,22 @@ class DMonitoringModelResult(ctypes.Structure):
     ("driver_state_lhd", DriverStateResult),
     ("driver_state_rhd", DriverStateResult),
     ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float)]
+    ("wheel_on_right_prob", ctypes.c_float),
+    ("features", ctypes.c_float*FEATURE_LEN)]
 
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   model: ModelRunner
 
-  def __init__(self):
+  def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
     self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
       'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
       'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
     self.model.addInput("input_img", None)
     self.model.addInput("calib", self.inputs['calib'])
 
@@ -76,17 +81,17 @@ class ModelState:
     input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
     input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
 
-    t1 = time.perf_counter()
     self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    t1 = time.perf_counter()
     self.model.execute()
     t2 = time.perf_counter()
     return self.output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
+  msg.faceOrientation = list(ds_result.face_orientation)
   msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
+  msg.facePosition = list(ds_result.face_position[:2])
   msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
   msg.faceProb = float(sigmoid(ds_result.face_prob))
   msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
@@ -98,13 +103,13 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
   msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
   msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
 
-def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
+def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
   msg = messaging.new_message('driverStateV2', valid=True)
   ds = msg.driverStateV2
   ds.frameId = frame_id
   ds.modelExecutionTime = execution_time
-  ds.dspExecutionTime = dsp_execution_time
+  ds.gpuExecutionTime = gpu_execution_time
   ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
   ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
   ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
@@ -115,14 +120,16 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
 
 def main():
   gc.disable()
+  setproctitle(PROCESS_NAME)
   set_realtime_priority(1)
 
-  model = ModelState()
+  cl_context = CLContext()
+  model = ModelState(cl_context)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
   Params().put_bool("DmModelInitialized", True)
 
   cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
@@ -144,10 +151,10 @@ def main():
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
     t1 = time.perf_counter()
-    model_output, dsp_execution_time = model.run(buf, calib)
+    model_output, gpu_execution_time = model.run(buf, calib)
     t2 = time.perf_counter()
 
-    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
+    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
     # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
     # last = t1
 
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index f935ab06b3..121871ef2b 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-5ec97a39-0095-4cea-adfa-6d72b1966cc1
-26cac7a9757a27c783a365403040a1bd27ccdaea
\ No newline at end of file
+fa69be01-b430-4504-9d72-7dcb058eb6dd
+d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dd3a6aba2e..dcc727510e 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683
-size 16132780
+oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
+size 7196502
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
deleted file mode 100644
index fc285954d4..0000000000
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46
-size 4488449
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index a570e34305..2b17422740 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -67,7 +67,6 @@ class ONNXModel(RunModel):
   def __init__(self, path, output, runtime, use_tf8, cl_context):
     self.inputs = {}
     self.output = output
-    self.use_tf8 = use_tf8
 
     self.session = create_ort_session(path, fp16_to_fp32=True)
     self.input_names = [x.name for x in self.session.get_inputs()]
@@ -91,7 +90,7 @@ class ONNXModel(RunModel):
     return None
 
   def execute(self):
-    inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
+    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
     inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
     outputs = self.session.run(None, inputs)
     assert len(outputs) == 1, "Only single model outputs are supported"
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 54c81daeab..72df724532 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -33,8 +33,8 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.25
-    self._EE_THRESH12 = 7.5
+    self._EE_THRESH11 = 0.4
+    self._EE_THRESH12 = 15.0
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 269cf464a3..ead3a3b4b5 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -109,7 +109,7 @@ if __name__ == "__main__":
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
-        'driverStateV2.dspExecutionTime'
+        'driverStateV2.gpuExecutionTime'
       ]
       if PC:
         # TODO We ignore whole bunch so we can compare important stuff
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 7d588b26fa..3e4f435964 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-666448fce191e196aac68d06e29a0745e6620db9
+7cd64f431b814adfa11118643efe3822c496922b
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 59f6c6cc53..af33b0458b 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -585,7 +585,7 @@ CONFIGS = [
     proc_name="dmonitoringmodeld",
     pubs=["liveCalibration", "driverCameraState"],
     subs=["driverStateV2"],
-    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"],
+    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
     should_recv_callback=dmonitoringmodeld_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 5bc6bff1c2..964848e3d3 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -32,6 +32,7 @@ CPU usage budget
 * total CPU usage of openpilot (sum(PROCS.values())
   should not exceed MAX_TOTAL_CPU
 """
+
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
@@ -312,7 +313,7 @@ class TestOnroad:
     assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
 
   def test_camera_processing_time(self):
     result = "\n"
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index eb3a515b76..3b9d65b85a 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -34,7 +34,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index bdb549fa41..eca5184c92 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -70,7 +70,7 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
diff --git a/tinygrad_repo b/tinygrad_repo
index f51aa0fc7c..3e15fa0dae 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit f51aa0fc7cdbac710e640172db280cfb747d2718
+Subproject commit 3e15fa0daefae75e2ddef98f82be5b5d37820631

From 1d5b2079742e43c77fe81c6535e5e3fa7a74cb3e Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 26 Sep 2024 17:32:06 -0700
Subject: [PATCH 0698/1243] Revert "camerad: Replace ox LUT with function"
 (#33658)

Revert "camerad: Replace ox LUT with function (#33653)"

This reverts commit 4851dacd063a742983446224b7ea84bced7a4943.
---
 system/camerad/sensors/ox03c10_cl.h | 43 ++++++++++++++---------------
 1 file changed, 20 insertions(+), 23 deletions(-)

diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h
index b8d331f50d..21441902fc 100644
--- a/system/camerad/sensors/ox03c10_cl.h
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -4,31 +4,28 @@
 #define BLACK_LVL 64
 #define VIGNETTE_RSZ 1.0f
 
-float ox_lut_func(int x) {
-  if (x < 512) {
-    return x * 5.94873e-8;
-  } else if (512 <= x < 768) {
-    return 3.0458e-05 + (x-512) * 1.19913e-7;
-  } else if (768 <= x < 1536) {
-    return 6.1154e-05 + (x-768) * 2.38493e-7;
-  } else if (1536 <= x < 1792) {
-    return 0.0002448 + (x-1536) * 9.56930e-7;
-  } else if (1792 <= x < 2048) {
-    return 0.00048977 + (x-1792) * 1.91441e-6;
-  } else if (2048 <= x < 2304) {
-    return 0.00097984 + (x-2048) * 3.82937e-6;
-  } else if (2304 <= x < 2560) {
-    return 0.0019601 + (x-2304) * 7.659055e-6;
-  } else if (2560 <= x < 2816) {
-    return 0.0039207 + (x-2560) * 1.525e-5;
-  } else {
-    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
-  }
-}
+constant float ox03c10_lut[] = {
+  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, // NOLINT
+  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, // NOLINT
+  3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, // NOLINT
+  6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, // NOLINT
+  1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, // NOLINT
+  1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, // NOLINT
+  2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, // NOLINT
+  4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, // NOLINT
+  9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, // NOLINT
+  1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, // NOLINT
+  3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, // NOLINT
+  7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, // NOLINT
+  1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, // NOLINT
+  6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, // NOLINT
+  1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, // NOLINT
+  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 // NOLINT
+};
 
 float4 normalize_pv(int4 parsed, float vignette_factor) {
   // PWL
-  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
+  float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
   return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
 }
 
@@ -43,4 +40,4 @@ float3 apply_gamma(float3 rgb, int expo_time) {
   return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
 }
 
-#endif
+#endif
\ No newline at end of file

From e5870dcf20a6088340db2ca43bec5645bb6171be Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 26 Sep 2024 19:48:31 -0700
Subject: [PATCH 0699/1243] camerad: Replace ox LUT with function (#33659)

* fast eh

* need

* ;

* no chained

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/ox03c10_cl.h | 43 +++++++++++++++--------------
 1 file changed, 23 insertions(+), 20 deletions(-)

diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h
index 21441902fc..f1fbd16ccb 100644
--- a/system/camerad/sensors/ox03c10_cl.h
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -4,28 +4,31 @@
 #define BLACK_LVL 64
 #define VIGNETTE_RSZ 1.0f
 
-constant float ox03c10_lut[] = {
-  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, // NOLINT
-  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, // NOLINT
-  3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, // NOLINT
-  6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, // NOLINT
-  1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, // NOLINT
-  1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, // NOLINT
-  2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, // NOLINT
-  4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, // NOLINT
-  9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, // NOLINT
-  1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, // NOLINT
-  3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, // NOLINT
-  7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, // NOLINT
-  1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, // NOLINT
-  6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, // NOLINT
-  1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, // NOLINT
-  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 // NOLINT
-};
+float ox_lut_func(int x) {
+  if (x < 512) {
+    return x * 5.94873e-8;
+  } else if (512 <= x && x < 768) {
+    return 3.0458e-05 + (x-512) * 1.19913e-7;
+  } else if (768 <= x && x < 1536) {
+    return 6.1154e-05 + (x-768) * 2.38493e-7;
+  } else if (1536 <= x && x < 1792) {
+    return 0.0002448 + (x-1536) * 9.56930e-7;
+  } else if (1792 <= x && x < 2048) {
+    return 0.00048977 + (x-1792) * 1.91441e-6;
+  } else if (2048 <= x && x < 2304) {
+    return 0.00097984 + (x-2048) * 3.82937e-6;
+  } else if (2304 <= x && x < 2560) {
+    return 0.0019601 + (x-2304) * 7.659055e-6;
+  } else if (2560 <= x && x < 2816) {
+    return 0.0039207 + (x-2560) * 1.525e-5;
+  } else {
+    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
+  }
+}
 
 float4 normalize_pv(int4 parsed, float vignette_factor) {
   // PWL
-  float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
+  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
   return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
 }
 
@@ -40,4 +43,4 @@ float3 apply_gamma(float3 rgb, int expo_time) {
   return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
 }
 
-#endif
\ No newline at end of file
+#endif

From 0ee8bb8f8e280ecac91d41d309981a6124c937b0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 26 Sep 2024 19:48:43 -0700
Subject: [PATCH 0700/1243] add come to stop maneuver

---
 tools/longitudinal_maneuvers/maneuversd.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 6100a7ca89..88ea54378f 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -72,6 +72,12 @@ class Maneuver:
 
 
 MANEUVERS = [
+  Maneuver(
+    "come to stop",
+    [Action(-0.5, 12)],
+    repeat=2,
+    initial_speed=5.,
+  ),
   Maneuver(
    "start from stop",
    [Action(1.5, 3)],

From 238a1fc56a24763288bf582fd71f8f248ad59e5e Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 27 Sep 2024 08:59:36 -0700
Subject: [PATCH 0701/1243] HKG: 2024 Genesis G80 HDA2 (#33662)

---
 docs/CARS.md | 3 ++-
 opendbc_repo | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index eea3eef1fc..072e366e98 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 288 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -50,6 +50,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index b11c159d87..d2ca1860d8 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b11c159d87635ce698ec79d55516f202afa86f91
+Subproject commit d2ca1860d894c246758b22551a6f7d322ba1cae0

From b9f9854743676b7c8f8b9a20cef0e6a9fdd01206 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 14:49:13 -0700
Subject: [PATCH 0702/1243] maneuversd: run start from stop maneuver for longer

---
 tools/longitudinal_maneuvers/maneuversd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 88ea54378f..8bcfa69a14 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -80,7 +80,7 @@ MANEUVERS = [
   ),
   Maneuver(
    "start from stop",
-   [Action(1.5, 3)],
+   [Action(1.5, 5)],
    repeat=3,
    initial_speed=0.,
   ),
@@ -91,7 +91,7 @@ MANEUVERS = [
      Action(1, 2), Action(-1, 2),
      Action(1, 2), Action(-1, 2),
    ],
-   repeat=1,
+   repeat=2,
    initial_speed=0.,
   ),
   Maneuver(

From 6b232cf91f05385e5964a56f346a18f55d43d9da Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 17:48:34 -0700
Subject: [PATCH 0703/1243] maneuversd: run creep test for slightly longer

---
 tools/longitudinal_maneuvers/maneuversd.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 8bcfa69a14..07582c3e6c 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -87,9 +87,9 @@ MANEUVERS = [
   Maneuver(
    "creep: alternate between +1m/s^2 and -1m/s^2",
    [
-     Action(1, 2), Action(-1, 2),
-     Action(1, 2), Action(-1, 2),
-     Action(1, 2), Action(-1, 2),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
    ],
    repeat=2,
    initial_speed=0.,

From f7b800673b314742211490b2890749a7e83930e7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 17:49:09 -0700
Subject: [PATCH 0704/1243] smaller legend in the report

---
 tools/longitudinal_maneuvers/generate_report.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index a396e51127..eb8c13271a 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -92,7 +92,7 @@ def report(platform, route, _description, CP, maneuvers):
         # TODO localizer accel
         ax[0].set_ylabel('Acceleration (m/s^2)')
         #ax[0].set_ylim(-6.5, 6.5)
-        ax[0].legend()
+        ax[0].legend(prop={'size': 30})
 
         if target_cross_time is not None:
           ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')

From df529de1d0e469df5b59625420370a5197de17bd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 21:26:54 -0700
Subject: [PATCH 0705/1243] Lexus ES TSS2: improve start from stop response
 time (#33666)

* bump

* docs
---
 docs/CARS.md | 2 +-
 opendbc_repo | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 072e366e98..43bd18cdcd 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -53,7 +53,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index d2ca1860d8..b556672f9c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d2ca1860d894c246758b22551a6f7d322ba1cae0
+Subproject commit b556672f9cb714fc05ac4af252dfabcf6865d27a

From 04a266eaebcf0787f28cd4a5453a1c064517748a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 27 Sep 2024 22:48:32 -0700
Subject: [PATCH 0706/1243] Game Boy Model (#33661)

* 559069cd-40a6-4456-9052-08659f376ca3/370

* 028fb9bc-b33e-4c26-9cf7-e3c44a85276a/400

* Update ref

* Update tolerance
---
 selfdrive/modeld/constants.py                 | 20 +++++++++----------
 selfdrive/modeld/models/supercombo.onnx       |  4 ++--
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../process_replay/model_replay_ref_commit    |  2 +-
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 4d2888d231..82161a5b67 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -72,14 +72,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 41, 8)
-  BRAKE_DISENGAGE = slice(2, 41, 8)
-  STEER_OVERRIDE = slice(3, 41, 8)
-  HARD_BRAKE_3 = slice(4, 41, 8)
-  HARD_BRAKE_4 = slice(5, 41, 8)
-  HARD_BRAKE_5 = slice(6, 41, 8)
-  GAS_PRESS = slice(7, 41, 8)
-  BRAKE_PRESS = slice(8, 41, 8)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(41, 53, 2)
-  RIGHT_BLINKER = slice(42, 53, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 111cb76dbb..f8002d5a91 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d42319e42e8ba1a818c845ee0c687ece6afd98e59fef142895be33dd230974c2
-size 62481231
+oid sha256:0dab94dc94db5e372f56d26f9dda98bd31fd76e4c16027da611132263848d0c1
+size 62486347
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index ead3a3b4b5..af05ff5e44 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -129,7 +129,7 @@ if __name__ == "__main__":
         for i in range(4):
           for field in ('x', 'y', 'z', 't'):
             ignore.append(f'modelV2.laneLines.{i}.{field}')
-      tolerance = .2 if PC else None
+      tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 3e4f435964..9e62d47538 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-7cd64f431b814adfa11118643efe3822c496922b
+68279894530723a9129c64e8e771018bc4dda6b3

From 368bc74dfd13dbd91856478c9b5f56fc009dff05 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 23:30:49 -0700
Subject: [PATCH 0707/1243] bump opendbc

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index b556672f9c..173ab90402 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b556672f9cb714fc05ac4af252dfabcf6865d27a
+Subproject commit 173ab90402f85c07cd65750c7f31cc97a8b07d59

From 33952d0a602e45c2b7d1c6e4386d340625a5bcbf Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Sat, 28 Sep 2024 13:21:48 -0700
Subject: [PATCH 0708/1243] `ui`: auto-expand summary when diff is present.
 (#33668)

* ui: use details open when diff is present

* remove comment
---
 .github/workflows/ui_preview.yaml | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index a2033f8180..24956516f8 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -88,14 +88,15 @@ jobs:
           A=($scenes)
 
           DIFF=""
-          TABLE="<details>"
-          TABLE="${TABLE}<summary>All Screenshots</summary>"
+          open=false
+          TABLE="<summary>All Screenshots</summary>"
           TABLE="${TABLE}<table>"
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
 
             if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
@@ -134,7 +135,11 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
-
+          if open; then
+            TABLE="<details open>${TABLE}"
+          else
+            TABLE="<details>${TABLE}"
+          fi
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui

From 4da090a4e1972eb1c70b4847f729b28ba805af64 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sat, 28 Sep 2024 15:33:01 -0700
Subject: [PATCH 0709/1243] Game Boy Model V2 (#33669)

* 78cec5a0-577b-49ac-b443-f7cd327649bd/400

* ref commit
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index f8002d5a91..8b7126c44a 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0dab94dc94db5e372f56d26f9dda98bd31fd76e4c16027da611132263848d0c1
+oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
 size 62486347
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 9e62d47538..2faabd0587 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-68279894530723a9129c64e8e771018bc4dda6b3
+ff10a803005f5116a8f3d88629503bc52b15b93f

From edf9522bc064aa30b348e53c674b052c860cc9fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sat, 28 Sep 2024 18:34:31 -0700
Subject: [PATCH 0710/1243] Model and YUV pipeline to uint8 (#33671)

* Squash

* 78cec5a0-577b-49ac-b443-f7cd327649bd/400

* bump tinygrad
---
 selfdrive/modeld/models/commonmodel.cc      | 14 +++++++-------
 selfdrive/modeld/models/commonmodel.h       |  4 ++--
 selfdrive/modeld/models/commonmodel.pxd     |  2 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx |  4 ++--
 selfdrive/modeld/models/supercombo.onnx     |  4 ++--
 selfdrive/modeld/transforms/loadyuv.cl      | 18 ++++++++----------
 tinygrad_repo                               |  2 +-
 7 files changed, 23 insertions(+), 25 deletions(-)

diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 57c14dfa88..d2d37bbc5a 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -7,28 +7,28 @@
 #include "common/clutil.h"
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
 
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(uint8_t), NULL, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
   transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
   if (output == NULL) {
     loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
 
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(uint8_t) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 0b5d87fd6c..ea39466670 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -20,7 +20,7 @@ class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -32,5 +32,5 @@ private:
   LoadYUVState loadyuv;
   cl_command_queue q;
   cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
+  std::unique_ptr<uint8_t[]> input_frames;
 };
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index f37014219d..3348af3f17 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -15,4 +15,4 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 46ac575cc2..99f9c5dc17 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -35,11 +35,11 @@ cdef class ModelFrame:
   def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
+    cdef unsigned char * data
     if output is None:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
     else:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
     if not data:
       return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 8b7126c44a..aeb3ea3b2b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
-size 62486347
+oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
+size 62486469
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
index 7dd3d973a3..3a6b3ebc4f 100644
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -1,7 +1,7 @@
 #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
 
 __kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
+                     __global uchar * out,
                      int out_offset)
 {
     const int gid = get_global_id(0);
@@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y,
     const int ox = ois % TRANSFORMED_WIDTH;
 
     const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
 
     // 02
     // 13
 
-    __global float* outy0;
-    __global float* outy1;
+    __global uchar* outy0;
+    __global uchar* outy1;
     if ((oy & 1) == 0) {
       outy0 = out + out_offset; //y0
       outy1 = out + out_offset + UV_SIZE*2; //y2
@@ -25,21 +24,20 @@ __kernel void loadys(__global uchar8 const * const Y,
       outy1 = out + out_offset + UV_SIZE*3; //y3
     }
 
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
 }
 
 __kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
+                     __global uchar8 * out,
                      int out_offset)
 {
   const int gid = get_global_id(0);
   const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
+  out[gid + out_offset / 8] = inv;
 }
 
-__kernel void copy(__global float8 * inout,
+__kernel void copy(__global uchar8 * inout,
                    int in_offset)
 {
   const int gid = get_global_id(0);
diff --git a/tinygrad_repo b/tinygrad_repo
index 3e15fa0dae..9dda6d260d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 3e15fa0daefae75e2ddef98f82be5b5d37820631
+Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1

From ce0e3d5603ff2716d33d0c162f7bf69905ba493c Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Sun, 29 Sep 2024 08:54:03 -0700
Subject: [PATCH 0711/1243] `ci`: fix if conditional in ui preview (#33673)

fix if conditional
---
 .github/workflows/ui_preview.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 24956516f8..972a96dc39 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -135,7 +135,7 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
-          if open; then
+          if $open; then
             TABLE="<details open>${TABLE}"
           else
             TABLE="<details>${TABLE}"

From 8bb7a8d310c24c52d859add9dbbb1dc462f5f5ea Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Sun, 29 Sep 2024 10:03:29 -0700
Subject: [PATCH 0712/1243] Assets/icon: Rm redundant PNG file (#33565)

Rm redundant file - use existing png to replace

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/assets/offroad/icon_openpilot.png | 3 ---
 selfdrive/ui/qt/offroad/settings.cc         | 2 +-
 2 files changed, 1 insertion(+), 4 deletions(-)
 delete mode 100644 selfdrive/assets/offroad/icon_openpilot.png

diff --git a/selfdrive/assets/offroad/icon_openpilot.png b/selfdrive/assets/offroad/icon_openpilot.png
deleted file mode 100644
index ae6faa45ea..0000000000
--- a/selfdrive/assets/offroad/icon_openpilot.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a3cd3b91673eded1282e2082be0efa8e54ed477b5feb3580e521d08078e18ed1
-size 42640
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 7024a2a802..a2b91534dd 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -22,7 +22,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "OpenpilotEnabledToggle",
       tr("Enable openpilot"),
       tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
-      "../assets/offroad/icon_openpilot.png",
+      "../assets/img_chffr_wheel.png",
     },
     {
       "ExperimentalLongitudinalEnabled",

From 2cb526a5a9fc49a3f0d0fce61248ac6253030cb4 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 30 Sep 2024 01:06:34 +0800
Subject: [PATCH 0713/1243] camerad: refactor gain index loop for clarity
 (#33613)

* Refactor Gain Index Loop for Clarity

* Update system/camerad/cameras/camera_qcom2.cc

* Update system/camerad/cameras/camera_qcom2.cc

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/camerad/cameras/camera_qcom2.cc | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 1bbd8202b2..3d5507add9 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -178,9 +178,10 @@ void CameraState::set_camera_exposure(float grey_frac) {
     new_exp_t = exposure_time;
     enable_dc_gain = false;
   } else {
-    // Simple brute force optimizer to choose sensor parameters
-    // to reach desired EV
-    for (int g = std::max((int)sensor->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)sensor->analog_gain_max_idx, gain_idx + 1); g++) {
+    // Simple brute force optimizer to choose sensor parameters to reach desired EV
+    int min_g = std::max(gain_idx - 1, sensor->analog_gain_min_idx);
+    int max_g = std::min(gain_idx + 1, sensor->analog_gain_max_idx);
+    for (int g = min_g; g <= max_g; g++) {
       float gain = sensor->sensor_analog_gains[g] * get_gain_factor();
 
       // Compute optimal time for given gain

From f99d81d0faf24b33793edf26ba02c00ecbe1f7f7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 29 Sep 2024 10:10:57 -0700
Subject: [PATCH 0714/1243] remove cars from stale blacklist

---
 .github/workflows/stale.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index f7f92a0387..d0dead5126 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -21,7 +21,7 @@ jobs:
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 

From 3c456f5b8ddb63f6b75986226c0640e2a048ecca Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 30 Sep 2024 01:15:26 +0800
Subject: [PATCH 0715/1243] submaster: improve avg frequency calculation for
 efficiency (#33516)

improve avg freq calculation for efficiency
---
 cereal/messaging/__init__.py | 21 +++++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 0c420e94e0..2466f6e9c0 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -109,12 +109,26 @@ class FrequencyTracker:
     self.min_freq = min_freq * 0.8
     self.max_freq = max_freq * 1.2
     self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
+    self.recv_dts_sum = 0.0
+    self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
+    self.recent_recv_dts_sum = 0.0
     self.prev_time = 0.0
 
   def record_recv_time(self, cur_time: float) -> None:
     # TODO: Handle case where cur_time is less than prev_time
     if self.prev_time > 1e-5:
-      self.recv_dts.append(cur_time - self.prev_time)
+      dt = cur_time - self.prev_time
+
+      if len(self.recv_dts) == self.recv_dts.maxlen:
+        self.recv_dts_sum -= self.recv_dts[0]
+      self.recv_dts.append(dt)
+      self.recv_dts_sum += dt
+
+      if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
+        self.recent_recv_dts_sum -= self.recent_recv_dts[0]
+      self.recent_recv_dts.append(dt)
+      self.recent_recv_dts_sum += dt
+
     self.prev_time = cur_time
 
   @property
@@ -122,12 +136,11 @@ class FrequencyTracker:
     if not self.recv_dts:
       return False
 
-    avg_freq = len(self.recv_dts) / sum(self.recv_dts)
+    avg_freq = len(self.recv_dts) / self.recv_dts_sum
     if self.min_freq <= avg_freq <= self.max_freq:
       return True
 
-    recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
-    avg_freq_recent = len(recent_dts) / sum(recent_dts)
+    avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
     return self.min_freq <= avg_freq_recent <= self.max_freq
 
 

From 3b6f1a0b39419ab7b2e68226934c7db3e0fa7b1a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 29 Sep 2024 10:55:39 -0700
Subject: [PATCH 0716/1243] test_onroad: update CPU usages after recent changes

---
 selfdrive/test/test_onroad.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 964848e3d3..b99662df78 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,19 +36,19 @@ CPU usage budget
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 18.0,
-  "selfdrive.selfdrived.selfdrived": 21.0,
+  "selfdrive.controls.controlsd": 16.0,
+  "selfdrive.selfdrived.selfdrived": 16.0,
   "selfdrive.car.card": 30.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
-  "selfdrive.controls.plannerd": 11.0,
+  "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 17.0,
-  "selfdrive.modeld.dmonitoringmodeld": 8.0,
+  "selfdrive.modeld.dmonitoringmodeld": 11.0,
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,

From a2b3b1540ded1a4476a028ff2dd549ae10caeadf Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 19:48:31 -0700
Subject: [PATCH 0717/1243] onnx model needs cast

---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index aeb3ea3b2b..100fd14c98 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
+oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
 size 62486469

From 390eee0717344b6c59e2478d2e96e998e3f1230b Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 20:02:32 -0700
Subject: [PATCH 0718/1243] Revert "onnx model needs cast"

This reverts commit a2b3b1540ded1a4476a028ff2dd549ae10caeadf.
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 100fd14c98..aeb3ea3b2b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
+oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
 size 62486469

From 3b08501db379d4f718e7a76a249f1a0cf8f25db7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 20:33:35 -0700
Subject: [PATCH 0719/1243] Game Boy Model V3 (#33674)

* f4afab38-2ee3-4a71-904a-f2e5d4ec119a/400

* Model replay

* fix onnx cast

* tol
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay.py         | 3 +++
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index aeb3ea3b2b..100fd14c98 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
+oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
 size 62486469
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index af05ff5e44..9ee1b6be4e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -129,6 +129,9 @@ if __name__ == "__main__":
         for i in range(4):
           for field in ('x', 'y', 'z', 't'):
             ignore.append(f'modelV2.laneLines.{i}.{field}')
+        for i in range(2):
+          for field in ('x', 'y', 'z', 't'):
+            ignore.append(f'modelV2.roadEdges.{i}.{field}')
       tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2faabd0587..182a17c7b7 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-ff10a803005f5116a8f3d88629503bc52b15b93f
+76b8121429ad69d6548f744a39680ade324947e2

From 19bd96004e8e8de1e9923358c2b92ce64be10897 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 23:23:16 -0700
Subject: [PATCH 0720/1243] Cleanup shift (#33677)

* Cleanup shift code

* Unsafe buffer copy

* fix bugs
---
 selfdrive/modeld/models/commonmodel.cc | 13 +++++++------
 selfdrive/modeld/models/commonmodel.h  |  1 +
 selfdrive/modeld/transforms/loadyuv.cc | 22 ++++++++++++----------
 selfdrive/modeld/transforms/loadyuv.cl |  8 +++++---
 selfdrive/modeld/transforms/loadyuv.h  |  6 +++++-
 5 files changed, 30 insertions(+), 20 deletions(-)

diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index d2d37bbc5a..a188a4ebd3 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -13,7 +13,7 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(uint8_t), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
@@ -24,15 +24,16 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
+  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
   if (output == NULL) {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
-
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(uint8_t) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], frame_size_bytes);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
+    copy_queue(&loadyuv, q, *output, *output, frame_size_bytes, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, net_input_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+
     // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
     clFinish(q);
     return NULL;
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index ea39466670..fb527fc7a1 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -26,6 +26,7 @@ public:
   const int MODEL_HEIGHT = 256;
   const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
   const int buf_size = MODEL_FRAME_SIZE * 2;
+  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
 private:
   Transform transform;
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
index c7ce7b0830..c93f5cd038 100644
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) {
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift) {
+                   cl_mem out_cl) {
   cl_int global_out_off = 0;
-  if (do_shift) {
-    // shift the image in slot 1 to slot 0, then place the new image in slot 1
-    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
-    const size_t copy_work_size = global_out_off/8;
-    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                                &copy_work_size, NULL, 0, 0, NULL));
-  }
 
   CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
   CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
@@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
   CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
                                &loaduv_work_size, NULL, 0, 0, NULL));
 }
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size) {
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
+  const size_t copy_work_size = size/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                              &copy_work_size, NULL, 0, 0, NULL));
+}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
index 3a6b3ebc4f..970187a6d7 100644
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -37,9 +37,11 @@ __kernel void loaduv(__global uchar8 const * const in,
   out[gid + out_offset / 8] = inv;
 }
 
-__kernel void copy(__global uchar8 * inout,
-                   int in_offset)
+__kernel void copy(__global uchar8 * in,
+                   __global uchar8 * out,
+                   int in_offset,
+                   int out_offset)
 {
   const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
+  out[gid + out_offset / 8] = in[gid + in_offset / 8];
 }
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
index 7d27ef5d46..659059cd25 100644
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s);
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift = false);
+                   cl_mem out_cl);
+
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file

From d4e257213d0c7b097e5b1f0d3c983a0a3e7b7137 Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Mon, 30 Sep 2024 00:05:28 -0700
Subject: [PATCH 0721/1243] Modeld: cannot run without wide img

---
 selfdrive/modeld/modeld.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 86813fcb8e..abaaf299f7 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -96,8 +96,7 @@ class ModelState:
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    if wbuf is not None:
-      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
 
     if prepare_only:
       return None

From 4a2c24b5b37dcafa67a11142ac8d0cdca6720586 Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Mon, 30 Sep 2024 08:59:39 -0700
Subject: [PATCH 0722/1243] `CI`: fix if conditional in `ui_preview.yaml`
 (#33675)

* fix if conditional

* open

* open fix
---
 .github/workflows/ui_preview.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 972a96dc39..13337bacbe 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -135,11 +135,13 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
+
           if $open; then
             TABLE="<details open>${TABLE}"
           else
             TABLE="<details>${TABLE}"
           fi
+
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui

From c6cd23210cc156f9e474a8065c5ade45d14602c3 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Mon, 30 Sep 2024 09:00:00 -0700
Subject: [PATCH 0723/1243] prime.cc/typo: Fixes variable name typo (#33678)

Fixes variable name typo
---
 selfdrive/ui/qt/widgets/prime.cc | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 9bc96fcdad..62f5c0ab50 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -180,20 +180,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   QFrame* finishRegistration = new QFrame;
   finishRegistration->setObjectName("primeWidget");
-  QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration);
-  finishRegistationLayout->setSpacing(38);
-  finishRegistationLayout->setContentsMargins(64, 48, 64, 48);
+  QVBoxLayout* finishRegistrationLayout = new QVBoxLayout(finishRegistration);
+  finishRegistrationLayout->setSpacing(38);
+  finishRegistrationLayout->setContentsMargins(64, 48, 64, 48);
 
   QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
-  finishRegistationLayout->addWidget(registrationTitle);
+  finishRegistrationLayout->addWidget(registrationTitle);
 
   QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
   registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
-  finishRegistationLayout->addWidget(registrationDescription);
+  finishRegistrationLayout->addWidget(registrationDescription);
 
-  finishRegistationLayout->addStretch();
+  finishRegistrationLayout->addStretch();
 
   QPushButton* pair = new QPushButton(tr("Pair device"));
   pair->setStyleSheet(R"(
@@ -208,7 +208,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
       background-color: #3049F4;
     }
   )");
-  finishRegistationLayout->addWidget(pair);
+  finishRegistrationLayout->addWidget(pair);
 
   popup = new PairingPopup(this);
   QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec);

From b4cf9c09888a7e85ada4096a2b7e331c860df86d Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 30 Sep 2024 13:46:04 -0700
Subject: [PATCH 0724/1243] [bot] Update Python packages (#33679)

* Update Python packages

* thats unfortunate

* global

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 SConstruct   |   4 +
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 342 ++++++++++++++++++++++++++-------------------------
 4 files changed, 180 insertions(+), 170 deletions(-)

diff --git a/SConstruct b/SConstruct
index fea47440cf..8aa46b9359 100644
--- a/SConstruct
+++ b/SConstruct
@@ -64,6 +64,10 @@ AddOption('--pc-thneed',
           dest='pc_thneed',
           help='use thneed on pc')
 
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
 AddOption('--minimal',
           action='store_false',
           dest='extras',
diff --git a/opendbc_repo b/opendbc_repo
index 173ab90402..6a35629a6b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 173ab90402f85c07cd65750c7f31cc97a8b07d59
+Subproject commit 6a35629a6b5f55167ed9d9923411ce9e49e6a76f
diff --git a/panda b/panda
index 2037a2ead7..08c95bf47b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2037a2ead7257deadf6165734fd19b9b87de6eb7
+Subproject commit 08c95bf47ba6d0c5d11a7616e42e10b8dbde19eb
diff --git a/uv.lock b/uv.lock
index 2be225145b..81c6fa00c2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -11,16 +11,16 @@ resolution-markers = [
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.4.0"
+version = "2.4.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2d/f7/22bba300a16fd1cad99da1a23793fe43963ee326d012fdf852d0b4035955/aiohappyeyeballs-2.4.0.tar.gz", hash = "sha256:55a1714f084e63d49639800f95716da97a1f173d46a16dfcfda0016abb93b6b2", size = 16786 }
+sdist = { url = "https://files.pythonhosted.org/packages/c7/d9/e710a5c9e51b4d5a977c823ce323a81d344da8c1b6fba16bb270a8be800d/aiohappyeyeballs-2.4.2.tar.gz", hash = "sha256:4ca893e6c5c1f5bf3888b04cb5a3bee24995398efef6e0b9f747b5e89d84fd74", size = 18391 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/18/b6/58ea188899950d759a837f9a58b2aee1d1a380ea4d6211ce9b1823748851/aiohappyeyeballs-2.4.0-py3-none-any.whl", hash = "sha256:7ce92076e249169a13c2f49320d1967425eaf1f407522d707d59cac7628d62bd", size = 12155 },
+    { url = "https://files.pythonhosted.org/packages/13/64/40165ff77ade5203284e3015cf88e11acb07d451f6bf83fff71192912a0d/aiohappyeyeballs-2.4.2-py3-none-any.whl", hash = "sha256:8522691d9a154ba1145b157d6d5c15e5c692527ce6a53c5e5f9876977f6dab2f", size = 14105 },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.10.5"
+version = "3.10.8"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,53 +30,53 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/ca/28/ca549838018140b92a19001a8628578b0f2a3b38c16826212cc6f706e6d4/aiohttp-3.10.5.tar.gz", hash = "sha256:f071854b47d39591ce9a17981c46790acb30518e2f83dfca8db2dfa091178691", size = 7524360 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f1/90/54ccb1e4eadfb6c95deff695582453f6208584431d69bf572782e9ae542b/aiohttp-3.10.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:8c6a4e5e40156d72a40241a25cc226051c0a8d816610097a8e8f517aeacd59a2", size = 586455 },
-    { url = "https://files.pythonhosted.org/packages/c3/7a/95e88c02756e7e718f054e1bb3ec6ad5d0ee4a2ca2bb1768c5844b3de30a/aiohttp-3.10.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:2c634a3207a5445be65536d38c13791904fda0748b9eabf908d3fe86a52941cf", size = 397255 },
-    { url = "https://files.pythonhosted.org/packages/07/4f/767387b39990e1ee9aba8ce642abcc286d84d06e068dc167dab983898f18/aiohttp-3.10.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4aff049b5e629ef9b3e9e617fa6e2dfeda1bf87e01bcfecaf3949af9e210105e", size = 388973 },
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 ]
 
 [[package]]

From 7ebd7b8b4df29c5150ecbd296d9c8c74b153f801 Mon Sep 17 00:00:00 2001
From: garrettpall <76917194+garrettpall@users.noreply.github.com>
Date: Mon, 30 Sep 2024 17:39:23 -0400
Subject: [PATCH 0725/1243] maneuversd: Add note about cars requiring resume
 button press to exit standstill (#33665)

* maneuversd: Set active true when resume pressed

* Revert "maneuversd: Set active true when resume pressed"

This reverts commit 1165270c47c6a3fe4af5752f7779c36bd5e840c9.

* Add note

* Update README.md

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/longitudinal_maneuvers/README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index 66ec697912..643af7fd82 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -18,7 +18,9 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
 
    ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
 
-5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
+5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel. 
+
+   **Note:** For GM cars, it is recommended to hold down the resume button for all low-speed tests (starting, stopping and creep) to avoid the car entering standstill.
 
    ![cog-clip-00 01 11 250-00 01 22 250](https://github.com/user-attachments/assets/c312c1cc-76e8-46e1-a05e-bb9dfb58994f)
 

From 47cc314b14baba530920e78ad1c31935acc71b8b Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 30 Sep 2024 18:13:51 -0700
Subject: [PATCH 0726/1243] Gate acceleration on model gas press predictions
 (#33643)

* no ui squash

* already calibrated

* Already calibrated

* Add longitudinal maneuver tests

* Fix linter errors

* Added get_coast_accel function

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
---
 .../controls/lib/longitudinal_planner.py      | 27 +++++++++++--
 .../test/longitudinal_maneuvers/maneuver.py   | 16 ++++++--
 .../test/longitudinal_maneuvers/plant.py      | 12 ++++--
 .../test_longitudinal.py                      | 38 +++++++++++++++++++
 4 files changed, 83 insertions(+), 10 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0b65119383..54838924be 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -21,6 +21,8 @@ A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
+ALLOW_THROTTLE_THRESHOLD = 0.5
+ACCEL_LIMIT_MARGIN = 0.05
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -30,6 +32,9 @@ _A_TOTAL_MAX_BP = [20., 40.]
 def get_max_accel(v_ego):
   return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
+def get_coast_accel(pitch):
+  return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
+
 
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
@@ -69,6 +74,7 @@ class LongitudinalPlanner:
     self.mpc = LongitudinalMpc(dt=dt)
     self.fcw = False
     self.dt = dt
+    self.allow_throttle = True
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -93,11 +99,20 @@ class LongitudinalPlanner:
       v = np.zeros(len(T_IDXS_MPC))
       a = np.zeros(len(T_IDXS_MPC))
       j = np.zeros(len(T_IDXS_MPC))
-    return x, v, a, j
+    if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
+      throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
+    else:
+      throttle_prob = 1.0
+    return x, v, a, j, throttle_prob
 
   def update(self, sm):
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
+    if len(sm['carControl'].orientationNED) == 3:
+      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
+    else:
+      accel_coast = ACCEL_MAX
+
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -130,6 +145,13 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+
+    if not self.allow_throttle and v_ego > 5.0:  # Don't clip at low speeds since throttle_prob doesn't account for creep
+      # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
 
     if force_slow_decel:
       v_cruise = 0.0
@@ -140,7 +162,6 @@ class LongitudinalPlanner:
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -179,6 +200,6 @@ class LongitudinalPlanner:
     longitudinalPlan.aTarget = a_target
     longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = True
+    longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 6c8495cc3b..301f99dd56 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -12,11 +12,14 @@ class Maneuver:
     self.breakpoints = kwargs.get("breakpoints", [0.0, duration])
     self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
     self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
+    self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))])
     self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
+    self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))])
 
     self.only_lead2 = kwargs.get("only_lead2", False)
     self.only_radar = kwargs.get("only_radar", False)
     self.ensure_start = kwargs.get("ensure_start", False)
+    self.ensure_slowdown = kwargs.get("ensure_slowdown", False)
     self.enabled = kwargs.get("enabled", True)
     self.e2e = kwargs.get("e2e", False)
     self.personality = kwargs.get("personality", 0)
@@ -42,9 +45,11 @@ class Maneuver:
     logs = []
     while plant.current_time < self.duration:
       speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
-      prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
+      prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
       cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values)
-      log = plant.step(speed_lead, prob, cruise)
+      pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values)
+      prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values)
+      log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle)
 
       d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
       v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
@@ -57,13 +62,18 @@ class Maneuver:
                             speed_lead,
                             log['acceleration']]))
 
-      if d_rel < .4 and (self.only_radar or prob > 0.5):
+      if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
         print("Crashed!!!!")
         valid = False
 
       if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
         print('LongitudinalPlanner not starting!')
         valid = False
+
+    if self.ensure_slowdown and log['speed'] > 5.5:
+      print('LongitudinalPlanner not slowing down!')
+      valid = False
+
     if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
       print('Not stopping with force decel')
       valid = False
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 21f2b3b57f..3c8c09d6be 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -57,13 +57,14 @@ class Plant:
   def current_time(self):
     return float(self.rk.frame) / self.rate
 
-  def step(self, v_lead=0.0, prob=1.0, v_cruise=50.):
+  def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0):
     # ******** publish a fake model going straight and fake calibration ********
     # note that this is worst case for MPC, since model will delay long mpc by one time step
     radar = messaging.new_message('radarState')
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
+    car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
@@ -73,14 +74,14 @@ class Plant:
       v_rel = v_lead - self.speed
       if self.only_radar:
         status = True
-      elif prob > .5:
+      elif prob_lead > .5:
         status = True
       else:
         status = False
     else:
       d_rel = 200.
       v_rel = 0.
-      prob = 0.0
+      prob_lead = 0.0
       status = False
 
     lead = log.RadarState.LeadData.new_message()
@@ -94,7 +95,7 @@ class Plant:
     # TODO use real radard logic for this
     lead.aLeadTau = float(_LEAD_ACCEL_TAU)
     lead.status = status
-    lead.modelProb = float(prob)
+    lead.modelProb = float(prob_lead)
     if not self.only_lead2:
       radar.radarState.leadOne = lead
     radar.radarState.leadTwo = lead
@@ -112,6 +113,7 @@ class Plant:
     acceleration = log.XYZTData.new_message()
     acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
     model.modelV2.acceleration = acceleration
+    model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)]
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
     ss.selfdriveState.experimentalMode = self.e2e
@@ -120,10 +122,12 @@ class Plant:
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01
     car_state.carState.vCruise = float(v_cruise * 3.6)
+    car_control.carControl.orientationNED = [0., float(pitch), 0.]
 
     # ******** get controlsState messages for plotting ***
     sm = {'radarState': radar.radarState,
           'carState': car_state.carState,
+          'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'modelV2': model.modelV2}
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 62a95babeb..7eea44aae6 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -82,6 +82,44 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       **kwargs,
     ),
+    Maneuver(
+      "approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=True,
+      initial_distance_lead=120.,
+      speed_lead_values=[0.0, 0., 0.],
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., -0.1, -0.1],
+      breakpoints=[0.0, 2., 2.01],
+      **kwargs,
+    ),
+    Maneuver(
+      "approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=True,
+      initial_distance_lead=120.,
+      speed_lead_values=[0.0, 0., 0.],
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      **kwargs,
+    ),
+    Maneuver(
+      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
+      duration=25.,
+      initial_speed=20.,
+      lead_relevancy=False,
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      ensure_slowdown=True,
+      **kwargs,
+    ),
     Maneuver(
       "approach slower cut-in car at 20m/s",
       duration=20.,

From 216145d4bc035e2bd7f10d9f3968631db8535578 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 30 Sep 2024 18:30:03 -0700
Subject: [PATCH 0727/1243] re-enable time to onroad test (#33680)

re-add test
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index eb39781cb8..799b4fbbeb 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -147,7 +147,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {

From d826b08369555f7e39d03511efa4ddea62701517 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 30 Sep 2024 18:59:46 -0700
Subject: [PATCH 0728/1243] ci: lower `soundd` CPU budget (#33684)

tr
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b99662df78..2f7fa00a32 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -53,7 +53,7 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
-  "selfdrive.ui.soundd": 3.5,
+  "selfdrive.ui.soundd": 3.38,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,

From b0e4d6ee7a313e9db08c86758c6c7188b23f9b67 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 30 Sep 2024 19:15:29 -0700
Subject: [PATCH 0729/1243] Model replay needs speed (#33683)

* Model replay needs speed

* Model replay needs speed

* Revert "Model replay needs speed"

This reverts commit 6d6a4993dd163c02d84465868e85b290d4fc6bbd.

* Update model_replay_ref_commit
---
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 selfdrive/test/process_replay/process_replay.py       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 182a17c7b7..5fb62db139 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-76b8121429ad69d6548f744a39680ade324947e2
+56743d36006d4312544ace7f53491727aa7ac302
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index af33b0458b..b6d5ba6afd 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -569,7 +569,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),

From 6c227a66a2a91b6c9f91d9f76c5ec268145184ca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 30 Sep 2024 20:42:51 -0700
Subject: [PATCH 0730/1243] process_replay: drivingModelData migration (#33686)

* Migrate modelV2 to drivingModelData

* Add if statements

* Fix
---
 selfdrive/modeld/fill_model_msg.py         | 11 ++++++----
 selfdrive/test/process_replay/migration.py | 25 ++++++++++++++++++++++
 2 files changed, 32 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 10a1860b58..115ec94f88 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -48,6 +48,12 @@ def fill_xyz_poly(builder, degree, x, y, z):
   builder.yCoefficients = coeffs[:, 1].tolist()
   builder.zCoefficients = coeffs[:, 2].tolist()
 
+def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
+  builder.leftY = lane_lines[1].y[0]
+  builder.leftProb = lane_line_probs[1]
+  builder.rightY = lane_lines[2].y[0]
+  builder.rightProb = lane_line_probs[2]
+
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
                    net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
@@ -130,10 +136,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
   lane_line_meta = driving_model_data.laneLineMeta
-  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
-  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
-  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
-  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
 
   # road edges
   modelV2.init('roadEdges', 2)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 9c680ada9a..c0696f2181 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -3,6 +3,8 @@ from collections import defaultdict
 from cereal import messaging, car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.system.manager.process_config import managed_processes
 from panda import Panda
@@ -19,6 +21,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   msgs = migrate_liveLocationKalman(msgs)
   msgs = migrate_liveTracks(msgs)
   msgs = migrate_driverAssistance(msgs)
+  msgs = migrate_drivingModelData(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -29,6 +32,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
 
   return msgs
 
+
 def migrate_driverAssistance(lr):
   all_msgs = []
   for msg in lr:
@@ -39,6 +43,27 @@ def migrate_driverAssistance(lr):
       return lr
   return all_msgs
 
+
+def migrate_drivingModelData(lr):
+  all_msgs = []
+  for msg in lr:
+    all_msgs.append(msg)
+    if msg.which() == "modelV2":
+      dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
+      for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
+        setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
+      for meta_field in ["laneChangeState", "laneChangeState"]:
+        setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
+      if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
+        fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
+      if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
+        fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
+      all_msgs.append(dmd.as_reader())
+    elif msg.which() == "drivingModelData":
+      return lr
+  return all_msgs
+
+
 def migrate_liveTracks(lr):
   all_msgs = []
   for msg in lr:

From e442425c9d32774e50802cd5455313090060f4ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 1 Oct 2024 02:58:20 -0700
Subject: [PATCH 0731/1243] MLSIM trained model V0 (#33676)

* squash f7343ba0-3f7d-4776-9819-2219b8d2d667/270

* fix broken ref

* Model replay ref commit
---
 selfdrive/modeld/constants.py                 |  3 +-
 selfdrive/modeld/modeld.py                    | 29 ++++++++++++++-----
 selfdrive/modeld/models/commonmodel.cc        | 21 +++++++++-----
 selfdrive/modeld/models/commonmodel.h         |  5 ++--
 selfdrive/modeld/models/supercombo.onnx       |  4 +--
 .../process_replay/model_replay_ref_commit    |  2 +-
 6 files changed, 43 insertions(+), 21 deletions(-)

diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 82161a5b67..bf74c2d1a0 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -15,7 +15,8 @@ class ModelConstants:
   # model inputs constants
   MODEL_FREQ = 20
   FEATURE_LEN = 512
-  HISTORY_BUFFER_LEN = 99
+  FULL_HISTORY_BUFFER_LEN = 99
+  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index abaaf299f7..f8a4b7fe0d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -34,6 +34,7 @@ MODEL_PATHS = {
 
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -55,6 +56,11 @@ class ModelState:
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+
+    # img buffers are managed in openCL transform code
     self.inputs = {
       'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
@@ -87,14 +93,16 @@ class ModelState:
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
-    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
-    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
+    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+    self.desire_20Hz[-1] = new_desire
+    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
 
-    # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
     self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
 
@@ -104,10 +112,16 @@ class ModelState:
     self.model.execute()
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
-    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
+    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+
+    self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
+    self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
+
+    idxs = np.arange(-4,-100,-4)[::-1]
+    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    # TODO model only uses last value now, once that changes we need to input strided action history buffer
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -173,7 +187,6 @@ def main(demo=False):
     CP = convert_to_capnp(get_demo_car_params())
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index a188a4ebd3..e8a5a7ed52 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -13,7 +13,10 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
+  region.origin = 4 * frame_size_bytes;
+  region.size = frame_size_bytes;
+  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
@@ -24,15 +27,18 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
+  for (int i = 0; i < 4; i++) {
+    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
+  }
+  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
   if (output == NULL) {
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], frame_size_bytes);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {
-    copy_queue(&loadyuv, q, *output, *output, frame_size_bytes, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, net_input_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
 
     // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
     clFinish(q);
@@ -43,7 +49,8 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
 ModelFrame::~ModelFrame() {
   transform_destroy(&transform);
   loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(net_input_cl));
+  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
+  CL_CHECK(clReleaseMemObject(last_img_cl));
   CL_CHECK(clReleaseMemObject(v_cl));
   CL_CHECK(clReleaseMemObject(u_cl));
   CL_CHECK(clReleaseMemObject(y_cl));
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index fb527fc7a1..1c7360f159 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -32,6 +32,7 @@ private:
   Transform transform;
   LoadYUVState loadyuv;
   cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, net_input_cl;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
+  cl_buffer_region region;
   std::unique_ptr<uint8_t[]> input_frames;
-};
+};
\ No newline at end of file
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 100fd14c98..49b51c182e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
-size 62486469
+oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959
+size 50309976
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 5fb62db139..f8fd517548 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-56743d36006d4312544ace7f53491727aa7ac302
+05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7

From 3b6f7c9a6c602c0ceb4907eb9ca4e96c9ba41352 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Oct 2024 13:19:26 -0700
Subject: [PATCH 0732/1243] sgo shipped!

---
 RELEASES.md | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index d69d9f8dcc..1435809d84 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,10 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* New Tomb Raider driving model
+* New driving model
+  * Trained in brand new ML simulator
+  * Model now gates applying positive accel in Chill mode
+* New driving monitoring model
+  * Reduced false positives related to passengers 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * New Toyota TSS2 longitudinal tune
 

From ba350aac4cb8f996e4c0e22cc77b2b1e99e5ff8c Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 1 Oct 2024 16:48:19 -0700
Subject: [PATCH 0733/1243] merge Tesla without a replay route (#33691)

* bump opendbc

* no Tesla replay route for now

* bump opendbc to head
---
 opendbc_repo                                    | 2 +-
 selfdrive/test/process_replay/test_processes.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 6a35629a6b..7b63ff21e9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6a35629a6b5f55167ed9d9923411ce9e49e6a76f
+Subproject commit 7b63ff21e9652242255b408840d0ebc5a7d0e768
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 50c34a190f..78090372a6 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -60,7 +60,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

From 999c86e8a204e8e392c96907756b369790ba66d5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 17:17:09 -0700
Subject: [PATCH 0734/1243] Remove VW steer time limit alert (#33692)

* rm

* remove argument

* and more
---
 selfdrive/car/car_specific.py | 9 +++++----
 selfdrive/car/card.py         | 2 +-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 3984b66c63..db46a75ccc 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,7 +1,7 @@
 from cereal import car
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
-from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
+from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
@@ -37,7 +37,7 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
-  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
+  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
@@ -149,8 +149,9 @@ class CarSpecificEvents:
         if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
-      if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
-        events.add(EventName.steerTimeLimit)
+      # TODO: this needs to be implemented generically in carState struct
+      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.carName == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 62569f64f5..8829c2e91f 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -187,7 +187,7 @@ class Car:
   def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
     self.events.clear()
 
-    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
+    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CC_prev).to_msg()
 
     self.events.add_from_msg(CS.events)
 

From 17edc5f66092bcc79db919eebb7ecb1e3108be10 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 1 Oct 2024 17:22:46 -0700
Subject: [PATCH 0735/1243] support for SecOC cars (#33689)

* bump opendbc

* support for SecOC cars

* missed this

* bump opendbc

* un-nest SecOC params

* gate saved key retrieval on IsReleaseBranch false

* bump opendbc

* bump opendbc

* bump opendbc to point of SecOC merge

* bump opendbc
---
 cereal/car.capnp                   |  4 ++++
 common/params.cc                   |  1 +
 opendbc_repo                       |  2 +-
 selfdrive/car/card.py              | 12 ++++++++++++
 selfdrive/selfdrived/events.py     |  6 ++++++
 selfdrive/selfdrived/selfdrived.py |  2 ++
 6 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6af474c0ee..34f2ac37e3 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -87,6 +87,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @125;
     startupMaster @78;
     fcw @79;
     steerSaturated @80;
@@ -515,6 +516,9 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @75 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @76 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;
diff --git a/common/params.cc b/common/params.cc
index c75a09e28b..9e62ed582c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -182,6 +182,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
+    {"SecOCKey", PERSISTENT | DONT_LOG},
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
diff --git a/opendbc_repo b/opendbc_repo
index 7b63ff21e9..bed4c18a95 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7b63ff21e9652242255b408840d0ebc5a7d0e768
+Subproject commit bed4c18a959475251e48c28fadfa6bc207f20ec6
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 8829c2e91f..7f57edf866 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -127,6 +127,18 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      secoc_key = self.params.get("SecOCKey", encoding='utf8')
+      if secoc_key is not None:
+        saved_secoc_key = bytes.fromhex(secoc_key.strip())
+        if len(saved_secoc_key) == 16:
+          self.CP.secOcKeyAvailable = True
+          self.CI.CS.secoc_key = saved_secoc_key
+          if controller_available:
+            self.CI.CC.secoc_key = saved_secoc_key
+        else:
+          cloudlog.warning("Saved SecOC key is invalid")
+
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 9ed1b454f0..29b1933701 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -382,6 +382,12 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
   },
 
+  EventName.startupNoSecOcKey: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       "Security Key Not Available",
+                                       priority=Priority.HIGH),
+  },
+
   EventName.dashcamMode: {
     ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
                                        priority=Priority.LOWEST),
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 18ac61dec8..9e6ac90219 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -118,6 +118,8 @@ class SelfdriveD:
       self.startup_event = EventName.startupNoCar
     elif car_recognized and self.CP.passive:
       self.startup_event = EventName.startupNoControl
+    elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
+      self.startup_event = EventName.startupNoSecOcKey
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)

From 516aa59ee6293e5fcf49dc370520b22ba46bcf8c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 20:16:25 -0700
Subject: [PATCH 0736/1243] Deprecate lowSpeedLockout alert (#33696)

* is an accFault

* bump

* bump to master

* remove from car specific
---
 cereal/car.capnp               | 2 +-
 opendbc_repo                   | 2 +-
 selfdrive/car/car_specific.py  | 2 --
 selfdrive/selfdrived/events.py | 5 -----
 4 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 34f2ac37e3..73f9ca9dc4 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -52,7 +52,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
-    lowSpeedLockout @31;
     joystickDebug @34;
     longitudinalManeuver @124;
     steerTempUnavailableSilent @35;
@@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     wideRoadCameraErrorDEPRECATED @102;
     highCpuUsageDEPRECATED @105;
     startupNoFwDEPRECATED @104;
+    lowSpeedLockoutDEPRECATED @31;
   }
 }
 
diff --git a/opendbc_repo b/opendbc_repo
index bed4c18a95..01f47ff1a3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit bed4c18a959475251e48c28fadfa6bc207f20ec6
+Subproject commit 01f47ff1a324ade77d99f79c7ea0f4e87110147d
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index db46a75ccc..9602400250 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -99,8 +99,6 @@ class CarSpecificEvents:
       if self.CP.openpilotLongitudinalControl:
         if CS.out.cruiseState.standstill and not CS.out.brakePressed:
           events.add(EventName.resumeRequired)
-        if CS.low_speed_lockout:  # type: ignore[attr-defined]
-          events.add(EventName.lowSpeedLockout)
         if CS.out.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
           if CC_prev.actuators.accel > 0.3:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 29b1933701..cb71126627 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -945,11 +945,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
   },
 
-  EventName.lowSpeedLockout: {
-    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
-  },
-
   EventName.lkasDisabled: {
     ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
     ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),

From 521c702a1ef87f035e1a36f53bcd823ec57e77ae Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Oct 2024 20:34:21 -0700
Subject: [PATCH 0737/1243] jenkins: set device time

---
 Jenkinsfile | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Jenkinsfile b/Jenkinsfile
index 799b4fbbeb..84514948c7 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -84,6 +84,8 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
         timeout(time: 35, unit: 'MINUTES') {
           retry (3) {
+            def date = sh(script: 'date', returnStdout: true).trim();
+            device(device_ip, "set time", "date -s '" + date + "'")
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->

From 9cbd34158f6fa264b86493c1c5bdb2a1bbc0dd4f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 21:17:24 -0700
Subject: [PATCH 0738/1243] GM: signed wheel speeds (#33697)

* signed wheel speeds

* clean up

* bump to master

* bump to master again

* did a sanity check for negative vego

* bump
---
 opendbc_repo                       | 2 +-
 selfdrive/car/car_specific.py      | 5 ++---
 selfdrive/controls/controlsd.py    | 2 +-
 selfdrive/selfdrived/selfdrived.py | 2 +-
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 01f47ff1a3..ea87b4fa3b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 01f47ff1a324ade77d99f79c7ea0f4e87110147d
+Subproject commit ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 9602400250..1053588001 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -119,9 +119,8 @@ class CarSpecificEvents:
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward  # type: ignore[attr-defined]
-      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
-                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+      if CS.out.vEgo < self.CP.minEnableSpeed and not (CS.out.standstill and CS.out.brake >= 20 and
+                                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.out.cruiseState.standstill:
         events.add(EventName.resumeRequired)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 80331c6ee7..c97a06a0cf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -87,7 +87,7 @@ class Controls:
     CC.enabled = self.sm['selfdriveState'].enabled
 
     # Check which actuators can be enabled
-    standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
+    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 9e6ac90219..63e078e6d7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -334,7 +334,7 @@ class SelfdriveD:
         self.events.add(EventName.noGps)
       if gps_ok:
         self.distance_traveled = 0
-      self.distance_traveled += CS.vEgo * DT_CTRL
+      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)

From 48bd5b9f6b0400a09d8af87442ad3616fedc6724 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Tue, 1 Oct 2024 21:33:46 -0700
Subject: [PATCH 0739/1243] modeld: clip vego (#33699)

---
 selfdrive/modeld/modeld.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index f8a4b7fe0d..ec258f42f0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -231,7 +231,8 @@ def main(demo=False):
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
+    v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]

From aea6790e3c3d1456305c52213965a6799c42074a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 21:30:16 -0700
Subject: [PATCH 0740/1243] ButtonEvent: rename altButton3 to mainCruise

---
 cereal/car.capnp | 2 +-
 opendbc_repo     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 73f9ca9dc4..3ef78973e3 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -281,7 +281,7 @@ struct CarState {
       cancel @5;
       altButton1 @6;
       altButton2 @7;
-      altButton3 @8;
+      mainCruise @8;
       setCruise @9;
       resumeCruise @10;
       gapAdjustCruise @11;
diff --git a/opendbc_repo b/opendbc_repo
index ea87b4fa3b..117ed6de67 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55
+Subproject commit 117ed6de6788c90c097d426e88ac97aaa36d0621

From c19c18cfdb875aa9cf02e3ea813e3385dfab8ff7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 22:46:24 -0700
Subject: [PATCH 0741/1243] Hyundai: always publish cruise and main buttons
 (#33701)

* bump

* update refs
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 117ed6de67..2b91038bf7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 117ed6de6788c90c097d426e88ac97aaa36d0621
+Subproject commit 2b91038bf7f1c2287f1d32c98cd84e45cc0e243e
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e154284e3d..8e012f79c3 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d8a02c23f530dd236553b47ff7f0355929fe15fc
+2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf
\ No newline at end of file

From 98e1d840de3cb8cf801e7b23cafc5fc605550344 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 23:06:57 -0700
Subject: [PATCH 0742/1243] CarState: add invalidLkasSetting (#33700)

* invalidLkasSetting

* clean up car specific a bit

* clean this up

* deprecate!

* bump

* this was just broken lol

* updaterefs
---
 cereal/car.capnp                         |  3 ++-
 opendbc_repo                             |  2 +-
 selfdrive/car/car_specific.py            |  9 +++------
 selfdrive/selfdrived/events.py           | 10 +++-------
 selfdrive/test/process_replay/ref_commit |  2 +-
 5 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 3ef78973e3..e53f3ce25c 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -103,7 +103,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     selfdriveInitializing @98;
     usbError @99;
     cruiseMismatch @106;
-    lkasDisabled @107;
     canBusMissing @111;
     selfdrivedLagging @112;
     resumeBlocked @113;
@@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     highCpuUsageDEPRECATED @105;
     startupNoFwDEPRECATED @104;
     lowSpeedLockoutDEPRECATED @31;
+    lkasDisabledDEPRECATED @107;
   }
 }
 
@@ -199,6 +199,7 @@ struct CarState {
   steeringPressed @9 :Bool;        # if the user is using the steering wheel
   steerFaultTemporary @35 :Bool;   # temporary EPS fault
   steerFaultPermanent @36 :Bool;   # permanent EPS fault
+  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;
diff --git a/opendbc_repo b/opendbc_repo
index 2b91038bf7..0cdc684e09 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2b91038bf7f1c2287f1d32c98cd84e45cc0e243e
+Subproject commit 0cdc684e097f386554bbc1a6946a4efe8bc7cfd6
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 1053588001..83927a6b04 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -50,15 +50,10 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-      if CS.lkas_enabled:  # type: ignore[attr-defined]
-        events.add(EventName.invalidLkasSetting)
-
     elif self.CP.carName == 'mazda':
       events = self.create_common_events(CS.out, CS_prev)
 
-      if CS.lkas_disabled:  # type: ignore[attr-defined]
-        events.add(EventName.lkasDisabled)
-      elif CS.low_speed_alert:  # type: ignore[attr-defined]
+      if CS.low_speed_alert:  # type: ignore[attr-defined]
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'chrysler':
@@ -211,6 +206,8 @@ class CarSpecificEvents:
       events.add(EventName.gasPressedOverride)
     if CS.vehicleSensorsInvalid:
       events.add(EventName.vehicleSensorsInvalid)
+    if CS.invalidLkasSetting:
+      events.add(EventName.invalidLkasSetting)
 
     # Handle button presses
     for b in CS.buttonEvents:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index cb71126627..070ca60ca2 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -394,8 +394,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
-                                       "Turn off stock LKAS to engage"),
+    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
+                                       "Toggle stock LKAS on or off to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 
   EventName.cruiseMismatch: {
@@ -945,11 +946,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
   },
 
-  EventName.lkasDisabled: {
-    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
-  },
-
   EventName.vehicleSensorsInvalid: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
     ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8e012f79c3..30daa6e265 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf
\ No newline at end of file
+1b4480f5ebf5a4003dde22f19bbcf989294bc724
\ No newline at end of file

From c87f953396d1fe719337132940cab9473a8054b4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Oct 2024 23:21:33 -0700
Subject: [PATCH 0743/1243] test_onroad: bump up hevc size

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 2f7fa00a32..fc51d7a2cc 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -214,7 +214,7 @@ class TestOnroad:
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):
-        assert 70 < sz < 77
+        assert 70 < sz < 80
       else:
         raise NotImplementedError
 

From af609212f7be5a60c5987b00dd7047e8bfdd5f04 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 2 Oct 2024 10:10:11 -0700
Subject: [PATCH 0744/1243] bump qcamera too

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index fc51d7a2cc..f2afad82ee 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -208,7 +208,7 @@ class TestOnroad:
   def test_log_sizes(self):
     for f, sz in self.log_sizes.items():
       if f.name == "qcamera.ts":
-        assert 2.15 < sz < 2.35
+        assert 2.15 < sz < 2.6
       elif f.name == "qlog":
         assert 0.4 < sz < 0.55
       elif f.name == "rlog":

From 7fa8e3d8a65682a00d8ee6d5dba2b58292921dfc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 3 Oct 2024 01:10:26 +0800
Subject: [PATCH 0745/1243] sensord: fix redundant assignment (#33707)

fix redundant assignment
---
 system/sensord/sensors/lsm6ds3_gyro.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc
index 0459b6ad64..bb560edeab 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.cc
+++ b/system/sensord/sensors/lsm6ds3_gyro.cc
@@ -110,7 +110,7 @@ int LSM6DS3_Gyro::init() {
   uint8_t value = 0;
   bool do_self_test = false;
 
-  const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST");
+  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
   if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
     do_self_test = true;
   }

From 6aebec7b347a2b40e1bf1c495fe0f1eb360d26fc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 3 Oct 2024 04:03:46 +0800
Subject: [PATCH 0746/1243] cleanup .gitignore (#33704)

---
 .gitignore | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.gitignore b/.gitignore
index d66823bb50..919e011fe3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
-selfdrive/modeld/_modeld
-selfdrive/modeld/_dmonitoringmodeld
-/src/
 
 notebooks
 hyperthneed

From 06f2ca117915ea7fa6490a6f3c3dac61da25fb19 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Oct 2024 14:38:00 -0700
Subject: [PATCH 0747/1243] cars: generic interaction detection (#33710)

* works

* clean up

* bump

* clean up

* it used to consider an action hold down the button, so shouldn't only consider rising edge

* bump
---
 opendbc_repo                  | 2 +-
 selfdrive/car/car_specific.py | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 0cdc684e09..900246ddb3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 0cdc684e097f386554bbc1a6946a4efe8bc7cfd6
+Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 83927a6b04..b43a4c4fc7 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,9 +1,11 @@
+from collections import deque
 from cereal import car
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -37,6 +39,8 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
+    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
+
   def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
@@ -149,8 +153,8 @@ class CarSpecificEvents:
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
-      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)  # type: ignore[attr-defined]
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
+      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.out.buttonEvents))
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:

From 2b486b15c6718d076ef40098998971a5874abd1b Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 2 Oct 2024 14:47:09 -0700
Subject: [PATCH 0748/1243] MLSIM trained model V1 (#33698)

* 87c86ea8-9766-43e9-b72f-185496800301/400

* update ref
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 49b51c182e..89042dbe47 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959
+oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95
 size 50309976
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index f8fd517548..f14eef06b9 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7
+c4d60dfe4b677f9230eebb47614501ea8d0b99a3

From 6f0927011cd1ffa94784b42ea5cda72a1ae624d7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Oct 2024 15:10:33 -0700
Subject: [PATCH 0749/1243] CarState: add low speed alert field (#33712)

* clean up mazda steer speed alert

* bump
---
 cereal/car.capnp              |  1 +
 opendbc_repo                  |  2 +-
 selfdrive/car/car_specific.py | 10 +++-------
 3 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index e53f3ce25c..6eff704ecb 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -207,6 +207,7 @@ struct CarState {
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
   vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/opendbc_repo b/opendbc_repo
index 900246ddb3..a363ce1ff4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770
+Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index b43a4c4fc7..ee2dee77de 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -45,7 +45,7 @@ class CarSpecificEvents:
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName == 'subaru':
+    elif self.CP.carName in ('subaru', 'mazda'):
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
@@ -54,12 +54,6 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'mazda':
-      events = self.create_common_events(CS.out, CS_prev)
-
-      if CS.low_speed_alert:  # type: ignore[attr-defined]
-        events.add(EventName.belowSteerSpeed)
-
     elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
 
@@ -212,6 +206,8 @@ class CarSpecificEvents:
       events.add(EventName.vehicleSensorsInvalid)
     if CS.invalidLkasSetting:
       events.add(EventName.invalidLkasSetting)
+    if CS.lowSpeedAlert:
+      events.add(EventName.belowSteerSpeed)
 
     # Handle button presses
     for b in CS.buttonEvents:

From b2791a8e07fad139f7eb2d46a160f14ac08456a8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 2 Oct 2024 20:47:16 -0700
Subject: [PATCH 0750/1243] process_replay: in-place modification for message
 migration (#33695)

* Inplace modification of lr

* Replace the original function

* Add comment

* Change the return type

* Fix carParams retrieval

* Remove the newline

* Include carState migration

* Remove TODO

* Comment

* List instead of gen

* Fix deletion

* Delete camera state if not valid

* Update ref commit

* Remove sorting at the end

* Use migrate_all in ui report

* Allow more control in what to migrate

* Add type annotations

* Static analysis

* Improve type annot

* Fix linter issues

* Remove f-string

* Migrate carState too in test_ui

* Fix peripheralState migration

* Sort at the end

* Fix regen issue

* Fix comments
---
 selfdrive/test/process_replay/migration.py | 406 +++++++++++----------
 selfdrive/test/process_replay/ref_commit   |   2 +-
 selfdrive/ui/tests/test_ui/run.py          |   4 +-
 3 files changed, 217 insertions(+), 195 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index c0696f2181..9241a3d493 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,4 +1,7 @@
 from collections import defaultdict
+from collections.abc import Callable
+import functools
+import capnp
 
 from cereal import messaging, car
 from opendbc.car.fingerprints import MIGRATION
@@ -7,70 +10,115 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.tools.lib.logreader import LogIterable
 from panda import Panda
 
-
-# TODO: message migration should happen in-place
-def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
-  msgs = migrate_sensorEvents(lr)
-  msgs = migrate_carParams(msgs)
-  msgs = migrate_gpsLocation(msgs)
-  msgs = migrate_deviceState(msgs)
-  msgs = migrate_carOutput(msgs)
-  msgs = migrate_controlsState(msgs)
-  msgs = migrate_liveLocationKalman(msgs)
-  msgs = migrate_liveTracks(msgs)
-  msgs = migrate_driverAssistance(msgs)
-  msgs = migrate_drivingModelData(msgs)
+MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
+MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
+MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
+
+
+## rules for migration functions
+## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
+## 2. it only gets the messages that are in the inputs list
+## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
+## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
+## 5. all migration functions must be independent of each other
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+  migrations = [
+    migrate_sensorEvents,
+    migrate_carParams,
+    migrate_gpsLocation,
+    migrate_deviceState,
+    migrate_carOutput,
+    migrate_controlsState,
+    migrate_carState,
+    migrate_liveLocationKalman,
+    migrate_liveTracks,
+    migrate_driverAssistance,
+    migrate_drivingModelData,
+  ]
   if manager_states:
-    msgs = migrate_managerState(msgs)
+    migrations.append(migrate_managerState)
   if panda_states:
-    msgs = migrate_pandaStates(msgs)
-    msgs = migrate_peripheralState(msgs)
+    migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
-    msgs = migrate_cameraStates(msgs)
-
-  return msgs
-
-
-def migrate_driverAssistance(lr):
-  all_msgs = []
-  for msg in lr:
-    all_msgs.append(msg)
-    if msg.which() == 'longitudinalPlan':
-      all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
-    if msg.which() == 'driverAssistance':
-      return lr
-  return all_msgs
-
-
-def migrate_drivingModelData(lr):
-  all_msgs = []
-  for msg in lr:
-    all_msgs.append(msg)
-    if msg.which() == "modelV2":
-      dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
-      for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
-        setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
-      for meta_field in ["laneChangeState", "laneChangeState"]:
-        setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
-      if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
-        fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
-      if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
-        fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-      all_msgs.append(dmd.as_reader())
-    elif msg.which() == "drivingModelData":
-      return lr
-  return all_msgs
-
-
-def migrate_liveTracks(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != "liveTracksDEPRECATED":
-      all_msgs.append(msg)
+    migrations.append(migrate_cameraStates)
+
+  return migrate(lr, migrations)
+
+
+def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
+  lr = list(lr)
+  grouped = defaultdict(list)
+  for i, msg in enumerate(lr):
+    grouped[msg.which()].append(i)
+
+  replace_ops, add_ops, del_ops = [], [], []
+  for migration in migration_funcs:
+    assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator"
+    if migration.product in grouped: # skip if product already exists
       continue
 
+    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    msg_gen = [(i, lr[i]) for i in sorted_indices]
+    r_ops, a_ops, d_ops = migration(msg_gen)
+    replace_ops.extend(r_ops)
+    add_ops.extend(a_ops)
+    del_ops.extend(d_ops)
+
+  for index, msg in replace_ops:
+    lr[index] = msg
+  for index in sorted(del_ops, reverse=True):
+    del lr[index]
+  for msg in add_ops:
+    lr.append(msg)
+  lr = sorted(lr, key=lambda x: x.logMonoTime)
+
+  return lr
+
+
+def migration(inputs: list[str], product: str|None=None):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      return func(*args, **kwargs)
+    wrapper.inputs = inputs
+    wrapper.product = product
+    return wrapper
+  return decorator
+
+
+@migration(inputs=["longitudinalPlan"], product="driverAssistance")
+def migrate_driverAssistance(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["modelV2"], product="drivingModelData")
+def migrate_drivingModelData(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
+      setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
+    for meta_field in ["laneChangeState", "laneChangeState"]:
+      setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
+    if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
+      fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
+    if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
+      fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
+    add_ops.append( dmd.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
+def migrate_liveTracks(msgs):
+  ops = []
+  for index, msg in msgs:
     new_msg = messaging.new_message('liveTracks')
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
@@ -88,22 +136,14 @@ def migrate_liveTracks(lr):
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
-    all_msgs.append(new_msg.as_reader())
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
-  return all_msgs
-
-
-def migrate_liveLocationKalman(lr):
-  # migration needed only for routes before livePose
-  if any(msg.which() == 'livePose' for msg in lr):
-    return lr
-
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'liveLocationKalmanDEPRECATED':
-      all_msgs.append(msg)
-      continue
 
+@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
+def migrate_liveLocationKalman(msgs):
+  ops = []
+  for index, msg in msgs:
     m = messaging.new_message('livePose')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
@@ -114,102 +154,93 @@ def migrate_liveLocationKalman(lr):
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
+    ops.append((index, m.as_reader()))
+  return ops, [], []
 
-    all_msgs.append(m.as_reader())
 
-  return all_msgs
-
-
-def migrate_controlsState(lr):
-  ret = []
+@migration(inputs=["controlsState"], product="selfdriveState")
+def migrate_controlsState(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    m = messaging.new_message('selfdriveState')
+    m.valid = msg.valid
+    m.logMonoTime = msg.logMonoTime
+    ss = m.selfdriveState
+    for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
+                  "alertStatus", "alertSize", "alertType", "experimentalMode",
+                  "personality"):
+      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+    add_ops.append(m.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["carState", "controlsState"])
+def migrate_carState(msgs):
+  ops = []
   last_cs = None
-  for msg in lr:
+  for index, msg in msgs:
     if msg.which() == 'controlsState':
       last_cs = msg
-
-      m = messaging.new_message('selfdriveState')
-      m.valid = msg.valid
-      m.logMonoTime = msg.logMonoTime
-      ss = m.selfdriveState
-      for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
-                    "alertStatus", "alertSize", "alertType", "experimentalMode",
-                    "personality"):
-        setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
-      ret.append(m.as_reader())
     elif msg.which() == 'carState' and last_cs is not None:
       if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
         msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
         msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
-        msg = msg.as_reader()
+        ops.append((index, msg.as_reader()))
+  return ops, [], []
 
-    ret.append(msg)
-  return ret
-
-
-def migrate_managerState(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != "managerState":
-      all_msgs.append(msg)
-      continue
 
+@migration(inputs=["managerState"])
+def migrate_managerState(msgs):
+  ops = []
+  for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_gpsLocation(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
-      new_msg = msg.as_builder()
-      g = getattr(new_msg, new_msg.which())
-      # hasFix is a newer field
-      if not g.hasFix and g.flags == 1:
-        g.hasFix = True
-      all_msgs.append(new_msg.as_reader())
-    else:
-      all_msgs.append(msg)
-  return all_msgs
+@migration(inputs=["gpsLocation", "gpsLocationExternal"])
+def migrate_gpsLocation(msgs):
+  ops = []
+  for index, msg in msgs:
+    new_msg = msg.as_builder()
+    g = getattr(new_msg, new_msg.which())
+    # hasFix is a newer field
+    if not g.hasFix and g.flags == 1:
+      g.hasFix = True
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_deviceState(lr):
-  all_msgs = []
+@migration(inputs=["deviceState", "initData"])
+def migrate_deviceState(msgs):
+  ops = []
   dt = None
-  for msg in lr:
+  for i, msg in msgs:
     if msg.which() == 'initData':
       dt = msg.initData.deviceType
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = dt
-      all_msgs.append(n.as_reader())
-    else:
-      all_msgs.append(msg)
-  return all_msgs
+      ops.append((i, n.as_reader()))
+  return ops, [], []
 
 
-def migrate_carOutput(lr):
-  # migration needed only for routes before carOutput
-  if any(msg.which() == 'carOutput' for msg in lr):
-    return lr
+@migration(inputs=["carControl"], product="carOutput")
+def migrate_carOutput(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    co = messaging.new_message('carOutput')
+    co.valid = msg.valid
+    co.logMonoTime = msg.logMonoTime
+    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+    add_ops.append(co.as_reader())
+  return [], add_ops, []
 
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carControl':
-      co = messaging.new_message('carOutput')
-      co.valid = msg.valid
-      co.logMonoTime = msg.logMonoTime
-      co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-      all_msgs.append(co.as_reader())
-    all_msgs.append(msg)
-  return all_msgs
 
-
-def migrate_pandaStates(lr):
-  all_msgs = []
+@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"])
+def migrate_pandaStates(msgs):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
@@ -217,11 +248,12 @@ def migrate_pandaStates(lr):
     "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 
-  # Migrate safety param base on carState
-  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  # Migrate safety param base on carParams
+  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
   assert CP is not None, "carParams message not found"
-  if CP.carFingerprint in safety_param_migration:
-    safety_param = safety_param_migration[CP.carFingerprint]
+  fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
+  if fingerprint in safety_param_migration:
+    safety_param = safety_param_migration[fingerprint]
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
     if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
@@ -229,49 +261,45 @@ def migrate_pandaStates(lr):
   else:
     safety_param = CP.safetyParamDEPRECATED
 
-  for msg in lr:
+  ops = []
+  for index, msg in msgs:
     if msg.which() == 'pandaStateDEPRECATED':
       new_msg = messaging.new_message('pandaStates', 1)
       new_msg.valid = msg.valid
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      all_msgs.append(new_msg.as_reader())
+      ops.append((index, new_msg.as_reader()))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
-      all_msgs.append(new_msg.as_reader())
-    else:
-      all_msgs.append(msg)
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
-  return all_msgs
 
+@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState")
+def migrate_peripheralState(msgs):
+  add_ops = []
 
-def migrate_peripheralState(lr):
-  if any(msg.which() == "peripheralState" for msg in lr):
-    return lr
-
-  all_msg = []
-  for msg in lr:
-    all_msg.append(msg)
-    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+  which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED"
+  for _, msg in msgs:
+    if msg.which() != which:
       continue
-
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    all_msg.append(new_msg.as_reader())
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, []
 
-  return all_msg
 
-
-def migrate_cameraStates(lr):
-  all_msgs = []
+@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
+def migrate_cameraStates(msgs):
+  add_ops, del_ops = [], []
   frame_to_encode_id = defaultdict(dict)
   # just for encodeId fallback mechanism
   min_frame_id = defaultdict(lambda: float('inf'))
 
-  for msg in lr:
+  for _, msg in msgs:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
       continue
 
@@ -281,9 +309,8 @@ def migrate_cameraStates(lr):
     assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
 
-  for msg in lr:
+  for index, msg in msgs:
     if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
-      all_msgs.append(msg)
       continue
 
     camera_state = getattr(msg, msg.which())
@@ -293,6 +320,7 @@ def migrate_cameraStates(lr):
     if encode_id is None:
       print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
       if len(frame_to_encode_id[msg.which()]) != 0:
+        del_ops.append(index)
         continue
 
       # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
@@ -313,33 +341,27 @@ def migrate_cameraStates(lr):
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.valid = msg.valid
 
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    del_ops.append(index)
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, del_ops
 
 
-def migrate_carParams(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carParams':
-      CP = msg.as_builder()
-      CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
-      for car_fw in CP.carParams.carFw:
-        car_fw.brand = CP.carParams.carName
-      CP.logMonoTime = msg.logMonoTime
-      msg = CP.as_reader()
-    all_msgs.append(msg)
+@migration(inputs=["carParams"])
+def migrate_carParams(msgs):
+  ops = []
+  for index, msg in msgs:
+    CP = msg.as_builder()
+    CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
+    for car_fw in CP.carParams.carFw:
+      car_fw.brand = CP.carParams.carName
+    ops.append((index, CP.as_reader()))
+  return ops, [], []
 
-  return all_msgs
-
-
-def migrate_sensorEvents(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'sensorEventsDEPRECATED':
-      all_msgs.append(msg)
-      continue
 
+@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents")
+def migrate_sensorEvents(msgs):
+  add_ops, del_ops = [], []
+  for index, msg in msgs:
     # migrate to split sensor events
     for evt in msg.sensorEventsDEPRECATED:
       # build new message for each sensor type
@@ -367,6 +389,6 @@ def migrate_sensorEvents(lr):
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      all_msgs.append(m.as_reader())
-
-  return all_msgs
+      add_ops.append(m.as_reader())
+    del_ops.append(index)
+  return [], add_ops, del_ops
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 30daa6e265..32609b0a8f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-1b4480f5ebf5a4003dde22f19bbcf989294bc724
\ No newline at end of file
+f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de
\ No newline at end of file
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 8c9db5a3f3..a918a57364 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -19,7 +19,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
@@ -263,7 +263,7 @@ def create_screenshots():
   segnum = 2
   lr = LogReader(route.qlog_paths()[segnum])
   DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
-  for event in migrate_controlsState(lr):
+  for event in migrate(lr, [migrate_controlsState, migrate_carState]):
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
 

From 3ca158ad3e820488c507006c960226d4db2e53cf Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 3 Oct 2024 12:14:37 +0800
Subject: [PATCH 0751/1243] camerad:  remove Hardware::PC() check (#33713)

remove check for hardware::PC
---
 system/camerad/main.cc | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/system/camerad/main.cc b/system/camerad/main.cc
index b86b4f57ff..d55bd495ad 100644
--- a/system/camerad/main.cc
+++ b/system/camerad/main.cc
@@ -4,14 +4,8 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  if (Hardware::PC()) {
-    printf("exiting, camerad is not meant to run on PC\n");
-    return 0;
-  }
-
   int ret = util::set_realtime_priority(53);
   assert(ret == 0);
   ret = util::set_core_affinity({6});

From aed1eaede5a8035a3b882096acf461cdd962b68c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Oct 2024 21:32:56 -0700
Subject: [PATCH 0752/1243] Deprecate carState.events (#33693)

* add lkas bools

* switch these two over

* bump

* deprecate low speed lockout

* add lowSpeedAlert bool

bump

* GM vehicle speed is now signed!

* reimagine

* rm

* do event

* bump

* STASH

* comment

* bump

* no out!

* format

* move almost everything to selfdrived

* add back CC_prev for cruise initialization

* ok

* errors are passed to radarState as well as freq check

* deprecate!

* use selfdrived for test models events

* we only want noEntry from car events, not system, have to check pedalPressed

* no more events

* regen with buttonEvents set properly

* update refs
---
 cereal/car.capnp                              |  3 +-
 selfdrive/car/car_specific.py                 | 70 +++++++++----------
 selfdrive/car/card.py                         | 38 ++--------
 selfdrive/car/tests/test_models.py            | 15 ++--
 selfdrive/selfdrived/selfdrived.py            | 31 ++++++--
 selfdrive/test/process_replay/README.md       |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     |  4 +-
 8 files changed, 79 insertions(+), 86 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6eff704ecb..326f1eeef8 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -157,8 +157,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 
 struct CarState {
-  events @13 :List(OnroadEvent);
-
   # CAN health
   canValid @26 :Bool;       # invalid counter/checksums
   canTimeout @40 :Bool;     # CAN bus dropped out
@@ -296,6 +294,7 @@ struct CarState {
   steeringRateLimitedDEPRECATED @29 :Bool;
   canMonoTimesDEPRECATED @12: List(UInt64);
   canRcvTimeoutDEPRECATED @49 :Bool;
+  eventsDEPRECATED @13 :List(OnroadEvent);
 }
 
 # ******* radar state @ 20hz *******
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index ee2dee77de..23719a8c4f 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -2,7 +2,7 @@ from collections import deque
 from cereal import car
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
-from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase
+from opendbc.car.interfaces import MAX_CTRL_SPEED
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
@@ -41,102 +41,102 @@ class CarSpecificEvents:
 
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
-  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl):
+  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
     elif self.CP.carName in ('subaru', 'mazda'):
-      events = self.create_common_events(CS.out, CS_prev)
+      events = self.create_common_events(CS, CS_prev)
 
     elif self.CP.carName == 'ford':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
     elif self.CP.carName == 'nissan':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
     elif self.CP.carName == 'chrysler':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
-      if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
+      if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
-      elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
+      elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'honda':
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
-      if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
+      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
       if self.CP.pcmCruise:
         # we engage when pcm is active (rising edge)
-        if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
+        if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
           events.add(EventName.pcmEnable)
-        elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+        elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
           # it can happen that car cruise disables while comma system is enabled: need to
           # keep braking if needed or if the speed is very low
-          if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
+          if CS.vEgo < self.CP.minEnableSpeed + 2.:
             # non loud alert if cruise disables below 25mph as expected (+ a little margin)
             events.add(EventName.speedTooLow)
           else:
             events.add(EventName.cruiseDisabled)
-      if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
+      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
     elif self.CP.carName == 'toyota':
-      events = self.create_common_events(CS.out, CS_prev)
+      events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.out.cruiseState.standstill and not CS.out.brakePressed:
+        if CS.cruiseState.standstill and not CS.brakePressed:
           events.add(EventName.resumeRequired)
-        if CS.out.vEgo < self.CP.minEnableSpeed:
+        if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
-          if CC_prev.actuators.accel > 0.3:
+          if CC.actuators.accel > 0.3:
             # some margin on the actuator to not false trigger cancellation while stopping
             events.add(EventName.speedTooLow)
-          if CS.out.vEgo < 0.001:
+          if CS.vEgo < 0.001:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
     elif self.CP.carName == 'gm':
       # The ECM allows enabling on falling edge of set, but only rising edge of resume
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                       GearShifter.eco, GearShifter.manumatic],
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                   GearShifter.eco, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
       if not self.CP.pcmCruise:
-        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
           events.add(EventName.buttonEnable)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.out.vEgo < self.CP.minEnableSpeed and not (CS.out.standstill and CS.out.brake >= 20 and
-                                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+                                                   self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
-      if CS.out.cruiseState.standstill:
+      if CS.cruiseState.standstill:
         events.add(EventName.resumeRequired)
-      if CS.out.vEgo < self.CP.minSteerSpeed:
+      if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'volkswagen':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=not self.CP.openpilotLongitudinalControl,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic
-      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
         self.low_speed_alert = True
-      elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
+      elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
+        if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
-        if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
+        if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
@@ -147,13 +147,13 @@ class CarSpecificEvents:
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
-      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.out.buttonEvents))
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
+      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-      if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
         self.low_speed_alert = True
-      if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
+      if CS.vEgo > (self.CP.minSteerSpeed + 4.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 7f57edf866..380d5df431 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -20,9 +20,8 @@ from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
+from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
-from openpilot.selfdrive.selfdrived.events import Events, ET
 
 REPLAY = "REPLAY" in os.environ
 
@@ -112,9 +111,9 @@ class Car:
       self.RI = RI
 
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -152,9 +151,6 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.events = Events()
-
-    self.car_events = CarSpecificEvents(self.CP)
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -196,30 +192,6 @@ class Car:
 
     return CS, RD
 
-  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
-    self.events.clear()
-
-    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CC_prev).to_msg()
-
-    self.events.add_from_msg(CS.events)
-
-    if self.CP.notCar:
-      # wait for everything to init first
-      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
-        # body always wants to enable
-        self.events.add(EventName.pcmEnable)
-
-    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
-      self.events.add(EventName.pedalPressed)
-
-    if RD is not None and len(RD.errors):
-      self.events.add(EventName.radarFault)
-
-    CS.events = self.events.to_msg()
-
   def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     """carState and carParams publish loop"""
 
@@ -271,9 +243,7 @@ class Car:
   def step(self):
     CS, RD = self.state_update()
 
-    self.update_events(CS, RD)
-
-    if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     self.state_publish(CS, RD)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 460b9f196d..10620c146f 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -20,7 +20,9 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.card import Car, convert_to_capnp
+from openpilot.selfdrive.car.card import convert_to_capnp
+from openpilot.selfdrive.selfdrived.events import ET
+from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -404,7 +406,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    card = Car(CI=self.CI)
+    selfdrived = SelfdriveD(CP=self.CP)
+    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -449,10 +452,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        card.update_events(CS, None)
-        card.CS_prev = CS
-        button_enable = (any(evt.enable for evt in CS.events) and
-                         not any(evt == EventName.pedalPressed for evt in card.events.names))
+        selfdrived.update_events(CS)
+        selfdrived.CS_prev = CS
+        button_enable = (selfdrived.events.contains(ET.ENABLE) and
+                         EventName.pedalPressed not in selfdrived.events.names)
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 63e078e6d7..160117faa8 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,6 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
+from panda import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -14,6 +15,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gps import get_gps_location_service
 
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
@@ -41,15 +43,21 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
 class SelfdriveD:
-  def __init__(self):
+  def __init__(self, CP=None):
     self.params = Params()
 
     # Ensure the current branch is cached, otherwise the first cycle lags
     build_metadata = get_build_metadata()
 
-    cloudlog.info("selfdrived is waiting for CarParams")
-    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
-    cloudlog.info("selfdrived got CarParams")
+    if CP is None:
+      cloudlog.info("selfdrived is waiting for CarParams")
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
+      cloudlog.info("selfdrived got CarParams")
+    else:
+      self.CP = CP
+
+    self.car_events = CarSpecificEvents(self.CP)
+    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -166,7 +174,20 @@ class SelfdriveD:
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
-      self.events.add_from_msg(CS.events)
+      car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
+      self.events.add_from_msg(car_events)
+
+      if self.CP.notCar:
+        # wait for everything to init first
+        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+          # body always wants to enable
+          self.events.add(EventName.pcmEnable)
+
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 008a901010..381e4dcb7f 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -30,7 +30,7 @@ optional arguments:
   --whitelist-cars WHITELIST_CARS       Whitelist given cars from the test (e.g. HONDA)
   --blacklist-procs BLACKLIST_PROCS     Blacklist given processes from the test (e.g. controlsd)
   --blacklist-cars BLACKLIST_CARS       Blacklist given cars from the test (e.g. HONDA)
-  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. carState.events)
+  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
   --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
   --upload-only                         Skips testing processes and uploads logs from previous test run
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 32609b0a8f..9aa61ab9c4 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de
\ No newline at end of file
+fbf16d1e9b056830a12fcf29a5137e1fc0b01354
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 78090372a6..ec84f37d1f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -42,7 +42,7 @@ source_segments = [
 segments = [
   ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
   ("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
-  ("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"),
+  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
   ("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
   ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
   ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
@@ -135,7 +135,7 @@ if __name__ == "__main__":
   parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
                       help="Blacklist given cars from the test (e.g. HONDA)")
   parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
-                      help="Extra fields or msgs to ignore (e.g. carState.events)")
+                      help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)")
   parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
                       help="Msgs to ignore (e.g. carEvents)")
   parser.add_argument("--update-refs", action="store_true",

From 6baa541501739775de0fb6e5956606cad8ba1227 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 4 Oct 2024 01:46:05 +0800
Subject: [PATCH 0753/1243] ui: refactor model updating and rendering into
 ModelRenderer class (#33702)

refactor model update

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 selfdrive/ui/SConscript                    |   2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc | 120 +-----------
 selfdrive/ui/qt/onroad/annotated_camera.h  |   5 +-
 selfdrive/ui/qt/onroad/model.cc            | 208 +++++++++++++++++++++
 selfdrive/ui/qt/onroad/model.h             |  34 ++++
 selfdrive/ui/ui.cc                         |  93 ---------
 selfdrive/ui/ui.h                          |  27 +--
 7 files changed, 249 insertions(+), 240 deletions(-)
 create mode 100644 selfdrive/ui/qt/onroad/model.cc
 create mode 100644 selfdrive/ui/qt/onroad/model.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index da652f7bfd..643951fff3 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -30,7 +30,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
-          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
+          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
 # build translation files
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index fd8ad19c2e..f504ad69f1 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -75,8 +75,7 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
     0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
     0.0f, 0.0f, 1.0f).finished();
 
-  s->car_space_transform = video_transform * calib_transform;
-  s->clip_region = rect().adjusted(-500, -500, 500, 500);
+  model.setTransform(video_transform * calib_transform);
 
   float zx = zoom * 2 * center_x / w;
   float zy = zoom * 2 * center_y / h;
@@ -88,106 +87,10 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
   }};
 }
 
-void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
-  painter.save();
-
-  const UIScene &scene = s->scene;
-  SubMaster &sm = *(s->sm);
-
-  // lanelines
-  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i]);
-  }
-
-  // road edges
-  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i]);
-  }
-
-  // paint path
-  QLinearGradient bg(0, height(), 0, 0);
-  if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
-    // The first half of track_vertices are the points for the right side of the path
-    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
-    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
-
-    for (int i = 0; i < max_len; ++i) {
-      // Some points are out of frame
-      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
-      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
-
-      // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
-
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
-
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
-      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-
-      // Skip a point, unless next is last
-      i += (i + 2) < max_len ? 1 : 0;
-    }
-
-  } else {
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
-  }
-
-  painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices);
-
-  painter.restore();
-}
-
-void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
-  painter.save();
-
-  const float speedBuff = 10.;
-  const float leadBuff = 40.;
-  const float d_rel = lead_data.getDRel();
-  const float v_rel = lead_data.getVRel();
-
-  float fillAlpha = 0;
-  if (d_rel < leadBuff) {
-    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
-    if (v_rel < 0) {
-      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
-    }
-    fillAlpha = (int)(fmin(fillAlpha, 255));
-  }
-
-  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-  float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
-  float y = std::fmin(height() - sz * .6, (float)vd.y());
-
-  float g_xo = sz / 5;
-  float g_yo = sz / 10;
-
-  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
-  painter.drawPolygon(glow, std::size(glow));
-
-  // chevron
-  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(redColor(fillAlpha));
-  painter.drawPolygon(chevron, std::size(chevron));
-
-  painter.restore();
-}
-
 void AnnotatedCameraWidget::paintGL() {
   UIState *s = uiState();
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
-  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
 
   // draw camera frame
   {
@@ -218,7 +121,7 @@ void AnnotatedCameraWidget::paintGL() {
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-    CameraWidget::setFrameId(model.getFrameId());
+    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
     CameraWidget::paintGL();
   }
 
@@ -226,24 +129,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->scene.world_objects_visible) {
-    update_model(s, model);
-    drawLaneLines(painter, s);
-
-    if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
-      auto radar_state = sm["radarState"].getRadarState();
-      update_leads(s, radar_state, model.getPosition());
-      auto lead_one = radar_state.getLeadOne();
-      auto lead_two = radar_state.getLeadTwo();
-      if (lead_one.getStatus()) {
-        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
-      }
-      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
-      }
-    }
-  }
-
+  model.draw(painter, rect());
   dmon.draw(painter, rect());
   hud.updateState(*s);
   hud.draw(painter, rect());
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 324a6d7458..d205579f6c 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -5,6 +5,7 @@
 #include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
 class AnnotatedCameraWidget : public CameraWidget {
@@ -19,6 +20,7 @@ private:
   ExperimentalButton *experimental_btn;
   DriverMonitorRenderer dmon;
   HudRenderer hud;
+  ModelRenderer model;
   std::unique_ptr<PubMaster> pm;
 
   int skip_frame_count = 0;
@@ -29,9 +31,6 @@ protected:
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
   mat4 calcFrameMatrix() override;
-  void drawLaneLines(QPainter &painter, const UIState *s);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
new file mode 100644
index 0000000000..9a2c989b26
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -0,0 +1,208 @@
+#include "selfdrive/ui/qt/onroad/model.h"
+
+constexpr int CLIP_MARGIN = 500;
+constexpr float MIN_DRAW_DISTANCE = 10.0;
+constexpr float MAX_DRAW_DISTANCE = 100.0;
+
+static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
+  const auto &line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
+}
+
+void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
+  auto &sm = *(uiState()->sm);
+  if (sm.updated("carParams")) {
+    longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  }
+
+  // Check if data is up-to-date
+  if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
+    return;
+  }
+
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+
+  painter.save();
+
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+
+  update_model(model, lead_one);
+  drawLaneLines(painter);
+  drawPath(painter, model, surface_rect.height());
+
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  painter.restore();
+}
+
+void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
+  for (int i = 0; i < 2; ++i) {
+    const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
+    if (lead_data.getStatus()) {
+      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
+      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
+    }
+  }
+}
+
+void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  const auto &model_position = model.getPosition();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+
+  // update lane lines
+  const auto &lane_lines = model.getLaneLines();
+  const auto &line_probs = model.getLaneLineProbs();
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  for (int i = 0; i < std::size(lane_line_vertices); i++) {
+    lane_line_probs[i] = line_probs[i];
+    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+  }
+
+  // update road edges
+  const auto &road_edges = model.getRoadEdges();
+  const auto &edge_stds = model.getRoadEdgeStds();
+  for (int i = 0; i < std::size(road_edge_vertices); i++) {
+    road_edge_stds[i] = edge_stds[i];
+    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+  }
+
+  // update path
+  if (lead.getStatus()) {
+    const float lead_d = lead.getDRel() * 2.;
+    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
+  }
+  max_idx = get_path_length_idx(model_position, max_distance);
+  mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
+}
+
+void ModelRenderer::drawLaneLines(QPainter &painter) {
+  // lanelines
+  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+    painter.drawPolygon(lane_line_vertices[i]);
+  }
+
+  // road edges
+  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+    painter.drawPolygon(road_edge_vertices[i]);
+  }
+}
+
+void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
+  QLinearGradient bg(0, height, 0, 0);
+  if (experimental_model) {
+    // The first half of track_vertices are the points for the right side of the path
+    const auto &acceleration = model.getAcceleration().getX();
+    const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
+
+    for (int i = 0; i < max_len; ++i) {
+      // Some points are out of frame
+      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
+      if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
+
+      // Flip so 0 is bottom of frame
+      float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
+
+      // speed up: 120, slow down: 0
+      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+      // FIXME: painter.drawPolygon can be slow if hue is not rounded
+      path_hue = int(path_hue * 100 + 0.5) / 100;
+
+      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);        // lighter when grey
+      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+
+      // Skip a point, unless next is last
+      i += (i + 2) < max_len ? 1 : 0;
+    }
+
+  } else {
+    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
+    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
+    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
+}
+
+void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                             const QPointF &vd, const QRect &surface_rect) {
+  const float speedBuff = 10.;
+  const float leadBuff = 40.;
+  const float d_rel = lead_data.getDRel();
+  const float v_rel = lead_data.getVRel();
+
+  float fillAlpha = 0;
+  if (d_rel < leadBuff) {
+    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
+    if (v_rel < 0) {
+      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
+    }
+    fillAlpha = (int)(fmin(fillAlpha, 255));
+  }
+
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+  float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
+  float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
+
+  float g_xo = sz / 5;
+  float g_yo = sz / 10;
+
+  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
+  painter.setBrush(QColor(218, 202, 37, 255));
+  painter.drawPolygon(glow, std::size(glow));
+
+  // chevron
+  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
+  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  painter.drawPolygon(chevron, std::size(chevron));
+}
+
+// Projects a point in car to space to the corresponding point in full frame image space.
+bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  Eigen::Vector3f input(in_x, in_y, in_z);
+  auto pt = car_space_transform * input;
+  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  return clip_region.contains(*out);
+}
+
+void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
+                                     QPolygonF *pvd, int max_idx, bool allow_invert) {
+  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
+  QPointF left, right;
+  pvd->clear();
+  for (int i = 0; i <= max_idx; i++) {
+    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
+    if (line_x[i] < 0) continue;
+
+    bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
+    bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
+    if (l && r) {
+      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
+      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
+        continue;
+      }
+      pvd->push_back(left);
+      pvd->push_front(right);
+    }
+  }
+}
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
new file mode 100644
index 0000000000..358fce53f4
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QPainter>
+#include <QPolygonF>
+
+#include "selfdrive/ui/ui.h"
+
+class ModelRenderer {
+public:
+  ModelRenderer() {}
+  void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
+  void draw(QPainter &painter, const QRect &surface_rect);
+
+private:
+  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
+  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
+                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
+  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
+  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
+  void drawLaneLines(QPainter &painter);
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+
+  bool longitudinal_control = false;
+  bool experimental_model = false;
+  float lane_line_probs[4] = {};
+  float road_edge_stds[2] = {};
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4] = {};
+  QPolygonF road_edge_vertices[2] = {};
+  QPointF lead_vertices[2] = {};
+  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
+  QRectF clip_region;
+};
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 852980d54e..a9206b59bb 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -14,90 +14,6 @@
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
-// Projects a point in car to space to the corresponding point in full frame
-// image space.
-static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
-  Eigen::Vector3f input(in_x, in_y, in_z);
-  auto transformed = s->car_space_transform * input;
-  *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
-  return s->clip_region.contains(*out);
-}
-
-int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
-  for (int i = 0; i < 2; ++i) {
-    auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
-    if (lead_data.getStatus()) {
-      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
-    }
-  }
-}
-
-void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
-                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
-  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
-  QPointF left, right;
-  pvd->clear();
-  for (int i = 0; i <= max_idx; i++) {
-    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
-    if (line_x[i] < 0) continue;
-
-    bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
-    bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
-    if (l && r) {
-      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
-      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
-        continue;
-      }
-      pvd->push_back(left);
-      pvd->push_front(right);
-    }
-  }
-}
-
-void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model) {
-  UIScene &scene = s->scene;
-  auto model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1),
-                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-
-  // update lane lines
-  const auto lane_lines = model.getLaneLines();
-  const auto lane_line_probs = model.getLaneLineProbs();
-  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
-  for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
-    scene.lane_line_probs[i] = lane_line_probs[i];
-    update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
-  }
-
-  // update road edges
-  const auto road_edges = model.getRoadEdges();
-  const auto road_edge_stds = model.getRoadEdgeStds();
-  for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
-    scene.road_edge_stds[i] = road_edge_stds[i];
-    update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
-  }
-
-  // update path
-  auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
-  if (lead_one.getStatus()) {
-    const float lead_d = lead_one.getDRel() * 2.;
-    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
-  }
-  max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
-}
-
 static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
@@ -136,9 +52,6 @@ static void update_state(UIState *s) {
   } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
     scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
   }
-  if (sm.updated("carParams")) {
-    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
@@ -147,11 +60,6 @@ static void update_state(UIState *s) {
     scene.light_sensor = -1;
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
-
-  scene.world_objects_visible = scene.world_objects_visible ||
-                                (scene.started &&
-                                 sm.rcv_frame("liveCalibration") > scene.started_frame &&
-                                 sm.rcv_frame("modelV2") > scene.started_frame);
 }
 
 void ui_update_params(UIState *s) {
@@ -177,7 +85,6 @@ void UIState::updateStatus() {
       scene.started_frame = sm->frame;
     }
     started_prev = scene.started;
-    scene.world_objects_visible = false;
     emit offroadTransition(!scene.started);
   }
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 8a06a4cccb..6ff67cacde 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -7,7 +7,6 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
-#include <QPolygonF>
 
 #include "cereal/messaging/messaging.h"
 #include "common/mat.h"
@@ -22,8 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
 const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
 
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
 const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
   0.0, 1.0, 0.0,
   0.0, 0.0, 1.0,
@@ -58,21 +55,10 @@ typedef struct UIScene {
   Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
   cereal::PandaState::PandaType pandaType;
 
-  // modelV2
-  float lane_line_probs[4];
-  float road_edge_stds[2];
-  QPolygonF track_vertices;
-  QPolygonF lane_line_vertices[4];
-  QPolygonF road_edge_vertices[2];
-
-  // lead
-  QPointF lead_vertices[2];
-
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, longitudinal_control;
-  bool world_objects_visible = false;
+  bool started, ignition, is_metric;
   uint64_t started_frame;
 } UIScene;
 
@@ -89,13 +75,9 @@ public:
   std::unique_ptr<SubMaster> sm;
   UIStatus status;
   UIScene scene = {};
-
   QString language;
   PrimeState *prime_state;
 
-  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
-  QRectF clip_region;
-
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
@@ -145,11 +127,4 @@ public slots:
 };
 
 Device *device();
-
 void ui_update_params(UIState *s);
-int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
-void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model);
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
-                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);

From f7c4aad8bda187e05d24ceac307384aa5e610cb9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 4 Oct 2024 01:53:05 +0800
Subject: [PATCH 0754/1243] cameread: remove outdated 'm' and 'atomic'
 libraries (#33714)

remove unused libs
---
 system/camerad/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 8bafd83f08..1820d21b3d 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
+libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
                          'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])

From b7a388773159f29ef5a8864918cf155ea8e5c0af Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 3 Oct 2024 13:13:19 -0700
Subject: [PATCH 0755/1243] process_replay: fix llk migration (#33717)

* If field is empty put nans

* Move import out
---
 selfdrive/test/process_replay/migration.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 9241a3d493..c4f1d19d9d 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -142,6 +142,7 @@ def migrate_liveTracks(msgs):
 
 @migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
 def migrate_liveLocationKalman(msgs):
+  nans = [float('nan')] * 3
   ops = []
   for index, msg in msgs:
     m = messaging.new_message('livePose')
@@ -149,8 +150,8 @@ def migrate_liveLocationKalman(msgs):
     m.logMonoTime = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
       lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
-      lp_field.x, lp_field.y, lp_field.z = llk_field.value
-      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
+      lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
+      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))

From 72e19ccfc6de0a145bf778fdc701878f969347bb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 3 Oct 2024 14:25:48 -0700
Subject: [PATCH 0756/1243] jenkins: disable time to onroad (#33719)

comment
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 84514948c7..7137b8bf36 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -149,7 +149,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {

From af774d894e6698f832c1d813587e3d7dabad0ea7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 15:20:58 -0700
Subject: [PATCH 0757/1243] Deprecate car onroadEvents (#33687)

* new OnroadEvent struct

* and migrate python

* more forgotten

* re-index new OnroadEvent struct

* fix!

* more missing

* migrate onroadEvents

migrate onroadEvents

* migrate dm events

* hacks to get proc replay to say succeeded

* Revert "hacks to get proc replay to say succeeded"

This reverts commit 0bb8803e5755d606ae9f09da5395d9f50678c7c7.

* update refs
---
 cereal/car.capnp                           |   9 +-
 cereal/log.capnp                           | 120 ++++++++++++++++++++-
 selfdrive/car/car_specific.py              |   4 +-
 selfdrive/car/card.py                      |   4 +-
 selfdrive/car/tests/test_models.py         |   2 +-
 selfdrive/debug/cycle_alerts.py            |   2 +-
 selfdrive/monitoring/helpers.py            |   4 +-
 selfdrive/monitoring/test_monitoring.py    |   4 +-
 selfdrive/selfdrived/events.py             |   4 +-
 selfdrive/selfdrived/selfdrived.py         |   2 +-
 selfdrive/selfdrived/tests/test_alerts.py  |   2 +-
 selfdrive/test/process_replay/migration.py |  32 +++++-
 selfdrive/test/process_replay/ref_commit   |   2 +-
 selfdrive/test/test_onroad.py              |   4 +-
 selfdrive/test/test_time_to_onroad.py      |   4 +-
 15 files changed, 171 insertions(+), 28 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 326f1eeef8..c8474f431b 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -5,9 +5,8 @@ $Cxx.namespace("cereal");
 
 # ******* events causing controls state machine transition *******
 
-# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately
-#        move due to being referenced by structs in this file
-struct OnroadEvent @0x9b1657f34caf3ad3 {
+# IMPORTANT: This struct is to not be modified so old logs can be parsed
+struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
   name @0 :EventName;
 
   # event types
@@ -289,12 +288,12 @@ struct CarState {
   }
 
   # deprecated
-  errorsDEPRECATED @0 :List(OnroadEvent.EventName);
+  errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
   brakeLightsDEPRECATED @19 :Bool;
   steeringRateLimitedDEPRECATED @29 :Bool;
   canMonoTimesDEPRECATED @12: List(UInt64);
   canRcvTimeoutDEPRECATED @49 :Bool;
-  eventsDEPRECATED @13 :List(OnroadEvent);
+  eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
 }
 
 # ******* radar state @ 20hz *******
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3d5f7d9d7f..c35219b3ac 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -17,6 +17,118 @@ struct Map(Key, Value) {
   }
 }
 
+struct OnroadEvent @0xc4fa6047f024e718 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName @0x91f1992a1f77fb03 {
+    canError @0;
+    steerUnavailable @1;
+    wrongGear @2;
+    doorOpen @3;
+    seatbeltNotLatched @4;
+    espDisabled @5;
+    wrongCarMode @6;
+    steerTempUnavailable @7;
+    reverseGear @8;
+    buttonCancel @9;
+    buttonEnable @10;
+    pedalPressed @11;  # exits active state
+    preEnableStandstill @12;  # added during pre-enable state with brake
+    gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
+    steerOverride @14;
+    cruiseDisabled @15;
+    speedTooLow @16;
+    outOfSpace @17;
+    overheat @18;
+    calibrationIncomplete @19;
+    calibrationInvalid @20;
+    calibrationRecalibrating @21;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    radarFault @25;
+    brakeHold @26;
+    parkBrake @27;
+    manualRestart @28;
+    joystickDebug @29;
+    longitudinalManeuver @30;
+    steerTempUnavailableSilent @31;
+    resumeRequired @32;
+    preDriverDistracted @33;
+    promptDriverDistracted @34;
+    driverDistracted @35;
+    preDriverUnresponsive @36;
+    promptDriverUnresponsive @37;
+    driverUnresponsive @38;
+    belowSteerSpeed @39;
+    lowBattery @40;
+    accFaulted @41;
+    sensorDataInvalid @42;
+    commIssue @43;
+    commIssueAvgFreq @44;
+    tooDistracted @45;
+    posenetInvalid @46;
+    soundsUnavailable @47;
+    preLaneChangeLeft @48;
+    preLaneChangeRight @49;
+    laneChange @50;
+    lowMemory @51;
+    stockAeb @52;
+    ldw @53;
+    carUnrecognized @54;
+    invalidLkasSetting @55;
+    speedTooHigh @56;
+    laneChangeBlocked @57;
+    relayMalfunction @58;
+    stockFcw @59;
+    startup @60;
+    startupNoCar @61;
+    startupNoControl @62;
+    startupNoSecOcKey @63;
+    startupMaster @64;
+    fcw @65;
+    steerSaturated @66;
+    belowEngageSpeed @67;
+    noGps @68;
+    wrongCruiseMode @69;
+    modeldLagging @70;
+    deviceFalling @71;
+    fanMalfunction @72;
+    cameraMalfunction @73;
+    cameraFrameRate @74;
+    processNotRunning @75;
+    dashcamMode @76;
+    selfdriveInitializing @77;
+    usbError @78;
+    cruiseMismatch @79;
+    canBusMissing @80;
+    selfdrivedLagging @81;
+    resumeBlocked @82;
+    steerTimeLimit @83;
+    vehicleSensorsInvalid @84;
+    locationdTemporaryError @85;
+    locationdPermanentError @86;
+    paramsdTemporaryError @87;
+    paramsdPermanentError @88;
+    actuatorsApiUnavailable @89;
+    espActive @90;
+    personalityChanged @91;
+    aeb @92;
+  }
+}
+
 enum LongitudinalPersonality {
   aggressive @0;
   standard @1;
@@ -1157,7 +1269,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   radarValidDEPRECATED @28 :Bool;
   radarCanErrorDEPRECATED @30 :Bool;
   commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEvent);
+  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
   personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -2072,7 +2184,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }
 
 struct DriverMonitoringState @0xb83cda094a1da284 {
-  events @0 :List(Car.OnroadEvent);
+  events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
   distractedType @17 :UInt32;
@@ -2091,6 +2203,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
+  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 
 struct Boot {
@@ -2369,7 +2482,7 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    onroadEvents @68: List(Car.OnroadEvent);
+    onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     livePose @129 :LivePose;
@@ -2484,5 +2597,6 @@ struct Event {
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+    onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
   }
 }
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 23719a8c4f..94afec50e2 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,5 +1,5 @@
 from collections import deque
-from cereal import car
+from cereal import car, log
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.interfaces import MAX_CTRL_SPEED
@@ -11,7 +11,7 @@ from openpilot.selfdrive.selfdrived.events import Events
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 380d5df431..0afd0e7323 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -5,7 +5,7 @@ import threading
 
 import cereal.messaging as messaging
 
-from cereal import car
+from cereal import car, log
 
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -25,7 +25,7 @@ from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 
 REPLAY = "REPLAY" in os.environ
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 10620c146f..ef54631e54 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -31,7 +31,7 @@ from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index ec32306436..11e75a7a8e 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.selfdrived.events import ET, Events
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 from openpilot.system.manager.process_config import managed_processes
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 def randperc() -> float:
   return 100. * random.random()
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 72df724532..88665778a2 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -1,6 +1,6 @@
 from math import atan2
 
-from cereal import car
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.common.numpy_fast import interp
@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 # ******************************************************************************************
 #  NOTE: To fork maintainers.
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 31ae98c638..2a20b20dc1 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -1,10 +1,10 @@
 import numpy as np
 
-from cereal import car, log
+from cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 070ca60ca2..7be514e350 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -16,7 +16,7 @@ AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 
 # Alert priorities
@@ -98,7 +98,7 @@ class Events:
   def to_msg(self):
     ret = []
     for event_name in self.events:
-      event = car.OnroadEvent.new_message()
+      event = log.OnroadEvent.new_message()
       event.name = event_name
       for event_type in EVENTS.get(event_name, {}):
         setattr(event, event_type, True)
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 160117faa8..8b7575d35d 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -35,7 +35,7 @@ State = log.SelfdriveState.OpenpilotState
 PandaType = log.PandaState.PandaType
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index a5249cc03f..b916741ad0 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -38,7 +38,7 @@ class TestAlerts:
 
   def test_events_defined(self):
     # Ensure all events in capnp schema are defined in events.py
-    events = car.OnroadEvent.EventName.schema.enumerants
+    events = log.OnroadEvent.EventName.schema.enumerants
 
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index c4f1d19d9d..a90825cbd0 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -3,7 +3,7 @@ from collections.abc import Callable
 import functools
 import capnp
 
-from cereal import messaging, car
+from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -37,6 +37,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
+    migrate_onroadEvents,
+    migrate_driverMonitoringState,
   ]
   if manager_states:
     migrations.append(migrate_managerState)
@@ -393,3 +395,31 @@ def migrate_sensorEvents(msgs):
       add_ops.append(m.as_reader())
     del_ops.append(index)
   return [], add_ops, del_ops
+
+
+@migration(inputs=["onroadEventsDEPRECATED"], product="onroadEvents")
+def migrate_onroadEvents(msgs):
+  ops = []
+  for index, msg in msgs:
+    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg.valid = msg.valid
+    new_msg.logMonoTime = msg.logMonoTime
+
+    # dict converts name enum into string representation
+    new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED]
+    ops.append((index, new_msg.as_reader()))
+
+  return ops, [], []
+
+
+@migration(inputs=["driverMonitoringState"])
+def migrate_driverMonitoringState(msgs):
+  ops = []
+  for index, msg in msgs:
+    msg = msg.as_builder()
+    # dict converts name enum into string representation
+    msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in
+                                        msg.driverMonitoringState.eventsDEPRECATED]
+    ops.append((index, msg.as_reader()))
+
+  return ops, [], []
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 9aa61ab9c4..eb67f60cc0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fbf16d1e9b056830a12fcf29a5137e1fc0b01354
\ No newline at end of file
+05570b52a90fb8bf092f7a2563d6019577e1aa5d
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f2afad82ee..f27e444dbe 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -13,7 +13,7 @@ from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
 
-from cereal import car
+from cereal import log
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
@@ -422,7 +422,7 @@ class TestOnroad:
       if msg.which() == "selfdriveState":
         startup_alert = msg.selfdriveState.alertText1
         break
-    expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
+    expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
     assert startup_alert == expected, "wrong startup alert"
 
   def test_engagable(self):
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index d3692eabe2..e68386bb58 100644
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -3,13 +3,13 @@ import pytest
 import time
 import subprocess
 
-from cereal import car
+from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 
 @pytest.mark.tici

From 8149f7cb119045028ba57f877e1d16d58c2ae712 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 16:40:24 -0700
Subject: [PATCH 0758/1243] move car.capnp to opendbc (#33722)

* move car.capnp to opendbc

* bump

* do card

* fix some more tests

* rm helpers

* format fp

* more

* whoops

* bump

* bump to master
---
 cereal/car.capnp                              | 723 +-----------------
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |  24 +-
 selfdrive/car/helpers.py                      |  74 --
 selfdrive/car/tests/test_car_interfaces.py    |  15 +-
 selfdrive/car/tests/test_models.py            |  17 +-
 .../controls/lib/tests/test_latcontrol.py     |   2 -
 .../controls/lib/tests/test_vehicle_model.py  |   3 +-
 selfdrive/debug/format_fingerprints.py        |  11 +-
 selfdrive/modeld/modeld.py                    |   3 +-
 selfdrive/modeld/tests/test_modeld.py         |   3 +-
 .../test/process_replay/process_replay.py     |   4 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 system/hardware/tici/tests/test_power_draw.py |   3 +-
 14 files changed, 41 insertions(+), 845 deletions(-)
 mode change 100644 => 120000 cereal/car.capnp
 delete mode 100644 selfdrive/car/helpers.py

diff --git a/cereal/car.capnp b/cereal/car.capnp
deleted file mode 100644
index c8474f431b..0000000000
--- a/cereal/car.capnp
+++ /dev/null
@@ -1,722 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x8e2af1e708af8b8d;
-
-# ******* events causing controls state machine transition *******
-
-# IMPORTANT: This struct is to not be modified so old logs can be parsed
-struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName @0xbaa8c5d505f727de {
-    canError @0;
-    steerUnavailable @1;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTempUnavailable @9;
-    reverseGear @10;
-    buttonCancel @11;
-    buttonEnable @12;
-    pedalPressed @13;  # exits active state
-    preEnableStandstill @73;  # added during pre-enable state with brake
-    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
-    steerOverride @114;
-    cruiseDisabled @14;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    calibrationRecalibrating @117;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    radarFault @26;
-    brakeHold @28;
-    parkBrake @29;
-    manualRestart @30;
-    joystickDebug @34;
-    longitudinalManeuver @124;
-    steerTempUnavailableSilent @35;
-    resumeRequired @36;
-    preDriverDistracted @37;
-    promptDriverDistracted @38;
-    driverDistracted @39;
-    preDriverUnresponsive @43;
-    promptDriverUnresponsive @44;
-    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    lowBattery @48;
-    accFaulted @51;
-    sensorDataInvalid @52;
-    commIssue @53;
-    commIssueAvgFreq @109;
-    tooDistracted @54;
-    posenetInvalid @55;
-    soundsUnavailable @56;
-    preLaneChangeLeft @57;
-    preLaneChangeRight @58;
-    laneChange @59;
-    lowMemory @63;
-    stockAeb @64;
-    ldw @65;
-    carUnrecognized @66;
-    invalidLkasSetting @69;
-    speedTooHigh @70;
-    laneChangeBlocked @71;
-    relayMalfunction @72;
-    stockFcw @74;
-    startup @75;
-    startupNoCar @76;
-    startupNoControl @77;
-    startupNoSecOcKey @125;
-    startupMaster @78;
-    fcw @79;
-    steerSaturated @80;
-    belowEngageSpeed @84;
-    noGps @85;
-    wrongCruiseMode @87;
-    modeldLagging @89;
-    deviceFalling @90;
-    fanMalfunction @91;
-    cameraMalfunction @92;
-    cameraFrameRate @110;
-    processNotRunning @95;
-    dashcamMode @96;
-    selfdriveInitializing @98;
-    usbError @99;
-    cruiseMismatch @106;
-    canBusMissing @111;
-    selfdrivedLagging @112;
-    resumeBlocked @113;
-    steerTimeLimit @115;
-    vehicleSensorsInvalid @116;
-    locationdTemporaryError @103;
-    locationdPermanentError @118;
-    paramsdTemporaryError @50;
-    paramsdPermanentError @119;
-    actuatorsApiUnavailable @120;
-    espActive @121;
-    personalityChanged @122;
-    aeb @123;
-
-    radarCanErrorDEPRECATED @15;
-    communityFeatureDisallowedDEPRECATED @62;
-    radarCommIssueDEPRECATED @67;
-    driverMonitorLowAccDEPRECATED @68;
-    gasUnavailableDEPRECATED @3;
-    dataNeededDEPRECATED @16;
-    modelCommIssueDEPRECATED @27;
-    ipasOverrideDEPRECATED @33;
-    geofenceDEPRECATED @40;
-    driverMonitorOnDEPRECATED @41;
-    driverMonitorOffDEPRECATED @42;
-    calibrationProgressDEPRECATED @47;
-    invalidGiraffeHondaDEPRECATED @49;
-    invalidGiraffeToyotaDEPRECATED @60;
-    internetConnectivityNeededDEPRECATED @61;
-    whitePandaUnsupportedDEPRECATED @81;
-    commIssueWarningDEPRECATED @83;
-    focusRecoverActiveDEPRECATED @86;
-    neosUpdateRequiredDEPRECATED @88;
-    modelLagWarningDEPRECATED @93;
-    startupOneplusDEPRECATED @82;
-    startupFuzzyFingerprintDEPRECATED @97;
-    noTargetDEPRECATED @25;
-    brakeUnavailableDEPRECATED @2;
-    plannerErrorDEPRECATED @32;
-    gpsMalfunctionDEPRECATED @94;
-    roadCameraErrorDEPRECATED @100;
-    driverCameraErrorDEPRECATED @101;
-    wideRoadCameraErrorDEPRECATED @102;
-    highCpuUsageDEPRECATED @105;
-    startupNoFwDEPRECATED @104;
-    lowSpeedLockoutDEPRECATED @31;
-    lkasDisabledDEPRECATED @107;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  # CAN health
-  canValid @26 :Bool;       # invalid counter/checksums
-  canTimeout @40 :Bool;     # CAN bus dropped out
-  canErrorCounter @48 :UInt32;
-
-  # car speed
-  vEgo @1 :Float32;            # best estimate of speed
-  aEgo @16 :Float32;           # best estimate of aCAN cceleration
-  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
-  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
-
-  vCruise @53 :Float32;        # actual set speed
-  vCruiseCluster @54 :Float32; # set speed to display in the UI
-
-  yawRate @22 :Float32;     # best estimate of yaw rate
-  standstill @18 :Bool;
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user pedal only
-  gasPressed @4 :Bool;    # this is user pedal only
-
-  engineRpm @46 :Float32;
-
-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
-  brakePressed @6 :Bool;  # this is user pedal only
-  regenBraking @45 :Bool; # this is user pedal only
-  parkingBrake @39 :Bool;
-  brakeHoldActive @38 :Bool;
-
-  # steering wheel
-  steeringAngleDeg @7 :Float32;
-  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
-  steeringRateDeg @15 :Float32;
-  steeringTorque @8 :Float32;      # TODO: standardize units
-  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;        # if the user is using the steering wheel
-  steerFaultTemporary @35 :Bool;   # temporary EPS fault
-  steerFaultPermanent @36 :Bool;   # permanent EPS fault
-  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
-  stockAeb @30 :Bool;
-  stockFcw @31 :Bool;
-  espDisabled @32 :Bool;
-  accFaulted @42 :Bool;
-  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
-  espActive @51 :Bool;
-  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
-  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
-
-  # cruise state
-  cruiseState @10 :CruiseState;
-
-  # gear
-  gearShifter @14 :GearShifter;
-
-  # button presses
-  buttonEvents @11 :List(ButtonEvent);
-  leftBlinker @20 :Bool;
-  rightBlinker @21 :Bool;
-  genericToggle @23 :Bool;
-
-  # lock info
-  doorOpen @24 :Bool;
-  seatbeltUnlatched @25 :Bool;
-
-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
-  # blindspot sensors
-  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
-  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
-
-  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
-  charging @43 :Bool;
-
-  # process meta
-  cumLagMs @50 :Float32;
-
-  struct WheelSpeeds {
-    # optional wheel speeds
-    fl @0 :Float32;
-    fr @1 :Float32;
-    rl @2 :Float32;
-    rr @3 :Float32;
-  }
-
-  struct CruiseState {
-    enabled @0 :Bool;
-    speed @1 :Float32;
-    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
-    available @2 :Bool;
-    speedOffset @3 :Float32;
-    standstill @4 :Bool;
-    nonAdaptive @5 :Bool;
-  }
-
-  enum GearShifter {
-    unknown @0;
-    park @1;
-    drive @2;
-    neutral @3;
-    reverse @4;
-    sport @5;
-    low @6;
-    brake @7;
-    eco @8;
-    manumatic @9;
-  }
-
-  # send on change
-  struct ButtonEvent {
-    pressed @0 :Bool;
-    type @1 :Type;
-
-    enum Type {
-      unknown @0;
-      leftBlinker @1;
-      rightBlinker @2;
-      accelCruise @3;
-      decelCruise @4;
-      cancel @5;
-      altButton1 @6;
-      altButton2 @7;
-      mainCruise @8;
-      setCruise @9;
-      resumeCruise @10;
-      gapAdjustCruise @11;
-    }
-  }
-
-  # deprecated
-  errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
-  steeringRateLimitedDEPRECATED @29 :Bool;
-  canMonoTimesDEPRECATED @12: List(UInt64);
-  canRcvTimeoutDEPRECATED @49 :Bool;
-  eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarData @0x888ad6581cf0aacb {
-  errors @0 :List(Error);
-  points @1 :List(RadarPoint);
-
-  enum Error {
-    canError @0;
-    fault @1;
-    wrongConfig @2;
-  }
-
-  # similar to LiveTracks
-  # is one timestamp valid for all? I think so
-  struct RadarPoint {
-    trackId @0 :UInt64;  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel @1 :Float32; # m from the front bumper of the car
-    yRel @2 :Float32; # m
-    vRel @3 :Float32; # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel @4 :Float32; # m/s^2
-    yvRel @5 :Float32; # m/s
-
-    # some radars flag measurements VS estimates
-    measured @6 :Bool;
-  }
-
-  # deprecated
-  canMonoTimesDEPRECATED @2 :List(UInt64);
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0 :Bool;
-  latActive @11: Bool;
-  longActive @12: Bool;
-
-  # Final actuator commands
-  actuators @6 :Actuators;
-
-  # Blinker controls
-  leftBlinker @15: Bool;
-  rightBlinker @16: Bool;
-
-  orientationNED @13 :List(Float32);
-  angularVelocity @14 :List(Float32);
-
-  cruiseControl @4 :CruiseControl;
-  hudControl @5 :HUDControl;
-
-  struct Actuators {
-    # lateral commands, mutually exclusive
-    steer @2: Float32;  # [0.0, 1.0]
-    steeringAngleDeg @3: Float32;
-    curvature @7: Float32;
-
-    # longitudinal commands
-    accel @4: Float32;  # m/s^2
-    longControlState @5: LongControlState;
-
-    # these are only for logging the actual values sent to the car over CAN
-    gas @0: Float32;   # [0.0, 1.0]
-    brake @1: Float32; # [0.0, 1.0]
-    steerOutputCan @8: Float32;   # value sent over can to the car
-    speed @6: Float32;  # m/s
-
-    enum LongControlState @0xe40f3a917d908282{
-      off @0;
-      pid @1;
-      stopping @2;
-      starting @3;
-    }
-  }
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    resume @1: Bool;
-    override @4: Bool;
-    speedOverrideDEPRECATED @2: Float32;
-    accelOverrideDEPRECATED @3: Float32;
-  }
-
-  struct HUDControl {
-    speedVisible @0: Bool;
-    setSpeed @1: Float32;
-    lanesVisible @2: Bool;
-    leadVisible @3: Bool;
-    visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
-    rightLaneVisible @6: Bool;
-    leftLaneVisible @7: Bool;
-    rightLaneDepart @8: Bool;
-    leftLaneDepart @9: Bool;
-    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
-
-    enum VisualAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      fcw @1;
-      steerRequired @2;
-      brakePressed @3;
-      wrongGear @4;
-      seatbeltUnbuckled @5;
-      speedTooHigh @6;
-      ldw @7;
-    }
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-    }
-  }
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-  activeDEPRECATED @7 :Bool;
-  rollDEPRECATED @8 :Float32;
-  pitchDEPRECATED @9 :Float32;
-  actuatorsOutputDEPRECATED @10 :Actuators;
-}
-
-struct CarOutput {
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @0 :CarControl.Actuators;
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  carFingerprint @1 :Text;
-  fuzzyFingerprint @55 :Bool;
-
-  notCar @66 :Bool;  # flag for non-car robotics platforms
-
-  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
-  enableBsm @56 :Bool;       # blind spot monitoring
-  flags @64 :UInt32;         # flags for car specific quirks
-  experimentalLongitudinalAvailable @71 :Bool;
-
-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  safetyConfigs @62 :List(SafetyConfig);
-  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-
-  # Car docs fields
-  maxLateralAccel @68 :Float32;
-  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
-
-  # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
-  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
-  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
-  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
-
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indiDEPRECATED @27 :LateralINDITuning;
-    lqrDEPRECATED @40 :LateralLQRTuning;
-    torque @67 :LateralTorqueTuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
-  steerControlType @34 :SteerControlType;
-  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-  dashcamOnly @41: Bool;
-  passive @73: Bool;   # is openpilot in control?
-  transmissionType @43 :TransmissionType;
-  carFw @44 :List(CarFw);
-
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  radarDelay @74 :Float32;
-  fingerprintSource @49: FingerprintSource;
-  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
-
-  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
-
-  secOcRequired @75 :Bool;  # Car requires SecOC message authentication to operate
-  secOcKeyAvailable @76 :Bool;  # Stored SecOC key loaded from params
-
-  struct SafetyConfig {
-    safetyModel @0 :SafetyModel;
-    safetyParam @3 :UInt16;
-    safetyParamDEPRECATED @1 :Int16;
-    safetyParam2DEPRECATED @2 :UInt32;
-  }
-
-  struct LateralParams {
-    torqueBP @0 :List(Int32);
-    torqueV @1 :List(Int32);
-  }
-
-  struct LateralPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @4 :Float32;
-  }
-
-  struct LateralTorqueTuning {
-    useSteeringAngle @0 :Bool;
-    kp @1 :Float32;
-    ki @2 :Float32;
-    friction @3 :Float32;
-    kf @4 :Float32;
-    steeringAngleDeadzoneDeg @5 :Float32;
-    latAccelFactor @6 :Float32;
-    latAccelOffset @7 :Float32;
-  }
-
-  struct LongitudinalPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @6 :Float32;
-    deadzoneBPDEPRECATED @4 :List(Float32);
-    deadzoneVDEPRECATED @5 :List(Float32);
-  }
-
-  struct LateralINDITuning {
-    outerLoopGainBP @4 :List(Float32);
-    outerLoopGainV @5 :List(Float32);
-    innerLoopGainBP @6 :List(Float32);
-    innerLoopGainV @7 :List(Float32);
-    timeConstantBP @8 :List(Float32);
-    timeConstantV @9 :List(Float32);
-    actuatorEffectivenessBP @10 :List(Float32);
-    actuatorEffectivenessV @11 :List(Float32);
-
-    outerLoopGainDEPRECATED @0 :Float32;
-    innerLoopGainDEPRECATED @1 :Float32;
-    timeConstantDEPRECATED @2 :Float32;
-    actuatorEffectivenessDEPRECATED @3 :Float32;
-  }
-
-  struct LateralLQRTuning {
-    scale @0 :Float32;
-    ki @1 :Float32;
-    dcGain @2 :Float32;
-
-    # State space system
-    a @3 :List(Float32);
-    b @4 :List(Float32);
-    c @5 :List(Float32);
-
-    k @6 :List(Float32);  # LQR gain
-    l @7 :List(Float32);  # Kalman gain
-  }
-
-  enum SafetyModel {
-    silent @0;
-    hondaNidec @1;
-    toyota @2;
-    elm327 @3;
-    gm @4;
-    hondaBoschGiraffe @5;
-    ford @6;
-    cadillac @7;
-    hyundai @8;
-    chrysler @9;
-    tesla @10;
-    subaru @11;
-    gmPassive @12;
-    mazda @13;
-    nissan @14;
-    volkswagen @15;
-    toyotaIpas @16;
-    allOutput @17;
-    gmAscm @18;
-    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBosch @20;
-    volkswagenPq @21;
-    subaruPreglobal @22;  # pre-Global platform
-    hyundaiLegacy @23;
-    hyundaiCommunity @24;
-    volkswagenMlb @25;
-    hongqi @26;
-    body @27;
-    hyundaiCanfd @28;
-    volkswagenMqbEvo @29;
-    chryslerCusw @30;
-    psa @31;
-    fcaGiorgio @32;
-  }
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-
-    curvatureDEPRECATED @2;
-  }
-
-  enum TransmissionType {
-    unknown @0;
-    automatic @1;  # Traditional auto, including DSG
-    manual @2;  # True "stick shift" only
-    direct @3;  # Electric vehicle or other direct drive
-    cvt @4;
-  }
-
-  struct CarFw {
-    ecu @0 :Ecu;
-    fwVersion @1 :Data;
-    address @2 :UInt32;
-    subAddress @3 :UInt8;
-    responseAddress @4 :UInt32;
-    request @5 :List(Data);
-    brand @6 :Text;
-    bus @7 :UInt8;
-    logging @8 :Bool;
-    obdMultiplexing @9 :Bool;
-  }
-
-  enum Ecu {
-    eps @0;
-    abs @1;
-    fwdRadar @2;
-    fwdCamera @3;
-    engine @4;
-    unknown @5;
-    transmission @8; # Transmission Control Module
-    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
-    srs @9; # airbag
-    gateway @10; # can gateway
-    hud @11; # heads up display
-    combinationMeter @12; # instrument cluster
-    electricBrakeBooster @15;
-    shiftByWire @16;
-    adas @19;
-    cornerRadar @21;
-    hvac @20;
-    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
-    epb @22;  # electronic parking brake
-    telematics @23;
-    body @24;  # body control module
-
-    # Toyota only
-    dsu @6;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-
-    debug @17;
-  }
-
-  enum FingerprintSource {
-    can @0;
-    fw @1;
-    fixed @2;
-  }
-
-  enum NetworkLocation {
-    fwdCamera @0;  # Standard/default integration at LKAS camera
-    gateway @1;    # Integration at vehicle's CAN gateway
-  }
-
-  enableGasInterceptorDEPRECATED @2 :Bool;
-  enableCameraDEPRECATED @4 :Bool;
-  enableApgsDEPRECATED @6 :Bool;
-  steerRateCostDEPRECATED @33 :Float32;
-  isPandaBlackDEPRECATED @39 :Bool;
-  hasStockCameraDEPRECATED @57 :Bool;
-  safetyParamDEPRECATED @10 :Int16;
-  safetyModelDEPRECATED @9 :SafetyModel;
-  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
-  minSpeedCanDEPRECATED @51 :Float32;
-  communityFeatureDEPRECATED @46: Bool;
-  startingAccelRateDEPRECATED @53 :Float32;
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
-  directAccelControlDEPRECATED @30 :Bool;
-  maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
-}
diff --git a/cereal/car.capnp b/cereal/car.capnp
new file mode 120000
index 0000000000..4bc7f89b1f
--- /dev/null
+++ b/cereal/car.capnp
@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp
\ No newline at end of file
diff --git a/opendbc_repo b/opendbc_repo
index a363ce1ff4..ff2ac79e07 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e
+Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 0afd0e7323..9bd03bad80 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -21,7 +21,6 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 
 REPLAY = "REPLAY" in os.environ
 
@@ -63,8 +62,7 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
-  CP: structs.CarParams
-  CP_capnp: car.CarParams
+  CP: car.CarParams
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -144,9 +142,7 @@ class Car:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
-    # convert to pycapnp representation for caching and logging
-    self.CP_capnp = convert_to_capnp(self.CP)
-    cp_bytes = self.CP_capnp.to_bytes()
+    cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
@@ -160,19 +156,19 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
+  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = convert_to_capnp(self.CI.update(can_list))
+    CS = self.CI.update(can_list)
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
-    RD: structs.RadarData | None = self.RI.update(can_list)
+    RD: structs.RadarDataT | None = self.RI.update(can_list)
 
     self.sm.update(0)
 
@@ -192,20 +188,20 @@ class Car:
 
     return CS, RD
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
+  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
-      cp_send.carParams = self.CP_capnp
+      cp_send.carParams = self.CP
       self.pm.send('carParams', cp_send)
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -219,7 +215,7 @@ class Car:
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
       tracks_msg.valid = len(RD.errors) == 0
-      tracks_msg.liveTracks = convert_to_capnp(RD)
+      tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -235,7 +231,7 @@ class Car:
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
deleted file mode 100644
index 75e1c66d24..0000000000
--- a/selfdrive/car/helpers.py
+++ /dev/null
@@ -1,74 +0,0 @@
-import capnp
-from typing import Any
-
-from cereal import car
-from opendbc.car import structs
-
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
-
-
-def is_dataclass(obj):
-  """Similar to dataclasses.is_dataclass without instance type check checking"""
-  return hasattr(obj, _FIELDS)
-
-
-def _asdictref_inner(obj) -> dict[str, Any] | Any:
-  if is_dataclass(obj):
-    ret = {}
-    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-      ret[field] = _asdictref_inner(getattr(obj, field))
-    return ret
-  elif isinstance(obj, (tuple, list)):
-    return type(obj)(_asdictref_inner(v) for v in obj)
-  else:
-    return obj
-
-
-def asdictref(obj) -> dict[str, Any]:
-  """
-  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
-  Note that the resulting dict will contain references to the original struct as a result
-  """
-  if not is_dataclass(obj):
-    raise TypeError("asdictref() should be called on dataclass instances")
-
-  return _asdictref_inner(obj)
-
-
-def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParams):
-    del struct_dict['lateralTuning']
-    struct_capnp = car.CarParams.new_message(**struct_dict)
-
-    # this is the only union, special handling
-    which = struct.lateralTuning.which()
-    struct_capnp.lateralTuning.init(which)
-    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
-    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
-  elif isinstance(struct, structs.CarState):
-    struct_capnp = car.CarState.new_message(**struct_dict)
-  elif isinstance(struct, structs.CarControl.Actuators):
-    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
-  elif isinstance(struct, structs.RadarData):
-    struct_capnp = car.RadarData.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
-  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
-  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
-
-  return struct_dataclass
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 66cf0dc696..4370ea141b 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,6 +40,7 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -72,7 +72,7 @@ class TestCarInterfaces:
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
-    CC = convert_carControl(CC.as_reader())
+    CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -80,7 +80,7 @@ class TestCarInterfaces:
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
-    CC = convert_carControl(CC.as_reader())
+    CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -89,11 +89,10 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    car_params_capnp = convert_to_capnp(car_params).as_reader()
-    LongControl(car_params_capnp)
+    LongControl(car_params)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params_capnp, car_interface)
+      LatControlAngle(car_params, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params_capnp, car_interface)
+      LatControlPID(car_params, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params_capnp, car_interface)
+      LatControlTorque(car_params, car_interface)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ef54631e54..72f511b7ce 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -1,6 +1,4 @@
 import capnp
-import copy
-import dataclasses
 import os
 import pytest
 import random
@@ -20,7 +18,6 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -187,7 +184,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
     Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -195,7 +192,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
-    cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
+    cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
@@ -220,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = structs.CarControl()
+    CC = structs.CarControl().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -312,17 +309,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -409,7 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     selfdrived = SelfdriveD(CP=self.CP)
     selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
-      CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
+      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index c8c8d02751..ba4bd0faec 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,7 +20,6 @@ class TestLatControl:
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
-    CP = convert_to_capnp(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index b58bdbe522..d15519a866 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -5,14 +5,13 @@ import numpy as np
 
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel:
   def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(convert_to_capnp(CP))
+    self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):
     # TODO: fix VM to work at zero speed
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
index ae1ed06b75..7207bd1ef1 100755
--- a/selfdrive/debug/format_fingerprints.py
+++ b/selfdrive/debug/format_fingerprints.py
@@ -2,12 +2,16 @@
 import jinja2
 import os
 
+from cereal import car
 from openpilot.common.basedir import BASEDIR
 from opendbc.car.interfaces import get_interface_attr
 
+Ecu = car.CarParams.Ecu
+
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
@@ -45,7 +49,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
   {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
     {{fw_version}},
@@ -67,8 +71,9 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
-                                            FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
+                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
+                                            extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index ec258f42f0..4e91d32400 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -17,7 +17,6 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
@@ -184,7 +183,7 @@ def main(demo=False):
 
 
   if demo:
-    CP = convert_to_capnp(get_demo_car_params())
+    CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.carName)
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 1bf2977a91..145ba31ade 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -7,7 +7,6 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
@@ -24,7 +23,7 @@ class TestModeld:
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
-    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes())
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index b6d5ba6afd..9abdb6476a 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -24,7 +24,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
+from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -370,7 +370,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-  params.put("CarParams", convert_to_capnp(CP).to_bytes())
+  params.put("CarParams", CP.to_bytes())
 
 
 def selfdrived_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index eb67f60cc0..67d865a654 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-05570b52a90fb8bf092f7a2563d6019577e1aa5d
\ No newline at end of file
+cbe81fea9b820b8dd38667866aac72a8a0dae966
\ No newline at end of file
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 3b9d65b85a..c4ff080fa4 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -10,7 +10,6 @@ from cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
@@ -43,7 +42,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
+    Params().put("CarParams", get_demo_car_params()).to_bytes()
 
     # wait a bit for power save to disable
     time.sleep(5)

From 9d52a5b485fc45d3b05f2021bbf1bd1c4f15c83e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 16:57:45 -0700
Subject: [PATCH 0759/1243] Revert "move car.capnp to opendbc" (#33725)

Revert "move car.capnp to opendbc (#33722)"

This reverts commit 8149f7cb119045028ba57f877e1d16d58c2ae712.
---
 cereal/car.capnp                              | 723 +++++++++++++++++-
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |  24 +-
 selfdrive/car/helpers.py                      |  74 ++
 selfdrive/car/tests/test_car_interfaces.py    |  15 +-
 selfdrive/car/tests/test_models.py            |  17 +-
 .../controls/lib/tests/test_latcontrol.py     |   2 +
 .../controls/lib/tests/test_vehicle_model.py  |   3 +-
 selfdrive/debug/format_fingerprints.py        |  11 +-
 selfdrive/modeld/modeld.py                    |   3 +-
 selfdrive/modeld/tests/test_modeld.py         |   3 +-
 .../test/process_replay/process_replay.py     |   4 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 system/hardware/tici/tests/test_power_draw.py |   3 +-
 14 files changed, 845 insertions(+), 41 deletions(-)
 mode change 120000 => 100644 cereal/car.capnp
 create mode 100644 selfdrive/car/helpers.py

diff --git a/cereal/car.capnp b/cereal/car.capnp
deleted file mode 120000
index 4bc7f89b1f..0000000000
--- a/cereal/car.capnp
+++ /dev/null
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
\ No newline at end of file
diff --git a/cereal/car.capnp b/cereal/car.capnp
new file mode 100644
index 0000000000..c8474f431b
--- /dev/null
+++ b/cereal/car.capnp
@@ -0,0 +1,722 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* events causing controls state machine transition *******
+
+# IMPORTANT: This struct is to not be modified so old logs can be parsed
+struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    canError @0;
+    steerUnavailable @1;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;  # exits active state
+    preEnableStandstill @73;  # added during pre-enable state with brake
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
+    cruiseDisabled @14;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    calibrationRecalibrating @117;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    radarFault @26;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    joystickDebug @34;
+    longitudinalManeuver @124;
+    steerTempUnavailableSilent @35;
+    resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    lowBattery @48;
+    accFaulted @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    commIssueAvgFreq @109;
+    tooDistracted @54;
+    posenetInvalid @55;
+    soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    lowMemory @63;
+    stockAeb @64;
+    ldw @65;
+    carUnrecognized @66;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupNoSecOcKey @125;
+    startupMaster @78;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    cameraFrameRate @110;
+    processNotRunning @95;
+    dashcamMode @96;
+    selfdriveInitializing @98;
+    usbError @99;
+    cruiseMismatch @106;
+    canBusMissing @111;
+    selfdrivedLagging @112;
+    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
+    locationdTemporaryError @103;
+    locationdPermanentError @118;
+    paramsdTemporaryError @50;
+    paramsdPermanentError @119;
+    actuatorsApiUnavailable @120;
+    espActive @121;
+    personalityChanged @122;
+    aeb @123;
+
+    radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
+    radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
+    roadCameraErrorDEPRECATED @100;
+    driverCameraErrorDEPRECATED @101;
+    wideRoadCameraErrorDEPRECATED @102;
+    highCpuUsageDEPRECATED @105;
+    startupNoFwDEPRECATED @104;
+    lowSpeedLockoutDEPRECATED @31;
+    lkasDisabledDEPRECATED @107;
+  }
+}
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  # CAN health
+  canValid @26 :Bool;       # invalid counter/checksums
+  canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;
+
+  # car speed
+  vEgo @1 :Float32;            # best estimate of speed
+  aEgo @16 :Float32;           # best estimate of aCAN cceleration
+  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
+  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
+
+  vCruise @53 :Float32;        # actual set speed
+  vCruiseCluster @54 :Float32; # set speed to display in the UI
+
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user pedal only
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  engineRpm @46 :Float32;
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
+  parkingBrake @39 :Bool;
+  brakeHoldActive @38 :Bool;
+
+  # steering wheel
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
+  steeringRateDeg @15 :Float32;
+  steeringTorque @8 :Float32;      # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steerFaultTemporary @35 :Bool;   # temporary EPS fault
+  steerFaultPermanent @36 :Bool;   # permanent EPS fault
+  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
+  stockAeb @30 :Bool;
+  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+  accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # gear
+  gearShifter @14 :GearShifter;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;
+
+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
+  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
+  charging @43 :Bool;
+
+  # process meta
+  cumLagMs @50 :Float32;
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
+  }
+
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
+    eco @8;
+    manumatic @9;
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0 :Bool;
+    type @1 :Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      mainCruise @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
+    }
+  }
+
+  # deprecated
+  errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
+  canRcvTimeoutDEPRECATED @49 :Bool;
+  eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarData @0x888ad6581cf0aacb {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
+
+  enum Error {
+    canError @0;
+    fault @1;
+    wrongConfig @2;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0 :UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
+  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0 :Bool;
+  latActive @11: Bool;
+  longActive @12: Bool;
+
+  # Final actuator commands
+  actuators @6 :Actuators;
+
+  # Blinker controls
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # lateral commands, mutually exclusive
+    steer @2: Float32;  # [0.0, 1.0]
+    steeringAngleDeg @3: Float32;
+    curvature @7: Float32;
+
+    # longitudinal commands
+    accel @4: Float32;  # m/s^2
+    longControlState @5: LongControlState;
+
+    # these are only for logging the actual values sent to the car over CAN
+    gas @0: Float32;   # [0.0, 1.0]
+    brake @1: Float32; # [0.0, 1.0]
+    steerOutputCan @8: Float32;   # value sent over can to the car
+    speed @6: Float32;  # m/s
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+      starting @3;
+    }
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    resume @1: Bool;
+    override @4: Bool;
+    speedOverrideDEPRECATED @2: Float32;
+    accelOverrideDEPRECATED @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+      ldw @7;
+    }
+
+    enum AudibleAlert {
+      none @0;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
+    }
+  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+  activeDEPRECATED @7 :Bool;
+  rollDEPRECATED @8 :Float32;
+  pitchDEPRECATED @9 :Float32;
+  actuatorsOutputDEPRECATED @10 :Actuators;
+}
+
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  notCar @66 :Bool;  # flag for non-car robotics platforms
+
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;
+
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  safetyConfigs @62 :List(SafetyConfig);
+  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
+
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
+
+  # things about the car in the manual
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indiDEPRECATED @27 :LateralINDITuning;
+    lqrDEPRECATED @40 :LateralLQRTuning;
+    torque @67 :LateralTorqueTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  steerControlType @34 :SteerControlType;
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+
+  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  radarDelay @74 :Float32;
+  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
+  secOcRequired @75 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @76 :Bool;  # Stored SecOC key loaded from params
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @3 :UInt16;
+    safetyParamDEPRECATED @1 :Int16;
+    safetyParam2DEPRECATED @2 :UInt32;
+  }
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LateralTorqueTuning {
+    useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    friction @3 :Float32;
+    kf @4 :Float32;
+    steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @6 :Float32;
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
+  }
+
+  struct LateralINDITuning {
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+  enum SafetyModel {
+    silent @0;
+    hondaNidec @1;
+    toyota @2;
+    elm327 @3;
+    gm @4;
+    hondaBoschGiraffe @5;
+    ford @6;
+    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
+    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBosch @20;
+    volkswagenPq @21;
+    subaruPreglobal @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    volkswagenMlb @25;
+    hongqi @26;
+    body @27;
+    hyundaiCanfd @28;
+    volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
+    fcaGiorgio @32;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+
+    curvatureDEPRECATED @2;
+  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
+  }
+
+  struct CarFw {
+    ecu @0 :Ecu;
+    fwVersion @1 :Data;
+    address @2 :UInt32;
+    subAddress @3 :UInt8;
+    responseAddress @4 :UInt32;
+    request @5 :List(Data);
+    brand @6 :Text;
+    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
+  }
+
+  enum Ecu {
+    eps @0;
+    abs @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module
+
+    # Toyota only
+    dsu @6;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+
+    debug @17;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableGasInterceptorDEPRECATED @2 :Bool;
+  enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
+}
diff --git a/opendbc_repo b/opendbc_repo
index ff2ac79e07..a363ce1ff4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694
+Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 9bd03bad80..0afd0e7323 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -21,6 +21,7 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
+from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 
 REPLAY = "REPLAY" in os.environ
 
@@ -62,7 +63,8 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
-  CP: car.CarParams
+  CP: structs.CarParams
+  CP_capnp: car.CarParams
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -142,7 +144,9 @@ class Car:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
-    cp_bytes = self.CP.to_bytes()
+    # convert to pycapnp representation for caching and logging
+    self.CP_capnp = convert_to_capnp(self.CP)
+    cp_bytes = self.CP_capnp.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
@@ -156,19 +160,19 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
+  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = self.CI.update(can_list)
+    CS = convert_to_capnp(self.CI.update(can_list))
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
-    RD: structs.RadarDataT | None = self.RI.update(can_list)
+    RD: structs.RadarData | None = self.RI.update(can_list)
 
     self.sm.update(0)
 
@@ -188,20 +192,20 @@ class Car:
 
     return CS, RD
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
+  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
-      cp_send.carParams = self.CP
+      cp_send.carParams = self.CP_capnp
       self.pm.send('carParams', cp_send)
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = self.last_actuators_output
+    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -215,7 +219,7 @@ class Car:
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
       tracks_msg.valid = len(RD.errors) == 0
-      tracks_msg.liveTracks = RD
+      tracks_msg.liveTracks = convert_to_capnp(RD)
       self.pm.send('liveTracks', tracks_msg)
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -231,7 +235,7 @@ class Car:
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
new file mode 100644
index 0000000000..75e1c66d24
--- /dev/null
+++ b/selfdrive/car/helpers.py
@@ -0,0 +1,74 @@
+import capnp
+from typing import Any
+
+from cereal import car
+from opendbc.car import structs
+
+_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
+
+
+def is_dataclass(obj):
+  """Similar to dataclasses.is_dataclass without instance type check checking"""
+  return hasattr(obj, _FIELDS)
+
+
+def _asdictref_inner(obj) -> dict[str, Any] | Any:
+  if is_dataclass(obj):
+    ret = {}
+    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
+      ret[field] = _asdictref_inner(getattr(obj, field))
+    return ret
+  elif isinstance(obj, (tuple, list)):
+    return type(obj)(_asdictref_inner(v) for v in obj)
+  else:
+    return obj
+
+
+def asdictref(obj) -> dict[str, Any]:
+  """
+  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
+  Note that the resulting dict will contain references to the original struct as a result
+  """
+  if not is_dataclass(obj):
+    raise TypeError("asdictref() should be called on dataclass instances")
+
+  return _asdictref_inner(obj)
+
+
+def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
+  struct_dict = asdictref(struct)
+
+  if isinstance(struct, structs.CarParams):
+    del struct_dict['lateralTuning']
+    struct_capnp = car.CarParams.new_message(**struct_dict)
+
+    # this is the only union, special handling
+    which = struct.lateralTuning.which()
+    struct_capnp.lateralTuning.init(which)
+    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
+    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
+  elif isinstance(struct, structs.CarState):
+    struct_capnp = car.CarState.new_message(**struct_dict)
+  elif isinstance(struct, structs.CarControl.Actuators):
+    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
+  elif isinstance(struct, structs.RadarData):
+    struct_capnp = car.RadarData.new_message(**struct_dict)
+  else:
+    raise ValueError(f"Unsupported struct type: {type(struct)}")
+
+  return struct_capnp
+
+
+def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
+  # TODO: recursively handle any car struct as needed
+  def remove_deprecated(s: dict) -> dict:
+    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
+
+  struct_dict = struct.to_dict()
+  struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
+
+  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
+  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
+  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
+
+  return struct_dataclass
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4370ea141b..66cf0dc696 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -12,6 +12,7 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -40,7 +41,6 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
-    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -72,7 +72,7 @@ class TestCarInterfaces:
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
-    CC = CC.as_reader()
+    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -80,7 +80,7 @@ class TestCarInterfaces:
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
-    CC = CC.as_reader()
+    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -89,10 +89,11 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params)
+    car_params_capnp = convert_to_capnp(car_params).as_reader()
+    LongControl(car_params_capnp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params, car_interface)
+      LatControlAngle(car_params_capnp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params, car_interface)
+      LatControlPID(car_params_capnp, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params, car_interface)
+      LatControlTorque(car_params_capnp, car_interface)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 72f511b7ce..ef54631e54 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -1,4 +1,6 @@
 import capnp
+import copy
+import dataclasses
 import os
 import pytest
 import random
@@ -18,6 +20,7 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -184,7 +187,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
+    self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
     assert self.CI
 
     Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -192,7 +195,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
-    cfg = self.CP.safetyConfigs[-1]
+    cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
@@ -217,7 +220,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = structs.CarControl().as_reader()
+    CC = structs.CarControl()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -309,17 +312,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC)
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC)
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC)
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -406,7 +409,7 @@ class TestCarModelBase(unittest.TestCase):
     selfdrived = SelfdriveD(CP=self.CP)
     selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
+      CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index ba4bd0faec..c8c8d02751 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -20,6 +21,7 @@ class TestLatControl:
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
+    CP = convert_to_capnp(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index d15519a866..b58bdbe522 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -5,13 +5,14 @@ import numpy as np
 
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel:
   def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(CP)
+    self.VM = VehicleModel(convert_to_capnp(CP))
 
   def test_round_trip_yaw_rate(self):
     # TODO: fix VM to work at zero speed
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
index 7207bd1ef1..ae1ed06b75 100755
--- a/selfdrive/debug/format_fingerprints.py
+++ b/selfdrive/debug/format_fingerprints.py
@@ -2,16 +2,12 @@
 import jinja2
 import os
 
-from cereal import car
 from openpilot.common.basedir import BASEDIR
 from opendbc.car.interfaces import get_interface_attr
 
-Ecu = car.CarParams.Ecu
-
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
@@ -49,7 +45,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+    (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
   {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
     {{fw_version}},
@@ -71,9 +67,8 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
-                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
-                                            extra_fw_versions=extra_fw_versions))
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
+                                            FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 4e91d32400..ec258f42f0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -17,6 +17,7 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
@@ -183,7 +184,7 @@ def main(demo=False):
 
 
   if demo:
-    CP = get_demo_car_params()
+    CP = convert_to_capnp(get_demo_car_params())
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.carName)
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 145ba31ade..1bf2977a91 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -7,6 +7,7 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
@@ -23,7 +24,7 @@ class TestModeld:
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
+    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 9abdb6476a..b6d5ba6afd 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -24,7 +24,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks
+from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -370,7 +370,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-  params.put("CarParams", CP.to_bytes())
+  params.put("CarParams", convert_to_capnp(CP).to_bytes())
 
 
 def selfdrived_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 67d865a654..eb67f60cc0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cbe81fea9b820b8dd38667866aac72a8a0dae966
\ No newline at end of file
+05570b52a90fb8bf092f7a2563d6019577e1aa5d
\ No newline at end of file
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index c4ff080fa4..3b9d65b85a 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -10,6 +10,7 @@ from cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
@@ -42,7 +43,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", get_demo_car_params()).to_bytes()
+    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
 
     # wait a bit for power save to disable
     time.sleep(5)

From 68f4c8a9868d7fdb9b46e2d96f1d345e62a4a443 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Fri, 4 Oct 2024 09:19:06 +0900
Subject: [PATCH 0760/1243] ui: remove space (#33724)

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index a9206b59bb..b11330a046 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -70,7 +70,7 @@ void ui_update_params(UIState *s) {
 void UIState::updateStatus() {
   if (scene.started && sm->updated("selfdriveState")) {
     auto ss = (*sm)["selfdriveState"].getSelfdriveState();
-    auto state = ss .getState();
+    auto state = ss.getState();
     if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {

From 4a5052606463ccac2a740b3b8c20fdfd422ef237 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Thu, 3 Oct 2024 21:20:01 -0300
Subject: [PATCH 0761/1243] Typo on README.md of replay instructions (#33726)

---
 tools/replay/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/replay/README.md b/tools/replay/README.md
index 65a1e7a0b3..5e91aae943 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -37,7 +37,7 @@ tools/replay/replay <route-name> --data_dir="/path_to/route"
 # a2a0ccea32023010|2023-07-27--13-01-19--0
 # a2a0ccea32023010|2023-07-27--13-01-19--1
 # You can replay it like this:
-tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data-dir="/path_to_routes"
+tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes"
 ```
 
 ## Send Messages via ZMQ

From 7556233cca6acc8484020e2ae667df95c25631fe Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 22:47:03 -0700
Subject: [PATCH 0762/1243] Reapply "move car.capnp to opendbc (#33722)"
 (#33728)

* Reapply "move car.capnp to opendbc" (#33725)

This reverts commit 9d52a5b485fc45d3b05f2021bbf1bd1c4f15c83e.

* why can't i repro?!

* Revert "why can't i repro?!"

This reverts commit 0435d218f790faf7b7aaed27d05ab9ee67b087e6.

* does this cause card to try and read it?

* better place

* wtf

* Reapply "why can't i repro?!"

This reverts commit d24fd5a0abf454f47d5591e3b39039fdc4d0251c.

* also here
---
 cereal/car.capnp                              | 723 +-----------------
 opendbc_repo                                  |   2 +-
 selfdrive/car/card.py                         |  26 +-
 selfdrive/car/helpers.py                      |  74 --
 selfdrive/car/tests/test_car_interfaces.py    |  15 +-
 selfdrive/car/tests/test_models.py            |  17 +-
 .../controls/lib/tests/test_latcontrol.py     |   2 -
 .../controls/lib/tests/test_vehicle_model.py  |   3 +-
 selfdrive/debug/format_fingerprints.py        |  11 +-
 selfdrive/modeld/modeld.py                    |   3 +-
 selfdrive/modeld/tests/test_modeld.py         |   3 +-
 .../test/process_replay/process_replay.py     |   6 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/test/test_onroad.py                 |   5 +-
 system/hardware/tici/tests/test_power_draw.py |   3 +-
 15 files changed, 47 insertions(+), 848 deletions(-)
 mode change 100644 => 120000 cereal/car.capnp
 delete mode 100644 selfdrive/car/helpers.py

diff --git a/cereal/car.capnp b/cereal/car.capnp
deleted file mode 100644
index c8474f431b..0000000000
--- a/cereal/car.capnp
+++ /dev/null
@@ -1,722 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x8e2af1e708af8b8d;
-
-# ******* events causing controls state machine transition *******
-
-# IMPORTANT: This struct is to not be modified so old logs can be parsed
-struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName @0xbaa8c5d505f727de {
-    canError @0;
-    steerUnavailable @1;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTempUnavailable @9;
-    reverseGear @10;
-    buttonCancel @11;
-    buttonEnable @12;
-    pedalPressed @13;  # exits active state
-    preEnableStandstill @73;  # added during pre-enable state with brake
-    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
-    steerOverride @114;
-    cruiseDisabled @14;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    calibrationRecalibrating @117;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    radarFault @26;
-    brakeHold @28;
-    parkBrake @29;
-    manualRestart @30;
-    joystickDebug @34;
-    longitudinalManeuver @124;
-    steerTempUnavailableSilent @35;
-    resumeRequired @36;
-    preDriverDistracted @37;
-    promptDriverDistracted @38;
-    driverDistracted @39;
-    preDriverUnresponsive @43;
-    promptDriverUnresponsive @44;
-    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    lowBattery @48;
-    accFaulted @51;
-    sensorDataInvalid @52;
-    commIssue @53;
-    commIssueAvgFreq @109;
-    tooDistracted @54;
-    posenetInvalid @55;
-    soundsUnavailable @56;
-    preLaneChangeLeft @57;
-    preLaneChangeRight @58;
-    laneChange @59;
-    lowMemory @63;
-    stockAeb @64;
-    ldw @65;
-    carUnrecognized @66;
-    invalidLkasSetting @69;
-    speedTooHigh @70;
-    laneChangeBlocked @71;
-    relayMalfunction @72;
-    stockFcw @74;
-    startup @75;
-    startupNoCar @76;
-    startupNoControl @77;
-    startupNoSecOcKey @125;
-    startupMaster @78;
-    fcw @79;
-    steerSaturated @80;
-    belowEngageSpeed @84;
-    noGps @85;
-    wrongCruiseMode @87;
-    modeldLagging @89;
-    deviceFalling @90;
-    fanMalfunction @91;
-    cameraMalfunction @92;
-    cameraFrameRate @110;
-    processNotRunning @95;
-    dashcamMode @96;
-    selfdriveInitializing @98;
-    usbError @99;
-    cruiseMismatch @106;
-    canBusMissing @111;
-    selfdrivedLagging @112;
-    resumeBlocked @113;
-    steerTimeLimit @115;
-    vehicleSensorsInvalid @116;
-    locationdTemporaryError @103;
-    locationdPermanentError @118;
-    paramsdTemporaryError @50;
-    paramsdPermanentError @119;
-    actuatorsApiUnavailable @120;
-    espActive @121;
-    personalityChanged @122;
-    aeb @123;
-
-    radarCanErrorDEPRECATED @15;
-    communityFeatureDisallowedDEPRECATED @62;
-    radarCommIssueDEPRECATED @67;
-    driverMonitorLowAccDEPRECATED @68;
-    gasUnavailableDEPRECATED @3;
-    dataNeededDEPRECATED @16;
-    modelCommIssueDEPRECATED @27;
-    ipasOverrideDEPRECATED @33;
-    geofenceDEPRECATED @40;
-    driverMonitorOnDEPRECATED @41;
-    driverMonitorOffDEPRECATED @42;
-    calibrationProgressDEPRECATED @47;
-    invalidGiraffeHondaDEPRECATED @49;
-    invalidGiraffeToyotaDEPRECATED @60;
-    internetConnectivityNeededDEPRECATED @61;
-    whitePandaUnsupportedDEPRECATED @81;
-    commIssueWarningDEPRECATED @83;
-    focusRecoverActiveDEPRECATED @86;
-    neosUpdateRequiredDEPRECATED @88;
-    modelLagWarningDEPRECATED @93;
-    startupOneplusDEPRECATED @82;
-    startupFuzzyFingerprintDEPRECATED @97;
-    noTargetDEPRECATED @25;
-    brakeUnavailableDEPRECATED @2;
-    plannerErrorDEPRECATED @32;
-    gpsMalfunctionDEPRECATED @94;
-    roadCameraErrorDEPRECATED @100;
-    driverCameraErrorDEPRECATED @101;
-    wideRoadCameraErrorDEPRECATED @102;
-    highCpuUsageDEPRECATED @105;
-    startupNoFwDEPRECATED @104;
-    lowSpeedLockoutDEPRECATED @31;
-    lkasDisabledDEPRECATED @107;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  # CAN health
-  canValid @26 :Bool;       # invalid counter/checksums
-  canTimeout @40 :Bool;     # CAN bus dropped out
-  canErrorCounter @48 :UInt32;
-
-  # car speed
-  vEgo @1 :Float32;            # best estimate of speed
-  aEgo @16 :Float32;           # best estimate of aCAN cceleration
-  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
-  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
-
-  vCruise @53 :Float32;        # actual set speed
-  vCruiseCluster @54 :Float32; # set speed to display in the UI
-
-  yawRate @22 :Float32;     # best estimate of yaw rate
-  standstill @18 :Bool;
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user pedal only
-  gasPressed @4 :Bool;    # this is user pedal only
-
-  engineRpm @46 :Float32;
-
-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
-  brakePressed @6 :Bool;  # this is user pedal only
-  regenBraking @45 :Bool; # this is user pedal only
-  parkingBrake @39 :Bool;
-  brakeHoldActive @38 :Bool;
-
-  # steering wheel
-  steeringAngleDeg @7 :Float32;
-  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
-  steeringRateDeg @15 :Float32;
-  steeringTorque @8 :Float32;      # TODO: standardize units
-  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;        # if the user is using the steering wheel
-  steerFaultTemporary @35 :Bool;   # temporary EPS fault
-  steerFaultPermanent @36 :Bool;   # permanent EPS fault
-  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
-  stockAeb @30 :Bool;
-  stockFcw @31 :Bool;
-  espDisabled @32 :Bool;
-  accFaulted @42 :Bool;
-  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
-  espActive @51 :Bool;
-  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
-  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
-
-  # cruise state
-  cruiseState @10 :CruiseState;
-
-  # gear
-  gearShifter @14 :GearShifter;
-
-  # button presses
-  buttonEvents @11 :List(ButtonEvent);
-  leftBlinker @20 :Bool;
-  rightBlinker @21 :Bool;
-  genericToggle @23 :Bool;
-
-  # lock info
-  doorOpen @24 :Bool;
-  seatbeltUnlatched @25 :Bool;
-
-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
-  # blindspot sensors
-  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
-  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
-
-  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
-  charging @43 :Bool;
-
-  # process meta
-  cumLagMs @50 :Float32;
-
-  struct WheelSpeeds {
-    # optional wheel speeds
-    fl @0 :Float32;
-    fr @1 :Float32;
-    rl @2 :Float32;
-    rr @3 :Float32;
-  }
-
-  struct CruiseState {
-    enabled @0 :Bool;
-    speed @1 :Float32;
-    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
-    available @2 :Bool;
-    speedOffset @3 :Float32;
-    standstill @4 :Bool;
-    nonAdaptive @5 :Bool;
-  }
-
-  enum GearShifter {
-    unknown @0;
-    park @1;
-    drive @2;
-    neutral @3;
-    reverse @4;
-    sport @5;
-    low @6;
-    brake @7;
-    eco @8;
-    manumatic @9;
-  }
-
-  # send on change
-  struct ButtonEvent {
-    pressed @0 :Bool;
-    type @1 :Type;
-
-    enum Type {
-      unknown @0;
-      leftBlinker @1;
-      rightBlinker @2;
-      accelCruise @3;
-      decelCruise @4;
-      cancel @5;
-      altButton1 @6;
-      altButton2 @7;
-      mainCruise @8;
-      setCruise @9;
-      resumeCruise @10;
-      gapAdjustCruise @11;
-    }
-  }
-
-  # deprecated
-  errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
-  steeringRateLimitedDEPRECATED @29 :Bool;
-  canMonoTimesDEPRECATED @12: List(UInt64);
-  canRcvTimeoutDEPRECATED @49 :Bool;
-  eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarData @0x888ad6581cf0aacb {
-  errors @0 :List(Error);
-  points @1 :List(RadarPoint);
-
-  enum Error {
-    canError @0;
-    fault @1;
-    wrongConfig @2;
-  }
-
-  # similar to LiveTracks
-  # is one timestamp valid for all? I think so
-  struct RadarPoint {
-    trackId @0 :UInt64;  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel @1 :Float32; # m from the front bumper of the car
-    yRel @2 :Float32; # m
-    vRel @3 :Float32; # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel @4 :Float32; # m/s^2
-    yvRel @5 :Float32; # m/s
-
-    # some radars flag measurements VS estimates
-    measured @6 :Bool;
-  }
-
-  # deprecated
-  canMonoTimesDEPRECATED @2 :List(UInt64);
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0 :Bool;
-  latActive @11: Bool;
-  longActive @12: Bool;
-
-  # Final actuator commands
-  actuators @6 :Actuators;
-
-  # Blinker controls
-  leftBlinker @15: Bool;
-  rightBlinker @16: Bool;
-
-  orientationNED @13 :List(Float32);
-  angularVelocity @14 :List(Float32);
-
-  cruiseControl @4 :CruiseControl;
-  hudControl @5 :HUDControl;
-
-  struct Actuators {
-    # lateral commands, mutually exclusive
-    steer @2: Float32;  # [0.0, 1.0]
-    steeringAngleDeg @3: Float32;
-    curvature @7: Float32;
-
-    # longitudinal commands
-    accel @4: Float32;  # m/s^2
-    longControlState @5: LongControlState;
-
-    # these are only for logging the actual values sent to the car over CAN
-    gas @0: Float32;   # [0.0, 1.0]
-    brake @1: Float32; # [0.0, 1.0]
-    steerOutputCan @8: Float32;   # value sent over can to the car
-    speed @6: Float32;  # m/s
-
-    enum LongControlState @0xe40f3a917d908282{
-      off @0;
-      pid @1;
-      stopping @2;
-      starting @3;
-    }
-  }
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    resume @1: Bool;
-    override @4: Bool;
-    speedOverrideDEPRECATED @2: Float32;
-    accelOverrideDEPRECATED @3: Float32;
-  }
-
-  struct HUDControl {
-    speedVisible @0: Bool;
-    setSpeed @1: Float32;
-    lanesVisible @2: Bool;
-    leadVisible @3: Bool;
-    visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
-    rightLaneVisible @6: Bool;
-    leftLaneVisible @7: Bool;
-    rightLaneDepart @8: Bool;
-    leftLaneDepart @9: Bool;
-    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
-
-    enum VisualAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      fcw @1;
-      steerRequired @2;
-      brakePressed @3;
-      wrongGear @4;
-      seatbeltUnbuckled @5;
-      speedTooHigh @6;
-      ldw @7;
-    }
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-    }
-  }
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-  activeDEPRECATED @7 :Bool;
-  rollDEPRECATED @8 :Float32;
-  pitchDEPRECATED @9 :Float32;
-  actuatorsOutputDEPRECATED @10 :Actuators;
-}
-
-struct CarOutput {
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @0 :CarControl.Actuators;
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  carFingerprint @1 :Text;
-  fuzzyFingerprint @55 :Bool;
-
-  notCar @66 :Bool;  # flag for non-car robotics platforms
-
-  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
-  enableBsm @56 :Bool;       # blind spot monitoring
-  flags @64 :UInt32;         # flags for car specific quirks
-  experimentalLongitudinalAvailable @71 :Bool;
-
-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  safetyConfigs @62 :List(SafetyConfig);
-  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-
-  # Car docs fields
-  maxLateralAccel @68 :Float32;
-  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
-
-  # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
-  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
-  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
-  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
-
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indiDEPRECATED @27 :LateralINDITuning;
-    lqrDEPRECATED @40 :LateralLQRTuning;
-    torque @67 :LateralTorqueTuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
-  steerControlType @34 :SteerControlType;
-  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-  dashcamOnly @41: Bool;
-  passive @73: Bool;   # is openpilot in control?
-  transmissionType @43 :TransmissionType;
-  carFw @44 :List(CarFw);
-
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  radarDelay @74 :Float32;
-  fingerprintSource @49: FingerprintSource;
-  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
-
-  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
-
-  secOcRequired @75 :Bool;  # Car requires SecOC message authentication to operate
-  secOcKeyAvailable @76 :Bool;  # Stored SecOC key loaded from params
-
-  struct SafetyConfig {
-    safetyModel @0 :SafetyModel;
-    safetyParam @3 :UInt16;
-    safetyParamDEPRECATED @1 :Int16;
-    safetyParam2DEPRECATED @2 :UInt32;
-  }
-
-  struct LateralParams {
-    torqueBP @0 :List(Int32);
-    torqueV @1 :List(Int32);
-  }
-
-  struct LateralPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @4 :Float32;
-  }
-
-  struct LateralTorqueTuning {
-    useSteeringAngle @0 :Bool;
-    kp @1 :Float32;
-    ki @2 :Float32;
-    friction @3 :Float32;
-    kf @4 :Float32;
-    steeringAngleDeadzoneDeg @5 :Float32;
-    latAccelFactor @6 :Float32;
-    latAccelOffset @7 :Float32;
-  }
-
-  struct LongitudinalPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @6 :Float32;
-    deadzoneBPDEPRECATED @4 :List(Float32);
-    deadzoneVDEPRECATED @5 :List(Float32);
-  }
-
-  struct LateralINDITuning {
-    outerLoopGainBP @4 :List(Float32);
-    outerLoopGainV @5 :List(Float32);
-    innerLoopGainBP @6 :List(Float32);
-    innerLoopGainV @7 :List(Float32);
-    timeConstantBP @8 :List(Float32);
-    timeConstantV @9 :List(Float32);
-    actuatorEffectivenessBP @10 :List(Float32);
-    actuatorEffectivenessV @11 :List(Float32);
-
-    outerLoopGainDEPRECATED @0 :Float32;
-    innerLoopGainDEPRECATED @1 :Float32;
-    timeConstantDEPRECATED @2 :Float32;
-    actuatorEffectivenessDEPRECATED @3 :Float32;
-  }
-
-  struct LateralLQRTuning {
-    scale @0 :Float32;
-    ki @1 :Float32;
-    dcGain @2 :Float32;
-
-    # State space system
-    a @3 :List(Float32);
-    b @4 :List(Float32);
-    c @5 :List(Float32);
-
-    k @6 :List(Float32);  # LQR gain
-    l @7 :List(Float32);  # Kalman gain
-  }
-
-  enum SafetyModel {
-    silent @0;
-    hondaNidec @1;
-    toyota @2;
-    elm327 @3;
-    gm @4;
-    hondaBoschGiraffe @5;
-    ford @6;
-    cadillac @7;
-    hyundai @8;
-    chrysler @9;
-    tesla @10;
-    subaru @11;
-    gmPassive @12;
-    mazda @13;
-    nissan @14;
-    volkswagen @15;
-    toyotaIpas @16;
-    allOutput @17;
-    gmAscm @18;
-    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBosch @20;
-    volkswagenPq @21;
-    subaruPreglobal @22;  # pre-Global platform
-    hyundaiLegacy @23;
-    hyundaiCommunity @24;
-    volkswagenMlb @25;
-    hongqi @26;
-    body @27;
-    hyundaiCanfd @28;
-    volkswagenMqbEvo @29;
-    chryslerCusw @30;
-    psa @31;
-    fcaGiorgio @32;
-  }
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-
-    curvatureDEPRECATED @2;
-  }
-
-  enum TransmissionType {
-    unknown @0;
-    automatic @1;  # Traditional auto, including DSG
-    manual @2;  # True "stick shift" only
-    direct @3;  # Electric vehicle or other direct drive
-    cvt @4;
-  }
-
-  struct CarFw {
-    ecu @0 :Ecu;
-    fwVersion @1 :Data;
-    address @2 :UInt32;
-    subAddress @3 :UInt8;
-    responseAddress @4 :UInt32;
-    request @5 :List(Data);
-    brand @6 :Text;
-    bus @7 :UInt8;
-    logging @8 :Bool;
-    obdMultiplexing @9 :Bool;
-  }
-
-  enum Ecu {
-    eps @0;
-    abs @1;
-    fwdRadar @2;
-    fwdCamera @3;
-    engine @4;
-    unknown @5;
-    transmission @8; # Transmission Control Module
-    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
-    srs @9; # airbag
-    gateway @10; # can gateway
-    hud @11; # heads up display
-    combinationMeter @12; # instrument cluster
-    electricBrakeBooster @15;
-    shiftByWire @16;
-    adas @19;
-    cornerRadar @21;
-    hvac @20;
-    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
-    epb @22;  # electronic parking brake
-    telematics @23;
-    body @24;  # body control module
-
-    # Toyota only
-    dsu @6;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-
-    debug @17;
-  }
-
-  enum FingerprintSource {
-    can @0;
-    fw @1;
-    fixed @2;
-  }
-
-  enum NetworkLocation {
-    fwdCamera @0;  # Standard/default integration at LKAS camera
-    gateway @1;    # Integration at vehicle's CAN gateway
-  }
-
-  enableGasInterceptorDEPRECATED @2 :Bool;
-  enableCameraDEPRECATED @4 :Bool;
-  enableApgsDEPRECATED @6 :Bool;
-  steerRateCostDEPRECATED @33 :Float32;
-  isPandaBlackDEPRECATED @39 :Bool;
-  hasStockCameraDEPRECATED @57 :Bool;
-  safetyParamDEPRECATED @10 :Int16;
-  safetyModelDEPRECATED @9 :SafetyModel;
-  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
-  minSpeedCanDEPRECATED @51 :Float32;
-  communityFeatureDEPRECATED @46: Bool;
-  startingAccelRateDEPRECATED @53 :Float32;
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
-  directAccelControlDEPRECATED @30 :Bool;
-  maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
-}
diff --git a/cereal/car.capnp b/cereal/car.capnp
new file mode 120000
index 0000000000..4bc7f89b1f
--- /dev/null
+++ b/cereal/car.capnp
@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp
\ No newline at end of file
diff --git a/opendbc_repo b/opendbc_repo
index a363ce1ff4..ff2ac79e07 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e
+Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 0afd0e7323..a83d5bb989 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -21,7 +21,6 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 
 REPLAY = "REPLAY" in os.environ
 
@@ -63,8 +62,7 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
-  CP: structs.CarParams
-  CP_capnp: car.CarParams
+  CP: car.CarParams
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -98,7 +96,7 @@ class Car:
       cached_params_raw = self.params.get("CarParamsCache")
       if cached_params_raw is not None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-          cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+          cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.RI = get_radar_interface(self.CI.CP)
@@ -144,9 +142,7 @@ class Car:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
-    # convert to pycapnp representation for caching and logging
-    self.CP_capnp = convert_to_capnp(self.CP)
-    cp_bytes = self.CP_capnp.to_bytes()
+    cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
@@ -160,19 +156,19 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
+  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = convert_to_capnp(self.CI.update(can_list))
+    CS = self.CI.update(can_list)
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
-    RD: structs.RadarData | None = self.RI.update(can_list)
+    RD: structs.RadarDataT | None = self.RI.update(can_list)
 
     self.sm.update(0)
 
@@ -192,20 +188,20 @@ class Car:
 
     return CS, RD
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
+  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
-      cp_send.carParams = self.CP_capnp
+      cp_send.carParams = self.CP
       self.pm.send('carParams', cp_send)
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -219,7 +215,7 @@ class Car:
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
       tracks_msg.valid = len(RD.errors) == 0
-      tracks_msg.liveTracks = convert_to_capnp(RD)
+      tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -235,7 +231,7 @@ class Car:
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
deleted file mode 100644
index 75e1c66d24..0000000000
--- a/selfdrive/car/helpers.py
+++ /dev/null
@@ -1,74 +0,0 @@
-import capnp
-from typing import Any
-
-from cereal import car
-from opendbc.car import structs
-
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
-
-
-def is_dataclass(obj):
-  """Similar to dataclasses.is_dataclass without instance type check checking"""
-  return hasattr(obj, _FIELDS)
-
-
-def _asdictref_inner(obj) -> dict[str, Any] | Any:
-  if is_dataclass(obj):
-    ret = {}
-    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-      ret[field] = _asdictref_inner(getattr(obj, field))
-    return ret
-  elif isinstance(obj, (tuple, list)):
-    return type(obj)(_asdictref_inner(v) for v in obj)
-  else:
-    return obj
-
-
-def asdictref(obj) -> dict[str, Any]:
-  """
-  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
-  Note that the resulting dict will contain references to the original struct as a result
-  """
-  if not is_dataclass(obj):
-    raise TypeError("asdictref() should be called on dataclass instances")
-
-  return _asdictref_inner(obj)
-
-
-def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParams):
-    del struct_dict['lateralTuning']
-    struct_capnp = car.CarParams.new_message(**struct_dict)
-
-    # this is the only union, special handling
-    which = struct.lateralTuning.which()
-    struct_capnp.lateralTuning.init(which)
-    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
-    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
-  elif isinstance(struct, structs.CarState):
-    struct_capnp = car.CarState.new_message(**struct_dict)
-  elif isinstance(struct, structs.CarControl.Actuators):
-    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
-  elif isinstance(struct, structs.RadarData):
-    struct_capnp = car.RadarData.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
-  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
-  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
-
-  return struct_dataclass
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 66cf0dc696..4370ea141b 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,6 +40,7 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -72,7 +72,7 @@ class TestCarInterfaces:
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
-    CC = convert_carControl(CC.as_reader())
+    CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -80,7 +80,7 @@ class TestCarInterfaces:
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
-    CC = convert_carControl(CC.as_reader())
+    CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -89,11 +89,10 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    car_params_capnp = convert_to_capnp(car_params).as_reader()
-    LongControl(car_params_capnp)
+    LongControl(car_params)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params_capnp, car_interface)
+      LatControlAngle(car_params, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params_capnp, car_interface)
+      LatControlPID(car_params, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params_capnp, car_interface)
+      LatControlTorque(car_params, car_interface)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ef54631e54..72f511b7ce 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -1,6 +1,4 @@
 import capnp
-import copy
-import dataclasses
 import os
 import pytest
 import random
@@ -20,7 +18,6 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -187,7 +184,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
     Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -195,7 +192,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
-    cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
+    cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
@@ -220,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = structs.CarControl()
+    CC = structs.CarControl().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -312,17 +309,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -409,7 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     selfdrived = SelfdriveD(CP=self.CP)
     selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
-      CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
+      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index c8c8d02751..ba4bd0faec 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,7 +20,6 @@ class TestLatControl:
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
-    CP = convert_to_capnp(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index b58bdbe522..d15519a866 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -5,14 +5,13 @@ import numpy as np
 
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel:
   def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(convert_to_capnp(CP))
+    self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):
     # TODO: fix VM to work at zero speed
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
index ae1ed06b75..7207bd1ef1 100755
--- a/selfdrive/debug/format_fingerprints.py
+++ b/selfdrive/debug/format_fingerprints.py
@@ -2,12 +2,16 @@
 import jinja2
 import os
 
+from cereal import car
 from openpilot.common.basedir import BASEDIR
 from opendbc.car.interfaces import get_interface_attr
 
+Ecu = car.CarParams.Ecu
+
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
@@ -45,7 +49,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
   {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
     {{fw_version}},
@@ -67,8 +71,9 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
-                                            FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
+                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
+                                            extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index ec258f42f0..4e91d32400 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -17,7 +17,6 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
@@ -184,7 +183,7 @@ def main(demo=False):
 
 
   if demo:
-    CP = convert_to_capnp(get_demo_car_params())
+    CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.carName)
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 1bf2977a91..145ba31ade 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -7,7 +7,6 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
@@ -24,7 +23,7 @@ class TestModeld:
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
-    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes())
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index b6d5ba6afd..a4392f908d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -24,7 +24,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
+from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -363,14 +363,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     cached_params = None
     if has_cached_cp:
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-        cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+        cached_params = _cached_params
 
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-  params.put("CarParams", convert_to_capnp(CP).to_bytes())
+  params.put("CarParams", CP.to_bytes())
 
 
 def selfdrived_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index eb67f60cc0..67d865a654 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-05570b52a90fb8bf092f7a2563d6019577e1aa5d
\ No newline at end of file
+cbe81fea9b820b8dd38667866aac72a8a0dae966
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f27e444dbe..8a5f770636 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -13,7 +13,7 @@ from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
 
-from cereal import log
+from cereal import car, log
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
@@ -143,6 +143,9 @@ class TestOnroad:
           route = params.get("CurrentRoute", encoding="utf-8")
           time.sleep(0.1)
 
+        # test car params caching
+        params.put("CarParamsCache", car.CarParams().to_bytes())
+
         while len(cls.segments) < 3:
           segs = set()
           if Path(Paths.log_root()).exists():
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 3b9d65b85a..0ef34549b5 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -10,7 +10,6 @@ from cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
@@ -43,7 +42,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes())
 
     # wait a bit for power save to disable
     time.sleep(5)

From 81ed1decc99ced8ffad1000568baa0dedba0ca89 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 22:50:09 -0700
Subject: [PATCH 0763/1243] unused import

---
 selfdrive/test/process_replay/process_replay.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a4392f908d..0b71a2a1b9 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -17,7 +17,6 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
-from opendbc.car import structs
 from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix

From 66ec7880053b01b81aec13c1a91bae60c3b5529e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 23:39:13 -0700
Subject: [PATCH 0764/1243] Test all of selfdrive/ (#33575)

* test selfdrived!

* exit() is for interactive sessions

* fix

* comments

* more

* test all of selfdrive/

* ignore what we used to

* fix test_alerts

* fix test_alertmanager.py
---
 conftest.py                                     | 13 +++++++++++++
 pyproject.toml                                  |  9 +--------
 selfdrive/selfdrived/tests/test_alertmanager.py |  4 ++--
 selfdrive/selfdrived/tests/test_alerts.py       |  2 +-
 selfdrive/test/cpp_harness.py                   |  3 +--
 selfdrive/test/process_replay/process_replay.py |  2 +-
 selfdrive/ui/tests/test_runner.cc               |  1 +
 7 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/conftest.py b/conftest.py
index fc4931fb54..7ee0c78943 100644
--- a/conftest.py
+++ b/conftest.py
@@ -8,6 +8,19 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
+# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
+# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+collect_ignore = [
+  "selfdrive/ui/tests/test_translations",
+  "selfdrive/test/process_replay/test_processes.py",
+  "selfdrive/test/process_replay/test_regen.py",
+  "selfdrive/test/test_time_to_onroad.py",
+]
+collect_ignore_glob = [
+  "selfdrive/debug/*.py",
+  "selfdrive/modeld/*.py",
+]
+
 
 def pytest_sessionstart(session):
   # TODO: fix tests and enable test order randomization
diff --git a/pyproject.toml b/pyproject.toml
index 8ed4ff855b..00b9ecf3e5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -148,14 +148,7 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/pandad",
-  "selfdrive/car",
-  "selfdrive/opcar",
-  "selfdrive/controls",
-  "selfdrive/locationd",
-  "selfdrive/monitoring",
-  "selfdrive/test/longitudinal_maneuvers",
-  "selfdrive/test/process_replay/test_fuzzy.py",
+  "selfdrive",
   "system/updated",
   "system/athena",
   "system/camerad",
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py
index 20bf4e8903..b75a4d1cbe 100644
--- a/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,6 +1,6 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
 
@@ -34,6 +34,6 @@ class TestAlertManager:
             AM.add_many(frame, [alert, ])
           AM.process_alerts(frame, {})
 
-          shown = AM.current_alert is not None
+          shown = AM.current_alert != EmptyAlert
           should_show = frame <= show_duration
           assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index b916741ad0..f6a0e365fc 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -33,7 +33,7 @@ class TestAlerts:
       # Create fake objects for callback
       cls.CS = car.CarState.new_message()
       cls.CP = car.CarParams.new_message()
-      cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
+      cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
       cls.sm = SubMaster(cfg.pubs)
 
   def test_events_defined(self):
diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py
index f9d3e681a5..f9f425102b 100755
--- a/selfdrive/test/cpp_harness.py
+++ b/selfdrive/test/cpp_harness.py
@@ -4,8 +4,7 @@ import sys
 
 from openpilot.common.prefix import OpenpilotPrefix
 
-
 with OpenpilotPrefix():
   ret = subprocess.call(sys.argv[1:])
 
-exit(ret)
+sys.exit(ret)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 0b71a2a1b9..a5008931c8 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -466,7 +466,7 @@ CONFIGS = [
       "longitudinalPlan", "livePose", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance",
+      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc
index ac63139d17..c8cc0d3e05 100644
--- a/selfdrive/ui/tests/test_runner.cc
+++ b/selfdrive/ui/tests/test_runner.cc
@@ -11,6 +11,7 @@ int main(int argc, char **argv) {
   QApplication app(argc, argv);
 
   QString language_file = "main_test_en";
+  // FIXME: pytest-cpp considers this print as a test case
   qDebug() << "Loading language:" << language_file;
 
   QTranslator translator;

From 77f8275b19d52b325a2564d7560a537c29885f8d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 3 Oct 2024 23:44:04 -0700
Subject: [PATCH 0765/1243] bump opendbc

update refs
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ff2ac79e07..739117d561 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694
+Subproject commit 739117d561b265de5caf843c3f117490a9de57e6
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 67d865a654..0ec17758ac 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cbe81fea9b820b8dd38667866aac72a8a0dae966
\ No newline at end of file
+bfbdd4706abcf5757790526d99d0000644017b1e
\ No newline at end of file

From ad5933cefe41136110aeeaf7b02990bb61dae5a1 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 4 Oct 2024 16:56:47 -0700
Subject: [PATCH 0766/1243] Toyota: 2021-23 RAV4 Prime (#33654)

* bump submodules

* bump opendbc

* from @pd0wm commaai/openpilot#31179

* bump panda

* we did need that flag rename

* bump opendbc

* bump opendbc

* bump submodules

* remove the SecOC key from CarParams

* don't log contents of SecOCKey Param

* read and set secoc_key from card

* bump opendbc

* better init flow

* bump opendbc

* saved SecOC key validation

* concise

* CarParams.SecurityConfig

* de-bump panda

* bump opendbc

* cleanup, pass only if required

* add startup event for missing SecOC key

* comment tweak

* bump opendbc

* add capnp entry for startupNoSecOcKey

* bump panda

* bump opendbc

* need priority over underlying LKA fault

* diff reduction: won't need the flag rename

* bump opendbc and panda

* bump submodules

* bump submodules

* bump panda

* bump submodules

* bump panda

* bump opendbc

* bump panda

* bump opendbc

* bump panda

* bump opendbc

* bump opendbc

* bump panda

* bump opendbc

* bump panda to master

* bump opendbc
---
 opendbc_repo | 2 +-
 panda        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 739117d561..201ff2daa9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 739117d561b265de5caf843c3f117490a9de57e6
+Subproject commit 201ff2daa96314c0bd134487e3d997af4e86cb73
diff --git a/panda b/panda
index 08c95bf47b..abdc41856b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 08c95bf47ba6d0c5d11a7616e42e10b8dbde19eb
+Subproject commit abdc41856b62cc269e63374354f132dc168c28b4

From 91e497898458d39318a1f0e9099bba0b4a996ad7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 4 Oct 2024 16:57:40 -0700
Subject: [PATCH 0767/1243] OnroadEvent migration: ignore deprecated events
 (#33731)

ignore deprecate
---
 selfdrive/test/process_replay/migration.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index a90825cbd0..16ca239aeb 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -406,7 +406,8 @@ def migrate_onroadEvents(msgs):
     new_msg.logMonoTime = msg.logMonoTime
 
     # dict converts name enum into string representation
-    new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED]
+    new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED if
+                            not str(event.name).endswith('DEPRECATED')]
     ops.append((index, new_msg.as_reader()))
 
   return ops, [], []
@@ -419,7 +420,8 @@ def migrate_driverMonitoringState(msgs):
     msg = msg.as_builder()
     # dict converts name enum into string representation
     msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in
-                                        msg.driverMonitoringState.eventsDEPRECATED]
+                                        msg.driverMonitoringState.eventsDEPRECATED if
+                                        not str(event.name).endswith('DEPRECATED')]
     ops.append((index, msg.as_reader()))
 
   return ops, [], []

From cf50d4ae19634f04c4484aed1eb2815c40d907d4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 4 Oct 2024 16:57:55 -0700
Subject: [PATCH 0768/1243] AlertManager: reset duration when re-adding an
 event (#33478)

* fix alert duration when re-adding an alert before it's ended (personality)

* clean up

* messy test

* clean up test

* Revert "clean up test"

This reverts commit e7c0f80cb3d0061558920cf2baf37c6ea6935c81.

* better name

* debug

* Revert "debug"

This reverts commit da8d561445f0f0d142cec99c583dda798973544c.

* Reapply "clean up test"

This reverts commit a7dba540f78d1c32317e5f89e83de5aac1136c38.

* update refs
---
 selfdrive/selfdrived/alertmanager.py          |  6 +++++-
 .../selfdrived/tests/test_alertmanager.py     | 21 ++++++++++++++++++-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 3 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 4a406d3962..ac1006ff25 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -27,10 +27,13 @@ class AlertEntry:
   alert: Alert | None = None
   start_frame: int = -1
   end_frame: int = -1
+  added_frame: int = -1
 
   def active(self, frame: int) -> bool:
     return frame <= self.end_frame
 
+  def just_added(self, frame: int) -> bool:
+    return self.active(frame) and frame == (self.added_frame + 1)
 
 class AlertManager:
   def __init__(self):
@@ -41,10 +44,11 @@ class AlertManager:
     for alert in alerts:
       entry = self.alerts[alert.alert_type]
       entry.alert = alert
-      if not entry.active(frame):
+      if not entry.just_added(frame):
         entry.start_frame = frame
       min_end_frame = entry.start_frame + alert.duration
       entry.end_frame = max(frame + 1, min_end_frame)
+      entry.added_frame = frame
 
   def process_alerts(self, frame: int, clear_event_types: set):
     ae = AlertEntry()
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py
index b75a4d1cbe..030b7d4515 100644
--- a/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -32,8 +32,27 @@ class TestAlertManager:
         for frame in range(duration+10):
           if frame < add_duration:
             AM.add_many(frame, [alert, ])
-          AM.process_alerts(frame, {})
+          AM.process_alerts(frame, set())
 
           shown = AM.current_alert != EmptyAlert
           should_show = frame <= show_duration
           assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
+
+      # check one case:
+      # - if alert is re-added to AM before it ends the duration is extended
+      if duration > 1:
+        AM = AlertManager()
+        show_duration = duration * 2
+        for frame in range(duration * 2 + 10):
+          if frame == 0:
+            AM.add_many(frame, [alert, ])
+
+          if frame == duration:
+            # add alert one frame before it ends
+            assert AM.current_alert == alert
+            AM.add_many(frame, [alert, ])
+          AM.process_alerts(frame, set())
+
+          shown = AM.current_alert != EmptyAlert
+          should_show = frame <= show_duration
+          assert shown == should_show, f"{frame=} {duration=}"
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0ec17758ac..22cae4b8cc 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-bfbdd4706abcf5757790526d99d0000644017b1e
\ No newline at end of file
+36bb37715542677db4a42464128ca10968f2c589
\ No newline at end of file

From eca88f5ea2bb01f1be79d80abc499883a8dc98d9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 5 Oct 2024 19:28:09 -0700
Subject: [PATCH 0769/1243] jenkins: run tests when certain files change
 (#33682)

* test

* change

* work?

* debug

* git

* temp

* save

* test

* test

* work?

* fix

* test

* cleanup

* fix

* final test

* fix

* clean

* null

* final

* test

* save

* test this

* final
---
 Jenkinsfile | 32 +++++++++++++++++++++++++++++++-
 1 file changed, 31 insertions(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 7137b8bf36..47c0ad6f60 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -89,7 +89,12 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            device(device_ip, item[0], item[1])
+            if (branch != "master" && item.size() == 3 && !hasPathChanged(item[2])) {
+              println "Skipping ${item[0]}: no changes in ${item[2]}."
+              return;
+            } else {
+              device(device_ip, item[0], item[1])
+            }
           }
         }
       }
@@ -97,6 +102,31 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
+@NonCPS
+def hasPathChanged(List<String> paths) {
+  changedFiles = []
+  for (changeLogSet in currentBuild.changeSets) {
+    for (entry in changeLogSet.getItems()) {
+      for (file in entry.getAffectedFiles()) {
+        changedFiles.add(file.getPath())
+      }
+    }
+  }
+
+  env.CHANGED_FILES = changedFiles.join(" ")
+  if (currentBuild.number > 1) {
+    env.CHANGED_FILES += currentBuild.previousBuild.getBuildVariables().get("CHANGED_FILES")
+  }
+
+  for (path in paths) {
+    if (env.CHANGED_FILES.contains(path)) {
+      return true;
+    }
+  }
+
+  return false;
+}
+
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),

From 4501d633ea13b58c192e0a388e3f59603a5d11f8 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 7 Oct 2024 09:25:40 -0700
Subject: [PATCH 0770/1243] [bot] Update Python packages (#33736)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |   2 +-
 uv.lock      | 281 ++++++++++++++++++++++++++-------------------------
 2 files changed, 146 insertions(+), 137 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 201ff2daa9..78fdc463f4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 201ff2daa96314c0bd134487e3d997af4e86cb73
+Subproject commit 78fdc463f43bd95d0a9f5c0a927ca4625c6e4009
diff --git a/uv.lock b/uv.lock
index 81c6fa00c2..91577f63ae 100644
--- a/uv.lock
+++ b/uv.lock
@@ -11,16 +11,16 @@ resolution-markers = [
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.4.2"
+version = "2.4.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c7/d9/e710a5c9e51b4d5a977c823ce323a81d344da8c1b6fba16bb270a8be800d/aiohappyeyeballs-2.4.2.tar.gz", hash = "sha256:4ca893e6c5c1f5bf3888b04cb5a3bee24995398efef6e0b9f747b5e89d84fd74", size = 18391 }
+sdist = { url = "https://files.pythonhosted.org/packages/bc/69/2f6d5a019bd02e920a3417689a89887b39ad1e350b562f9955693d900c40/aiohappyeyeballs-2.4.3.tar.gz", hash = "sha256:75cf88a15106a5002a8eb1dab212525c00d1f4c0fa96e551c9fbe6f09a621586", size = 21809 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/13/64/40165ff77ade5203284e3015cf88e11acb07d451f6bf83fff71192912a0d/aiohappyeyeballs-2.4.2-py3-none-any.whl", hash = "sha256:8522691d9a154ba1145b157d6d5c15e5c692527ce6a53c5e5f9876977f6dab2f", size = 14105 },
+    { url = "https://files.pythonhosted.org/packages/f7/d8/120cd0fe3e8530df0539e71ba9683eade12cae103dd7543e50d15f737917/aiohappyeyeballs-2.4.3-py3-none-any.whl", hash = "sha256:8a7a83727b2756f394ab2895ea0765a0a8c475e3c71e98d43d76f22b4b435572", size = 14742 },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.10.8"
+version = "3.10.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,53 +30,53 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/4e/05/da5ff89c85444a6ade9079e73580fb3f78c6ba0e170a2472f15400d03e02/aiohttp-3.10.8.tar.gz", hash = "sha256:21f8225f7dc187018e8433c9326be01477fb2810721e048b33ac49091b19fb4a", size = 7540022 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/ca/2fc934c4c86865d0eb9c46f8f57443f0655f2a4a5c1dde60ec1d6d0f0881/aiohttp-3.10.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:33a68011a38020ed4ff41ae0dbf4a96a202562ecf2024bdd8f65385f1d07f6ef", size = 586333 },
-    { url = "https://files.pythonhosted.org/packages/4a/07/7215d085dc10dd2e10f36832b2ca278f30970b4db98d5ebfed9e228d5c0c/aiohttp-3.10.8-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6c7efa6616a95e3bd73b8a69691012d2ef1f95f9ea0189e42f338fae080c2fc6", size = 398817 },
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+    { url = "https://files.pythonhosted.org/packages/3e/14/fd026bc74ded05e2351681545a5f626e78ef831f8edce064d61acd2e6ec7/ruff-0.6.9-py3-none-win_arm64.whl", hash = "sha256:a9641e31476d601f83cd602608739a0840e348bda93fec9f1ee816f8b6798b93", size = 8679879 },
 ]
 
 [[package]]
@@ -5001,15 +5010,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.14.0"
+version = "2.15.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/3c/23/6527e56fb17817153c37d702d6b9ed0a2f75ed213fd98a176c1b8894ad20/sentry_sdk-2.14.0.tar.gz", hash = "sha256:1e0e2eaf6dad918c7d1e0edac868a7bf20017b177f242cefe2a6bcd47955961d", size = 282948 }
+sdist = { url = "https://files.pythonhosted.org/packages/1b/76/8a6462885c1e162b7fa9d6e7cb7ed4b0f06c8c75843806049ed1c8489d21/sentry_sdk-2.15.0.tar.gz", hash = "sha256:a599e7d3400787d6f43327b973e55a087b931ba2c592a7a7afa691f8eb5e75e2", size = 284889 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/40/de/956ce1d71459fa1af0486ca141fc605ac16f7c8855750668ff663e2b436a/sentry_sdk-2.14.0-py2.py3-none-any.whl", hash = "sha256:b8bc3dc51d06590df1291b7519b85c75e2ced4f28d9ea655b6d54033503b5bf4", size = 311425 },
+    { url = "https://files.pythonhosted.org/packages/41/22/88712c958160e5a5c9fc63229d953feec44db1dda30109ece4d357edb41d/sentry_sdk-2.15.0-py2.py3-none-any.whl", hash = "sha256:8fb0d1a4e1a640172f31502e4503543765a1fe8a9209779134a4ac52d4677303", size = 310990 },
 ]
 
 [[package]]
@@ -5173,11 +5182,11 @@ wheels = [
 
 [[package]]
 name = "tomli"
-version = "2.0.1"
+version = "2.0.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c0/3f/d7af728f075fb08564c5949a9c95e44352e23dee646869fa104a3b2060a3/tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f", size = 15164 }
+sdist = { url = "https://files.pythonhosted.org/packages/35/b9/de2a5c0144d7d75a57ff355c0c24054f965b2dc3036456ae03a51ea6264b/tomli-2.0.2.tar.gz", hash = "sha256:d46d457a85337051c36524bc5349dd91b1877838e2979ac5ced3e710ed8a60ed", size = 16096 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/97/75/10a9ebee3fd790d20926a90a2547f0bf78f371b2f13aa822c759680ca7b9/tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc", size = 12757 },
+    { url = "https://files.pythonhosted.org/packages/cf/db/ce8eda256fa131af12e0a76d481711abe4681b6923c27efb9a255c9e4594/tomli-2.0.2-py3-none-any.whl", hash = "sha256:2ebe24485c53d303f690b0ec092806a085f07af5a5aa1464f3931eec36caaa38", size = 13237 },
 ]
 
 [[package]]

From 2040f04c453fa10ce22ebd6099379c2fce4f02ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 7 Oct 2024 09:40:27 -0700
Subject: [PATCH 0771/1243] MLSIM V2 (#33727)

* bb2f7438-51f1-41ce-b337-238eaf2fd14d/100

* bb2f7438-51f1-41ce-b337-238eaf2fd14d/110

* bb2f7438-51f1-41ce-b337-238eaf2fd14d/330

* c3aa47aa-a00e-4b42-a40b-526039378a3a/400

* bd637aab-4274-41c1-95ac-25fb8bf88547/400

* Update ref

* 5705291a-5f7b-4849-91e8-4b0ea87f44d3/400

* 9f345169-a30d-4fec-bf06-2a457bf0071f/400

* update refs

---------

Co-authored-by: Yassine <yassine.y10@gmail.com>
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 89042dbe47..93781abba1 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95
+oid sha256:06d94d907a437121b1a86b59065f44e4875ed68e554487f5c500982273d63630
 size 50309976
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index f14eef06b9..bfa63a007c 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-c4d60dfe4b677f9230eebb47614501ea8d0b99a3
+ef4faa7e90e530ce20c345ee68467c7e1f7e7a14

From 853febe21d7b629d4211f7f7adf4d2e5b97f030e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 7 Oct 2024 13:24:57 -0700
Subject: [PATCH 0772/1243] visionipc: remove RGB support (#33739)

* visionipc: remove RGB support

* bump

* msgq master

* fix sim
---
 msgq_repo                                       | 2 +-
 selfdrive/modeld/tests/test_modeld.py           | 6 +++---
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/ui/tests/test_ui/run.py               | 2 +-
 system/camerad/cameras/camera_common.cc         | 2 +-
 system/loggerd/tests/test_loggerd.py            | 3 +--
 tools/replay/camera.cc                          | 2 +-
 tools/sim/lib/camerad.py                        | 4 ++--
 8 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index cdcf84f44a..b4f0692c1a 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit cdcf84f44a4edd40f7aa4d06eb95550ac64b3b37
+Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 145ba31ade..6927c9e473 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -19,9 +19,9 @@ class TestModeld:
 
   def setup_method(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
     self.vipc_server.start_listener()
     Params().put("CarParams", get_demo_car_params().to_bytes())
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a5008931c8..ef17325642 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -212,7 +212,7 @@ class ProcessContainer:
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
+        vipc_server.create_buffers(meta.stream, 2, *frame_size)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index a918a57364..0b98cb0b38 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -48,7 +48,7 @@ def setup_settings_toggles(click, pm: PubMaster):
 def setup_onroad(click, pm: PubMaster):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
-    vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
+    vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
   vipc_server.start_listener()
 
   uidebug_received_cnt = 0
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 769557d70b..9fa9bb6a73 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -89,7 +89,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset);
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index cfd1247702..34abe553a1 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -150,7 +150,7 @@ class TestLoggerd:
     pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
-      vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
     vipc_server.start_listener()
 
     num_segs = random.randint(2, 5)
@@ -281,4 +281,3 @@ class TestLoggerd:
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
-
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 914c18e15f..73243ed20d 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -51,7 +51,7 @@ void CameraServer::startVipcServer() {
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
       auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
-      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height,
+      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height,
                                               nv12_buffer_size, nv12_width, nv12_width * nv12_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
index b58cbeaaf2..be4e1a610c 100644
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@@ -18,9 +18,9 @@ class Camerad:
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
     if dual_camera:
-      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H)
 
     self.vipc_server.start_listener()
 

From 85278520ed4976f0d5280566e560df3ad6c55741 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 7 Oct 2024 13:44:38 -0700
Subject: [PATCH 0773/1243] test models: allow public routes (#33740)

* source doesn't matter

* this too

* and
---
 selfdrive/car/tests/test_models.py | 27 ++-------------------------
 1 file changed, 2 insertions(+), 25 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 72f511b7ce..025c3ab660 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -4,7 +4,6 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
-from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -23,7 +22,7 @@ from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, auto_source, internal_source, openpilotci_source, openpilotci_source_zst
+from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
@@ -68,7 +67,6 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 class TestCarModelBase(unittest.TestCase):
   platform: Platform | None = None
   test_route: CarTestRoute | None = None
-  test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
   can_msgs: list[capnp.lib.capnp._DynamicStructReader]
   fingerprint: dict[int, dict[int, int]]
@@ -126,31 +124,15 @@ class TestCarModelBase(unittest.TestCase):
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
-    is_internal = len(INTERNAL_SEG_LIST)
-
     for seg in test_segs:
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        source = partial(auto_source, sources=[internal_source] if is_internal else [openpilotci_source, openpilotci_source_zst])
-        lr = LogReader(segment_range, source=source)
+        lr = LogReader(segment_range)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
 
-    # Route is not in CI bucket, assume either user has access (private), or it is public
-    # test_route_on_ci_bucket will fail when running in CI
-    if not is_internal:
-      cls.test_route_on_bucket = False
-
-      for seg in test_segs:
-        segment_range = f"{cls.test_route.route}/{seg}"
-        try:
-          lr = LogReader(segment_range)
-          return cls.get_testing_data_from_logreader(lr)
-        except Exception:
-          pass
-
     raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
 
 
@@ -467,11 +449,6 @@ class TestCarModelBase(unittest.TestCase):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
-  @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
-  def test_route_on_ci_bucket(self):
-    self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
-                    "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
-
 
 @parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')

From 939d306ac342727454dc95cae02687d44c52995c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 7 Oct 2024 16:22:43 -0700
Subject: [PATCH 0774/1243] jenkins: run pandad tests only when relevant paths
 change (#33733)

* only

* more
---
 Jenkinsfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 47c0ad6f60..5380d5d698 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -185,7 +185,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@@ -231,7 +231,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
           ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],

From 8bcf930a286b545ea2e86b61a1b8332f031de42b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 7 Oct 2024 19:01:13 -0700
Subject: [PATCH 0775/1243] tools: fix compressed_vipc

---
 tools/camerastream/compressed_vipc.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index f531a289f9..cbea060920 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -120,7 +120,7 @@ class CompressedVipc:
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
       ed = sm[ENCODE_SOCKETS[vst]]
-      self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height)
+      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
     self.vipc_server.start_listener()
 
     self.procs = []

From 2e83e379841d5d41fb087133514d51e656deafc4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 7 Oct 2024 21:40:00 -0700
Subject: [PATCH 0776/1243] jenkins: model replay report in PR (#33723)

* first

* first

* first

* token

* edit previous comment

* clean

* plots

* linter

* cleaner

* comment

* save ref

* fix

* remove refs

* add tokens

* fix branch

* table

* fix

* real data

* title

* github

* fix

* github api

* better

* clean

* errors

* create bucket

* true

* fix
---
 Jenkinsfile                                   |  14 +++
 selfdrive/test/process_replay/model_replay.py |  88 ++++++++++----
 .../process_replay/model_replay_ref_commit    |   1 -
 tools/lib/github_utils.py                     | 109 ++++++++++++++++++
 4 files changed, 187 insertions(+), 25 deletions(-)
 delete mode 100644 selfdrive/test/process_replay/model_replay_ref_commit
 create mode 100644 tools/lib/github_utils.py

diff --git a/Jenkinsfile b/Jenkinsfile
index 5380d5d698..c42817a556 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -25,6 +25,8 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
+export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@@ -133,6 +135,18 @@ def setupCredentials() {
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
   }
+
+  withCredentials([
+    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
+  ]) {
+    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
+  }
+
+  withCredentials([
+    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
+  ]) {
+    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
+  }
 }
 
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9ee1b6be4e..f88ccab96c 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -3,14 +3,18 @@ import os
 import sys
 from collections import defaultdict
 from typing import Any
+import tempfile
+from itertools import zip_longest
+
+import matplotlib.pyplot as plt
 
-from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
-from openpilot.tools.lib.openpilotci import BASE_URL, get_url
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
+from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
@@ -19,10 +23,55 @@ MAX_FRAMES = 100 if PC else 600
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
+DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
+API_TOKEN = os.getenv("GITHUB_COMMENTS_TOKEN","")
+MODEL_REPLAY_BUCKET="model_replay_master"
+GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
+
+
+def get_log_fn(test_route):
+  return f"{test_route}_model_tici_master.bz2"
+
+def plot(proposed, master, title, tmp):
+  fig, ax = plt.subplots()
+  ax.plot(list(proposed), label='PROPOSED')
+  ax.plot(list(master), label='MASTER')
+  plt.legend(loc='best')
+  plt.title(title)
+  plt.savefig(f'{tmp}/{title}.png')
+  return title + '.png'
+
+def get_event(logs, event):
+  return (getattr(m, m.which()) for m in filter(lambda m: m.which() == event, logs))
+
+def zl(array, fill):
+  return zip_longest(array, [], fillvalue=fill)
+
+def generate_report(proposed, master, tmp):
+  ModelV2_Plots = zl([
+                     (lambda x: x.velocity.x[0], "velocity.x"),
+                     (lambda x: x.action.desiredCurvature, "desiredCurvature"),
+                     (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
+                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
+                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                    ], "modelV2")
 
-def get_log_fn(ref_commit, test_route):
-  return f"{test_route}_model_tici_{ref_commit}.bz2"
+  return [plot(map(v[0], get_event(proposed, event)), \
+               map(v[0], get_event(master, event)), v[1], tmp) \
+               for v,event in [*ModelV2_Plots]]
 
+def comment_replay_report(proposed, master):
+  with tempfile.TemporaryDirectory() as tmp:
+    PR_BRANCH=os.getenv("GIT_BRANCH","")
+    DATA_BUCKET=f"model_replay_{PR_BRANCH}"
+
+    files = generate_report(proposed, master, tmp)
+
+    GITHUB.comment_images_on_pr("Model Replay Plots",
+                                "commaci-public",
+                                PR_BRANCH,
+                                DATA_BUCKET,
+                                [(x, tmp + '/' + x) for x in files])
 
 def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
   all_msgs = []
@@ -68,9 +117,8 @@ def model_replay(lr, frs):
 
 
 if __name__ == "__main__":
-  update = "--update" in sys.argv
+  update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
-  ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
 
   # load logs
   lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
@@ -88,11 +136,9 @@ if __name__ == "__main__":
   # get diff
   failed = False
   if not update:
-    with open(ref_commit_fn) as f:
-      ref_commit = f.read().strip()
-    log_fn = get_log_fn(ref_commit, TEST_ROUTE)
+    log_fn = get_log_fn(TEST_ROUTE)
     try:
-      all_logs = list(LogReader(BASE_URL + log_fn))
+      all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
       cmp_log = []
 
       # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
@@ -134,11 +180,14 @@ if __name__ == "__main__":
             ignore.append(f'modelV2.roadEdges.{i}.{field}')
       tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
-      log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
+      log_paths: Any = {TEST_ROUTE: {"models": {'ref': log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
+      diff_short, diff_long, failed = format_diff(results, log_paths, 'master')
 
       if "CI" in os.environ:
+        if not PC:
+          comment_replay_report(log_msgs, cmp_log)
+          failed = False
         print(diff_long)
       print('-------------\n'*5)
       print(diff_short)
@@ -149,22 +198,13 @@ if __name__ == "__main__":
       failed = True
 
   # upload new refs
-  if (update or failed) and not PC:
-    from openpilot.tools.lib.openpilotci import upload_file
-
+  if update and not PC:
     print("Uploading new refs")
-
-    new_commit = get_commit()
-    log_fn = get_log_fn(new_commit, TEST_ROUTE)
+    log_fn = get_log_fn(TEST_ROUTE)
     save_log(log_fn, log_msgs)
     try:
-      upload_file(log_fn, os.path.basename(log_fn))
+      GITHUB.upload_file(MODEL_REPLAY_BUCKET, os.path.basename(log_fn), log_fn)
     except Exception as e:
       print("failed to upload", e)
 
-    with open(ref_commit_fn, 'w') as f:
-      f.write(str(new_commit))
-
-    print("\n\nNew ref commit: ", new_commit)
-
   sys.exit(int(failed))
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
deleted file mode 100644
index bfa63a007c..0000000000
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ /dev/null
@@ -1 +0,0 @@
-ef4faa7e90e530ce20c345ee68467c7e1f7e7a14
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
new file mode 100644
index 0000000000..607fdfdae9
--- /dev/null
+++ b/tools/lib/github_utils.py
@@ -0,0 +1,109 @@
+import base64
+import requests
+from http import HTTPMethod
+
+class GithubUtils:
+  def __init__(self, api_token, data_token, owner='commaai', api_repo='openpilot', data_repo='ci-artifacts'):
+    self.OWNER = owner
+    self.API_REPO = api_repo
+    self.DATA_REPO = data_repo
+    self.API_TOKEN = api_token
+    self.DATA_TOKEN = data_token
+
+  @property
+  def API_ROUTE(self):
+    return f"https://api.github.com/repos/{self.OWNER}/{self.API_REPO}"
+
+  @property
+  def DATA_ROUTE(self):
+    return f"https://api.github.com/repos/{self.OWNER}/{self.DATA_REPO}"
+
+  def api_call(self, path, data="", method=HTTPMethod.GET, accept="", data_call=False, raise_on_failure=True):
+    token = self.DATA_TOKEN if data_call else self.API_TOKEN
+    if token:
+      headers = {"Authorization": f"Bearer {self.DATA_TOKEN if data_call else self.API_TOKEN}", \
+                 "Accept": f"application/vnd.github{accept}+json"}
+    else:
+      headers = {}
+    path = f'{self.DATA_ROUTE if data_call else self.API_ROUTE}/{path}'
+    r = requests.request(method, path, headers=headers, data=data)
+    if not r.ok and raise_on_failure:
+      raise Exception(f"Call to {path} failed with {r.status_code}")
+    else:
+      return r
+
+  def upload_file(self, bucket, path, file_name):
+    with open(path, "rb") as f:
+      encoded = base64.b64encode(f.read()).decode()
+
+      # check if file already exists
+      sha = self.get_file_sha(bucket, file_name)
+      sha = f'"sha":"{sha}",' if sha else ''
+
+      data = f'{{"message":"uploading {file_name}", \
+                    "branch":"{bucket}", \
+                    "committer":{{"name":"Vehicle Researcher", "email": "user@comma.ai"}}, \
+                    {sha} \
+                    "content":"{encoded}"}}'
+      github_path = f"contents/{file_name}"
+      self.api_call(github_path, data=data, method=HTTPMethod.PUT, data_call=True)
+
+  def upload_files(self, bucket, files):
+    self.create_bucket(bucket)
+    for file_name,path in files:
+      self.upload_file(bucket, path, file_name)
+
+  def create_bucket(self, bucket):
+    if self.get_bucket_sha(bucket):
+      return
+    master_sha = self.get_bucket_sha('master')
+    github_path = "git/refs"
+    data = f'{{"ref":"refs/heads/{bucket}", "sha":"{master_sha}"}}'
+    self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
+
+  def get_bucket_sha(self, bucket):
+    github_path = f"git/refs/heads/{bucket}"
+    r = self.api_call(github_path, data_call=True, raise_on_failure=False)
+    return r.json()['object']['sha'] if r.ok else None
+
+  def get_file_url(self, bucket, file_name):
+    github_path = f"contents/{file_name}?ref={bucket}"
+    r = self.api_call(github_path, data_call=True)
+    return r.json()['download_url']
+
+  def get_file_sha(self, bucket, file_name):
+    github_path = f"contents/{file_name}?ref={bucket}"
+    r = self.api_call(github_path, data_call=True, raise_on_failure=False)
+    return r.json()['sha'] if r.ok else None
+
+  def get_pr_number(self, pr_branch):
+    github_path = f"commits/{pr_branch}/pulls"
+    r = self.api_call(github_path)
+    return r.json()[0]['number']
+
+  def comment_on_pr(self, comment, commenter, pr_branch):
+    pr_number = self.get_pr_number(pr_branch)
+    data = f'{{"body": "{comment}"}}'
+    github_path = f'issues/{pr_number}/comments'
+    r = self.api_call(github_path)
+    comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
+    if comments:
+      github_path = f'issues/comments/{comments[0]}'
+      self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
+    else:
+      github_path=f'issues/{pr_number}/comments'
+      self.api_call(github_path, data=data, method=HTTPMethod.POST)
+
+  # upload files to github and comment them on the pr
+  def comment_images_on_pr(self, title, commenter, pr_branch, bucket, images):
+    self.upload_files(bucket, images)
+    table = [f'<details><summary>{title}</summary><table>']
+    for i,f in enumerate(images):
+      if not (i % 2):
+        table.append('<tr>')
+      table.append(f'<td><img src=\\"https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/{bucket}/{f[0]}\\"></td>')
+      if (i % 2):
+        table.append('</tr>')
+    table.append('</table></details>')
+    table = ''.join(table)
+    self.comment_on_pr(table, commenter, pr_branch)

From 22bc50fee4aa0798e315088f4d3ee6ace01a98b2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 7 Oct 2024 22:02:09 -0700
Subject: [PATCH 0777/1243] jenkins: model replay only when modeld is in diff
 (#33743)

* only

* more
---
 Jenkinsfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index c42817a556..a98280ccd9 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -236,8 +236,8 @@ node {
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+          ["build", "cd system/manager && ./build.py", ["selfdrive/modeld/"]],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py", ["selfdrive/modeld/"]],
         ])
       },
       'tizi': {

From 6547d9593c0c819cf19915ff7b7bd5e35249e372 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 9 Oct 2024 02:20:14 +0800
Subject: [PATCH 0778/1243] =?UTF-8?q?cabana:=20fix=20issue=20where=20video?=
 =?UTF-8?q?=20can=E2=80=99t=20be=20paused=20by=20click=20during=20alert=20?=
 =?UTF-8?q?(#33746)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

fix pause issue
---
 tools/cabana/videowidget.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 07d283787f..66a6efe569 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -368,6 +368,7 @@ bool Slider::event(QEvent *event) {
 
 InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
   setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
   setVisible(false);
 }
 

From 19fdf90585173b43831993e4d3c00fef8fe5ae6e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 9 Oct 2024 02:20:29 +0800
Subject: [PATCH 0779/1243] cabana: fix mouse wheel not scrolling charts when
 hovering over tips (#33747)

fix mouse wheel not scrolling charts when hovering over tips
---
 tools/cabana/chart/chartswidget.cc | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 27846f9c92..8154a85d6b 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -434,7 +434,9 @@ void ChartsWidget::alignCharts() {
 }
 
 bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
-  if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
+  if (!value_tip_visible_) return false;
+
+  if (e->type() == QEvent::MouseMove) {
     bool on_tip = qobject_cast<TipLabel *>(o) != nullptr;
     auto global_pos = static_cast<QMouseEvent *>(e)->globalPos();
 
@@ -449,6 +451,11 @@ bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
     }
 
     showValueTip(-1);
+  } else if (e->type() == QEvent::Wheel) {
+    if (auto tip = qobject_cast<TipLabel *>(o)) {
+      // Forward the event to the parent widget
+      QCoreApplication::sendEvent(tip->parentWidget(), e);
+    }
   }
   return false;
 }

From 196fb0a7eab86d43a5dd584f421e21051ff55f22 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 9 Oct 2024 02:20:43 +0800
Subject: [PATCH 0780/1243] cabana: Insert newly split charts directly after
 the original chart (#33748)

split charts under current chart
---
 tools/cabana/chart/chartswidget.cc | 10 ++++++----
 tools/cabana/chart/chartswidget.h  |  2 +-
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 8154a85d6b..e2f0d4d0c9 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -255,14 +255,15 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
   return nullptr;
 }
 
-ChartView *ChartsWidget::createChart() {
+ChartView *ChartsWidget::createChart(int pos) {
   auto chart = new ChartView(can->timeRange().value_or(display_range), this);
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
-  charts.push_front(chart);
-  currentCharts().push_front(chart);
+  pos = std::clamp(pos, 0, charts.size());
+  charts.insert(pos, chart);
+  currentCharts().insert(pos, chart);
   updateLayout(true);
   updateToolBar();
   return chart;
@@ -281,8 +282,9 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
 
 void ChartsWidget::splitChart(ChartView *src_chart) {
   if (src_chart->sigs.size() > 1) {
+    int pos = charts.indexOf(src_chart) + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
-      auto c = createChart();
+      auto c = createChart(pos);
       src_chart->chart()->removeSeries(it->series);
 
       // Restore to the original color
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a925191792..bfdaaaa954 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -58,7 +58,7 @@ private:
   bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
-  ChartView *createChart();
+  ChartView *createChart(int pos = 0);
   void removeChart(ChartView *chart);
   void splitChart(ChartView *chart);
   QRect chartVisibleRect(ChartView *chart);

From 8b5df1e9ee70938c0397ba6b3c893f6cd26cca98 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 8 Oct 2024 16:41:02 -0400
Subject: [PATCH 0781/1243] tools: print VIN when getting UDS fingerprints from
 a route (#33750)

* tools: print VIN when getting UDS fingerprints

* set in case not there

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/debug/fingerprint_from_route.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 68308bb627..9da388999b 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -8,10 +8,12 @@ def get_fingerprint(lr):
   # TODO: make this a nice tool for car ports. should also work with qlogs for FW
 
   fw = None
+  vin = None
   msgs = {}
   for msg in lr:
     if msg.which() == 'carParams':
       fw = msg.carParams.carFw
+      vin = msg.carParams.carVin
     elif msg.which() == 'can':
       for c in msg.can:
         # read also msgs sent by EON on CAN bus 0x80 and filter out the
@@ -32,6 +34,7 @@ def get_fingerprint(lr):
     print(f"      {f.fwVersion},")
     print("    ],")
   print()
+  print(f"VIN: {vin}")
 
 
 if __name__ == "__main__":

From 8cf1b79189431c9289485b49240928e46f2a01a7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 8 Oct 2024 14:07:13 -0700
Subject: [PATCH 0782/1243] camerad: more ISP prep (#33752)

---
 system/camerad/cameras/camera_common.h |  3 --
 system/camerad/cameras/camera_qcom2.cc |  4 +-
 system/camerad/cameras/cdm.h           | 66 ++++++++++++++++++++++++++
 system/camerad/test/debug.sh           | 15 ++++++
 4 files changed, 84 insertions(+), 4 deletions(-)
 create mode 100644 system/camerad/cameras/cdm.h
 create mode 100755 system/camerad/test/debug.sh

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index e0e16e18fc..a52fc59c41 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -13,11 +13,8 @@ const int YUV_BUFFER_COUNT = 20;
 typedef struct FrameMetadata {
   uint32_t frame_id;
   uint32_t request_id;
-
-  // Timestamps
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
-
   float processing_time;
 } FrameMetadata;
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 3d5507add9..df884e7b92 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -64,6 +64,8 @@ public:
 };
 
 void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+  if (!camera.enabled) return;
+
   camera.camera_open(v, device_id, ctx);
 
   fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
@@ -73,7 +75,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
   gain_idx = camera.sensor->analog_gain_rec_idx;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time;
 
-  if (camera.enabled) thread = std::thread(&CameraState::run, this);
+  thread = std::thread(&CameraState::run, this);
 }
 
 CameraState::~CameraState() {
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
new file mode 100644
index 0000000000..413c4e23d7
--- /dev/null
+++ b/system/camerad/cameras/cdm.h
@@ -0,0 +1,66 @@
+// from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
+
+enum cam_cdm_command {
+  CAM_CDM_CMD_UNUSED = 0x0,
+  CAM_CDM_CMD_DMI = 0x1,
+  CAM_CDM_CMD_NOT_DEFINED = 0x2,
+  CAM_CDM_CMD_REG_CONT = 0x3,
+  CAM_CDM_CMD_REG_RANDOM = 0x4,
+  CAM_CDM_CMD_BUFF_INDIRECT = 0x5,
+  CAM_CDM_CMD_GEN_IRQ = 0x6,
+  CAM_CDM_CMD_WAIT_EVENT = 0x7,
+  CAM_CDM_CMD_CHANGE_BASE = 0x8,
+  CAM_CDM_CMD_PERF_CTRL = 0x9,
+  CAM_CDM_CMD_DMI_32 = 0xa,
+  CAM_CDM_CMD_DMI_64 = 0xb,
+  CAM_CDM_CMD_PRIVATE_BASE = 0xc,
+  CAM_CDM_CMD_SWD_DMI_32 = (CAM_CDM_CMD_PRIVATE_BASE + 0x64),
+  CAM_CDM_CMD_SWD_DMI_64 = (CAM_CDM_CMD_PRIVATE_BASE + 0x65),
+  CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
+};
+
+/**
+ * struct cdm_regrandom_cmd - Definition for CDM random register command.
+ * @count: Number of register writes
+ * @reserved: reserved bits
+ * @cmd: Command ID (CDMCmd)
+ */
+struct cdm_regrandom_cmd {
+  unsigned int count    : 16;
+  unsigned int reserved : 8;
+  unsigned int cmd      : 8;
+} __attribute__((__packed__));
+
+/**
+ * struct cdm_regcontinuous_cmd - Definition for a CDM register range command.
+ * @count: Number of register writes
+ * @reserved0: reserved bits
+ * @cmd: Command ID (CDMCmd)
+ * @offset: Start address of the range of registers
+ * @reserved1: reserved bits
+ */
+struct cdm_regcontinuous_cmd {
+  unsigned int count     : 16;
+  unsigned int reserved0 : 8;
+  unsigned int cmd       : 8;
+  unsigned int offset    : 24;
+  unsigned int reserved1 : 8;
+} __attribute__((__packed__));
+
+/**
+ * struct cdm_dmi_cmd - Definition for a CDM DMI command.
+ * @length: Number of bytes in LUT - 1
+ * @reserved: reserved bits
+ * @cmd: Command ID (CDMCmd)
+ * @addr: Address of the LUT in memory
+ * @DMIAddr: Address of the target DMI config register
+ * @DMISel: DMI identifier
+ */
+struct cdm_dmi_cmd {
+  unsigned int length   : 16;
+  unsigned int reserved : 8;
+  unsigned int cmd      : 8;
+  unsigned int addr;
+  unsigned int DMIAddr  : 24;
+  unsigned int DMISel   : 8;
+} __attribute__((__packed__));
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
new file mode 100755
index 0000000000..40d2dda237
--- /dev/null
+++ b/system/camerad/test/debug.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+#echo 4294967295 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+# no CCI and UTIL, very spammy
+echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+sudo dmesg -C
+scons -u -j8 --minimal .
+export DEBUG_FRAMES=1
+#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+export DISABLE_DRIVER=1
+#export LOGPRINT=debug
+./camerad

From d72b59832c1d25d856680c9768ff9bd6083130f0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 8 Oct 2024 14:24:46 -0700
Subject: [PATCH 0783/1243] ci: remove model_replay on pc (#33751)

remove
---
 .github/workflows/selfdrive_tests.yaml | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b47d06f06d..7557b7c554 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -222,13 +222,6 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
-    - name: Run model replay with ONNX
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                        coverage combine && coverage xml"
     - name: Run regen
       timeout-minutes: 4
       run: |

From 8a8d8c2272a8dc16a2fc46342ffac98aaa3a0af7 Mon Sep 17 00:00:00 2001
From: Will <killebrewboys@me.com>
Date: Tue, 8 Oct 2024 15:50:55 -0600
Subject: [PATCH 0784/1243] rerun: fix rp_visualization TypeError (#33749)

* Fixed iteration over liveTracks in radar visualization by ensuring the data structure is iterable and made the background black

* Requested changes, moved conditional to function call

* Simplified conditional, renamed method
---
 tools/replay/lib/rp_helpers.py   | 5 +++--
 tools/replay/rp_visualization.py | 5 +++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
index 95eef9d233..aa20ab8e32 100644
--- a/tools/replay/lib/rp_helpers.py
+++ b/tools/replay/lib/rp_helpers.py
@@ -8,7 +8,8 @@ rerunColorPalette = [(96, "red", (255, 0, 0)),
                      (230, "vibrantpink", (255, 36, 170)),
                      (240, "orange", (255, 146, 0)),
                      (255, "white", (255, 255, 255)),
-                     (110, "carColor", (255,0,127))]
+                     (110, "carColor", (255,0,127)),
+                     (0, "background", (0, 0, 0))]
 
 
 class UIParams:
@@ -68,7 +69,7 @@ def plot_lead(rs, lid_overlay):
     lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
 
 
-def maybe_update_radar_points(lt, lid_overlay):
+def update_radar_points(lt, lid_overlay):
   ar_pts = []
   if lt is not None:
     ar_pts = {}
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
index 01058967b2..25169b72ae 100755
--- a/tools/replay/rp_visualization.py
+++ b/tools/replay/rp_visualization.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
                                          get_blank_lid_overlay,
-                                         maybe_update_radar_points, plot_lead,
+                                         update_radar_points, plot_lead,
                                          plot_model)
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
@@ -33,7 +33,8 @@ def visualize(addr):
     if sm.recv_frame['radarState']:
       plot_lead(sm['radarState'], lid_overlay)
     liveTracksTime = sm.logMonoTime['liveTracks']
-    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    if sm.updated['liveTracks']:
+      update_radar_points(sm['liveTracks'], lid_overlay)
     rr.set_time_nanos("TIMELINE", liveTracksTime)
     rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
 

From 596d8b13bbd82fdbc728d7b123c22f43e7b257f5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 8 Oct 2024 17:39:13 -0700
Subject: [PATCH 0785/1243] ci: model_replay improvements (#33753)

* diff

* tr

* cleanup

* at the end

* fix
---
 selfdrive/test/process_replay/model_replay.py | 55 +++++++++++++------
 tools/lib/github_utils.py                     |  3 +
 2 files changed, 42 insertions(+), 16 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index f88ccab96c..9d102fb589 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -8,6 +8,7 @@ from itertools import zip_longest
 
 import matplotlib.pyplot as plt
 
+from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
@@ -29,17 +30,19 @@ MODEL_REPLAY_BUCKET="model_replay_master"
 GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 
-def get_log_fn(test_route):
-  return f"{test_route}_model_tici_master.bz2"
+def get_log_fn(test_route, ref="master"):
+  return f"{test_route}_model_tici_{ref}.bz2"
 
 def plot(proposed, master, title, tmp):
+  proposed = list(proposed)
+  master = list(master)
   fig, ax = plt.subplots()
-  ax.plot(list(proposed), label='PROPOSED')
-  ax.plot(list(master), label='MASTER')
+  ax.plot(proposed, label='PROPOSED')
+  ax.plot(master, label='MASTER')
   plt.legend(loc='best')
   plt.title(title)
   plt.savefig(f'{tmp}/{title}.png')
-  return title + '.png'
+  return (title + '.png', proposed == master)
 
 def get_event(logs, event):
   return (getattr(m, m.which()) for m in filter(lambda m: m.which() == event, logs))
@@ -60,18 +63,39 @@ def generate_report(proposed, master, tmp):
                map(v[0], get_event(master, event)), v[1], tmp) \
                for v,event in [*ModelV2_Plots]]
 
-def comment_replay_report(proposed, master):
+def create_table(title, files, link, open_table=False):
+  if not files:
+    return ""
+  table = [f'<details {"open" if open_table else ""}><summary>{title}</summary><table>']
+  for i,f in enumerate(files):
+    if not (i % 2):
+      table.append("<tr>")
+    table.append(f'<td><img src=\\"{link}/{f[0]}\\"></td>')
+    if (i % 2):
+      table.append("</tr>")
+  table.append("</table></details>")
+  table = "".join(table)
+  return table
+
+def comment_replay_report(proposed, master, full_logs):
   with tempfile.TemporaryDirectory() as tmp:
-    PR_BRANCH=os.getenv("GIT_BRANCH","")
-    DATA_BUCKET=f"model_replay_{PR_BRANCH}"
+    PR_BRANCH = os.getenv("GIT_BRANCH","")
+    DATA_BUCKET = f"model_replay_{PR_BRANCH}"
 
     files = generate_report(proposed, master, tmp)
 
-    GITHUB.comment_images_on_pr("Model Replay Plots",
-                                "commaci-public",
-                                PR_BRANCH,
-                                DATA_BUCKET,
-                                [(x, tmp + '/' + x) for x in files])
+    GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
+
+    log_name = get_log_fn(TEST_ROUTE, get_commit())
+    save_log(log_name, full_logs)
+    GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)
+
+    diff_files = [x for x in files if not x[1]]
+    link = GITHUB.get_bucket_link(DATA_BUCKET)
+    diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
+    all_plots = create_table("All Model Replay Plots", files, link)
+    comment = f"new ref: {link}/{log_name}" + diff_plots + all_plots
+    GITHUB.comment_on_pr(comment, "commaci-public", PR_BRANCH)
 
 def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
   all_msgs = []
@@ -185,9 +209,8 @@ if __name__ == "__main__":
       diff_short, diff_long, failed = format_diff(results, log_paths, 'master')
 
       if "CI" in os.environ:
-        if not PC:
-          comment_replay_report(log_msgs, cmp_log)
-          failed = False
+        comment_replay_report(log_msgs, cmp_log, log_msgs)
+        failed = False
         print(diff_long)
       print('-------------\n'*5)
       print(diff_short)
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index 607fdfdae9..dd1c3e20d0 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -81,6 +81,9 @@ class GithubUtils:
     r = self.api_call(github_path)
     return r.json()[0]['number']
 
+  def get_bucket_link(self, bucket):
+    return f'https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/refs/heads/{bucket}'
+
   def comment_on_pr(self, comment, commenter, pr_branch):
     pr_number = self.get_pr_number(pr_branch)
     data = f'{{"body": "{comment}"}}'

From 50baf37dddbe7fbad68eae097546de653a7ad8ff Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 9 Oct 2024 11:56:46 -0700
Subject: [PATCH 0786/1243] camerad: fix CAM_SYNC requests (#33757)

* camerad: fix CAM_SYNC requests

* cast

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/spectra.cc | 26 +++++++++++++++++++++++---
 1 file changed, 23 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ef771a64b7..e4036ca6f6 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -37,6 +37,26 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
   return ret;
 }
 
+int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
+  struct cam_private_ioctl_arg arg = {
+    .id = id,
+    .size = size,
+    .ioctl_ptr = (uint64_t)handle,
+  };
+  int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));
+
+  int32_t ioctl_result = (int32_t)arg.result;
+  if (ret < 0) {
+    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
+    return ret;
+  }
+  if (ioctl_result < 0) {
+    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
+    return ioctl_result;
+  }
+  return ret;
+}
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
   struct cam_acquire_dev_cmd cmd = {
     .session_handle = session_handle,
@@ -558,7 +578,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
     sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
-    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     if (ret != 0) {
       LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
       // TODO: handle frame drop cleanly
@@ -570,7 +590,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     // destroy old output fence
     struct cam_sync_info sync_destroy = {0};
     sync_destroy.sync_obj = sync_objs[i];
-    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
     if (ret != 0) {
       LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
     }
@@ -579,7 +599,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   // create output fence
   struct cam_sync_info sync_create = {0};
   strcpy(sync_create.name, "NodeOutputPortFence");
-  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
   if (ret != 0) {
     LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
   }

From 682857f0cd1ab71be6af1f3e445637790e0a1ec9 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 9 Oct 2024 13:23:52 -0700
Subject: [PATCH 0787/1243] MLSIM V3 (#33745)

* 09366265-2385-4c47-85a9-009aaabc283d/400

* 7a744f78-ac70-4070-b2b2-fd25b736667b/400

* ff6c6166-a9e0-40bc-8867-b0b35bcad8b8/380

* 241215ad-05e1-4153-8fc9-5108c6002123/400
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 93781abba1..b80a79624d 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:06d94d907a437121b1a86b59065f44e4875ed68e554487f5c500982273d63630
+oid sha256:8f61f872fef307b82e08ac5bcbd6cfa1a0943e1597376b05a7b27ff77cc2abfe
 size 50309976

From 48abdf825bc646ee38d3a2e3bb03286ad4afcea1 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 10 Oct 2024 04:42:53 +0800
Subject: [PATCH 0788/1243] sensord: Handle EINTR for GPIO event reading
 (#33715)

handle eintr
---
 system/sensord/sensors_qcom2.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 9cbc24864d..189da78099 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -62,7 +62,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
 
     // Read all events
     struct gpioevent_data evdata[16];
-    err = read(fd, evdata, sizeof(evdata));
+    err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata)));
     if (err < 0 || err % sizeof(*evdata) != 0) {
       LOGE("error reading event data %d", err);
       continue;

From d7c0906d0bfa930f3713eeb153ed6a00d055212c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 9 Oct 2024 15:16:50 -0700
Subject: [PATCH 0789/1243] ci: faster metadrive test (#33755)

* fast

* fix

* same ratio

* output

* check old

* error

* fail

* better

* log

* test faster runner

* work?

* test

* ratio

* forward

* try without wait

* test old distance

* fxi

* test old runner

* test this

* assert distance

* cleanup

* better

* get distance

* cleanup

* choose runner

* very slow

* wait

* put this back
---
 .github/workflows/tools_tests.yaml              |  4 +++-
 tools/sim/bridge/metadrive/metadrive_bridge.py  |  5 +++--
 tools/sim/bridge/metadrive/metadrive_process.py | 15 +++++++++++++--
 tools/sim/bridge/metadrive/metadrive_world.py   |  6 +++---
 tools/sim/tests/test_metadrive_bridge.py        | 10 ++++------
 5 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c1c3552472..81da841dd2 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -27,7 +27,9 @@ env:
 jobs:
   simulator_driving:
     name: simulator driving
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+               ((github.event_name != 'pull_request') ||
+                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     timeout-minutes: 20
     steps:
     - uses: actions/checkout@v4
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index b8dc94cf86..7bfadc5533 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -50,12 +50,13 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
+  def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False):
     super().__init__(dual_camera, high_quality)
 
     self.should_render = False
     self.test_run = test_run
     self.test_duration = test_duration if self.test_run else math.inf
+    self.minimal_distance = minimal_distance if self.test_run else 0
 
   def spawn_world(self, queue: Queue):
     sensors = {
@@ -90,4 +91,4 @@ class MetaDriveBridge(SimulatorBridge):
       anisotropic_filtering=False
     )
 
-    return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
+    return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, self.test_run, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 2486d87ff9..c788b8cda2 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -19,6 +19,7 @@ from openpilot.tools.sim.lib.camerad import W, H
 C3_POSITION = Vec3(0.0, 0, 1.22)
 C3_HPR = Vec3(0, 0,0)
 
+VEHICLE_STARTING_POS = [110, 4.5]
 
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
@@ -50,7 +51,7 @@ def apply_metadrive_patches(arrive_dest_done=True):
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
-                      exit_event, op_engaged, test_duration, test_run):
+                      exit_event, op_engaged, test_duration, minimal_distance, test_run):
   arrive_dest_done = config.pop("arrive_dest_done", True)
   apply_metadrive_patches(arrive_dest_done)
 
@@ -70,6 +71,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     env.reset()
     env.vehicle.config["max_speed_km_h"] = 1000
     lane_idx_prev, _ = get_current_lane_info(env.vehicle)
+    env.vehicle.set_position(VEHICLE_STARTING_POS)
 
     simulation_state = metadrive_simulation_state(
       running=True,
@@ -98,6 +100,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
   steer_ratio = 8
   vc = [0,0]
 
+  total_distance = 0
+  prev_x_pos = VEHICLE_STARTING_POS[0]
+
   while not exit_event.is_set():
     vehicle_state = metadrive_vehicle_state(
       velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
@@ -107,6 +112,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     )
     vehicle_state_send.send(vehicle_state)
 
+    total_distance += abs(env.vehicle.position[0] - prev_x_pos)
+    prev_x_pos = env.vehicle.position[0]
+
     if controls_recv.poll(0):
       while controls_recv.poll(0):
         steer_angle, gas, should_reset = controls_recv.recv()
@@ -137,7 +145,10 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
         elif out_of_lane:
           done_result = (True, {"out_of_lane" : True})
         elif timeout:
-          done_result = (True, {"timeout" : True})
+          if total_distance < minimal_distance:
+            done_result = (True, {"minimal_distance" : True})
+          else:
+            done_result = (True, {"timeout" : True})
 
         simulation_state = metadrive_simulation_state(
           running=False,
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 5bb4555dc1..7b6c865690 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H
 
 
 class MetaDriveWorld(World):
-  def __init__(self, status_q, config, test_duration, test_run, dual_camera=False):
+  def __init__(self, status_q, config, test_duration, minimal_distance, test_run, dual_camera=False):
     super().__init__(dual_camera)
     self.status_q = status_q
     self.camera_array = Array(ctypes.c_uint8, W*H*3)
@@ -41,7 +41,7 @@ class MetaDriveWorld(World):
                               functools.partial(metadrive_process, dual_camera, config,
                                                 self.camera_array, self.wide_camera_array, self.image_lock,
                                                 self.controls_recv, self.simulation_state_send,
-                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run))
+                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, minimal_distance, self.test_run))
 
     self.metadrive_process.start()
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 30
+      time_check_threshold = 7.5
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 8849e901cb..bed0601b7a 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -11,11 +11,9 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
-  def setup_create_bridge(self, test_duration):
-    # run bridge test for at least 60s, since not-moving check runs every 30s
-    if test_duration < 60:
-      test_duration = 60
-    self.test_duration = test_duration
+  def setup_create_bridge(self):
+    self.test_duration = 15
+    self.minimal_distance = 10
 
   def create_bridge(self):
-    return MetaDriveBridge(False, False, self.test_duration, True)
+    return MetaDriveBridge(False, False, self.test_duration, self.minimal_distance, True)

From f11e5492f803f58d8fc39472f467df798144a29e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 9 Oct 2024 15:29:41 -0700
Subject: [PATCH 0790/1243] ci: keep old comment on model replay report 
 (#33759)

keep old
---
 selfdrive/test/process_replay/model_replay.py |  7 +++---
 tools/lib/github_utils.py                     | 22 ++++++++++---------
 2 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9d102fb589..1233834772 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -86,7 +86,8 @@ def comment_replay_report(proposed, master, full_logs):
 
     GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
 
-    log_name = get_log_fn(TEST_ROUTE, get_commit())
+    commit = get_commit()
+    log_name = get_log_fn(TEST_ROUTE, commit)
     save_log(log_name, full_logs)
     GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)
 
@@ -94,8 +95,8 @@ def comment_replay_report(proposed, master, full_logs):
     link = GITHUB.get_bucket_link(DATA_BUCKET)
     diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
     all_plots = create_table("All Model Replay Plots", files, link)
-    comment = f"new ref: {link}/{log_name}" + diff_plots + all_plots
-    GITHUB.comment_on_pr(comment, "commaci-public", PR_BRANCH)
+    comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
+    GITHUB.comment_on_pr(comment, PR_BRANCH)
 
 def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
   all_msgs = []
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index dd1c3e20d0..4dc22b9524 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -84,18 +84,20 @@ class GithubUtils:
   def get_bucket_link(self, bucket):
     return f'https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/refs/heads/{bucket}'
 
-  def comment_on_pr(self, comment, commenter, pr_branch):
+  def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False):
     pr_number = self.get_pr_number(pr_branch)
     data = f'{{"body": "{comment}"}}'
-    github_path = f'issues/{pr_number}/comments'
-    r = self.api_call(github_path)
-    comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
-    if comments:
-      github_path = f'issues/comments/{comments[0]}'
-      self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
-    else:
-      github_path=f'issues/{pr_number}/comments'
-      self.api_call(github_path, data=data, method=HTTPMethod.POST)
+    if overwrite:
+      github_path = f'issues/{pr_number}/comments'
+      r = self.api_call(github_path)
+      comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
+      if comments:
+        github_path = f'issues/comments/{comments[0]}'
+        self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
+        return
+
+    github_path=f'issues/{pr_number}/comments'
+    self.api_call(github_path, data=data, method=HTTPMethod.POST)
 
   # upload files to github and comment them on the pr
   def comment_images_on_pr(self, title, commenter, pr_branch, bucket, images):

From 21a8f9e9ba110d8cc0f57efae9166b559605620c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 10 Oct 2024 21:07:03 -0700
Subject: [PATCH 0791/1243] experimental_model typo

---
 selfdrive/ui/qt/onroad/model.cc | 4 ++--
 selfdrive/ui/qt/onroad/model.h  | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 9a2c989b26..c709145980 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -25,7 +25,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   }
 
   clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
-  experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
 
   painter.save();
 
@@ -107,7 +107,7 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
 
 void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
   QLinearGradient bg(0, height, 0, 0);
-  if (experimental_model) {
+  if (experimental_mode) {
     // The first half of track_vertices are the points for the right side of the path
     const auto &acceleration = model.getAcceleration().getX();
     const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 358fce53f4..a0476d542a 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -22,7 +22,7 @@ private:
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
 
   bool longitudinal_control = false;
-  bool experimental_model = false;
+  bool experimental_mode = false;
   float lane_line_probs[4] = {};
   float road_edge_stds[2] = {};
   QPolygonF track_vertices;

From 7150c145ae724e5d9f2e49bfcf2877f265fde579 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 11 Oct 2024 09:30:53 -0700
Subject: [PATCH 0792/1243] selfdrived: remove redundant sound card check
 (#33767)

rm
---
 cereal/log.capnp                   | 3 ++-
 selfdrive/selfdrived/events.py     | 5 -----
 selfdrive/selfdrived/selfdrived.py | 6 ------
 system/hardware/base.py            | 4 ----
 system/hardware/pc/hardware.py     | 3 ---
 system/hardware/tici/hardware.py   | 6 ------
 6 files changed, 2 insertions(+), 25 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index c35219b3ac..0a3673208e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -80,7 +80,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     commIssueAvgFreq @44;
     tooDistracted @45;
     posenetInvalid @46;
-    soundsUnavailable @47;
     preLaneChangeLeft @48;
     preLaneChangeRight @49;
     laneChange @50;
@@ -126,6 +125,8 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+
+    soundsUnavailableDEPRECATED @47;
   }
 }
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 7be514e350..cdc23e53c9 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -724,11 +724,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
-  EventName.soundsUnavailable: {
-    ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
-    ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
-  },
-
   EventName.tooDistracted: {
     ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
   },
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 8b7575d35d..0aeff3a116 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -21,7 +21,6 @@ from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED
 
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 REPLAY = "REPLAY" in os.environ
@@ -88,9 +87,6 @@ class SelfdriveD:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
-    # detect sound card presence and ensure successful init
-    sounds_available = HARDWARE.get_sound_card_online()
-
     car_recognized = self.CP.carName != 'mock'
 
     # cleanup old params
@@ -129,8 +125,6 @@ class SelfdriveD:
     elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
       self.startup_event = EventName.startupNoSecOcKey
 
-    if not sounds_available:
-      self.events.add(EventName.soundsUnavailable, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
       set_offroad_alert("Offroad_CarUnrecognized", True)
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 6cdb4a4d64..620f2c71b8 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -41,10 +41,6 @@ class HardwareBase(ABC):
   def get_device_type(self):
     pass
 
-  @abstractmethod
-  def get_sound_card_online(self):
-    pass
-
   @abstractmethod
   def get_imei(self, slot) -> str:
     pass
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 719e272aea..a2cbafeae8 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -14,9 +14,6 @@ class Pc(HardwareBase):
   def get_device_type(self):
     return "pc"
 
-  def get_sound_card_online(self):
-    return True
-
   def reboot(self, reason=None):
     print("REBOOT!")
 
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 03e973fd1a..70049d1849 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -123,12 +123,6 @@ class Tici(HardwareBase):
   def get_device_type(self):
     return get_device_type()
 
-  def get_sound_card_online(self):
-    if os.path.isfile('/proc/asound/card0/state'):
-      with open('/proc/asound/card0/state') as f:
-        return f.read().strip() == 'ONLINE'
-    return False
-
   def reboot(self, reason=None):
     subprocess.check_output(["sudo", "reboot"])
 

From 747acaac71a7271e4f3d81c1184bdf8b3a919a3b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 11 Oct 2024 20:49:30 -0700
Subject: [PATCH 0793/1243] camerad: prep to unify IFE + BPS processing
 (#33770)

* unify

* fixup

* start porting over ife branch

* setup new bufs

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.cc |  29 ++--
 system/camerad/cameras/camera_common.h  |   1 +
 system/camerad/cameras/spectra.cc       | 215 +++++++++++++++++++-----
 system/camerad/cameras/spectra.h        |  43 ++++-
 system/camerad/sensors/sensor.h         |   3 +
 system/camerad/test/debug.sh            |   5 +-
 system/camerad/test/intercept.sh        |   2 +
 7 files changed, 233 insertions(+), 65 deletions(-)
 create mode 100755 system/camerad/test/intercept.sh

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 9fa9bb6a73..44607b3044 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -65,39 +65,38 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
   const SensorInfo *sensor = cam->sensor.get();
 
-  // RAW frame
-  const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
   camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
+  camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
   camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
+  // RAW + final frames from ISP
+  const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
   for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs[i].allocate(frame_size);
+    camera_bufs[i].allocate(cam->yuv_size);
     camera_bufs[i].init_cl(device_id, context);
+
+    camera_bufs_raw[i].allocate(raw_frame_size);
+    camera_bufs_raw[i].init_cl(device_id, context);
   }
   LOGD("allocated %d CL buffers", frame_buf_count);
 
   out_img_width = sensor->frame_width;
   out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
 
-  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, out_img_width);
-  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, out_img_height);
-  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, out_img_width));
-  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, out_img_height));
-  size_t nv12_uv_offset = nv12_width * nv12_height;
-
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
-  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, cam->stride, cam->y_height);
 
-  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset);
+  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }
 
 CameraBuf::~CameraBuf() {
   for (int i = 0; i < frame_buf_count; i++) {
     camera_bufs[i].free();
+    camera_bufs_raw[i].free();
   }
   if (imgproc) delete imgproc;
 }
@@ -112,10 +111,10 @@ bool CameraBuf::acquire(int expo_time) {
 
   cur_frame_data = camera_bufs_metadata[cur_buf_idx];
   cur_yuv_buf = vipc_server->get_buffer(stream_type);
-  cur_camera_buf = &camera_bufs[cur_buf_idx];
+  cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
+  imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index a52fc59c41..96dc01c1c4 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -36,6 +36,7 @@ public:
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs;
+  std::unique_ptr<VisionBuf[]> camera_bufs_raw;
   std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
   int out_img_width, out_img_height;
 
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index e4036ca6f6..642e471f52 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1,3 +1,5 @@
+#include "cdm.h"
+
 #include <stdint.h>
 #include <cassert>
 #include <sys/ioctl.h>
@@ -5,9 +7,11 @@
 
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
+#include "media/cam_icp.h"
 #include "media/cam_isp_ife.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
+#include "third_party/linux/include/msm_media_info.h"
 
 #include "common/util.h"
 #include "common/swaglog.h"
@@ -16,6 +20,23 @@
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
 
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
+  struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
+  cmd->cmd = CAM_CDM_CMD_REG_CONT;
+  cmd->count = vals.size();
+  cmd->offset = reg;
+  cmd->reserved0 = 0;
+  cmd->reserved1 = 0;
+
+  uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd));
+  for (int i = 0; i < vals.size(); i++) {
+    *vd = vals[i];
+    vd++;
+  }
+
+  return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
+}
+
 // ************** low level camera helpers ****************
 
 int do_cam_control(int fd, int op_code, void *handle, int size) {
@@ -190,8 +211,12 @@ void SpectraMaster::init() {
   assert(isp_fd >= 0);
   LOGD("opened isp");
 
-  // query icp for MMU handles
-  LOG("-- Query ICP for MMU handles");
+  //icp_fd = open_v4l_by_name_and_index("cam-icp");
+  //assert(icp_fd >= 0);
+  //LOGD("opened icp");
+
+  // query ISP for MMU handles
+  LOG("-- Query for MMU handles");
   struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
   struct cam_query_cap_cmd query_cap_cmd = {0};
   query_cap_cmd.handle_type = 1;
@@ -204,6 +229,17 @@ void SpectraMaster::init() {
   device_iommu = isp_query_cap_cmd.device_iommu.non_secure;
   cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
 
+  // query ICP for MMU handles
+  /*
+  struct cam_icp_query_cap_cmd icp_query_cap_cmd = {0};
+  query_cap_cmd.caps_handle = (uint64_t)&icp_query_cap_cmd;
+  query_cap_cmd.size = sizeof(icp_query_cap_cmd);
+  ret = do_cam_control(icp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
+  assert(ret == 0);
+  LOGD("using ICP MMU handle: %x", icp_query_cap_cmd.dev_iommu_handle.non_secure);
+  icp_device_iommu = icp_query_cap_cmd.dev_iommu_handle.non_secure;
+  */
+
   // subscribe
   LOG("-- Subscribing");
   struct v4l2_event_subscription sub = {0};
@@ -245,8 +281,20 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
     return;
   }
 
+  // size is driven by all the HW that handles frames,
+  // the video encoder has certain alignment requirements in this case
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  uv_offset = stride*y_height;
+  yuv_size = uv_offset + stride*uv_height;
+  // TODO: for when the frames are coming out of the IFE directly
+  //uv_offset = ALIGNED_SIZE(stride*y_height, 0x1000);
+  //yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
+
   open = true;
   configISP();
+  //configICP();  // needs the new AGNOS kernel
   configCSIPHY();
   linkDevices();
 
@@ -411,20 +459,29 @@ int SpectraCamera::sensors_init() {
   return ret;
 }
 
-void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx) {
+void SpectraCamera::config_bps(int idx, int request_id) {
+  /*
+    Handles per-frame BPS config.
+    * BPS = Bayer Processing Segment
+  */
+  (void)idx;
+  (void)request_id;
+}
+
+void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   /*
     Handles initial + per-frame IFE config.
-    IFE = Image Front End
+    * IFE = Image Front End
   */
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
-  if (io_mem_handle != 0) {
+  if (!init) {
     size += sizeof(struct cam_buf_io_cfg);
   }
 
   uint32_t cam_packet_handle = 0;
   auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
 
-  if (io_mem_handle != 0) {
+  if (!init) {
     pkt->header.op_code =  CSLDeviceTypeIFE | OpcodesIFEUpdate;  // 0xf000001
     pkt->header.request_id = request_id;
   } else {
@@ -446,12 +503,12 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int
 
     // *** first command ***
     // TODO: support MMU
-    buf_desc[0].size = buf0_size;
+    buf_desc[0].size = ife_cmd.size;
     buf_desc[0].length = 0;
     buf_desc[0].type = CAM_CMD_BUF_DIRECT;
-    buf_desc[0].meta_data = 3;
-    buf_desc[0].mem_handle = buf0_handle;
-    buf_desc[0].offset = ALIGNED_SIZE(buf0_size, buf0_alignment)*buf0_idx;
+    buf_desc[0].meta_data = CAM_ISP_PACKET_META_COMMON;
+    buf_desc[0].mem_handle = ife_cmd.handle;
+    buf_desc[0].offset = ife_cmd.aligned_size()*idx;
 
     // *** second command ***
     // parsed by cam_isp_packet_generic_blob_handler
@@ -514,7 +571,7 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int
     static_assert(offsetof(struct isp_packet, type_2) == 0x60);
 
     buf_desc[1].size = sizeof(tmp);
-    buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0;
+    buf_desc[1].offset = !init ? 0x60 : 0;
     buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
     buf_desc[1].type = CAM_CMD_BUF_GENERIC;
     buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
@@ -523,37 +580,27 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int
   }
 
   // *** io config ***
-  if (io_mem_handle != 0) {
+  if (!init) {
     // configure output frame
     pkt->num_io_configs = 1;
     pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
 
     struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
     io_cfg[0].offsets[0] = 0;
-    io_cfg[0].mem_handle[0] = io_mem_handle;
+    io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
 
     io_cfg[0].planes[0] = (struct cam_plane_cfg){
       .width = sensor->frame_width,
       .height = sensor->frame_height + sensor->extra_height,
       .plane_stride = sensor->frame_stride,
       .slice_height = sensor->frame_height + sensor->extra_height,
-
-      // these are for UBWC, we'll want that eventually
-      .meta_stride = 0x0,
-      .meta_size = 0x0,
-      .meta_offset = 0x0,
-      .packer_config = 0x0,
-      .mode_config = 0x0,
-      .tile_config = 0x0,
-      .h_init = 0x0,
-      .v_init = 0x0,
     };
-    io_cfg[0].format = sensor->mipi_format;                    // CAM_FORMAT_UBWC_TP10 for YUV
-    io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
-    io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
-    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);  // bits per pixel
-    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;   // CAM_ISP_IFE_OUT_RES_FULL for YUV
-    io_cfg[0].fence = fence;
+    io_cfg[0].format = sensor->mipi_format;
+    io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
+    io_cfg[0].color_pattern = 0x5;
+    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
+    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
+    io_cfg[0].fence = sync_objs[idx];
     io_cfg[0].direction = CAM_BUF_OUTPUT;
     io_cfg[0].subsample_pattern = 0x1;
     io_cfg[0].framedrop_pattern = 0x1;
@@ -573,7 +620,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   int ret;
   uint64_t request_id = request_ids[i];
 
-  if (buf_handle[i] && sync_objs[i]) {
+  if (buf_handle_raw[i] && sync_objs[i]) {
     // wait
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
@@ -588,15 +635,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     if (dp) buf.queue(i);
 
     // destroy old output fence
-    struct cam_sync_info sync_destroy = {0};
-    sync_destroy.sync_obj = sync_objs[i];
-    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
-    if (ret != 0) {
-      LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
+    for (auto so : {sync_objs, sync_objs_bps_out}) {
+      if (so[i] == 0) continue;
+      struct cam_sync_info sync_destroy = {0};
+      sync_destroy.sync_obj = so[i];
+      ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+      if (ret != 0) {
+        LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
+      }
     }
   }
 
-  // create output fence
+  // create output fences
   struct cam_sync_info sync_create = {0};
   strcpy(sync_create.name, "NodeOutputPortFence");
   ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
@@ -605,6 +655,14 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   }
   sync_objs[i] = sync_create.sync_obj;
 
+  /*
+  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  if (ret != 0) {
+    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+  }
+  sync_objs_bps_out[i] = sync_create.sync_obj;
+  */
+
   // schedule request with camera request manager
   struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
   req_mgr_sched_request.session_hdl = session_handle;
@@ -618,20 +676,33 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   // poke sensor, must happen after schedule
   sensors_poke(request_id);
 
-  // submit request to the ife
-  config_ife(buf_handle[i], sync_objs[i], request_id, i);
+  // submit request to IFE and BPS
+  config_ife(i, request_id);
+  config_bps(i, request_id);
 }
 
 void SpectraCamera::camera_map_bufs() {
+  int ret;
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
     mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
+    //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
+    //mem_mgr_map_cmd.num_hdl = 2;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
+
+    // RAW bayer images
+    mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
+    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    assert(ret == 0);
+    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+    buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
+
+    // final processed images
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
@@ -691,7 +762,7 @@ void SpectraCamera::configISP() {
     .dt = sensor->frame_data_type,
     .format = sensor->mipi_format,
 
-    .test_pattern = 0x2,  // 0x3?
+    .test_pattern = sensor->bayer_pattern,
     .usage_type = 0x0,
 
     .left_start = 0,
@@ -735,10 +806,64 @@ void SpectraCamera::configISP() {
   LOGD("acquire isp dev");
 
   // config IFE
-  alloc_w_mmu_hdl(m->video0_fd, FRAME_BUF_COUNT*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment,
-                  CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                  m->device_iommu, m->cdm_iommu);
-  config_ife(0, 0, 1, 0);
+  ife_cmd.init(m, 67984, 0x20,
+               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+               m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
+  config_ife(0, 1, true);
+}
+
+void SpectraCamera::configICP() {
+  if (!enabled) return;
+
+  /*
+    Configures both the ICP and BPS.
+  */
+
+  struct cam_icp_acquire_dev_info icp_info = {
+    .scratch_mem_size = 0x0,
+    .dev_type = 0x1,  // BPS
+    .io_config_cmd_size = 0,
+    .io_config_cmd_handle = 0,
+    .secure_mode = 0,
+    .num_out_res = 1,
+    .in_res = (struct cam_icp_res_info){
+      .format = 0x9,  // RAW MIPI
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
+      .fps = 20,
+    },
+    .out_res[0] = (struct cam_icp_res_info){
+      .format = 0x3,  // YUV420NV12
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
+      .fps = 20,
+    },
+  };
+  auto h = device_acquire(m->icp_fd, session_handle, &icp_info);
+  assert(h);
+  icp_dev_handle = *h;
+  LOGD("acquire icp dev");
+
+  // BPS CMD buffer
+  unsigned char striping_out[] = "\x00";
+  bps_cmd.init(m, FRAME_BUF_COUNT*ALIGNED_SIZE(464, 0x20), 0x20,
+               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+               m->icp_device_iommu);
+
+  bps_iq.init(m, 560, 0x20,
+              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+              m->icp_device_iommu);
+  bps_cdm_program_array.init(m, 0x40, 0x20,
+              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+              m->icp_device_iommu);
+  bps_striping.init(m, sizeof(striping_out), 0x20,
+              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+              m->icp_device_iommu);
+  memcpy(bps_striping.ptr, striping_out, sizeof(striping_out));
+
+  bps_cdm_striping_bl.init(m,  65216, 0x20,
+                           CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
+                           m->icp_device_iommu);
 }
 
 void SpectraCamera::configCSIPHY() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 5796f47098..e71483f500 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -63,8 +63,27 @@ public:
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
+  unique_fd icp_fd;
   int device_iommu = -1;
   int cdm_iommu = -1;
+  int icp_device_iommu = -1;
+};
+
+class SpectraBuf {
+public:
+  void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) {
+    size = s;
+    alignment = a;
+    ptr = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
+    assert(ptr != NULL);
+  };
+
+  uint32_t aligned_size() {
+    return ALIGNED_SIZE(size, alignment);
+  };
+
+  void *ptr;
+  int size, alignment, handle;
 };
 
 class SpectraCamera {
@@ -76,7 +95,8 @@ public:
   void handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
-  void config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx);
+  void config_bps(int idx, int request_id);
+  void config_ife(int idx, int request_id, bool init=false);
 
   int clear_req_queue();
   void enqueue_buffer(int i, bool dp);
@@ -89,6 +109,7 @@ public:
 
   bool openSensor();
   void configISP();
+  void configICP();
   void configCSIPHY();
   void linkDevices();
 
@@ -99,22 +120,38 @@ public:
   CameraConfig cc;
   std::unique_ptr<const SensorInfo> sensor;
 
+  // YUV image size
+  uint32_t stride;
+  uint32_t y_height;
+  uint32_t uv_height;
+  uint32_t uv_offset;
+  uint32_t yuv_size;
+
   unique_fd sensor_fd;
   unique_fd csiphy_fd;
 
   int32_t session_handle = -1;
   int32_t sensor_dev_handle = -1;
   int32_t isp_dev_handle = -1;
+  int32_t icp_dev_handle = -1;
   int32_t csiphy_dev_handle = -1;
 
   int32_t link_handle = -1;
 
-  const int buf0_size = 65624; // unclear what this is and how it's determined, for internal ISP use? it's just copied from an ioctl dump
-  const int buf0_alignment = 0x20;
+  SpectraBuf ife_cmd;
+
+  SpectraBuf bps_cmd;
+  SpectraBuf bps_cdm_buffer;
+  SpectraBuf bps_cdm_program_array;
+  SpectraBuf bps_cdm_striping_bl;
+  SpectraBuf bps_iq;
+  SpectraBuf bps_striping;
 
   int buf0_handle = 0;
   int buf_handle[FRAME_BUF_COUNT] = {};
+  int buf_handle_raw[FRAME_BUF_COUNT] = {};
   int sync_objs[FRAME_BUF_COUNT] = {};
+  int sync_objs_bps_out[FRAME_BUF_COUNT] = {};
   uint64_t request_ids[FRAME_BUF_COUNT] = {};
   uint64_t request_id_last = 0;
   uint64_t frame_id_last = 0;
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 4ab09a9fd2..0dea525347 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -5,6 +5,8 @@
 #include <map>
 #include <utility>
 #include <vector>
+
+#include "media/cam_isp.h"
 #include "media/cam_sensor.h"
 
 #include "cereal/gen/cpp/log.capnp.h"
@@ -58,6 +60,7 @@ public:
   std::vector<i2c_random_wr_payload> start_reg_array;
   std::vector<i2c_random_wr_payload> init_reg_array;
 
+  uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
   uint32_t mipi_format;
   uint32_t mclk_frequency;
   uint32_t frame_data_type;
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
index 40d2dda237..438f1fdcf2 100755
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -5,11 +5,12 @@ set -e
 
 # no CCI and UTIL, very spammy
 echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
 scons -u -j8 --minimal .
 export DEBUG_FRAMES=1
-#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-export DISABLE_DRIVER=1
+export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+#export DISABLE_DRIVER=1
 #export LOGPRINT=debug
 ./camerad
diff --git a/system/camerad/test/intercept.sh b/system/camerad/test/intercept.sh
new file mode 100755
index 0000000000..e269929afc
--- /dev/null
+++ b/system/camerad/test/intercept.sh
@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 DEBUG_FRAMES=1 LOGPRINT=debug LD_PRELOAD=/data/tici_test_scripts/isp/interceptor/tmpioctl.so ./camerad

From 354e909ab1f75eec2e605e8e288845a06920f7f2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 12 Oct 2024 12:08:32 +0800
Subject: [PATCH 0794/1243] ui: smooth transition of path colors on
 AllowThrottle state changes (#33766)

* smooth transition of path colors on AllowThrottle state changes

* Invert blend factor when the state changes mid-animation
---
 selfdrive/ui/qt/onroad/model.cc | 48 ++++++++++++++++++++++++++++++---
 selfdrive/ui/qt/onroad/model.h  |  4 +++
 selfdrive/ui/ui.cc              |  2 +-
 3 files changed, 50 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index c709145980..b395924226 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -135,15 +135,57 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
     }
 
   } else {
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
+    updatePathGradient(bg);
   }
 
   painter.setBrush(bg);
   painter.drawPolygon(track_vertices);
 }
 
+void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
+  static const QColor throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
+
+  static const QColor no_throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
+  };
+
+  // Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
+  constexpr float transition_speed = 0.1f;
+
+  // Start transition if throttle state changes
+  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle();
+  if (allow_throttle != prev_allow_throttle) {
+    prev_allow_throttle = allow_throttle;
+    // Invert blend factor for a smooth transition when the state changes mid-animation
+    blend_factor = std::max(1.0f - blend_factor, 0.0f);
+  }
+
+  const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
+  const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
+  if (blend_factor < 1.0f) {
+    blend_factor = std::min(blend_factor + transition_speed, 1.0f);
+  }
+
+  // Set gradient colors by blending the start and end colors
+  bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
+  bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
+  bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
+}
+
+QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
+  if (t == 1.0f) return end;
+  return QColor::fromRgbF(
+      (1 - t) * start.redF() + t * end.redF(),
+      (1 - t) * start.greenF() + t * end.greenF(),
+      (1 - t) * start.blueF() + t * end.blueF(),
+      (1 - t) * start.alphaF() + t * end.alphaF());
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index a0476d542a..739dbce1c4 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -20,9 +20,13 @@ private:
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  void updatePathGradient(QLinearGradient &bg);
+  QColor blendColors(const QColor &start, const QColor &end, float t);
 
   bool longitudinal_control = false;
   bool experimental_mode = false;
+  float blend_factor = 1.0f;
+  bool prev_allow_throttle = false;
   float lane_line_probs[4] = {};
   float road_edge_stds[2] = {};
   QPolygonF track_vertices;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b11330a046..b6ce6cb02e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -93,7 +93,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster>(std::vector<const char*>{
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState",
+    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));

From 6f40dec42750074a92e69fa0b929cac2d0c50a64 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 12 Oct 2024 12:05:24 -0700
Subject: [PATCH 0795/1243] bump msgq (#33777)

---
 msgq_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/msgq_repo b/msgq_repo
index b4f0692c1a..a3b51b311f 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d
+Subproject commit a3b51b311fa45b0f67eb087bb5c1ef2a79e6ed91

From 8e8f61ad35a78a8a425f7d302f6f161dea8b080c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 12 Oct 2024 13:07:30 -0700
Subject: [PATCH 0796/1243] camerad: IFE debayer support (#33720)

* ife is up

* split out cdm, bps needs this too

* straight to vipc buffer

* start reducing the diff

* support both

* disable for now

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 msgq_repo                               |   2 +-
 system/camerad/SConscript               |   2 +-
 system/camerad/cameras/camera_common.cc |  27 +-
 system/camerad/cameras/camera_common.h  |   9 +-
 system/camerad/cameras/camera_qcom2.cc  |   4 +-
 system/camerad/cameras/cdm.cc           |  33 +
 system/camerad/cameras/cdm.h            |  12 +
 system/camerad/cameras/ife.h            | 767 ++++++++++++++++++++++++
 system/camerad/cameras/spectra.cc       | 149 +++--
 system/camerad/cameras/spectra.h        |   7 +-
 system/camerad/test/debug.sh            |   4 +-
 11 files changed, 931 insertions(+), 85 deletions(-)
 create mode 100644 system/camerad/cameras/cdm.cc
 create mode 100644 system/camerad/cameras/ife.h

diff --git a/msgq_repo b/msgq_repo
index a3b51b311f..3e17f865bb 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit a3b51b311fa45b0f67eb087bb5c1ef2a79e6ed91
+Subproject commit 3e17f865bbd3bbabb3841227ed0774c8fb74efef
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 1820d21b3d..a5a39b0e11 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                         'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 44607b3044..bfd9e1c54b 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,6 @@
 
 #include "common/clutil.h"
 #include "common/swaglog.h"
-#include "third_party/linux/include/msm_media_info.h"
 
 #include "system/camerad/cameras/spectra.h"
 
@@ -65,16 +64,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
   const SensorInfo *sensor = cam->sensor.get();
 
-  camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
+  is_raw = cam->is_raw;
   camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
-  camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
+  frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
   // RAW + final frames from ISP
   const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
   for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs[i].allocate(cam->yuv_size);
-    camera_bufs[i].init_cl(device_id, context);
-
     camera_bufs_raw[i].allocate(raw_frame_size);
     camera_bufs_raw[i].init_cl(device_id, context);
   }
@@ -95,7 +91,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
 CameraBuf::~CameraBuf() {
   for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs[i].free();
     camera_bufs_raw[i].free();
   }
   if (imgproc) delete imgproc;
@@ -104,18 +99,22 @@ CameraBuf::~CameraBuf() {
 bool CameraBuf::acquire(int expo_time) {
   if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
-  if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
+  if (frame_metadata[cur_buf_idx].frame_id == -1) {
     LOGE("no frame data? wtf");
     return false;
   }
 
-  cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-  cur_yuv_buf = vipc_server->get_buffer(stream_type);
+  cur_frame_data = frame_metadata[cur_buf_idx];
   cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
-
-  double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
-  cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+  if (is_raw) {
+    cur_yuv_buf = vipc_server->get_buffer(stream_type);
+
+    double start_time = millis_since_boot();
+    imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
+    cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+  } else {
+    cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
+  }
 
   VisionIpcBufExtra extra = {
     cur_frame_data.frame_id,
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 96dc01c1c4..a30730865c 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -24,20 +24,21 @@ class ImgProc;
 
 class CameraBuf {
 private:
-  VisionIpcServer *vipc_server;
   ImgProc *imgproc = nullptr;
-  VisionStreamType stream_type;
   int cur_buf_idx;
   SafeQueue<int> safe_queue;
   int frame_buf_count;
+  bool is_raw;
 
 public:
+  VisionIpcServer *vipc_server;
+  VisionStreamType stream_type;
+
   FrameMetadata cur_frame_data;
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
-  std::unique_ptr<VisionBuf[]> camera_bufs;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
+  std::unique_ptr<FrameMetadata[]> frame_metadata;
   int out_img_width, out_img_height;
 
   CameraBuf() = default;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index df884e7b92..c79eb29db7 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -50,7 +50,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -285,7 +285,7 @@ void camerad_thread() {
   std::vector<std::unique_ptr<CameraState>> cams;
   for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
     auto cam = std::make_unique<CameraState>(&m, config);
-    cam->init(&v, device_id ,ctx);
+    cam->init(&v, device_id, ctx);
     cams.emplace_back(std::move(cam));
   }
 
diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
new file mode 100644
index 0000000000..a4825a88bc
--- /dev/null
+++ b/system/camerad/cameras/cdm.cc
@@ -0,0 +1,33 @@
+#include "cdm.h"
+
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
+  struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
+  cmd->cmd = CAM_CDM_CMD_REG_CONT;
+  cmd->count = vals.size();
+  cmd->offset = reg;
+  cmd->reserved0 = 0;
+  cmd->reserved1 = 0;
+
+  uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd));
+  for (int i = 0; i < vals.size(); i++) {
+    *vd = vals[i];
+    vd++;
+  }
+
+  return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
+}
+
+int write_random(uint8_t *dst, std::vector<uint32_t> vals) {
+  struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst;
+  cmd->cmd = CAM_CDM_CMD_REG_RANDOM;
+  cmd->count = vals.size() / 2;
+  cmd->reserved = 0;
+
+  uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regrandom_cmd));
+  for (int i = 0; i < vals.size(); i++) {
+    *vd = vals[i];
+    vd++;
+  }
+
+  return sizeof(struct cdm_regrandom_cmd) + vals.size()*sizeof(uint32_t);
+}
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index 413c4e23d7..017ca55c9e 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -1,3 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <vector>
+#include <memory>
+
+// our helpers
+int write_random(uint8_t *dst, std::vector<uint32_t> vals);
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
+
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
new file mode 100644
index 0000000000..2226353318
--- /dev/null
+++ b/system/camerad/cameras/ife.h
@@ -0,0 +1,767 @@
+#include "cdm.h"
+
+int build_initial_config(uint8_t *dst) {
+  uint8_t *start = dst;
+
+  // constants, some kind of HW quirk?
+  dst += write_random(dst, {
+    0x2c, 0xffffffff,
+    0x30, 0xffffffff,
+    0x34, 0xffffffff,
+    0x38, 0xffffffff,
+    0x3c, 0xffffffff,
+  });
+
+  dst += write_cont(dst, 0x478, {
+    0x00000004,
+    0x004000c0,
+  });
+
+  dst += write_cont(dst, 0x488, {
+    0x00000000,
+    0x00000000,
+    0x00000f0f,
+  });
+
+  dst += write_cont(dst, 0x49c, {
+    0x00000001,
+  });
+
+  dst += write_cont(dst, 0xce4, {
+    0x00000000,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x4dc, {
+    0x00000000,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 248
+    .length = 287
+    .reserved = 33
+    .cmd = 11
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 9
+  */
+
+  dst += write_cont(dst, 0x560, {
+    0x00000001,
+    0x04440444,
+    0x04450445,
+    0x04440444,
+    0x04450445,
+    0x000000ca,
+    0x0000009c,
+  });
+
+  dst += write_cont(dst, 0x5e8, {
+    0x06363005,
+  });
+
+  dst += write_cont(dst, 0x5f4, {
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x3b3839a0,
+    0x003f8040,
+    0x00000000,
+    0x00000000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00000009,
+    0x00400808,
+    0x00000044,
+    0x004000a0,
+    0x0a0d00a6,
+    0x0a0d00a6,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 392
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 12
+  */
+
+  dst += write_cont(dst, 0x6bc, {
+    0x0b3c0000,
+    0x00670067,
+    0xd3b1300c,
+    0x13b1300c,
+    0x00670067,
+    0xd3b1300c,
+    0x13b1300c,
+    0xec4e4000,
+    0x0100c003,
+    0xec4e4000,
+    0x0100c003,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 444
+    .length = 883
+    .reserved = 33
+    .cmd = 10
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 14
+  */
+  /* TODO
+  cdm_dmi_cmd_t 444
+    .length = 883
+    .reserved = 33
+    .cmd = 10
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 15
+  */
+
+  dst += write_cont(dst, 0x6fc, {
+    0x00bf0080,
+    0x00000106,
+    0x00000000,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x6f8, {
+    0x00000100,
+  });
+
+  dst += write_cont(dst, 0x71c, {
+    0x00008000,
+    0x08000066,
+  });
+
+  dst += write_cont(dst, 0x760, {
+    0x00800080,
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x00800080,
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x00800080,
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x794, {
+    0x00000000,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 568
+    .length = 511
+    .reserved = 33
+    .cmd = 11
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 24
+  */
+
+  dst += write_cont(dst, 0x798, {
+    0x00000000,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 580
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 26
+  */
+  /* TODO
+  cdm_dmi_cmd_t 580
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 28
+  */
+  /* TODO
+  cdm_dmi_cmd_t 580
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 0
+    .DMIAddr = 3108
+    .DMISel = 30
+  */
+
+  dst += write_cont(dst, 0xf30, {
+    0x00750259,
+    0x00000132,
+    0x00000000,
+    0x03ff0000,
+    0x01fe1eae,
+    0x00001f54,
+    0x02000000,
+    0x03ff0000,
+    0x1fad1e55,
+    0x000001fe,
+    0x02000000,
+    0x03ff0000,
+  });
+
+  dst += write_cont(dst, 0xa3c, {
+    0x00000003,
+    0x07870787,
+    0x30036666,
+    0x00000000,
+    0x00000000,
+    0x00000787,
+    0x04b704b7,
+    0x30036666,
+    0x00000000,
+    0x00000000,
+    0x000004b7,
+  });
+
+  dst += write_cont(dst, 0xa68, {
+    0x00000003,
+    0x03c30787,
+    0x3006cccc,
+    0x00000000,
+    0x00000000,
+    0x00000787,
+    0x025b04b7,
+    0x3006cccc,
+    0x00000000,
+    0x00000000,
+    0x00000787,
+  });
+
+
+  dst += write_cont(dst, 0xe10, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xe30, {
+    0x0000025b,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xe18, {
+    0x0ff00000,
+    0x00000016,
+  });
+
+  dst += write_cont(dst, 0xe38, {
+    0x0ff00000,
+    0x00000017,
+  });
+
+  dst += write_cont(dst, 0xd84, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xda4, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xd60, {
+    0x04380300,
+    0x09016c7d,
+    0x021c0300,
+  });
+
+  dst += write_cont(dst, 0xd98, {
+    0x0ff00000,
+    0x00000016,
+  });
+
+  dst += write_cont(dst, 0xdb8, {
+    0x0ff00000,
+    0x00000017,
+  });
+
+  dst += write_cont(dst, 0xd6c, {
+    0x00000300,
+  });
+
+  dst += write_cont(dst, 0xd70, {
+    0x010e0f00,
+    0x09016c7d,
+    0x00870f00,
+  });
+
+  dst += write_cont(dst, 0xd7c, {
+    0x00000f00,
+  });
+
+  dst += write_cont(dst, 0x40, {
+    0x00000586,
+  });
+
+  dst += write_cont(dst, 0x48, {
+    0x0000000e,
+  });
+
+  dst += write_cont(dst, 0x4c, {
+    0x00000019,
+  });
+
+  dst += write_cont(dst, 0xe4c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xe6c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xe0c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xe2c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xd8c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdac, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdcc, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdec, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x44, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xaac, {
+    0x00000040,
+  });
+
+  dst += write_cont(dst, 0xf00, {
+    0x00000000,
+  });
+
+  //hexdump(start, dst - start);
+  return dst - start;
+}
+
+int build_first_update(uint8_t *dst) {
+  uint8_t *start = dst;
+
+  dst += write_random(dst, {
+    0x2c, 0xffffffff,
+    0x30, 0xffffffff,
+    0x34, 0xffffffff,
+    0x38, 0xffffffff,
+    0x3c, 0xffffffff,
+  });
+
+  dst += write_cont(dst, 0x4dc, {
+    0x00000001,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+    0x04050b84,
+    0x13031a82,
+    0x22022981,
+    0x3100387f,
+    0x04010b80,
+    0x13001a80,
+    0x2200297f,
+    0x30ff387f,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 184
+    .length = 287
+    .reserved = 33
+    .cmd = 11
+    .addr = 832
+    .DMIAddr = 3108
+    .DMISel = 10
+  */
+
+  dst += write_cont(dst, 0x560, {
+    0x00000001,
+    0x04440444,
+    0x04450445,
+    0x04440444,
+    0x04450445,
+    0x000000ca,
+    0x0000009c,
+  });
+
+  dst += write_cont(dst, 0x5c4, {
+    0x00000000,
+    0x00001000,
+    0x00001000,
+    0x00001000,
+    0x00001000,
+    0x00800080,
+    0x00802040,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x5e8, {
+    0x06363007,
+  });
+
+  dst += write_cont(dst, 0x5f4, {
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x00000000,
+    0x3b3839a0,
+    0x003f8040,
+    0x00000000,
+    0x00000000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00078000,
+    0x00000009,
+    0x00400808,
+    0x00000044,
+    0x004000a0,
+    0x0a0d00a6,
+    0x0a0d00a6,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 368
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 5344
+    .DMIAddr = 3108
+    .DMISel = 13
+  */
+
+  dst += write_cont(dst, 0x6fc, {
+    0x00800080,
+    0x00000080,
+    0x00000000,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x6f8, {
+    0x00000100,
+  });
+
+  dst += write_cont(dst, 0x71c, {
+    0x00008000,
+    0x08000066,
+  });
+
+  dst += write_cont(dst, 0x794, {
+    0x00000001,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 432
+    .length = 511
+    .reserved = 33
+    .cmd = 11
+    .addr = 832
+    .DMIAddr = 3108
+    .DMISel = 25
+  */
+
+  dst += write_cont(dst, 0x798, {
+    0x00000007,
+  });
+  /* TODO
+  cdm_dmi_cmd_t 444
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 5344
+    .DMIAddr = 3108
+    .DMISel = 27
+  */
+  /* TODO
+  cdm_dmi_cmd_t 444
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 5344
+    .DMIAddr = 3108
+    .DMISel = 29
+  */
+  /* TODO
+  cdm_dmi_cmd_t 444
+    .length = 255
+    .reserved = 33
+    .cmd = 10
+    .addr = 5344
+    .DMIAddr = 3108
+    .DMISel = 31
+  */
+
+  dst += write_cont(dst, 0xd84, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xda4, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xd6c, {
+    0x00000300,
+  });
+
+  dst += write_cont(dst, 0xd70, {
+    0x02640f00,
+    0x09016c7d,
+    0x01320f00,
+  });
+
+  dst += write_cont(dst, 0xd7c, {
+    0x00000f00,
+  });
+
+  dst += write_cont(dst, 0x40, {
+    0x00000444,
+  });
+
+  dst += write_cont(dst, 0x48, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x4c, {
+    0x00000019,
+  });
+
+  dst += write_cont(dst, 0xe4c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xe6c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xe0c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xe2c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xd8c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdac, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdcc, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdec, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x44, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xaac, {
+    0x00000040,
+  });
+
+  dst += write_cont(dst, 0xf00, {
+    0x00000000,
+  });
+
+  return dst - start;
+}
+
+int build_update(uint8_t *dst) {
+  uint8_t *start = dst;
+
+  dst += write_random(dst, {
+    0x2c, 0xffffffff,
+    0x30, 0xffffffff,
+    0x34, 0xffffffff,
+    0x38, 0xffffffff,
+    0x3c, 0xffffffff,
+  });
+
+  dst += write_cont(dst, 0x560, {
+    0x00000001,
+    0x04440444,
+    0x04450445,
+    0x04440444,
+    0x04450445,
+    0x000000ca,
+    0x0000009c,
+  });
+
+  dst += write_cont(dst, 0x6fc, {
+    0x00800080,
+    0x00000080,
+    0x00000000,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xd84, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xda4, {
+    0x000004b7,
+    0x00000787,
+  });
+
+  dst += write_cont(dst, 0xd6c, {
+    0x00000300,
+  });
+
+  dst += write_cont(dst, 0xd70, {
+    0x02640f00,
+    0x09016c7d,
+    0x01320f00,
+  });
+
+  dst += write_cont(dst, 0xd7c, {
+    0x00000f00,
+  });
+
+  dst += write_cont(dst, 0x40, {
+    0x00000444,
+  });
+
+  dst += write_cont(dst, 0x48, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x4c, {
+    0x00000019,
+  });
+
+  dst += write_cont(dst, 0xe4c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xe6c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xe0c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xe2c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xd8c, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdac, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdcc, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xdec, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x44, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xaac, {
+    0x00000040,
+  });
+
+  dst += write_cont(dst, 0xf00, {
+    0x00000000,
+  });
+
+  return dst - start;
+}
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 642e471f52..39c52e0d47 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -15,28 +15,13 @@
 
 #include "common/util.h"
 #include "common/swaglog.h"
+#include "system/camerad/cameras/ife.h"
 #include "system/camerad/cameras/spectra.h"
+#include "third_party/linux/include/msm_media_info.h"
 
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
 
-int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
-  struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
-  cmd->cmd = CAM_CDM_CMD_REG_CONT;
-  cmd->count = vals.size();
-  cmd->offset = reg;
-  cmd->reserved0 = 0;
-  cmd->reserved1 = 0;
-
-  uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd));
-  for (int i = 0; i < vals.size(); i++) {
-    *vd = vals[i];
-    vd++;
-  }
-
-  return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
-}
-
 // ************** low level camera helpers ****************
 
 int do_cam_control(int fd, int op_code, void *handle, int size) {
@@ -251,10 +236,11 @@ void SpectraMaster::init() {
 
 // *** SpectraCamera ***
 
-SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
+SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw)
   : m(master),
-    enabled(config.enabled) ,
-    cc(config) {
+    enabled(config.enabled),
+    cc(config),
+    is_raw(raw) {
   mm.init(m->video0_fd);
 }
 
@@ -288,9 +274,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
-  // TODO: for when the frames are coming out of the IFE directly
-  //uv_offset = ALIGNED_SIZE(stride*y_height, 0x1000);
-  //yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
+  if (!is_raw) {
+    uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
+    yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
+  }
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
+  assert(y_height/2 == uv_height);
 
   open = true;
   configISP();
@@ -490,19 +479,12 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   }
   pkt->header.size = size;
 
-  // *** kmd cmd buf ***
-  {
-    pkt->kmd_cmd_buf_index = 0;
-    pkt->kmd_cmd_buf_offset = 0;
-  }
-
   // *** cmd buf ***
   {
     struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
     pkt->num_cmd_buf = 2;
 
     // *** first command ***
-    // TODO: support MMU
     buf_desc[0].size = ife_cmd.size;
     buf_desc[0].length = 0;
     buf_desc[0].type = CAM_CMD_BUF_DIRECT;
@@ -510,6 +492,20 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     buf_desc[0].mem_handle = ife_cmd.handle;
     buf_desc[0].offset = ife_cmd.aligned_size()*idx;
 
+    // stream of IFE register writes
+    if (!is_raw) {
+      if (init) {
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
+      } else if (request_id == 1) {
+        buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
+      } else {
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
+      }
+    }
+
+    pkt->kmd_cmd_buf_offset = buf_desc[0].length;
+    pkt->kmd_cmd_buf_index = 0;
+
     // *** second command ***
     // parsed by cam_isp_packet_generic_blob_handler
     struct isp_packet {
@@ -530,14 +526,15 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8;
     static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20);
     tmp.resource_hfr = {
-      .num_ports = 1,  // 10 for YUV (but I don't think we need them)
+      .num_ports = 1,
       .port_hfr_config[0] = {
-        .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV
+        .resource_type = static_cast<uint32_t>(is_raw ? CAM_ISP_IFE_OUT_RES_RDI_0 : CAM_ISP_IFE_OUT_RES_FULL),
         .subsample_pattern = 1,
         .subsample_period = 0,
         .framedrop_pattern = 1,
         .framedrop_period = 0,
-      }};
+      }
+    };
 
     tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG;
     tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8;
@@ -586,27 +583,54 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
 
     struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
-    io_cfg[0].offsets[0] = 0;
-    io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
 
-    io_cfg[0].planes[0] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
-      .plane_stride = sensor->frame_stride,
-      .slice_height = sensor->frame_height + sensor->extra_height,
-    };
-    io_cfg[0].format = sensor->mipi_format;
-    io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
-    io_cfg[0].color_pattern = 0x5;
-    io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
-    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
-    io_cfg[0].fence = sync_objs[idx];
-    io_cfg[0].direction = CAM_BUF_OUTPUT;
-    io_cfg[0].subsample_pattern = 0x1;
-    io_cfg[0].framedrop_pattern = 0x1;
+    if (is_raw) {
+      io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
+      io_cfg[0].planes[0] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
+        .plane_stride = stride,
+        .slice_height = y_height,
+      };
+      io_cfg[0].format = sensor->mipi_format;
+      io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
+      io_cfg[0].color_pattern = 0x5;
+      io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);
+      io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
+      io_cfg[0].fence = sync_objs[idx];
+      io_cfg[0].direction = CAM_BUF_OUTPUT;
+      io_cfg[0].subsample_pattern = 0x1;
+      io_cfg[0].framedrop_pattern = 0x1;
+    } else {
+      io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
+      io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
+      io_cfg[0].planes[0] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
+        .plane_stride = stride,
+        .slice_height = y_height,
+      };
+      io_cfg[0].planes[1] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height/2,
+        .plane_stride = stride,
+        .slice_height = uv_height,
+      };
+      io_cfg[0].offsets[1] = uv_offset;
+      io_cfg[0].format = CAM_FORMAT_NV12;
+      io_cfg[0].color_space = 0;
+      io_cfg[0].color_pattern = 0x0;
+      io_cfg[0].bpp = 0;
+      io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_FULL;
+      io_cfg[0].fence = sync_objs[idx];
+      io_cfg[0].direction = CAM_BUF_OUTPUT;
+      io_cfg[0].subsample_pattern = 0x1;
+      io_cfg[0].framedrop_pattern = 0x1;
+    }
   }
 
   // *** patches ***
+  // sets up the kernel driver to do address translation for the IFE
   {
     pkt->num_patches = 0;
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
@@ -631,7 +655,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
       // TODO: handle frame drop cleanly
     }
 
-    buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
+    buf.frame_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
     if (dp) buf.queue(i);
 
     // destroy old output fence
@@ -699,11 +723,13 @@ void SpectraCamera::camera_map_bufs() {
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
 
+    // TODO: this needs to match camera bufs length
     // final processed images
-    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
+    VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
+    mem_mgr_map_cmd.fd = vb->fd;
     ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+    LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
+    buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
@@ -786,13 +812,19 @@ void SpectraCamera::configISP() {
     // ISP outputs
     .num_out_res = 0x1,
     .data[0] = (struct cam_isp_out_port_info){
-      .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
-      .format = sensor->mipi_format,
+      .res_type = CAM_ISP_IFE_OUT_RES_FULL,
+      .format = CAM_FORMAT_NV12,
       .width = sensor->frame_width,
       .height = sensor->frame_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
+
+  if (is_raw) {
+    in_port_info.data[0].res_type = CAM_ISP_IFE_OUT_RES_RDI_0;
+    in_port_info.data[0].format = sensor->mipi_format;
+  }
+
   struct cam_isp_resource isp_resource = {
     .resource_id = CAM_ISP_RES_ID_PORT,
     .handle_type = CAM_HANDLE_USER_POINTER,
@@ -968,7 +1000,8 @@ void SpectraCamera::camera_close() {
     LOGD("release csiphy: %d", ret);
 
     for (int i = 0; i < FRAME_BUF_COUNT; i++) {
-      release(m->video0_fd, buf_handle[i]);
+      release(m->video0_fd, buf_handle_yuv[i]);
+      release(m->video0_fd, buf_handle_raw[i]);
     }
     LOGD("released buffers");
   }
@@ -1013,7 +1046,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     frame_id_last = main_id;
     request_id_last = real_id;
 
-    auto &meta_data = buf.camera_bufs_metadata[buf_idx];
+    auto &meta_data = buf.frame_metadata[buf_idx];
     meta_data.frame_id = main_id - idx_offset;
     meta_data.request_id = real_id;
     meta_data.timestamp_sof = timestamp;
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index e71483f500..e295c67cb9 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -88,7 +88,7 @@ public:
 
 class SpectraCamera {
 public:
-  SpectraCamera(SpectraMaster *master, const CameraConfig &config);
+  SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw);
   ~SpectraCamera();
 
   void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
@@ -147,8 +147,7 @@ public:
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
 
-  int buf0_handle = 0;
-  int buf_handle[FRAME_BUF_COUNT] = {};
+  int buf_handle_yuv[FRAME_BUF_COUNT] = {};
   int buf_handle_raw[FRAME_BUF_COUNT] = {};
   int sync_objs[FRAME_BUF_COUNT] = {};
   int sync_objs_bps_out[FRAME_BUF_COUNT] = {};
@@ -158,6 +157,8 @@ public:
   uint64_t idx_offset = 0;
   bool skipped = true;
 
+  bool is_raw;
+
   CameraBuf buf;
   MemoryManager mm;
   SpectraMaster *m;
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
index 438f1fdcf2..44ff0ffa89 100755
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 sudo dmesg -C
 scons -u -j8 --minimal .
 export DEBUG_FRAMES=1
-export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-#export DISABLE_DRIVER=1
+#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+export DISABLE_DRIVER=1
 #export LOGPRINT=debug
 ./camerad

From 7aa4ef5fd6b293e52a125101dc774da73fcbd57d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 12 Oct 2024 15:31:34 -0700
Subject: [PATCH 0797/1243] sentry: fix deprecation warning

---
 system/sentry.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/system/sentry.py b/system/sentry.py
index 5f4772fa71..6b0332169b 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -72,7 +72,4 @@ def init(project: SentryProject) -> bool:
   sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit)
   sentry_sdk.set_tag("device", HARDWARE.get_device_type())
 
-  if project == SentryProject.SELFDRIVE:
-    sentry_sdk.Hub.current.start_session()
-
   return True

From a66851aa91f7c8df40641b527b0064ece946f6df Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 12 Oct 2024 17:11:35 -0700
Subject: [PATCH 0798/1243] jenkins: fix hanging on SSH (#33779)

---
 Jenkinsfile | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index a98280ccd9..42db027f32 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
+export TERM=xterm-256color
+
 shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
@@ -65,8 +67,6 @@ ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
 ${cmd}
-exit 0
-
 END"""
 
     sh script: ssh_cmd, label: step_label

From 37ba89900054401be6f23baa54465757f1866a8a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 13 Oct 2024 09:10:00 -0700
Subject: [PATCH 0799/1243] AGNOS 11 (#33775)

* agnos 11

* prod manifest
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 43 +++++++++++++++------------------
 2 files changed, 20 insertions(+), 25 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 1e5bc7b607..8f79835842 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="10.1"
+  export AGNOS_VERSION="11"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index b1862bdef9..ee860768e2 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,22 +1,22 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
-    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
-    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz",
+    "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
+    "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
     "size": 16029696,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
-    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
-    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
-    "size": 274432,
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz",
+    "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
+    "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
+    "size": 4194304000,
     "sparse": false,
-    "full_check": true,
+    "full_check": false,
     "has_ab": true
   },
   {
@@ -29,6 +29,16 @@
     "full_check": true,
     "has_ab": true
   },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz",
+    "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
+    "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
   {
     "name": "xbl_config",
     "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz",
@@ -58,20 +68,5 @@
     "sparse": false,
     "full_check": true,
     "has_ab": true
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
-    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
-    "size": 10737418240,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "alt": {
-      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-      "size": 4548070000
-    }
   }
 ]
\ No newline at end of file

From d96a0427224bcbc662ccc0299255c6808c05436c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 13 Oct 2024 09:53:47 -0700
Subject: [PATCH 0800/1243] Revert "AGNOS 11 (#33775)"

This reverts commit 37ba89900054401be6f23baa54465757f1866a8a.
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 43 ++++++++++++++++++---------------
 2 files changed, 25 insertions(+), 20 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 8f79835842..1e5bc7b607 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11"
+  export AGNOS_VERSION="10.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index ee860768e2..b1862bdef9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,22 +1,22 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz",
-    "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
-    "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
+    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
     "size": 16029696,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz",
-    "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
-    "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
-    "size": 4194304000,
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
+    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "size": 274432,
     "sparse": false,
-    "full_check": false,
+    "full_check": true,
     "has_ab": true
   },
   {
@@ -29,16 +29,6 @@
     "full_check": true,
     "has_ab": true
   },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz",
-    "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
-    "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true
-  },
   {
     "name": "xbl_config",
     "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz",
@@ -68,5 +58,20 @@
     "sparse": false,
     "full_check": true,
     "has_ab": true
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
+    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
+    "size": 10737418240,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "alt": {
+      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+      "size": 4548070000
+    }
   }
 ]
\ No newline at end of file

From 3dd127c5ad59a6b9b1038bb8ee0d2f04e6fd72e7 Mon Sep 17 00:00:00 2001
From: fishnux <fishnux@riseup.net>
Date: Sun, 13 Oct 2024 17:55:06 +0100
Subject: [PATCH 0801/1243] tools: fix setup for directories with spaces
 (#33769)

Now handles $DIR with spaces. Also fixes UV_BIN variable
---
 tools/install_python_dependencies.sh | 16 ++++++++--------
 tools/ubuntu_setup.sh                |  4 ++--
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 8621ee0b00..7657457744 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -5,8 +5,8 @@ set -e
 export PIP_DEFAULT_TIMEOUT=200
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT=$DIR/../
-cd $ROOT
+ROOT="$DIR"/../
+cd "$ROOT"
 
 # updating uv on macOS results in 403 sometimes
 function update_uv() {
@@ -24,9 +24,9 @@ function update_uv() {
 if ! command -v "uv" > /dev/null 2>&1; then
   echo "installing uv..."
   curl -LsSf https://astral.sh/uv/install.sh | sh
-  UV_BIN='$HOME/.cargo/env'
+  UV_BIN="$HOME/.cargo/env"
   ADD_PATH_CMD=". \"$UV_BIN\""
-  eval $ADD_PATH_CMD
+  eval "$ADD_PATH_CMD"
 fi
 
 echo "updating uv..."
@@ -36,9 +36,9 @@ echo "installing python packages..."
 uv sync --frozen --all-extras
 source .venv/bin/activate
 
-echo "PYTHONPATH=${PWD}" > $ROOT/.env
+echo "PYTHONPATH=${PWD}" > "$ROOT"/.env
 if [[ "$(uname)" == 'Darwin' ]]; then
-  echo "# msgq doesn't work on mac" >> $ROOT/.env
-  echo "export ZMQ=1" >> $ROOT/.env
-  echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
+  echo "# msgq doesn't work on mac" >> "$ROOT"/.env
+  echo "export ZMQ=1" >> "$ROOT"/.env
+  echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env
 fi
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index f425e14cf2..be4cfb68fa 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -6,5 +6,5 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 # NOTE: this is used in a docker build, so do not run any scripts here.
 
-$DIR/install_ubuntu_dependencies.sh
-$DIR/install_python_dependencies.sh
+"$DIR"/install_ubuntu_dependencies.sh
+"$DIR"/install_python_dependencies.sh

From 8bf34d0dfbedd35293a5e805df0aeb2a5116f146 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 13 Oct 2024 13:40:18 -0700
Subject: [PATCH 0802/1243] Reapply "AGNOS 11 (#33775)"

This reverts commit d96a0427224bcbc662ccc0299255c6808c05436c.
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 43 +++++++++++++++------------------
 2 files changed, 20 insertions(+), 25 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 1e5bc7b607..8f79835842 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="10.1"
+  export AGNOS_VERSION="11"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index b1862bdef9..ee860768e2 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,22 +1,22 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
-    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
-    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz",
+    "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
+    "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
     "size": 16029696,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
-    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
-    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
-    "size": 274432,
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz",
+    "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
+    "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
+    "size": 4194304000,
     "sparse": false,
-    "full_check": true,
+    "full_check": false,
     "has_ab": true
   },
   {
@@ -29,6 +29,16 @@
     "full_check": true,
     "has_ab": true
   },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz",
+    "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
+    "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
   {
     "name": "xbl_config",
     "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz",
@@ -58,20 +68,5 @@
     "sparse": false,
     "full_check": true,
     "has_ab": true
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
-    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
-    "size": 10737418240,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "alt": {
-      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-      "size": 4548070000
-    }
   }
 ]
\ No newline at end of file

From dc094792b70cd50528f237aca69307208db214fe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 14 Oct 2024 09:11:37 -0700
Subject: [PATCH 0803/1243] Revert "ci: faster metadrive test (#33755)"

This reverts commit d7c0906d0bfa930f3713eeb153ed6a00d055212c.
---
 .github/workflows/tools_tests.yaml              |  4 +---
 tools/sim/bridge/metadrive/metadrive_bridge.py  |  5 ++---
 tools/sim/bridge/metadrive/metadrive_process.py | 15 ++-------------
 tools/sim/bridge/metadrive/metadrive_world.py   |  6 +++---
 tools/sim/tests/test_metadrive_bridge.py        | 10 ++++++----
 5 files changed, 14 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 81da841dd2..c1c3552472 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -27,9 +27,7 @@ env:
 jobs:
   simulator_driving:
     name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-               ((github.event_name != 'pull_request') ||
-                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
     - uses: actions/checkout@v4
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index 7bfadc5533..b8dc94cf86 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -50,13 +50,12 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False):
+  def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
     super().__init__(dual_camera, high_quality)
 
     self.should_render = False
     self.test_run = test_run
     self.test_duration = test_duration if self.test_run else math.inf
-    self.minimal_distance = minimal_distance if self.test_run else 0
 
   def spawn_world(self, queue: Queue):
     sensors = {
@@ -91,4 +90,4 @@ class MetaDriveBridge(SimulatorBridge):
       anisotropic_filtering=False
     )
 
-    return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, self.test_run, self.dual_camera)
+    return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index c788b8cda2..2486d87ff9 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -19,7 +19,6 @@ from openpilot.tools.sim.lib.camerad import W, H
 C3_POSITION = Vec3(0.0, 0, 1.22)
 C3_HPR = Vec3(0, 0,0)
 
-VEHICLE_STARTING_POS = [110, 4.5]
 
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
@@ -51,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True):
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
-                      exit_event, op_engaged, test_duration, minimal_distance, test_run):
+                      exit_event, op_engaged, test_duration, test_run):
   arrive_dest_done = config.pop("arrive_dest_done", True)
   apply_metadrive_patches(arrive_dest_done)
 
@@ -71,7 +70,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     env.reset()
     env.vehicle.config["max_speed_km_h"] = 1000
     lane_idx_prev, _ = get_current_lane_info(env.vehicle)
-    env.vehicle.set_position(VEHICLE_STARTING_POS)
 
     simulation_state = metadrive_simulation_state(
       running=True,
@@ -100,9 +98,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
   steer_ratio = 8
   vc = [0,0]
 
-  total_distance = 0
-  prev_x_pos = VEHICLE_STARTING_POS[0]
-
   while not exit_event.is_set():
     vehicle_state = metadrive_vehicle_state(
       velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
@@ -112,9 +107,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     )
     vehicle_state_send.send(vehicle_state)
 
-    total_distance += abs(env.vehicle.position[0] - prev_x_pos)
-    prev_x_pos = env.vehicle.position[0]
-
     if controls_recv.poll(0):
       while controls_recv.poll(0):
         steer_angle, gas, should_reset = controls_recv.recv()
@@ -145,10 +137,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
         elif out_of_lane:
           done_result = (True, {"out_of_lane" : True})
         elif timeout:
-          if total_distance < minimal_distance:
-            done_result = (True, {"minimal_distance" : True})
-          else:
-            done_result = (True, {"timeout" : True})
+          done_result = (True, {"timeout" : True})
 
         simulation_state = metadrive_simulation_state(
           running=False,
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 7b6c865690..5bb4555dc1 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H
 
 
 class MetaDriveWorld(World):
-  def __init__(self, status_q, config, test_duration, minimal_distance, test_run, dual_camera=False):
+  def __init__(self, status_q, config, test_duration, test_run, dual_camera=False):
     super().__init__(dual_camera)
     self.status_q = status_q
     self.camera_array = Array(ctypes.c_uint8, W*H*3)
@@ -41,7 +41,7 @@ class MetaDriveWorld(World):
                               functools.partial(metadrive_process, dual_camera, config,
                                                 self.camera_array, self.wide_camera_array, self.image_lock,
                                                 self.controls_recv, self.simulation_state_send,
-                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, minimal_distance, self.test_run))
+                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run))
 
     self.metadrive_process.start()
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 7.5
+      time_check_threshold = 30
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index bed0601b7a..8849e901cb 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -11,9 +11,11 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
-  def setup_create_bridge(self):
-    self.test_duration = 15
-    self.minimal_distance = 10
+  def setup_create_bridge(self, test_duration):
+    # run bridge test for at least 60s, since not-moving check runs every 30s
+    if test_duration < 60:
+      test_duration = 60
+    self.test_duration = test_duration
 
   def create_bridge(self):
-    return MetaDriveBridge(False, False, self.test_duration, self.minimal_distance, True)
+    return MetaDriveBridge(False, False, self.test_duration, True)

From 3e9127be06bf072808288b9b3da5ff7dc3d2f316 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 14 Oct 2024 09:35:35 -0700
Subject: [PATCH 0804/1243] Cleanup process config type annotations (#33782)

---
 system/manager/process_config.py | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index eca5184c92..f5f983700e 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -17,41 +17,41 @@ def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
 def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and not CP.notCar
 
-def logging(started, params, CP: car.CarParams) -> bool:
+def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
 def ublox_available() -> bool:
   return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
 
-def ublox(started, params, CP: car.CarParams) -> bool:
+def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
-def joystick(started: bool, params, CP: car.CarParams) -> bool:
+def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and params.get_bool("JoystickDebugMode")
 
-def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
+def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and not params.get_bool("JoystickDebugMode")
 
-def long_maneuver(started: bool, params, CP: car.CarParams) -> bool:
+def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and params.get_bool("LongitudinalManeuverMode")
 
-def not_long_maneuver(started: bool, params, CP: car.CarParams) -> bool:
+def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and not params.get_bool("LongitudinalManeuverMode")
 
-def qcomgps(started, params, CP: car.CarParams) -> bool:
+def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
-def always_run(started, params, CP: car.CarParams) -> bool:
+def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
   return True
 
-def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
+def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started
 
-def only_offroad(started, params, CP: car.CarParams) -> bool:
+def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
 def or_(*fns):

From f0ccb78afa09a0fa97e31e59a4e839a24b1e3241 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 14 Oct 2024 09:35:43 -0700
Subject: [PATCH 0805/1243] [bot] Update Python packages (#33784)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |   2 +-
 uv.lock      | 606 +++++++++++++++++++++++++++++----------------------
 2 files changed, 350 insertions(+), 258 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 78fdc463f4..3fc9bdb8c9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 78fdc463f43bd95d0a9f5c0a927ca4625c6e4009
+Subproject commit 3fc9bdb8c939260134367ea9a077cdb90c338710
diff --git a/uv.lock b/uv.lock
index 91577f63ae..3d6dd37366 100644
--- a/uv.lock
+++ b/uv.lock
@@ -20,7 +20,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.10.9"
+version = "3.10.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,53 +30,53 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/14/40/f08c5d26398f987c1a27e1e351a4b461a01ffdbf9dde429c980db5286c92/aiohttp-3.10.9.tar.gz", hash = "sha256:143b0026a9dab07a05ad2dd9e46aa859bffdd6348ddc5967b42161168c24f857", size = 7541983 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/74/25/9cb2c6f7260e26ad67185b5deeb4e9eb002c352add9e7470ecda6174f3a1/aiohttp-3.10.9-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:16e6a51d8bc96b77f04a6764b4ad03eeef43baa32014fce71e882bd71302c7e4", size = 586917 },
-    { url = "https://files.pythonhosted.org/packages/72/6f/cb3943cc0eaa1d7cfc0fbd250652587ffc60dbdb87ef175b5819f7a75920/aiohttp-3.10.9-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:8bd9125dd0cc8ebd84bff2be64b10fdba7dc6fd7be431b5eaf67723557de3a31", size = 399398 },
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+    { url = "https://files.pythonhosted.org/packages/82/e8/03e3ebb7f558374f29c04868b20ca484d7997f80a0a191490790a8c28058/yarl-1.15.2-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:8657d3f37f781d987037f9cc20bbc8b40425fa14380c87da0cb8dfce7c92d0fb", size = 331776 },
+    { url = "https://files.pythonhosted.org/packages/1f/83/90b0f4fd1ecf2602ba4ac50ad0bbc463122208f52dd13f152bbc0d8417dd/yarl-1.15.2-cp313-cp313-musllinux_1_2_armv7l.whl", hash = "sha256:93bed8a8084544c6efe8856c362af08a23e959340c87a95687fdbe9c9f280c8b", size = 331585 },
+    { url = "https://files.pythonhosted.org/packages/c7/f6/1ed7e7f270ae5f9f1174c1f8597b29658f552fee101c26de8b2eb4ca147a/yarl-1.15.2-cp313-cp313-musllinux_1_2_i686.whl", hash = "sha256:69d5856d526802cbda768d3e6246cd0d77450fa2a4bc2ea0ea14f0d972c2894b", size = 336395 },
+    { url = "https://files.pythonhosted.org/packages/e0/3a/4354ed8812909d9ec54a92716a53259b09e6b664209231f2ec5e75f4820d/yarl-1.15.2-cp313-cp313-musllinux_1_2_ppc64le.whl", hash = "sha256:ccad2800dfdff34392448c4bf834be124f10a5bc102f254521d931c1c53c455a", size = 342810 },
+    { url = "https://files.pythonhosted.org/packages/de/cc/39e55e16b1415a87f6d300064965d6cfb2ac8571e11339ccb7dada2444d9/yarl-1.15.2-cp313-cp313-musllinux_1_2_s390x.whl", hash = "sha256:a880372e2e5dbb9258a4e8ff43f13888039abb9dd6d515f28611c54361bc5644", size = 351441 },
+    { url = "https://files.pythonhosted.org/packages/fb/19/5cd4757079dc9d9f3de3e3831719b695f709a8ce029e70b33350c9d082a7/yarl-1.15.2-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:c998d0558805860503bc3a595994895ca0f7835e00668dadc673bbf7f5fbfcbe", size = 345875 },
+    { url = "https://files.pythonhosted.org/packages/83/a0/ef09b54634f73417f1ea4a746456a4372c1b044f07b26e16fa241bd2d94e/yarl-1.15.2-cp313-cp313-win32.whl", hash = "sha256:533a28754e7f7439f217550a497bb026c54072dbe16402b183fdbca2431935a9", size = 302609 },
+    { url = "https://files.pythonhosted.org/packages/20/9f/f39c37c17929d3975da84c737b96b606b68c495cc4ee86408f10523a1635/yarl-1.15.2-cp313-cp313-win_amd64.whl", hash = "sha256:5838f2b79dc8f96fdc44077c9e4e2e33d7089b10788464609df788eb97d03aad", size = 308252 },
+    { url = "https://files.pythonhosted.org/packages/46/cf/a28c494decc9c8776b0d7b729c68d26fdafefcedd8d2eab5d9cd767376b2/yarl-1.15.2-py3-none-any.whl", hash = "sha256:0d3105efab7c5c091609abacad33afff33bdff0035bece164c98bcf5a85ef90a", size = 38891 },
 ]
 
 [[package]]

From 3420b2a02dcf34cd4dd5288ec27db40257fdb2d1 Mon Sep 17 00:00:00 2001
From: morrislee <morrismurphy@gmail.com>
Date: Mon, 14 Oct 2024 14:30:13 -0600
Subject: [PATCH 0806/1243] Add missing detail for OP Long is required (#33780)

---
 tools/longitudinal_maneuvers/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index 643af7fd82..f4c9d46edb 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -14,7 +14,7 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
    echo -n 1 > /data/params/d/LongitudinalManeuverMode
    ```
 
-4. Turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert:
+4. Ensure openpilot longitudinal control is toggle **on** then turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert:
 
    ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
 

From eb0f6372981b7937063697cbd365557df832afb8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 15 Oct 2024 04:30:41 +0800
Subject: [PATCH 0807/1243] cabana: fix README example for streaming CAN
 messages from device (#33781)

fix README example for stream command
---
 tools/cabana/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 27829979c0..1d9a2a2ccc 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -68,7 +68,7 @@ cd /data/openpilot/cereal/messaging/
 Then Run Cabana with the device's IP address:
 
 ```shell
-cabana --stream <ipaddress>
+cabana --stream --zmq <ipaddress>
 ```
 
 Replace &lt;ipaddress&gt; with your comma device's IP address.

From c6c9a0da8f9001f936aed1ca215cd5357c6bcc97 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 14 Oct 2024 13:33:50 -0700
Subject: [PATCH 0808/1243] Revert "Add missing detail for OP Long is required
 (#33780)"

This reverts commit 3420b2a02dcf34cd4dd5288ec27db40257fdb2d1.
---
 tools/longitudinal_maneuvers/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index f4c9d46edb..643af7fd82 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -14,7 +14,7 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
    echo -n 1 > /data/params/d/LongitudinalManeuverMode
    ```
 
-4. Ensure openpilot longitudinal control is toggle **on** then turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert:
+4. Turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert:
 
    ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
 

From 363e020ce6053aa46a3dbe558c3af411e38592bb Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Mon, 14 Oct 2024 13:37:51 -0700
Subject: [PATCH 0809/1243] cabana: SG_ parse allow no space before colon
 (#33785)

---
 tools/cabana/dbc/dbcfile.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index cca9d0c0fa..1c03c8a0aa 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -145,7 +145,7 @@ void DBCFile::parseCM_BO(const QString &line, const QString &content, const QStr
 }
 
 void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
-  static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
+  static QRegularExpression sg_regexp(R"(^SG_ (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
   static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
 
   if (!current_msg)

From 4d4df4822aff2d568e4b3e95ea79110d260492ca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 13:58:31 -0700
Subject: [PATCH 0810/1243] maneuversd: start from stop repeats 2 times

---
 tools/longitudinal_maneuvers/maneuversd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 07582c3e6c..e627274576 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -81,7 +81,7 @@ MANEUVERS = [
   Maneuver(
    "start from stop",
    [Action(1.5, 5)],
-   repeat=3,
+   repeat=2,
    initial_speed=0.,
   ),
   Maneuver(

From abdd3ad2e9c9ae7c463b8717b84b563ebfd1fdd0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 14:07:48 -0700
Subject: [PATCH 0811/1243] lower card CPU usage threshold

from removing capnp conversion!
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 8a5f770636..714de01ca2 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -38,7 +38,7 @@ PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
   "selfdrive.selfdrived.selfdrived": 16.0,
-  "selfdrive.car.card": 30.0,
+  "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,

From fa4a3e3c6376658136a531612409fb0bce1cb739 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 14:12:33 -0700
Subject: [PATCH 0812/1243] Allow throttle ui: only if openpilot longitudinal
 (#33787)

check op long
---
 selfdrive/ui/qt/onroad/model.cc | 2 +-
 selfdrive/ui/qt/onroad/model.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index b395924226..595bb489a2 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -158,7 +158,7 @@ void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
   constexpr float transition_speed = 0.1f;
 
   // Start transition if throttle state changes
-  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle();
+  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle() || !longitudinal_control;
   if (allow_throttle != prev_allow_throttle) {
     prev_allow_throttle = allow_throttle;
     // Invert blend factor for a smooth transition when the state changes mid-animation
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 739dbce1c4..50d81937e2 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -26,7 +26,7 @@ private:
   bool longitudinal_control = false;
   bool experimental_mode = false;
   float blend_factor = 1.0f;
-  bool prev_allow_throttle = false;
+  bool prev_allow_throttle = true;
   float lane_line_probs[4] = {};
   float road_edge_stds[2] = {};
   QPolygonF track_vertices;

From bf04c4799ae2d46a2c53ea558b09c5efd719f2b3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 14:35:38 -0700
Subject: [PATCH 0813/1243] ui: always check for longitudinal control (#33788)

should always check in case card publishes CP before we start camera paintGL
---
 selfdrive/ui/qt/onroad/model.cc | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 595bb489a2..d1e3c7bde2 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -15,10 +15,6 @@ static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float
 
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   auto &sm = *(uiState()->sm);
-  if (sm.updated("carParams")) {
-    longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  }
-
   // Check if data is up-to-date
   if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
     return;
@@ -26,6 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
   experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
 
   painter.save();
 

From 3c5d8da4691b83c8b682c9ebf9884c4219e868e6 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 15 Oct 2024 05:48:26 +0800
Subject: [PATCH 0814/1243] ui: show tethering status in sidebar (#33786)

show tethering status on sidebar
---
 selfdrive/ui/qt/network/wifi_manager.cc |  2 ++
 selfdrive/ui/qt/network/wifi_manager.h  |  1 +
 selfdrive/ui/qt/sidebar.cc              | 10 ++++++----
 selfdrive/ui/qt/sidebar.h               |  2 ++
 4 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index ddf13d26b7..fd9ee17078 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -448,6 +448,7 @@ void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
     });
   }
   call->deleteLater();
+  tethering_on = true;
 }
 
 void WifiManager::setTetheringEnabled(bool enabled) {
@@ -465,6 +466,7 @@ void WifiManager::setTetheringEnabled(bool enabled) {
 
   } else {
     deactivateConnectionBySsid(tethering_ssid);
+    tethering_on = false;
   }
 }
 
diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h
index 5d18b87d86..e5f79c5149 100644
--- a/selfdrive/ui/qt/network/wifi_manager.h
+++ b/selfdrive/ui/qt/network/wifi_manager.h
@@ -42,6 +42,7 @@ public:
   QMap<QString, Network> seenNetworks;
   QMap<QDBusObjectPath, QString> knownConnections;
   QString ipv4_address;
+  bool tethering_on = false;
   bool ipv4_forward = false;
 
   explicit WifiManager(QObject* parent);
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 7a93534da9..966396edc2 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -74,9 +74,11 @@ void Sidebar::updateState(const UIState &s) {
 
   auto &sm = *(s.sm);
 
+  networking = networking ? networking : window()->findChild<Networking *>("");
+  bool tethering_on = networking && networking->wifi->tethering_on;
   auto deviceState = sm["deviceState"].getDeviceState();
-  setProperty("netType", network_type[deviceState.getNetworkType()]);
-  int strength = (int)deviceState.getNetworkStrength();
+  setProperty("netType", tethering_on ? "Hotspot": network_type[deviceState.getNetworkType()]);
+  int strength = tethering_on ? 4 : (int)deviceState.getNetworkStrength();
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
   ItemStatus connectStatus;
@@ -131,8 +133,8 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
-  const QRect r = QRect(50, 247, 100, 50);
-  p.drawText(r, Qt::AlignCenter, net_type);
+  const QRect r = QRect(58, 247, width() - 100, 50);
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
   // metrics
   drawMetric(p, temp_status.first, temp_status.second, 338);
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index f627aac810..2091418e52 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -6,6 +6,7 @@
 #include <QMap>
 
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/network/networking.h"
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
@@ -59,4 +60,5 @@ protected:
 
 private:
   std::unique_ptr<PubMaster> pm;
+  Networking *networking = nullptr;
 };

From 9674c7b5af0b38837f0902e58e246d1c777df5f9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 16:50:30 -0700
Subject: [PATCH 0815/1243] longitudinal maneuvers: summary table (#33790)

* bob the builder

* table

* clean up
---
 .../longitudinal_maneuvers/generate_report.py | 220 ++++++++++--------
 1 file changed, 117 insertions(+), 103 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index eb8c13271a..9d7865551f 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -8,6 +8,7 @@ import pprint
 from collections import defaultdict
 from pathlib import Path
 import matplotlib.pyplot as plt
+from tabulate import tabulate
 
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware.hw import Paths
@@ -22,110 +23,123 @@ def report(platform, route, _description, CP, maneuvers):
   output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
   output_path.mkdir(exist_ok=True)
   target_cross_times = defaultdict(list)
+
+  builder = [
+    "<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
+    "<h1>Longitudinal maneuver report</h1>\n",
+    f"<h3>{platform}</h3>\n",
+    f"<h3>{route}</h3>\n"
+  ]
+  if _description is not None:
+    builder.append(f"<h3>Description: {_description}</h3>\n")
+  builder.append(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
+  builder.append('{ summary }')  # to be replaced below
+  for description, runs in maneuvers:
+    print(f'plotting maneuver: {description}, runs: {len(runs)}')
+    builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+    builder.append(f"<h2>{description}</h2>\n")
+    for run, msgs in enumerate(runs):
+      t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
+      t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
+      t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+      t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
+      t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
+
+      # make time relative seconds
+      t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
+      t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
+      t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+      t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
+      t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
+
+      # maneuver validity
+      longActive = [m.longActive for m in carControl]
+      maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)
+
+      _open = 'open' if maneuver_valid else ''
+      title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
+
+      builder.append(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
+
+      # get first acceleration target and first intersection
+      aTarget = longitudinalPlan[0].aTarget
+      target_cross_time = None
+      builder.append(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
+
+      # Localizer is noisy, require two consecutive 20Hz frames above threshold
+      prev_crossed = False
+      for t, lp in zip(t_livePose, livePose, strict=True):
+        crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
+        if crossed and prev_crossed:
+          builder.append(f', <strong>crossed in {t:.3f}s</strong>')
+          target_cross_time = t
+          if maneuver_valid:
+            target_cross_times[description].append(t)
+          break
+        prev_crossed = crossed
+      else:
+        builder.append(', <strong>not crossed</strong>')
+      builder.append('</h3>')
+
+      pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
+      builder.append(f'<h3 style="font-weight: normal">Average pitch: <strong>{sum(pitches) / len(pitches):0.2f} degrees</strong></h3>')
+
+      plt.rcParams['font.size'] = 40
+      fig = plt.figure(figsize=(30, 26))
+      ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})
+
+      ax[0].grid(linewidth=4)
+      ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
+      ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
+      ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
+      ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
+      ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
+      # TODO localizer accel
+      ax[0].set_ylabel('Acceleration (m/s^2)')
+      #ax[0].set_ylim(-6.5, 6.5)
+      ax[0].legend(prop={'size': 30})
+
+      if target_cross_time is not None:
+        ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+
+      ax[1].grid(linewidth=4)
+      ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
+      ax[1].set_ylabel('Velocity (m/s)')
+      ax[1].legend()
+
+      ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
+      ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
+      ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
+      for i in (2, 3):
+        ax[i].set_yticks([0, 1], minor=False)
+        ax[i].set_ylim(-1, 2)
+        ax[i].legend()
+
+      ax[-1].set_xlabel("Time (s)")
+      fig.tight_layout()
+
+      buffer = io.BytesIO()
+      fig.savefig(buffer, format='png')
+      buffer.seek(0)
+      builder.append(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+      builder.append("</details>\n")
+
+  summary = ["<h2>Summary</h2>\n"]
+  cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max']
+  table = []
+  for description, runs in maneuvers:
+    times = target_cross_times[description]
+    l = [description, len(times), len(runs)]
+    if len(times):
+      l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
+    table.append(l)
+  summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')
+
+  sum_idx = builder.index('{ summary }')
+  builder[sum_idx:sum_idx + 1] = summary
+
   with open(output_fn, "w") as f:
-    f.write("<h1>Longitudinal maneuver report</h1>\n")
-    f.write(f"<h3>{platform}</h3>\n")
-    f.write(f"<h3>{route}</h3>\n")
-    if _description is not None:
-      f.write(f"<h3>Description: {_description}</h3>\n")
-    f.write(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
-    for description, runs in maneuvers:
-      print(f'plotting maneuver: {description}, runs: {len(runs)}')
-      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
-      f.write(f"<h2>{description}</h2>\n")
-      for run, msgs in enumerate(runs):
-        t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
-        t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
-        t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
-        t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
-        t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
-
-        # make time relative seconds
-        t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
-        t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
-        t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
-        t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
-        t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
-
-        # maneuver validity
-        longActive = [m.longActive for m in carControl]
-        maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)
-
-        _open = 'open' if maneuver_valid else ''
-        title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
-
-        f.write(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
-
-        # get first acceleration target and first intersection
-        aTarget = longitudinalPlan[0].aTarget
-        target_cross_time = None
-        f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
-
-        # Localizer is noisy, require two consecutive 20Hz frames above threshold
-        prev_crossed = False
-        for t, lp in zip(t_livePose, livePose, strict=True):
-          crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
-          if crossed and prev_crossed:
-            f.write(f', <strong>crossed in {t:.3f}s</strong>')
-            target_cross_time = t
-            if maneuver_valid:
-              target_cross_times[description].append(t)
-            break
-          prev_crossed = crossed
-        else:
-          f.write(', <strong>not crossed</strong>')
-        f.write('</h3>')
-
-        pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
-        f.write(f'<h3 style="font-weight: normal">Average pitch: <strong>{sum(pitches) / len(pitches):0.2f} degrees</strong></h3>')
-
-        plt.rcParams['font.size'] = 40
-        fig = plt.figure(figsize=(30, 26))
-        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})
-
-        ax[0].grid(linewidth=4)
-        ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
-        ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
-        ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
-        ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
-        ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
-        # TODO localizer accel
-        ax[0].set_ylabel('Acceleration (m/s^2)')
-        #ax[0].set_ylim(-6.5, 6.5)
-        ax[0].legend(prop={'size': 30})
-
-        if target_cross_time is not None:
-          ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
-
-        ax[1].grid(linewidth=4)
-        ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
-        ax[1].set_ylabel('Velocity (m/s)')
-        ax[1].legend()
-
-        ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
-        ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
-        ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
-        for i in (2, 3):
-          ax[i].set_yticks([0, 1], minor=False)
-          ax[i].set_ylim(-1, 2)
-          ax[i].legend()
-
-        ax[-1].set_xlabel("Time (s)")
-        fig.tight_layout()
-
-        buffer = io.BytesIO()
-        fig.savefig(buffer, format='png')
-        buffer.seek(0)
-        f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
-        f.write("</details>\n")
-
-    f.write("<h2>Summary</h2>\n")
-    for description, runs in maneuvers:
-      times = target_cross_times[description]
-      f.write(f"<h3>{description}</h3>\n")
-      f.write(f"<p>Target crossed {len(times)} out of {len(runs)} runs</p>\n")
-      if len(times):
-        f.write(f"<p>Mean time to cross: {sum(times) / len(times):.3f}s, min: {min(times):.3f}s, max: {max(times):.3f}s</p>\n")
+    f.write(''.join(builder))
 
   print(f"\nReport written to {output_fn}\n")
 

From af727d41bbc094da7c56aa38e0526019125b935f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 20:54:42 -0700
Subject: [PATCH 0816/1243] long planner: allow throttle reflects usage
 (#33792)

* UI is now accurate

* update refs
---
 selfdrive/controls/lib/longitudinal_planner.py | 5 +++--
 selfdrive/test/process_replay/ref_commit       | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 54838924be..c5aaafa096 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -146,9 +146,10 @@ class LongitudinalPlanner:
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+    # Don't clip at low speeds since throttle_prob doesn't account for creep
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= 5.0
 
-    if not self.allow_throttle and v_ego > 5.0:  # Don't clip at low speeds since throttle_prob doesn't account for creep
+    if not self.allow_throttle:
       # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
       accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 22cae4b8cc..ea0c416f20 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-36bb37715542677db4a42464128ca10968f2c589
\ No newline at end of file
+4e595fcc2e8e4ef1564d915f697ddd9334067a7f
\ No newline at end of file

From ebe0dee2eef59e45c81d378046118b2076518016 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 16 Oct 2024 05:03:11 +0800
Subject: [PATCH 0817/1243] card: remove unused `CS_prev` variable (#33796)

remove unused CS_prev variable
---
 selfdrive/car/card.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index a83d5bb989..92d9b7eb11 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -72,7 +72,6 @@ class Car:
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
-    self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -250,7 +249,6 @@ class Car:
       self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
-    self.CS_prev = CS.as_reader()
 
   def params_thread(self, evt):
     while not evt.is_set():

From 3a150e51e4153114015aaedc317ca2981bf49009 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 15 Oct 2024 14:42:45 -0700
Subject: [PATCH 0818/1243] longitudinal report: add git data (#33799)

* add git data

* fix
---
 tools/longitudinal_maneuvers/generate_report.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 9d7865551f..04eae69d26 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -18,7 +18,7 @@ def format_car_params(CP):
   return pprint.pformat({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
 
 
-def report(platform, route, _description, CP, maneuvers):
+def report(platform, route, _description, CP, ID, maneuvers):
   output_path = Path(__file__).resolve().parent / "longitudinal_reports"
   output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
   output_path.mkdir(exist_ok=True)
@@ -28,7 +28,8 @@ def report(platform, route, _description, CP, maneuvers):
     "<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
     "<h1>Longitudinal maneuver report</h1>\n",
     f"<h3>{platform}</h3>\n",
-    f"<h3>{route}</h3>\n"
+    f"<h3>{route}</h3>\n",
+    f"<h3>{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}</h3>\n",
   ]
   if _description is not None:
     builder.append(f"<h3>Description: {_description}</h3>\n")
@@ -158,6 +159,7 @@ if __name__ == '__main__':
     lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs])
 
   CP = lr.first('carParams')
+  ID = lr.first('initData')
   platform = CP.carFingerprint
   print('processing report for', platform)
 
@@ -179,4 +181,4 @@ if __name__ == '__main__':
     if active_prev:
       maneuvers[-1][1][-1].append(msg)
 
-  report(platform, args.route, args.description, CP, maneuvers)
+  report(platform, args.route, args.description, CP, ID, maneuvers)

From 277691cf8359d209aa9bddf3419a0e5bb6f75633 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 15 Oct 2024 14:48:38 -0700
Subject: [PATCH 0819/1243] longitudinal reports: save as webp

---
 tools/longitudinal_maneuvers/generate_report.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 04eae69d26..b29777f894 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -120,9 +120,9 @@ def report(platform, route, _description, CP, ID, maneuvers):
       fig.tight_layout()
 
       buffer = io.BytesIO()
-      fig.savefig(buffer, format='png')
+      fig.savefig(buffer, format='webp')
       buffer.seek(0)
-      builder.append(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
       builder.append("</details>\n")
 
   summary = ["<h2>Summary</h2>\n"]

From b4252404ec80d30248d6b05188a113c0a7bb13d4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 15 Oct 2024 20:05:44 -0700
Subject: [PATCH 0820/1243] round aTarget

---
 tools/longitudinal_maneuvers/generate_report.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index b29777f894..d38ae87d90 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -65,7 +65,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
       # get first acceleration target and first intersection
       aTarget = longitudinalPlan[0].aTarget
       target_cross_time = None
-      builder.append(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
+      builder.append(f'<h3 style="font-weight: normal">Initial aTarget: {round(aTarget, 2)} m/s^2')
 
       # Localizer is noisy, require two consecutive 20Hz frames above threshold
       prev_crossed = False

From 53f514cbd31f95aa155a70bfb52824806925304b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 16 Oct 2024 09:57:57 -0700
Subject: [PATCH 0821/1243] athena: update SSH port (#33804)

---
 system/athena/athenad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 52e3a29ac8..56b3bb609c 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -44,7 +44,7 @@ from openpilot.system.hardware.hw import Paths
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
-LOCAL_PORT_WHITELIST = {8022}
+LOCAL_PORT_WHITELIST = {22, }  # SSH
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)

From 9ad23335460eabcb5390bd21a5f5a8bc9dbb7dec Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 16 Oct 2024 10:59:58 -0700
Subject: [PATCH 0822/1243] athena: migrate old termux SSH port to new one

---
 system/athena/athenad.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 56b3bb609c..b5a8f5127f 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -445,6 +445,10 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   try:
+    # migration, can be removed once 0.9.8 is out for a while
+    if local_port == 8022:
+      local_port = 22
+
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 

From 34dde0bb36b528febee292891523e30e82835aac Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Thu, 17 Oct 2024 13:14:09 -0700
Subject: [PATCH 0823/1243] MLSIM V4 (#33809)

bf0b9aac-ca49-446d-9274-81dcc7c28621/400
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index b80a79624d..5ec978e566 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8f61f872fef307b82e08ac5bcbd6cfa1a0943e1597376b05a7b27ff77cc2abfe
+oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
 size 50309976

From 6175106b197f811a0da2dc1856a31abf9f0a9a82 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 18 Oct 2024 11:25:32 +0800
Subject: [PATCH 0824/1243] ui: enhance DriverView with real-time driver state
 rendering (#33776)

enhance DriverView
---
 selfdrive/ui/qt/offroad/driverview.cc | 11 ++---------
 selfdrive/ui/qt/offroad/driverview.h  |  3 ++-
 2 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 00f7415cba..9010227f18 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -5,10 +5,7 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-const int FACE_IMG_SIZE = 130;
-
 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
-  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
   QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
   QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
     if (isVisible()) {
@@ -68,12 +65,8 @@ void DriverViewWindow::paintGL() {
     p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
   }
 
-  // icon
-  const int img_offset = 60;
-  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
-  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.2);
-  p.drawPixmap(img_x, img_y, face_img);
+  driver_monitor.updateState(*uiState());
+  driver_monitor.draw(p, rect());
 }
 
 mat4 DriverViewWindow::calcFrameMatrix() {
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 00acb68d29..f6eb752fe6 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 
 class DriverViewWindow : public CameraWidget {
   Q_OBJECT
@@ -18,5 +19,5 @@ protected:
   void paintGL() override;
 
   Params params;
-  QPixmap face_img;
+  DriverMonitorRenderer driver_monitor;
 };

From 4537a9d2ac9a6d6fdb4180c5062186ad53bb4a53 Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Fri, 18 Oct 2024 10:46:11 -0700
Subject: [PATCH 0825/1243] `ui-preview`: increases delay between frames from
 40 ms to 100ms (#33805)

increases delay between frames from 40 ms to 100ms
---
 .github/workflows/ui_preview.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 13337bacbe..a6daaad19f 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -99,7 +99,7 @@ jobs:
               open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
               mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
 

From af73d6084d5ac77935282442c909432eebd676d1 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 19 Oct 2024 04:16:34 +0800
Subject: [PATCH 0826/1243] ui: revert the 'alive' check to compare with
 scene.started_frame (#33794)

Revert the 'alive' check to compare with scene.started_frame
---
 selfdrive/ui/qt/onroad/hud.cc   | 2 +-
 selfdrive/ui/qt/onroad/model.cc | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index 50b563b228..c63962caf6 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -13,7 +13,7 @@ void HudRenderer::updateState(const UIState &s) {
   status = s.status;
 
   const SubMaster &sm = *(s.sm);
-  if (!sm.alive("carState")) {
+  if (sm.rcv_frame("carState") < s.scene.started_frame) {
     is_cruise_set = false;
     set_speed = SET_SPEED_NA;
     speed = 0.0;
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index d1e3c7bde2..5263f4cede 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -14,9 +14,11 @@ static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float
 }
 
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
-  auto &sm = *(uiState()->sm);
+  auto *s = uiState();
+  auto &sm = *(s->sm);
   // Check if data is up-to-date
-  if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
     return;
   }
 

From 66804173c1f7707d08eb4c2466ae2bfb04a8a4b7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 18 Oct 2024 13:53:53 -0700
Subject: [PATCH 0827/1243] Revert "AGNOS 11 (#33775)"

This reverts commit 8bf34d0dfbedd35293a5e805df0aeb2a5116f146.
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 43 ++++++++++++++++++---------------
 2 files changed, 25 insertions(+), 20 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 8f79835842..1e5bc7b607 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11"
+  export AGNOS_VERSION="10.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index ee860768e2..b1862bdef9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,22 +1,22 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz",
-    "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
-    "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
+    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
     "size": 16029696,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz",
-    "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
-    "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24",
-    "size": 4194304000,
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
+    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "size": 274432,
     "sparse": false,
-    "full_check": false,
+    "full_check": true,
     "has_ab": true
   },
   {
@@ -29,16 +29,6 @@
     "full_check": true,
     "has_ab": true
   },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz",
-    "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
-    "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true
-  },
   {
     "name": "xbl_config",
     "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz",
@@ -68,5 +58,20 @@
     "sparse": false,
     "full_check": true,
     "has_ab": true
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
+    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
+    "size": 10737418240,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "alt": {
+      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+      "size": 4548070000
+    }
   }
 ]
\ No newline at end of file

From c11d0a651816199c2987d940183db939827a8af3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 18 Oct 2024 14:24:51 -0700
Subject: [PATCH 0828/1243] setup: upper bound on python version (#33816)

ub
---
 pyproject.toml |   2 +-
 tools/op.sh    |  17 ++-
 uv.lock        | 308 +------------------------------------------------
 3 files changed, 15 insertions(+), 312 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 00b9ecf3e5..c27ebcdb4f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11"
+requires-python = ">= 3.11, <= 3.12"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
diff --git a/tools/op.sh b/tools/op.sh
index 4c792edefe..62d390c9b5 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -148,15 +148,20 @@ function op_check_python() {
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
 
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
     loge "ERROR_PYTHON_NOT_FOUND"
     return 1
-  elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
-    loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
-    return 1
+    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
+    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
+    VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
+    if [[ $VERSION -ge LB && $VERSION -le UB ]]; then
+      echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
+    else
+      echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
+      loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
+      return 1
+    fi
   fi
 }
 
diff --git a/uv.lock b/uv.lock
index 3d6dd37366..244a18d9e2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,5 +1,5 @@
 version = 1
-requires-python = ">=3.11"
+requires-python = ">=3.11, <=3.12"
 resolution-markers = [
     "python_full_version < '3.12' and platform_system == 'Darwin'",
     "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
@@ -62,21 +62,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/05/be/6a403b464dcab3631fe8e27b0f1d906d9e45c5e92aca97ee007e5a895560/aiohttp-3.10.10-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:c1277cd707c465cd09572a774559a3cc7c7a28802eb3a2a9472588f062097205", size = 1306186 },
     { url = "https://files.pythonhosted.org/packages/8e/fd/bb50fe781068a736a02bf5c7ad5f3ab53e39f1d1e63110da6d30f7605edc/aiohttp-3.10.10-cp312-cp312-win32.whl", hash = "sha256:59bb3c54aa420521dc4ce3cc2c3fe2ad82adf7b09403fa1f48ae45c0cbde6628", size = 359289 },
     { url = "https://files.pythonhosted.org/packages/70/9e/5add7e240f77ef67c275c82cc1d08afbca57b77593118c1f6e920ae8ad3f/aiohttp-3.10.10-cp312-cp312-win_amd64.whl", hash = "sha256:0e1b370d8007c4ae31ee6db7f9a2fe801a42b146cec80a86766e7ad5c4a259cf", size = 379313 },
-    { url = "https://files.pythonhosted.org/packages/b1/eb/618b1b76c7fe8082a71c9d62e3fe84c5b9af6703078caa9ec57850a12080/aiohttp-3.10.10-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:ad7593bb24b2ab09e65e8a1d385606f0f47c65b5a2ae6c551db67d6653e78c28", size = 576114 },
-    { url = "https://files.pythonhosted.org/packages/aa/37/3126995d7869f8b30d05381b81a2d4fb4ec6ad313db788e009bc6d39c211/aiohttp-3.10.10-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:1eb89d3d29adaf533588f209768a9c02e44e4baf832b08118749c5fad191781d", size = 391901 },
-    { url = "https://files.pythonhosted.org/packages/3e/f2/8fdfc845be1f811c31ceb797968523813f8e1263ee3e9120d61253f6848f/aiohttp-3.10.10-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:3fe407bf93533a6fa82dece0e74dbcaaf5d684e5a51862887f9eaebe6372cd79", size = 387418 },
-    { url = "https://files.pythonhosted.org/packages/60/d5/33d2061d36bf07e80286e04b7e0a4de37ce04b5ebfed72dba67659a05250/aiohttp-3.10.10-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:50aed5155f819873d23520919e16703fc8925e509abbb1a1491b0087d1cd969e", size = 1287073 },
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 ]
 
 [[package]]
@@ -224,12 +209,6 @@ wheels = [
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     { url = "https://files.pythonhosted.org/packages/b5/21/d4bc8c6a492fadecd68128de97595aa8038a6f31fb57159d52a8013e2f06/casadi-3.6.7-cp312-none-manylinux2014_x86_64.whl", hash = "sha256:16042ef095117704312be53389a0f22ab7a0968131db2bf785663d8003957a95", size = 73408033 },
     { url = "https://files.pythonhosted.org/packages/d1/7c/ef71d5988bf4588d298a3b5cbf6ae50621dad4e291f471b5c653ef95b4b8/casadi-3.6.7-cp312-none-win_amd64.whl", hash = "sha256:7f65e7444ddb15f521e0dc5d61b2557054e264de1dea8d9990235336d3e80247", size = 44690057 },
-    { url = "https://files.pythonhosted.org/packages/14/da/e93f10d8c75f7886bf607f7d84b1fabc819c15eb71f63f2423c514259d05/casadi-3.6.7-cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:6b6240fcd207aa154867a09bb830d3067d0e55808fbaef8c4c0e24c55b6905b4", size = 44955450 },
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From c719d06b565aaca164136c30c8d0e9c517b786c8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 18 Oct 2024 17:34:50 -0500
Subject: [PATCH 0829/1243] bump opendbc (#33815)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 3fc9bdb8c9..2f4fe0ca7c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 3fc9bdb8c939260134367ea9a077cdb90c338710
+Subproject commit 2f4fe0ca7c754be90dc5c12976b277cd2c7ff6c2

From 0ec1c8707bb837f70963bb04636963d9a356a3e2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 18 Oct 2024 16:32:31 -0700
Subject: [PATCH 0830/1243] bump panda to fix master-ci (#33817)

bump panda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index abdc41856b..9aec4294cc 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit abdc41856b62cc269e63374354f132dc168c28b4
+Subproject commit 9aec4294cc940964a5b2fa34aa83301ab408b377

From c9f7e39d37e5ce228069d22547a62e5838ce5fd6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 18 Oct 2024 19:12:43 -0700
Subject: [PATCH 0831/1243] jenkins: fix files diff (#33819)

* fix diff

* better

* print

* clean

* this is groovy
---
 Jenkinsfile | 29 +++++++----------------------
 1 file changed, 7 insertions(+), 22 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 42db027f32..737c68588c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -81,6 +81,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
+    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename', label: 'Getting changes'
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
@@ -91,9 +92,9 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            if (branch != "master" && item.size() == 3 && !hasPathChanged(item[2])) {
+            if (branch != "master" && item.size() == 3 && !hasPathChanged(gitDiff, item[2])) {
               println "Skipping ${item[0]}: no changes in ${item[2]}."
-              return;
+              return
             } else {
               device(device_ip, item[0], item[1])
             }
@@ -104,29 +105,13 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
-@NonCPS
-def hasPathChanged(List<String> paths) {
-  changedFiles = []
-  for (changeLogSet in currentBuild.changeSets) {
-    for (entry in changeLogSet.getItems()) {
-      for (file in entry.getAffectedFiles()) {
-        changedFiles.add(file.getPath())
-      }
-    }
-  }
-
-  env.CHANGED_FILES = changedFiles.join(" ")
-  if (currentBuild.number > 1) {
-    env.CHANGED_FILES += currentBuild.previousBuild.getBuildVariables().get("CHANGED_FILES")
-  }
-
+def hasPathChanged(String gitDiff, List<String> paths) {
   for (path in paths) {
-    if (env.CHANGED_FILES.contains(path)) {
-      return true;
+    if (gitDiff.contains(path)) {
+      return true
     }
   }
-
-  return false;
+  return false
 }
 
 def setupCredentials() {

From debd71ebec37e789473ce16bdb76bf3ab79c3472 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 19 Oct 2024 12:32:43 +0800
Subject: [PATCH 0832/1243] replay: replace QCommandLineParser with getopt for
 command-line argument parsing. (#33812)

* use getopt

* fix -h

* show help if no args are provided
---
 tools/replay/main.cc | 180 ++++++++++++++++++++++++++++++-------------
 1 file changed, 125 insertions(+), 55 deletions(-)

diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index a0c072438d..0bf7cc3423 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,83 +1,153 @@
+#include <getopt.h>
+
 #include <QApplication>
-#include <QCommandLineParser>
+#include <iostream>
+#include <map>
+#include <string>
 
 #include "common/prefix.h"
 #include "tools/replay/consoleui.h"
 #include "tools/replay/replay.h"
 
-int main(int argc, char *argv[]) {
-#ifdef __APPLE__
-  // With all sockets opened, we might hit the default limit of 256 on macOS
-  util::set_file_descriptor_limit(1024);
-#endif
+const std::string helpText =
+R"(Usage: replay [options]
+Options:
+  -a, --allow        Whitelist of services to send
+  -b, --block        Blacklist of services to send
+  -c, --cache        Cache <n> segments in memory. Default is 5
+  -s, --start        Start from <seconds>
+  -x, --playback     Playback <speed>
+      --demo         Use a demo route instead of providing your own
+  -d, --data_dir     Local directory with routes
+  -p, --prefix       Set OPENPILOT_PREFIX
+      --dcam         Load driver camera
+      --ecam         Load wide road camera
+      --no-loop      Stop at the end of the route
+      --no-cache     Turn off local cache
+      --qcam         Load qcamera
+      --no-hw-decoder Disable HW video decoding
+      --no-vipc      Do not output video
+      --all          Output all messages including uiDebug, userFlag
+  -h, --help         Show this help message
+)";
 
-  QCoreApplication app(argc, argv);
+struct ReplayConfig {
+  QString route;
+  QStringList allow;
+  QStringList block;
+  QString data_dir;
+  std::string prefix;
+  uint32_t flags = REPLAY_FLAG_NONE;
+  int start_seconds = 0;
+  int cache_segments = -1;
+  float playback_speed = -1;
+};
+
+bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
+  const struct option cli_options[] = {
+      {"allow", required_argument, nullptr, 'a'},
+      {"block", required_argument, nullptr, 'b'},
+      {"cache", required_argument, nullptr, 'c'},
+      {"start", required_argument, nullptr, 's'},
+      {"playback", required_argument, nullptr, 'x'},
+      {"demo", no_argument, nullptr, 0},
+      {"data_dir", required_argument, nullptr, 'd'},
+      {"prefix", required_argument, nullptr, 'p'},
+      {"dcam", no_argument, nullptr, 0},
+      {"ecam", no_argument, nullptr, 0},
+      {"no-loop", no_argument, nullptr, 0},
+      {"no-cache", no_argument, nullptr, 0},
+      {"qcam", no_argument, nullptr, 0},
+      {"no-hw-decoder", no_argument, nullptr, 0},
+      {"no-vipc", no_argument, nullptr, 0},
+      {"all", no_argument, nullptr, 0},
+      {"help", no_argument, nullptr, 'h'},
+      {nullptr, 0, nullptr, 0},  // Terminating entry
+  };
 
-  const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
-      {"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
-      {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
-      {"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
-      {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
-      {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
-      {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
-      {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
-      {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag"
-                                        ". this may causes issues when used along with UI"}
+  const std::map<std::string, REPLAY_FLAGS> flag_map = {
+      {"dcam", REPLAY_FLAG_DCAM},
+      {"ecam", REPLAY_FLAG_ECAM},
+      {"no-loop", REPLAY_FLAG_NO_LOOP},
+      {"no-cache", REPLAY_FLAG_NO_FILE_CACHE},
+      {"qcam", REPLAY_FLAG_QCAMERA},
+      {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER},
+      {"no-vipc", REPLAY_FLAG_NO_VIPC},
+      {"all", REPLAY_FLAG_ALL_SERVICES},
   };
 
-  QCommandLineParser parser;
-  parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
-  parser.addHelpOption();
-  parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
-  parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
-  parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
-  parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
-  parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
-  parser.addOption({"x", QString("playback <speed>. between %1 - %2")
-                        .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
-  parser.addOption({"demo", "use a demo route instead of providing your own"});
-  parser.addOption({"data_dir", "local directory with routes", "data_dir"});
-  parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
-  for (auto &[name, _, desc] : flags) {
-    parser.addOption({name, desc});
+  if (argc == 1) {
+    std::cout << helpText;
+    return false;
   }
 
-  parser.process(app);
-  const QStringList args = parser.positionalArguments();
-  if (args.empty() && !parser.isSet("demo")) {
-    parser.showHelp();
+  int opt, option_index = 0;
+  while ((opt = getopt_long(argc, argv, "a:b:c:s:x:d:p:h", cli_options, &option_index)) != -1) {
+    switch (opt) {
+      case 'a': config.allow = QString(optarg).split(","); break;
+      case 'b': config.block = QString(optarg).split(","); break;
+      case 'c': config.cache_segments = std::atoi(optarg); break;
+      case 's': config.start_seconds = std::atoi(optarg); break;
+      case 'x': config.playback_speed = std::atof(optarg); break;
+      case 'd': config.data_dir = optarg; break;
+      case 'p': config.prefix = optarg; break;
+      case 0: {
+        std::string name = cli_options[option_index].name;
+        if (name == "demo") {
+          config.route = DEMO_ROUTE;
+        } else {
+          config.flags |= flag_map.at(name);
+        }
+        break;
+      }
+      case 'h': std::cout << helpText; return false;
+      default: return false;
+    }
   }
 
-  const QString route = args.empty() ? DEMO_ROUTE : args.first();
-  QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
-  QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
+  // Check for a route name (first positional argument)
+  if (config.route.isEmpty() && optind < argc) {
+    config.route = argv[optind];
+  }
 
-  uint32_t replay_flags = REPLAY_FLAG_NONE;
-  for (const auto &[name, flag, _] : flags) {
-    if (parser.isSet(name)) {
-      replay_flags |= flag;
-    }
+  if (config.route.isEmpty()) {
+    std::cerr << "No route provided. Use --help for usage information.\n";
+    return false;
+  }
+
+  return true;
+}
+
+int main(int argc, char *argv[]) {
+#ifdef __APPLE__
+  // With all sockets opened, we might hit the default limit of 256 on macOS
+  util::set_file_descriptor_limit(1024);
+#endif
+
+  QCoreApplication app(argc, argv);
+  ReplayConfig config;
+
+  if (!parseArgs(argc, argv, config)) {
+    return 1;
   }
 
   std::unique_ptr<OpenpilotPrefix> op_prefix;
-  auto prefix = parser.value("prefix");
-  if (!prefix.isEmpty()) {
-    op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
+  if (!config.prefix.empty()) {
+    op_prefix = std::make_unique<OpenpilotPrefix>(config.prefix);
   }
 
-  Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
-  if (!parser.value("c").isEmpty()) {
-    replay->setSegmentCacheLimit(parser.value("c").toInt());
+  Replay *replay = new Replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, &app);
+  if (config.cache_segments > 0) {
+    replay->setSegmentCacheLimit(config.cache_segments);
   }
-  if (!parser.value("x").isEmpty()) {
-    replay->setSpeed(std::clamp(parser.value("x").toFloat(),
-                                ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
+  if (config.playback_speed > 0) {
+    replay->setSpeed(std::clamp(config.playback_speed, ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
   }
   if (!replay->load()) {
-    return 0;
+    return 1;
   }
 
   ConsoleUI console_ui(replay);
-  replay->start(parser.value("start").toInt());
+  replay->start(config.start_seconds);
   return app.exec();
 }

From 30853a2c413f4bad4abbf63dfdccc674994a13cd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 20 Oct 2024 03:29:15 +0800
Subject: [PATCH 0833/1243] replay: replace Qt data types with standard C++
 data types (#33823)

replace Qt data types with c++ data types
---
 tools/cabana/streams/replaystream.cc |  6 +-
 tools/cabana/streams/replaystream.h  |  2 +-
 tools/replay/consoleui.cc            |  2 +-
 tools/replay/main.cc                 | 18 +++---
 tools/replay/replay.cc               | 49 +++++++++-------
 tools/replay/replay.h                |  6 +-
 tools/replay/route.cc                | 84 ++++++++++++++++------------
 tools/replay/route.h                 | 30 +++++-----
 tools/replay/tests/test_replay.cc    |  8 +--
 tools/replay/util.cc                 | 30 ++++++++++
 tools/replay/util.h                  |  5 ++
 11 files changed, 148 insertions(+), 92 deletions(-)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 293b363532..18b0317d46 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -49,8 +49,8 @@ void ReplayStream::mergeSegments() {
 }
 
 bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
-  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir, this));
+  replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir.toStdString(), this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
@@ -153,7 +153,7 @@ AbstractStream *OpenReplayWidget::open() {
     route = route.mid(idx + 1);
   }
 
-  bool is_valid_format = Route::parseRoute(route).str.size() > 0;
+  bool is_valid_format = Route::parseRoute(route.toStdString()).str.size() > 0;
   if (!is_valid_format) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
   } else {
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 25d6ef4a72..2a9f343645 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -20,7 +20,7 @@ public:
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
-  inline QString routeName() const override { return replay->route()->name(); }
+  inline QString routeName() const override { return QString::fromStdString(replay->route()->name()); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 21ca0ad74b..5d2cf409d9 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -247,7 +247,7 @@ void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) {
 
 void ConsoleUI::updateSummary() {
   const auto &route = replay->route();
-  mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", qPrintable(route->name()), route->segments().size());
+  mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", route->name().c_str(), route->segments().size());
   mvwprintw(w[Win::Stats], 1, 0, "Car Fingerprint: %s", replay->carFingerprint().c_str());
   wrefresh(w[Win::Stats]);
 }
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 0bf7cc3423..4e11ddb583 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -4,10 +4,12 @@
 #include <iostream>
 #include <map>
 #include <string>
+#include <vector>
 
 #include "common/prefix.h"
 #include "tools/replay/consoleui.h"
 #include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 const std::string helpText =
 R"(Usage: replay [options]
@@ -32,10 +34,10 @@ Options:
 )";
 
 struct ReplayConfig {
-  QString route;
-  QStringList allow;
-  QStringList block;
-  QString data_dir;
+  std::string route;
+  std::vector<std::string> allow;
+  std::vector<std::string> block;
+  std::string data_dir;
   std::string prefix;
   uint32_t flags = REPLAY_FLAG_NONE;
   int start_seconds = 0;
@@ -84,8 +86,8 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
   int opt, option_index = 0;
   while ((opt = getopt_long(argc, argv, "a:b:c:s:x:d:p:h", cli_options, &option_index)) != -1) {
     switch (opt) {
-      case 'a': config.allow = QString(optarg).split(","); break;
-      case 'b': config.block = QString(optarg).split(","); break;
+      case 'a': config.allow = split(optarg, ','); break;
+      case 'b': config.block = split(optarg, ','); break;
       case 'c': config.cache_segments = std::atoi(optarg); break;
       case 's': config.start_seconds = std::atoi(optarg); break;
       case 'x': config.playback_speed = std::atof(optarg); break;
@@ -106,11 +108,11 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
   }
 
   // Check for a route name (first positional argument)
-  if (config.route.isEmpty() && optind < argc) {
+  if (config.route.empty() && optind < argc) {
     config.route = argv[optind];
   }
 
-  if (config.route.isEmpty()) {
+  if (config.route.empty()) {
     std::cerr << "No route provided. Use --help for usage information.\n";
     return false;
   }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 34dd33bc1a..a0ae90c079 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -11,36 +11,43 @@
 
 static void interrupt_sleep_handler(int signal) {}
 
-Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_,
-               uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
+Replay::Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block, SubMaster *sm_,
+               uint32_t flags, const std::string &data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
   // Register signal handler for SIGUSR1
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
-    block << "uiDebug" << "userFlag";
+    block.insert(block.end(), {"uiDebug", "userFlag"});
   }
-  auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
-  sockets_.resize(event_struct.getUnionFields().size());
+
+  auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
+  sockets_.resize(event_schema.getUnionFields().size());
+  std::vector<std::string> active_services;
+
   for (const auto &[name, _] : services) {
-    if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) {
-      uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue();
+    bool in_block = std::find(block.begin(), block.end(), name) != block.end();
+    bool in_allow = std::find(allow.begin(), allow.end(), name) != allow.end();
+    if (!in_block && (allow.empty() || in_allow)) {
+      uint16_t which = event_schema.getFieldByName(name).getProto().getDiscriminantValue();
       sockets_[which] = name.c_str();
+      active_services.push_back(name);
     }
   }
-  if (!allow.isEmpty()) {
+
+  if (!allow.empty()) {
     for (int i = 0; i < sockets_.size(); ++i) {
       filters_.push_back(i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
     }
   }
 
-  std::vector<const char *> s;
-  std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s),
-               [](const char *name) { return name != nullptr; });
-  qDebug() << "services " << s;
-  qDebug() << "loading route " << route;
+  rInfo("active services: %s", join(active_services, ',').c_str());
+  rInfo("loading route %s", route.c_str());
 
   if (sm == nullptr) {
-    pm = std::make_unique<PubMaster>(s);
+    std::vector<const char *> socket_names;
+    std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(socket_names),
+                 [](const char *name) { return name != nullptr; });
+    pm = std::make_unique<PubMaster>(socket_names);
   }
   route_ = std::make_unique<Route>(route, data_dir);
 }
@@ -68,23 +75,23 @@ void Replay::stop() {
 
 bool Replay::load() {
   if (!route_->load()) {
-    qCritical() << "failed to load route" << route_->name()
-                << "from" << (route_->dir().isEmpty() ? "server" : route_->dir());
+    rError("failed to load route %s from %s", route_->name().c_str(),
+           route_->dir().empty() ? "server" : route_->dir().c_str());
     return false;
   }
 
   for (auto &[n, f] : route_->segments()) {
-    bool has_log = !f.rlog.isEmpty() || !f.qlog.isEmpty();
-    bool has_video = !f.road_cam.isEmpty() || !f.qcamera.isEmpty();
+    bool has_log = !f.rlog.empty() || !f.qlog.empty();
+    bool has_video = !f.road_cam.empty() || !f.qcamera.empty();
     if (has_log && (has_video || hasFlag(REPLAY_FLAG_NO_VIPC))) {
       segments_.insert({n, nullptr});
     }
   }
   if (segments_.empty()) {
-    qCritical() << "no valid segments in route" << route_->name();
+    rInfo("no valid segments in route: %s", route_->name().c_str());
     return false;
   }
-  rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size());
+  rInfo("load route %s with %zu valid segments", route_->name().c_str(), segments_.size());
   max_seconds_ = (segments_.rbegin()->first + 1) * 60;
   return true;
 }
@@ -167,7 +174,7 @@ void Replay::buildTimeline() {
   const auto &route_segments = route_->segments();
   for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
     std::shared_ptr<LogReader> log(new LogReader());
-    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
+    if (!log->load(it->second.qlog, &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
 
     std::vector<std::tuple<double, double, TimelineType>> timeline;
     for (const Event &e : log->events) {
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index ac829ffb71..8d2e07ba5b 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -15,7 +15,7 @@
 #include "tools/replay/camera.h"
 #include "tools/replay/route.h"
 
-const QString DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19";
+#define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
 
 // one segment uses about 100M of memory
 constexpr int MIN_SEGMENTS_CACHE = 5;
@@ -49,8 +49,8 @@ class Replay : public QObject {
   Q_OBJECT
 
 public:
-  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
-         uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
+  Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block, SubMaster *sm = nullptr,
+         uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
   RouteLoadError lastRouteError() const { return route_->lastError(); }
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index c1e65526cf..e298b88b79 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,35 +4,44 @@
 #include <QEventLoop>
 #include <QJsonArray>
 #include <QJsonDocument>
-#include <QRegularExpression>
 #include <QtConcurrent>
 #include <array>
+#include <filesystem>
+#include <regex>
 
 #include "selfdrive/ui/qt/api.h"
 #include "system/hardware/hw.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
-Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) {
+Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) {
   route_ = parseRoute(route);
 }
 
-RouteIdentifier Route::parseRoute(const QString &str) {
+RouteIdentifier Route::parseRoute(const std::string &str) {
   RouteIdentifier identifier = {};
-  QRegularExpression rx(R"(^((?<dongle_id>[a-z0-9]{16})[|_/])?(?<timestamp>.{20})((?<separator>--|/)(?<range>((-?\d+(:(-?\d+)?)?)|(:-?\d+))))?$)");
-  if (auto match = rx.match(str); match.hasMatch()) {
-    identifier.dongle_id = match.captured("dongle_id");
-    identifier.timestamp = match.captured("timestamp");
+  static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)");
+  std::smatch match;
+
+  if (std::regex_match(str, match, pattern)) {
+    identifier.dongle_id = match[2].str();
+    identifier.timestamp = match[3].str();
     identifier.str = identifier.dongle_id + "|" + identifier.timestamp;
-    auto range_str = match.captured("range");
-    if (auto separator = match.captured("separator"); separator == "/" && !range_str.isEmpty()) {
-      auto range = range_str.split(":");
-      identifier.begin_segment = identifier.end_segment = range[0].toInt();
-      if (range.size() == 2) {
-        identifier.end_segment = range[1].isEmpty() ? -1 : range[1].toInt();
+
+    const auto separator = match[5].str();
+    const auto range_str = match[6].str();
+    if (!range_str.empty()) {
+      if (separator == "/") {
+        int pos = range_str.find(':');
+        int begin_seg = std::stoi(range_str.substr(0, pos));
+        identifier.begin_segment = identifier.end_segment = begin_seg;
+        if (pos != std::string::npos) {
+          auto end_seg_str = range_str.substr(pos + 1);
+          identifier.end_segment = end_seg_str.empty() ? -1 : std::stoi(end_seg_str);
+        }
+      } else if (separator == "--") {
+        identifier.begin_segment = std::atoi(range_str.c_str());
       }
-    } else if (separator == "--") {
-      identifier.begin_segment = range_str.toInt();
     }
   }
   return identifier;
@@ -40,12 +49,12 @@ RouteIdentifier Route::parseRoute(const QString &str) {
 
 bool Route::load() {
   err_ = RouteLoadError::None;
-  if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
+  if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) {
     rInfo("invalid route format");
     return false;
   }
-  date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss");
-  bool ret = data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
+  date_time_ = QDateTime::fromString(route_.timestamp.c_str(), "yyyy-MM-dd--HH-mm-ss");
+  bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal();
   if (ret) {
     if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first;
     if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first;
@@ -69,7 +78,7 @@ bool Route::loadFromServer(int retries) {
       result = json;
       loop.exit((int)err);
     });
-    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files");
+    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files");
     auto err = (QNetworkReply::NetworkError)loop.exec();
     if (err == QNetworkReply::NoError) {
       return loadFromJson(result);
@@ -96,7 +105,7 @@ bool Route::loadFromJson(const QString &json) {
     for (const auto &url : value.toArray()) {
       QString url_str = url.toString();
       if (rx.indexIn(url_str) != -1) {
-        addFileToSegment(rx.cap(1).toInt(), url_str);
+        addFileToSegment(rx.cap(1).toInt(), url_str.toStdString());
       }
     }
   }
@@ -104,23 +113,26 @@ bool Route::loadFromJson(const QString &json) {
 }
 
 bool Route::loadFromLocal() {
-  QDirIterator it(data_dir_, {QString("%1--*").arg(route_.timestamp)}, QDir::Dirs | QDir::NoDotAndDotDot);
-  while (it.hasNext()) {
-    QString segment = it.next();
-    const int seg_num = segment.mid(segment.lastIndexOf("--") + 2).toInt();
-    QDir segment_dir(segment);
-    for (const auto &f : segment_dir.entryList(QDir::Files)) {
-      addFileToSegment(seg_num, segment_dir.absoluteFilePath(f));
+  std::string pattern = route_.timestamp + "--";
+  for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) {
+    if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) {
+      std::string segment = entry.path().string();
+      int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str());
+
+      for (const auto &file : std::filesystem::directory_iterator(segment)) {
+        if (file.is_regular_file()) {
+          addFileToSegment(seg_num, file.path().string());
+        }
+      }
     }
   }
   return !segments_.empty();
 }
 
-void Route::addFileToSegment(int n, const QString &file) {
-  QString name = QUrl(file).fileName();
-
-  const int pos = name.lastIndexOf("--");
-  name = pos != -1 ? name.mid(pos + 2) : name;
+void Route::addFileToSegment(int n, const std::string &file) {
+  std::string name = extractFileName(file);
+  auto pos = name.find_last_of("--");
+  name = pos != std::string::npos ? name.substr(pos + 2) : name;
 
   if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
     segments_[n].rlog = file;
@@ -143,15 +155,15 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vec
     : seg_num(n), flags(flags), filters_(filters) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
-      (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam,
+      (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam,
       flags & REPLAY_FLAG_DCAM ? files.driver_cam : "",
       flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "",
-      files.rlog.isEmpty() ? files.qlog : files.rlog,
+      files.rlog.empty() ? files.qlog : files.rlog,
   };
   for (int i = 0; i < file_list.size(); ++i) {
-    if (!file_list[i].isEmpty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) {
+    if (!file_list[i].empty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) {
       ++loading_;
-      synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i].toStdString()));
+      synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i]));
     }
   }
 }
diff --git a/tools/replay/route.h b/tools/replay/route.h
index acc73d509a..9c1cc37e2a 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -21,42 +21,42 @@ enum class RouteLoadError {
 };
 
 struct RouteIdentifier {
-  QString dongle_id;
-  QString timestamp;
+  std::string dongle_id;
+  std::string timestamp;
   int begin_segment = 0;
   int end_segment = -1;
-  QString str;
+  std::string str;
 };
 
 struct SegmentFile {
-  QString rlog;
-  QString qlog;
-  QString road_cam;
-  QString driver_cam;
-  QString wide_road_cam;
-  QString qcamera;
+  std::string rlog;
+  std::string qlog;
+  std::string road_cam;
+  std::string driver_cam;
+  std::string wide_road_cam;
+  std::string qcamera;
 };
 
 class Route {
 public:
-  Route(const QString &route, const QString &data_dir = {});
+  Route(const std::string &route, const std::string &data_dir = {});
   bool load();
   RouteLoadError lastError() const { return err_; }
-  inline const QString &name() const { return route_.str; }
+  inline const std::string &name() const { return route_.str; }
   inline const QDateTime datetime() const { return date_time_; }
-  inline const QString &dir() const { return data_dir_; }
+  inline const std::string &dir() const { return data_dir_; }
   inline const RouteIdentifier &identifier() const { return route_; }
   inline const std::map<int, SegmentFile> &segments() const { return segments_; }
   inline const SegmentFile &at(int n) { return segments_.at(n); }
-  static RouteIdentifier parseRoute(const QString &str);
+  static RouteIdentifier parseRoute(const std::string &str);
 
 protected:
   bool loadFromLocal();
   bool loadFromServer(int retries = 3);
   bool loadFromJson(const QString &json);
-  void addFileToSegment(int seg_num, const QString &file);
+  void addFileToSegment(int seg_num, const std::string &file);
   RouteIdentifier route_ = {};
-  QString data_dir_;
+  std::string data_dir_;
   std::map<int, SegmentFile> segments_;
   QDateTime date_time_;
   RouteLoadError err_ = RouteLoadError::None;
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 3e5bfdf984..2fe468e726 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -122,12 +122,12 @@ std::string download_demo_route() {
     assert(remote_route.load());
 
     // Create a local route from remote for testing
-    const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
+    const std::string route_name = std::string(DEMO_ROUTE).substr(17);
     for (int i = 0; i < 2; ++i) {
       std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
       util::create_directories(log_path, 0755);
-      REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
-      REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+      REQUIRE(download_to_file(remote_route.at(i).rlog, log_path + "rlog.bz2"));
+      REQUIRE(download_to_file(remote_route.at(i).qcamera, log_path + "qcamera.ts"));
     }
   }
 
@@ -139,7 +139,7 @@ TEST_CASE("Local route") {
   std::string data_dir = download_demo_route();
 
   auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
-  Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
+  Route route(DEMO_ROUTE, data_dir);
   REQUIRE(route.load());
   REQUIRE(route.segments().size() == 2);
   for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 0ae0c05f9b..91f6af4f84 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -14,6 +14,7 @@
 #include <map>
 #include <mutex>
 #include <numeric>
+#include <sstream>
 #include <utility>
 #include <zstd.h>
 
@@ -390,6 +391,35 @@ std::string sha256(const std::string &str) {
   return util::hexdump(hash, SHA256_DIGEST_LENGTH);
 }
 
+std::vector<std::string> split(std::string_view source, char delimiter) {
+  std::vector<std::string> fields;
+  size_t last = 0;
+  for (size_t i = 0; i < source.length(); ++i) {
+    if (source[i] == delimiter) {
+      fields.emplace_back(source.substr(last, i - last));
+      last = i + 1;
+    }
+  }
+  fields.emplace_back(source.substr(last));
+  return fields;
+}
+
+std::string join(const std::vector<std::string> &elements, char separator) {
+  std::ostringstream oss;
+  for (size_t i = 0; i < elements.size(); ++i) {
+    if (i != 0) oss << separator;
+    oss << elements[i];
+  }
+  return oss.str();
+}
+
+std::string extractFileName(const std::string &file) {
+  size_t queryPos = file.find_first_of("?");
+  std::string path = (queryPos != std::string::npos) ? file.substr(0, queryPos) : file;
+  size_t lastSlash = path.find_last_of("/\\");
+  return (lastSlash != std::string::npos) ? path.substr(lastSlash + 1) : path;
+}
+
 // MonotonicBuffer
 
 void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
diff --git a/tools/replay/util.h b/tools/replay/util.h
index d6c26a3471..317b964181 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -4,6 +4,8 @@
 #include <deque>
 #include <functional>
 #include <string>
+#include <string_view>
+#include <vector>
 #include "cereal/messaging/messaging.h"
 
 enum CameraType {
@@ -57,3 +59,6 @@ typedef std::function<void(uint64_t cur, uint64_t total, bool success)> Download
 void installDownloadProgressHandler(DownloadProgressHandler);
 bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
 std::string formattedDataSize(size_t size);
+std::vector<std::string> split(std::string_view source, char delimiter);
+std::string join(const std::vector<std::string> &elements, char separator);
+std::string extractFileName(const std::string& file);

From 371f60413ae40555fe275dd6798764de8bc933ab Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 21 Oct 2024 04:08:24 +0800
Subject: [PATCH 0834/1243] replay: refactor ConsoleUI to remove Qt dependency
 (#33826)

Refactor ConsoleUI to remove Qt dependency
---
 tools/replay/consoleui.cc | 91 +++++++++++++++++++++------------------
 tools/replay/consoleui.h  | 38 +++++++---------
 tools/replay/main.cc      |  2 +-
 tools/replay/replay.h     |  5 +--
 4 files changed, 66 insertions(+), 70 deletions(-)

diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 5d2cf409d9..42c7238f7a 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -7,6 +7,7 @@
 
 #include <QApplication>
 
+#include "common/ratekeeper.h"
 #include "common/util.h"
 #include "common/version.h"
 
@@ -57,7 +58,7 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold
 
 }  // namespace
 
-ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) {
+ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "liveParameters"}) {
   // Initialize curses
   initscr();
   clear();
@@ -80,24 +81,16 @@ ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"car
 
   initWindows();
 
-  qRegisterMetaType<uint64_t>("uint64_t");
-  qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
   installMessageHandler([this](ReplyMsgType type, const std::string msg) {
-    emit logMessageSignal(type, QString::fromStdString(msg));
+    std::scoped_lock lock(mutex);
+    logs.emplace_back(type, msg);
   });
   installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
-    emit updateProgressBarSignal(cur, total, success);
+    std::scoped_lock lock(mutex);
+    progress_cur = cur;
+    progress_total = total;
+    download_success = success;
   });
-
-  QObject::connect(replay, &Replay::streamStarted, this, &ConsoleUI::updateSummary);
-  QObject::connect(&notifier, SIGNAL(activated(int)), SLOT(readyRead()));
-  QObject::connect(this, &ConsoleUI::updateProgressBarSignal, this, &ConsoleUI::updateProgressBar);
-  QObject::connect(this, &ConsoleUI::logMessageSignal, this, &ConsoleUI::logMessage);
-
-  sm_timer.callOnTimeout(this, &ConsoleUI::updateStatus);
-  sm_timer.start(100);
-  getch_timer.start(1000, this);
-  readyRead();
 }
 
 ConsoleUI::~ConsoleUI() {
@@ -136,9 +129,7 @@ void ConsoleUI::initWindows() {
   }
 }
 
-void ConsoleUI::timerEvent(QTimerEvent *ev) {
-  if (ev->timerId() != getch_timer.timerId()) return;
-
+void ConsoleUI::updateSize() {
   if (is_term_resized(max_height, max_width)) {
     for (auto win : w) {
       if (win) delwin(win);
@@ -149,7 +140,6 @@ void ConsoleUI::timerEvent(QTimerEvent *ev) {
     initWindows();
     rWarning("resize term %dx%d", max_height, max_width);
   }
-  updateTimeline();
 }
 
 void ConsoleUI::updateStatus() {
@@ -169,12 +159,6 @@ void ConsoleUI::updateStatus() {
 
   sm.update(0);
 
-  if (status != Status::Paused) {
-    auto events = replay->events();
-    uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9;
-    bool playing = !events->empty() && events->back().mono_time > current_mono_time;
-    status = playing ? Status::Playing : Status::Waiting;
-  }
   auto [status_str, status_color] = status_text[status];
   write_item(0, 0, "STATUS:    ", status_str, "      ", false, status_color);
   std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
@@ -218,7 +202,7 @@ void ConsoleUI::displayTimelineDesc() {
   }
 }
 
-void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) {
+void ConsoleUI::logMessage(ReplyMsgType type, const std::string &msg) {
   if (auto win = w[Win::Log]) {
     Color color = Color::Default;
     if (type == ReplyMsgType::Debug) {
@@ -228,19 +212,19 @@ void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) {
     } else if (type == ReplyMsgType::Critical) {
       color = Color::Red;
     }
-    add_str(win, qPrintable(msg + "\n"), color);
+    add_str(win, (msg + "\n").c_str(), color);
     wrefresh(win);
   }
 }
 
-void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) {
+void ConsoleUI::updateProgressBar() {
   werase(w[Win::DownloadBar]);
-  if (success && cur < total) {
+  if (download_success && progress_cur < progress_total) {
     const int width = 35;
-    const float progress = cur / (double)total;
+    const float progress = progress_cur / (double)progress_total;
     const int pos = width * progress;
     wprintw(w[Win::DownloadBar], "Downloading [%s>%s]  %d%% %s", std::string(pos, '=').c_str(),
-            std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(total).c_str());
+            std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(progress_total).c_str());
   }
   wrefresh(w[Win::DownloadBar]);
 }
@@ -288,16 +272,9 @@ void ConsoleUI::updateTimeline() {
   wrefresh(win);
 }
 
-void ConsoleUI::readyRead() {
-  int c;
-  while ((c = getch()) != ERR) {
-    handleKey(c);
-  }
-}
-
 void ConsoleUI::pauseReplay(bool pause) {
   replay->pause(pause);
-  status = pause ? Status::Paused : Status::Waiting;
+  status = pause ? Status::Paused : Status::Playing;
 }
 
 void ConsoleUI::handleKey(char c) {
@@ -305,7 +282,6 @@ void ConsoleUI::handleKey(char c) {
     // pause the replay and blocking getchar()
     pauseReplay(true);
     updateStatus();
-    getch_timer.stop();
     curs_set(true);
     nodelay(stdscr, false);
 
@@ -330,7 +306,6 @@ void ConsoleUI::handleKey(char c) {
     nodelay(stdscr, true);
     curs_set(false);
     refresh();
-    getch_timer.start(1000, this);
 
   } else if (c == '+' || c == '=') {
     auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
@@ -367,7 +342,37 @@ void ConsoleUI::handleKey(char c) {
     replay->seekTo(-10, true);
   } else if (c == ' ') {
     pauseReplay(!replay->isPaused());
-  } else if (c == 'q' || c == 'Q') {
-    qApp->exit();
   }
 }
+
+int ConsoleUI::exec() {
+  RateKeeper rk("Replay", 20);
+  while (true) {
+    int c = getch();
+    if (c == 'q' || c == 'Q') {
+      break;
+    }
+    handleKey(c);
+
+    if (rk.frame() % 25) {
+      updateSize();
+      updateSummary();
+    }
+
+    updateTimeline();
+    updateStatus();
+
+    {
+      std::scoped_lock lock(mutex);
+      updateProgressBar();
+      for (auto &[type, msg] : logs) {
+        logMessage(type, msg);
+      }
+      logs.clear();
+    }
+
+    qApp->processEvents();
+    rk.keepTime();
+  }
+  return 0;
+}
diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h
index 6ed44bc623..3d4abeb458 100644
--- a/tools/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -1,21 +1,17 @@
 #pragma once
 
 #include <array>
-#include <QBasicTimer>
-#include <QObject>
-#include <QSocketNotifier>
-#include <QTimer>
-#include <QTimerEvent>
+#include <mutex>
+#include <vector>
 
 #include "tools/replay/replay.h"
 #include <ncurses.h>
 
-class ConsoleUI : public QObject {
-  Q_OBJECT
-
+class ConsoleUI {
 public:
-  ConsoleUI(Replay *replay, QObject *parent = 0);
+  ConsoleUI(Replay *replay);
   ~ConsoleUI();
+  int exec();
   inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
 
 private:
@@ -27,25 +23,21 @@ private:
   void updateSummary();
   void updateStatus();
   void pauseReplay(bool pause);
+  void updateSize();
+  void updateProgressBar();
+  void logMessage(ReplyMsgType type, const std::string &msg);
 
-  enum Status { Waiting, Playing, Paused };
+  enum Status { Playing, Paused };
   enum Win { Title, Stats, Log, LogBorder, DownloadBar, Timeline, TimelineDesc, Help, CarState, Max};
   std::array<WINDOW*, Win::Max> w{};
   SubMaster sm;
   Replay *replay;
-  QBasicTimer getch_timer;
-  QTimer sm_timer;
-  QSocketNotifier notifier{0, QSocketNotifier::Read, this};
   int max_width, max_height;
-  Status status = Status::Waiting;
-
-signals:
-  void updateProgressBarSignal(uint64_t cur, uint64_t total, bool success);
-  void logMessageSignal(ReplyMsgType type, const QString &msg);
+  Status status = Status::Playing;
 
-private slots:
-  void readyRead();
-  void timerEvent(QTimerEvent *ev);
-  void updateProgressBar(uint64_t cur, uint64_t total, bool success);
-  void logMessage(ReplyMsgType type, const QString &msg);
+  std::mutex mutex;
+  std::vector<std::pair<ReplyMsgType, std::string>> logs;
+  uint64_t progress_cur = 0;
+  uint64_t progress_total = 0;
+  bool download_success = false;
 };
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 4e11ddb583..b880e99e23 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -151,5 +151,5 @@ int main(int argc, char *argv[]) {
 
   ConsoleUI console_ui(replay);
   replay->start(config.start_seconds);
-  return app.exec();
+  return console_ui.exec();
 }
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 8d2e07ba5b..e828b369aa 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -43,6 +43,7 @@ enum class FindFlag {
 
 enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
 typedef bool (*replayEventFilter)(const Event *, void *);
+typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
 Q_DECLARE_METATYPE(std::shared_ptr<LogReader>);
 
 class Replay : public QObject {
@@ -82,8 +83,7 @@ public:
   inline double maxSeconds() const { return max_seconds_; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
-  inline const std::vector<Event> *events() const { return &events_; }
-  inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; }
+  inline const SegmentMap &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
@@ -102,7 +102,6 @@ protected slots:
   void segmentLoadFinished(bool success);
 
 protected:
-  typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
   std::optional<uint64_t> find(FindFlag flag);
   void pauseStreamThread();
   void startStream(const Segment *cur_segment);

From 3e5e2b52eae39a27092c35528489f37b67179fc1 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sun, 20 Oct 2024 13:27:08 -0700
Subject: [PATCH 0835/1243] lint: catch NOMERGE comments (#33820)

* nomerge

* Update modeld.py
---
 scripts/lint/check_nomerge_comments.sh | 10 ++++++++++
 scripts/lint/lint.sh                   |  1 +
 2 files changed, 11 insertions(+)
 create mode 100755 scripts/lint/check_nomerge_comments.sh

diff --git a/scripts/lint/check_nomerge_comments.sh b/scripts/lint/check_nomerge_comments.sh
new file mode 100755
index 0000000000..6737d62a20
--- /dev/null
+++ b/scripts/lint/check_nomerge_comments.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '\(#\|//\)\([[:space:]]*\)NOMERGE' $@; then
+  echo -e "NOMERGE comments found! Remove them before merging\n"
+  FAIL=1
+fi
+
+exit $FAIL
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 4b65e4a895..578c63cd18 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -52,6 +52,7 @@ function run_tests() {
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
+  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

From 9daec14220f6fa8ba95e57a9801d622143c8030f Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 21 Oct 2024 10:05:52 -0700
Subject: [PATCH 0836/1243] [bot] Update Python packages (#33833)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |   2 +-
 uv.lock      | 472 +++++++++++++++++++++++++--------------------------
 2 files changed, 237 insertions(+), 237 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 2f4fe0ca7c..5d258ce7c4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2f4fe0ca7c754be90dc5c12976b277cd2c7ff6c2
+Subproject commit 5d258ce7c482f1c73560f4ae762badb4eba44ca5
diff --git a/uv.lock b/uv.lock
index 244a18d9e2..c74e704dc7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -377,30 +377,30 @@ wheels = [
 
 [[package]]
 name = "coverage"
-version = "7.6.3"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/12/50/51ec496dd2ad84ca3e5f67de23f6de630be923dd6f5aed31bb60eda540e5/coverage-7.6.3.tar.gz", hash = "sha256:bb7d5fe92bd0dc235f63ebe9f8c6e0884f7360f88f3411bfed1350c872ef2054", size = 798337 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/77/8e5c0c6027ce0d06d0cb9569d372fb94247b5a49a7ef8bba288956696dcb/coverage-7.6.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c51ef82302386d686feea1c44dbeef744585da16fcf97deea2a8d6c1556f519b", size = 206698 },
-    { url = "https://files.pythonhosted.org/packages/af/ca/0fe701e0bf0ba3062466ceeccb9857caa492886375bbf6eabeab118a4dd0/coverage-7.6.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:0ca37993206402c6c35dc717f90d4c8f53568a8b80f0bf1a1b2b334f4d488fba", size = 207147 },
-    { url = "https://files.pythonhosted.org/packages/78/4c/2705183ff384b1612170b70fb716dcd24941f9c71b02860f6bbdf7f2f780/coverage-7.6.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c77326300b839c44c3e5a8fe26c15b7e87b2f32dfd2fc9fee1d13604347c9b38", size = 239085 },
-    { url = "https://files.pythonhosted.org/packages/1e/00/ada23862b99bf25218a74a116011982e20d1d4740fe4ad009c08f1090a5b/coverage-7.6.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6e484e479860e00da1f005cd19d1c5d4a813324e5951319ac3f3eefb497cc549", size = 236492 },
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 ]
 
 [[package]]

From 277f80dbad7dbdf959946b91a86768dcbffa6759 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 21 Oct 2024 10:58:19 -0700
Subject: [PATCH 0837/1243] jenkins: fix files diff on orphan branches (#33835)

diverge
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 737c68588c..64b2f05758 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -81,7 +81,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename', label: 'Getting changes'
+    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {

From 24a8c7ee1a35755489dc1b4010db7e7969ca8b30 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 21 Oct 2024 15:46:27 -0300
Subject: [PATCH 0838/1243] ssh_keys.h import not used by settings.cc (#33829)

---
 selfdrive/ui/qt/offroad/settings.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index a2b91534dd..c1f26c950e 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -13,7 +13,6 @@
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/widgets/ssh_keys.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon

From 89d5761329516f1ba320356085731e9469b6fd21 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 21 Oct 2024 14:23:44 -0700
Subject: [PATCH 0839/1243] camerad: setup IFE black level and color correction
 (#33834)

* black level

* enable cc

* seems to work

* doesnt do anything

* sensorinfo

* this is fine

* cleanup

* disable

* cleanup os

* revert

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
---
 system/camerad/SConscript              |  7 +++--
 system/camerad/cameras/camera_qcom2.cc |  9 ++++--
 system/camerad/cameras/ife.h           | 38 ++++++++++++--------------
 system/camerad/cameras/spectra.cc      |  4 +--
 system/camerad/sensors/ar0231.cc       |  8 ++++++
 system/camerad/sensors/os04c10.cc      |  8 ++++++
 system/camerad/sensors/ox03c10.cc      |  8 ++++++
 system/camerad/sensors/sensor.h        |  5 ++++
 8 files changed, 60 insertions(+), 27 deletions(-)

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index a5a39b0e11..46eacf94ef 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -2,9 +2,10 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
 libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
-camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                         'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
-env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
+if arch != "Darwin":
+  camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
+                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+  env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
   env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index c79eb29db7..192bb6c363 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,7 +12,12 @@
 #include <string>
 #include <vector>
 
+#ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
+#else
+#define CL_PRIORITY_HINT_HIGH_QCOM NULL
+#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
+#endif
 
 #include "media/cam_sensor_cmn_header.h"
 
@@ -50,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -283,7 +288,7 @@ void camerad_thread() {
 
   // *** per-cam init ***
   std::vector<std::unique_ptr<CameraState>> cams;
-  for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
+  for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) {
     auto cam = std::make_unique<CameraState>(&m, config);
     cam->init(&v, device_id, ctx);
     cams.emplace_back(std::move(cam));
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 2226353318..b4a8a130df 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -1,9 +1,12 @@
 #include "cdm.h"
 
-int build_initial_config(uint8_t *dst) {
+#include "system/camerad/cameras/tici.h"
+#include "system/camerad/sensors/sensor.h"
+
+
+int build_initial_config(uint8_t *dst, const SensorInfo *s) {
   uint8_t *start = dst;
 
-  // constants, some kind of HW quirk?
   dst += write_random(dst, {
     0x2c, 0xffffffff,
     0x30, 0xffffffff,
@@ -173,21 +176,7 @@ int build_initial_config(uint8_t *dst) {
     0x08000066,
   });
 
-  dst += write_cont(dst, 0x760, {
-    0x00800080,
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x00800080,
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x00800080,
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x00000000,
-  });
+  dst += write_cont(dst, 0x760, s->color_correct_matrix);
 
   dst += write_cont(dst, 0x794, {
     0x00000000,
@@ -655,7 +644,7 @@ int build_first_update(uint8_t *dst) {
   return dst - start;
 }
 
-int build_update(uint8_t *dst) {
+int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) {
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -708,11 +697,11 @@ int build_update(uint8_t *dst) {
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000444,
+    0x00000c04,
   });
 
   dst += write_cont(dst, 0x48, {
-    0x00000000,
+    0b10,
   });
 
   dst += write_cont(dst, 0x4c, {
@@ -763,5 +752,14 @@ int build_update(uint8_t *dst) {
     0x00000000,
   });
 
+  // *** extras, not in original dump ***
+
+  // black level scale + offset
+  dst += write_cont(dst, 0x6b0, {
+    (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0),
+    0x0,
+    0x0,
+  });
+
   return dst - start;
 }
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 39c52e0d47..09d3bc6ee3 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -495,11 +495,11 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     // stream of IFE register writes
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get());
       } else if (request_id == 1) {
         buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
       } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get());
       }
     }
 
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index db709e355a..3d74266645 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -93,6 +93,7 @@ AR0231::AR0231() {
   init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
   probe_reg_addr = 0x3000;
   probe_expected_data = 0x354;
+  bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
   frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
   mclk_frequency = 19200000; //Hz
@@ -116,6 +117,13 @@ AR0231::AR0231() {
   min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 1.0;
+
+  black_level = 168;
+  color_correct_matrix = {
+    0x000000af, 0x00000ff9, 0x00000fd8,
+    0x00000fbc, 0x000000bb, 0x00000009,
+    0x00000fb6, 0x00000fe0, 0x000000ea,
+  };
 }
 
 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index a741aaf4fe..cf68923232 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -37,6 +37,7 @@ OS04C10::OS04C10() {
   init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
   probe_reg_addr = 0x300a;
   probe_expected_data = 0x5304;
+  bits_per_pixel = 10;
   mipi_format = CAM_FORMAT_MIPI_RAW_10;
   frame_data_type = 0x2b;
   mclk_frequency = 24000000; // Hz
@@ -60,6 +61,13 @@ OS04C10::OS04C10() {
   min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
+
+  black_level = 64;
+  color_correct_matrix = {
+    0x000000c2, 0x00000fe0, 0x00000fde,
+    0x00000fa7, 0x000000d9, 0x00001000,
+    0x00000fca, 0x00000fef, 0x000000c7,
+  };
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 80b9c79212..739c1e4277 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -37,6 +37,7 @@ OX03C10::OX03C10() {
   init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10));
   probe_reg_addr = 0x300a;
   probe_expected_data = 0x5803;
+  bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
   frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
   mclk_frequency = 24000000; //Hz
@@ -60,6 +61,13 @@ OX03C10::OX03C10() {
   min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
+
+  black_level = 64;
+  color_correct_matrix = {
+    0x000000b6, 0x00000ff1, 0x00000fda,
+    0x00000fcc, 0x000000b9, 0x00000ffb,
+    0x00000fc2, 0x00000ff6, 0x000000c9,
+  };
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 0dea525347..a037942fb7 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -60,10 +60,15 @@ public:
   std::vector<i2c_random_wr_payload> start_reg_array;
   std::vector<i2c_random_wr_payload> init_reg_array;
 
+  uint32_t bits_per_pixel;
   uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
   uint32_t mipi_format;
   uint32_t mclk_frequency;
   uint32_t frame_data_type;
+
+  // ISP image processing params
+  uint32_t black_level;
+  std::vector<uint32_t> color_correct_matrix;
 };
 
 class AR0231 : public SensorInfo {

From 67ced42a15f4eda189f938e4ad7bc0df251fa40f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 21 Oct 2024 15:13:08 -0700
Subject: [PATCH 0840/1243] process_replay: longitudinalPlan migration 
 (#33832)

* migration for longitudinalPlan aTarget

* Fix file

* Fix

* Car params optional, not critical

* Save should stop too
---
 selfdrive/test/process_replay/migration.py | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 16ca239aeb..cb3db26344 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -9,6 +9,7 @@ from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 from panda import Panda
@@ -39,6 +40,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_drivingModelData,
     migrate_onroadEvents,
     migrate_driverMonitoringState,
+    migrate_longitudinalPlan,
   ]
   if manager_states:
     migrations.append(migrate_managerState)
@@ -91,6 +93,24 @@ def migration(inputs: list[str], product: str|None=None):
   return decorator
 
 
+@migration(inputs=["longitudinalPlan", "carParams"])
+def migrate_longitudinalPlan(msgs):
+  ops = []
+
+  needs_migration = all(msg.longitudinalPlan.aTarget == 0.0 for _, msg in msgs if msg.which() == 'longitudinalPlan')
+  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
+  if not needs_migration or CP is None:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() != 'longitudinalPlan':
+      continue
+    new_msg = msg.as_builder()
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(CP, msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
 @migration(inputs=["longitudinalPlan"], product="driverAssistance")
 def migrate_driverAssistance(msgs):
   add_ops = []

From 0d6baffcbfc94b5c383da361b17d4bf923114b75 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 21 Oct 2024 16:14:26 -0700
Subject: [PATCH 0841/1243] camerad: disable os HDR (#33838)

* revert hdr settings

* 12

* pv12

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/os04c10.cc          |  12 +--
 system/camerad/sensors/os04c10_cl.h        |  13 ++-
 system/camerad/sensors/os04c10_registers.h | 106 ++++++++++-----------
 3 files changed, 69 insertions(+), 62 deletions(-)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index cf68923232..dbdceb9189 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -25,10 +25,10 @@ OS04C10::OS04C10() {
   pixel_size_mm = 0.004;
   data_word = false;
 
-  hdr_offset = 64 * 2 + 8; // stagger
+  // hdr_offset = 64 * 2 + 8; // stagger
   frame_width = 1344;
-  frame_height = 760 * 2 + hdr_offset;
-  frame_stride = (frame_width * 10 / 8); // no alignment
+  frame_height = 760; //760 * 2 + hdr_offset;
+  frame_stride = (frame_width * 12 / 8); // no alignment
 
   extra_height = 0;
   frame_offset = 0;
@@ -37,9 +37,9 @@ OS04C10::OS04C10() {
   init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
   probe_reg_addr = 0x300a;
   probe_expected_data = 0x5304;
-  bits_per_pixel = 10;
-  mipi_format = CAM_FORMAT_MIPI_RAW_10;
-  frame_data_type = 0x2b;
+  bits_per_pixel = 12;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x2c;
   mclk_frequency = 24000000; // Hz
 
   dc_gain_factor = 1;
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
index 61775dcdc8..7cfc99655e 100644
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -2,8 +2,9 @@
 
 #define BGGR
 
-#define BIT_DEPTH 10
+#define BIT_DEPTH 12
 #define PV_MAX10 1023
+#define PV_MAX12 4096
 #define PV_MAX16 65536 // gamma curve is calibrated to 16bit
 #define BLACK_LVL 64
 #define VIGNETTE_RSZ 2.2545f
@@ -38,6 +39,11 @@ float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, i
   return clamp(pv*vignette_factor, 0.0, 1.0);
 }
 
+float4 normalize_pv(int4 parsed, float vignette_factor) {
+  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
 float3 color_correct(float3 rgb) {
   float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
   corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
@@ -46,10 +52,11 @@ float3 color_correct(float3 rgb) {
 }
 
 float3 apply_gamma(float3 rgb, int expo_time) {
-  float s = log2((float)expo_time);
+  return powr(rgb, 0.7);
+/*float s = log2((float)expo_time);
   if (s < 6) {s = fmin(12.0 - s, 9.0);}
   // log function adaptive to number of bits
-  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;
+  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/
 }
 
 #endif
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index d698b1311f..53e80e079f 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -8,14 +8,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x0103, 0x01},
 
   // PLL
-  {0x0301, 0x84},
+  {0x0301, 0xe4},
   {0x0303, 0x01},
-  {0x0305, 0x61},
+  {0x0305, 0xb6},
   {0x0306, 0x01},
   {0x0307, 0x17},
   {0x0323, 0x04},
   {0x0324, 0x01},
-  {0x0325, 0x7a},
+  {0x0325, 0x62},
 
   {0x3012, 0x06},
   {0x3013, 0x02},
@@ -30,40 +30,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3660, 0x04},
   {0x3666, 0xa5},
   {0x3667, 0xa5},
-  {0x366a, 0x54},
+  {0x366a, 0x50},
   {0x3673, 0x0d},
   {0x3672, 0x0d},
   {0x3671, 0x0d},
   {0x3670, 0x0d},
-  {0x3685, 0x0a},
+  {0x3685, 0x00},
   {0x3694, 0x0d},
   {0x3693, 0x0d},
   {0x3692, 0x0d},
   {0x3691, 0x0d},
   {0x3696, 0x4c},
   {0x3697, 0x4c},
-  {0x3698, 0x00},
+  {0x3698, 0x40},
   {0x3699, 0x80},
-  {0x369a, 0x80},
+  {0x369a, 0x18},
   {0x369b, 0x1f},
-  {0x369c, 0x1f},
+  {0x369c, 0x14},
   {0x369d, 0x80},
   {0x369e, 0x40},
   {0x369f, 0x21},
   {0x36a0, 0x12},
-  {0x36a1, 0xdd},
+  {0x36a1, 0x5d},
   {0x36a2, 0x66},
-  {0x370a, 0x00},
-  {0x370e, 0x00},
+  {0x370a, 0x02},
+  {0x370e, 0x0c},
   {0x3710, 0x00},
-  {0x3713, 0x04},
+  {0x3713, 0x00},
   {0x3725, 0x02},
   {0x372a, 0x03},
   {0x3738, 0xce},
-  {0x3748, 0x00},
-  {0x374a, 0x00},
-  {0x374c, 0x00},
-  {0x374e, 0x00},
+  {0x3748, 0x02},
+  {0x374a, 0x02},
+  {0x374c, 0x02},
+  {0x374e, 0x02},
   {0x3756, 0x00},
   {0x3757, 0x00},
   {0x3767, 0x00},
@@ -81,11 +81,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37ba, 0x03},
   {0x37bb, 0x00},
   {0x37bc, 0x04},
-  {0x37be, 0x26},
+  {0x37be, 0x08},
   {0x37c4, 0x11},
   {0x37c5, 0x80},
   {0x37c6, 0x14},
-  {0x37c7, 0xa8},
+  {0x37c7, 0x08},
   {0x37da, 0x11},
   {0x381f, 0x08},
   // {0x3829, 0x03},
@@ -111,7 +111,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4045, 0x7e},
   {0x4047, 0x7e},
   {0x4049, 0x7e},
-  {0x4090, 0x14},
+  {0x4090, 0x04},
   {0x40b0, 0x00},
   {0x40b1, 0x00},
   {0x40b2, 0x00},
@@ -129,7 +129,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4503, 0x00},
   {0x4504, 0x06},
   {0x4506, 0x00},
-  {0x4507, 0x57},
+  {0x4507, 0x47},
   {0x4803, 0x00},
   {0x480c, 0x32},
   {0x480e, 0x04},
@@ -139,7 +139,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4823, 0x3f},
   {0x4825, 0x30},
   {0x4833, 0x10},
-  {0x484b, 0x07},
+  {0x484b, 0x27},
   {0x488b, 0x00},
   {0x4d00, 0x04},
   {0x4d01, 0xad},
@@ -152,7 +152,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4e0d, 0x00},
 
   // ISP
-  {0x5001, 0x00},
+  {0x5001, 0x09},
   {0x5004, 0x00},
   {0x5080, 0x04},
   {0x5036, 0x80},
@@ -173,32 +173,32 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x301c, 0xf8},
   {0x301e, 0xb4},
   {0x301f, 0xf0},
-  {0x3022, 0x01},
+  {0x3022, 0x61},
   {0x3109, 0xe7},
   {0x3600, 0x00},
-  {0x3610, 0x75},
+  {0x3610, 0x65},
   {0x3611, 0x85},
   {0x3613, 0x3a},
   {0x3615, 0x60},
-  {0x3621, 0x90},
+  {0x3621, 0xb0},
   {0x3620, 0x0c},
   {0x3629, 0x00},
   {0x3661, 0x04},
   {0x3664, 0x70},
   {0x3665, 0x00},
-  {0x3681, 0x80},
-  {0x3682, 0x40},
-  {0x3683, 0x21},
-  {0x3684, 0x12},
+  {0x3681, 0xa6},
+  {0x3682, 0x53},
+  {0x3683, 0x2a},
+  {0x3684, 0x15},
   {0x3700, 0x2a},
   {0x3701, 0x12},
   {0x3703, 0x28},
   {0x3704, 0x0e},
-  {0x3706, 0x4a},
+  {0x3706, 0x9d},
   {0x3709, 0x4a},
-  {0x370b, 0xa2},
+  {0x370b, 0x48},
   {0x370c, 0x01},
-  {0x370f, 0x00},
+  {0x370f, 0x04},
   {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
@@ -206,19 +206,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3720, 0x00},
   {0x3724, 0x13},
   {0x373f, 0xb0},
-  {0x3741, 0x4a},
-  {0x3743, 0x4a},
-  {0x3745, 0x4a},
-  {0x3747, 0x4a},
-  {0x3749, 0xa2},
-  {0x374b, 0xa2},
-  {0x374d, 0xa2},
-  {0x374f, 0xa2},
+  {0x3741, 0x9d},
+  {0x3743, 0x9d},
+  {0x3745, 0x9d},
+  {0x3747, 0x9d},
+  {0x3749, 0x48},
+  {0x374b, 0x48},
+  {0x374d, 0x48},
+  {0x374f, 0x48},
   {0x3755, 0x10},
   {0x376c, 0x00},
-  {0x378d, 0x30},
-  {0x3790, 0x4a},
-  {0x3791, 0xa2},
+  {0x378d, 0x3c},
+  {0x3790, 0x01},
+  {0x3791, 0x01},
   {0x3798, 0x40},
   {0x379e, 0x00},
   {0x379f, 0x04},
@@ -278,27 +278,27 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
-  {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
 
   {0x3820, 0xb3},
-  {0x3821, 0x05},
-  {0x3880, 0x00},
+  {0x3821, 0x01},
+  {0x3880, 0x25},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
   {0x3c94, 0x45},
-  // {0x3cad, 0x00},
-  // {0x3cae, 0x00},
+  {0x3cad, 0x00},
+  {0x3cae, 0x00},
   {0x4000, 0xf3},
   {0x4001, 0x60},
-  {0x4003, 0x40},
+  {0x4003, 0x80},
   {0x4300, 0xff},
   {0x4302, 0x0f},
-  {0x4305, 0x93},
+  {0x4305, 0x83},
   {0x4505, 0x84},
   {0x4809, 0x0e},
   {0x480a, 0x04},
-  {0x4837, 0x14},
+  {0x4837, 0x15},
   {0x4c00, 0x08},
   {0x4c01, 0x08},
   {0x4c04, 0x00},
@@ -307,7 +307,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // {0x0100, 0x01},
   // {0x320d, 0x00},
   // {0x3208, 0xa0},
-  // {0x3822, 0x14},
+  {0x3822, 0x14},
 
   // initialize exposure
   {0x3503, 0x88},

From 3396c59151ffc2723422be8d034f54aa70901eff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 21 Oct 2024 19:33:48 -0500
Subject: [PATCH 0842/1243] maneuversd: auto-resume if possible (#33841)

maneuversd auto-resume
---
 tools/longitudinal_maneuvers/maneuversd.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index e627274576..b10ffa1ac0 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -168,6 +168,8 @@ def main():
     longitudinalPlan.allowThrottle = True
     longitudinalPlan.hasLead = True
 
+    longitudinalPlan.speeds = [0.2]  # triggers carControl.cruiseControl.resume in controlsd
+
     pm.send('longitudinalPlan', plan_send)
 
     assistance_send = messaging.new_message('driverAssistance')

From c78fc60d9b63e8258cd31c839d5f463b232f7b5c Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 21 Oct 2024 19:22:34 -0700
Subject: [PATCH 0843/1243] [bot] Update Python packages (#33842)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |  2 +-
 uv.lock      | 72 ++++++++++++++++++++++++++--------------------------
 2 files changed, 37 insertions(+), 37 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 5d258ce7c4..9f9a5fe56f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 5d258ce7c482f1c73560f4ae762badb4eba44ca5
+Subproject commit 9f9a5fe56ff04d0b207c3ac01afe454021ca385b
diff --git a/uv.lock b/uv.lock
index c74e704dc7..ae6f8e9b16 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5110,48 +5110,48 @@ wheels = [
 
 [[package]]
 name = "yarl"
-version = "1.15.5"
+version = "1.16.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "idna" },
     { name = "multidict" },
     { name = "propcache" },
 ]
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 ]
 
 [[package]]

From f7f15d63dc39915cfc44f33254baa11fc43adafd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 21 Oct 2024 19:55:39 -0700
Subject: [PATCH 0844/1243] CSID cropping for IFE (#33844)

* ife csid crop

* fix reg processing

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_qcom2.cc |  6 ++++--
 system/camerad/cameras/spectra.cc      | 14 +++++++++-----
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 192bb6c363..0c102051a5 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -262,7 +262,9 @@ void CameraState::run() {
     }
 
     // Process camera registers and set camera exposure
-    camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed);
+    if (camera.is_raw) {
+      camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed);
+    }
     set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 09d3bc6ee3..f7364bc954 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -589,8 +589,8 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
         .width = sensor->frame_width,
         .height = sensor->frame_height,
-        .plane_stride = stride,
-        .slice_height = y_height,
+        .plane_stride = sensor->frame_stride,
+        .slice_height = sensor->frame_height + sensor->extra_height,
       };
       io_cfg[0].format = sensor->mipi_format;
       io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;
@@ -799,9 +799,9 @@ void SpectraCamera::configISP() {
     .right_stop = sensor->frame_width - 1,
     .right_width = sensor->frame_width,
 
-    .line_start = 0,
-    .line_stop = sensor->frame_height + sensor->extra_height - 1,
-    .height = sensor->frame_height + sensor->extra_height,
+    .line_start = sensor->frame_offset,
+    .line_stop = sensor->frame_height + sensor->frame_offset - 1,
+    .height = sensor->frame_height + sensor->frame_offset,
 
     .pixel_clk = 0x0,
     .batch_size = 0x0,
@@ -821,6 +821,10 @@ void SpectraCamera::configISP() {
   };
 
   if (is_raw) {
+    in_port_info.line_start = 0;
+    in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1;
+    in_port_info.height = sensor->frame_height + sensor->extra_height;
+
     in_port_info.data[0].res_type = CAM_ISP_IFE_OUT_RES_RDI_0;
     in_port_info.data[0].format = sensor->mipi_format;
   }

From b87a52a9a09c3c2347fe9d6cda45ce70b9a2534d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 21 Oct 2024 20:13:29 -0700
Subject: [PATCH 0845/1243] all raw for now

---
 system/camerad/cameras/camera_qcom2.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 0c102051a5..fb325ac772 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);

From d26730ffd5d8ee0b84cacc55f109bf53ed0ea3b3 Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Tue, 22 Oct 2024 13:50:06 -0600
Subject: [PATCH 0846/1243] Remove steering wheel offset for planner slow down
 for curves (#33827)

* long planner: use vehicle model w/ avg steer offset for limit accel in turns

* remove unused CP in limit_accel_in_turns

* revert use of vehicle model, keeping angle offset in limit accel in turns

* only the offset fix, check valid, and fix process replay

* update refs (valid two frames later)

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/controls/lib/longitudinal_planner.py  | 3 ++-
 selfdrive/controls/plannerd.py                  | 4 ++--
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c5aaafa096..0fc8b8ef66 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -131,7 +131,8 @@ class LongitudinalPlanner:
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index ae8301871d..bcfc4d0c14 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index ef17325642..448dc6896d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -508,7 +508,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ea0c416f20..7892dd52d8 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4e595fcc2e8e4ef1564d915f697ddd9334067a7f
\ No newline at end of file
+a000c117d4082c2688735b6e21073e5df0626e63
\ No newline at end of file

From 4f8b11257e86b407fad67cff047b91d9dcee21cc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 22 Oct 2024 14:58:06 -0500
Subject: [PATCH 0847/1243] Revert "Remove steering wheel offset for planner
 slow down for curves" (#33848)

Revert "Remove steering wheel offset for planner slow down for curves (#33827)"

This reverts commit d26730ffd5d8ee0b84cacc55f109bf53ed0ea3b3.
---
 selfdrive/controls/lib/longitudinal_planner.py  | 3 +--
 selfdrive/controls/plannerd.py                  | 4 ++--
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0fc8b8ef66..c5aaafa096 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -131,8 +131,7 @@ class LongitudinalPlanner:
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
+      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index bcfc4d0c14..ae8301871d 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 448dc6896d..ef17325642 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -508,7 +508,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7892dd52d8..ea0c416f20 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a000c117d4082c2688735b6e21073e5df0626e63
\ No newline at end of file
+4e595fcc2e8e4ef1564d915f697ddd9334067a7f
\ No newline at end of file

From fc5f761fa857403f372f3aed3161b5596028e412 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 22 Oct 2024 14:41:51 -0700
Subject: [PATCH 0848/1243] camerad: setup IFE gamma correction (#33837)

* setup gamma

* ife happy

* config for sensor

* fill and clean up

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
---
 system/camerad/cameras/cdm.cc     | 14 +++++
 system/camerad/cameras/cdm.h      |  1 +
 system/camerad/cameras/ife.h      | 98 ++++---------------------------
 system/camerad/cameras/spectra.cc | 27 +++++++--
 system/camerad/cameras/spectra.h  |  6 +-
 system/camerad/sensors/ar0231.cc  | 12 ++++
 system/camerad/sensors/os04c10.cc |  4 ++
 system/camerad/sensors/ox03c10.cc |  5 ++
 system/camerad/sensors/sensor.h   |  3 +-
 9 files changed, 76 insertions(+), 94 deletions(-)

diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
index a4825a88bc..8b319bc70c 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -1,4 +1,18 @@
 #include "cdm.h"
+#include "stddef.h"
+
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
+  struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
+  cmd->cmd = CAM_CDM_CMD_DMI_32;
+  cmd->length = length - 1;
+  cmd->reserved = 0;
+  cmd->addr = 0; // gets patched in
+  cmd->DMIAddr = dmi_addr;
+  cmd->DMISel = sel;
+
+  *addr = (uint64_t)(dst + offsetof(struct cdm_dmi_cmd, addr));
+  return sizeof(struct cdm_dmi_cmd);
+}
 
 int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
   struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index 017ca55c9e..bd7a50e0ec 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -9,6 +9,7 @@
 // our helpers
 int write_random(uint8_t *dst, std::vector<uint32_t> vals);
 int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
 
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index b4a8a130df..18fbfb0067 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -4,7 +4,7 @@
 #include "system/camerad/sensors/sensor.h"
 
 
-int build_initial_config(uint8_t *dst, const SensorInfo *s) {
+int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -178,49 +178,17 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s) {
 
   dst += write_cont(dst, 0x760, s->color_correct_matrix);
 
-  dst += write_cont(dst, 0x794, {
-    0x00000000,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 568
-    .length = 511
-    .reserved = 33
-    .cmd = 11
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 24
-  */
-
+  // gamma
   dst += write_cont(dst, 0x798, {
     0x00000000,
   });
-  /* TODO
-  cdm_dmi_cmd_t 580
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 26
-  */
-  /* TODO
-  cdm_dmi_cmd_t 580
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 28
-  */
-  /* TODO
-  cdm_dmi_cmd_t 580
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 30
-  */
+  uint64_t addr;
+  dst += write_dmi(dst, &addr, 256, 0xc24, 26);  // G
+  patches.push_back(addr - (uint64_t)start);
+  dst += write_dmi(dst, &addr, 256, 0xc24, 28);  // B
+  patches.push_back(addr - (uint64_t)start);
+  dst += write_dmi(dst, &addr, 256, 0xc24, 30);  // R
+  patches.push_back(addr - (uint64_t)start);
 
   dst += write_cont(dst, 0xf30, {
     0x00750259,
@@ -517,50 +485,6 @@ int build_first_update(uint8_t *dst) {
     0x08000066,
   });
 
-  dst += write_cont(dst, 0x794, {
-    0x00000001,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 432
-    .length = 511
-    .reserved = 33
-    .cmd = 11
-    .addr = 832
-    .DMIAddr = 3108
-    .DMISel = 25
-  */
-
-  dst += write_cont(dst, 0x798, {
-    0x00000007,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 27
-  */
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 29
-  */
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 31
-  */
-
   dst += write_cont(dst, 0xd84, {
     0x000004b7,
     0x00000787,
@@ -644,7 +568,7 @@ int build_first_update(uint8_t *dst) {
   return dst - start;
 }
 
-int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) {
+int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -701,7 +625,7 @@ int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) {
   });
 
   dst += write_cont(dst, 0x48, {
-    0b10,
+    (1 << 3) | (1 << 1),
   });
 
   dst += write_cont(dst, 0x4c, {
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index f7364bc954..0f5fdd30f6 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -463,6 +463,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     * IFE = Image Front End
   */
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
+  size += sizeof(struct cam_patch_desc)*3;
   if (!init) {
     size += sizeof(struct cam_buf_io_cfg);
   }
@@ -480,6 +481,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   pkt->header.size = size;
 
   // *** cmd buf ***
+  std::vector<uint32_t> patches;
   {
     struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
     pkt->num_cmd_buf = 2;
@@ -495,11 +497,11 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     // stream of IFE register writes
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get());
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
       } else if (request_id == 1) {
         buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
       } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get());
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
     }
 
@@ -632,8 +634,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   // *** patches ***
   // sets up the kernel driver to do address translation for the IFE
   {
-    pkt->num_patches = 0;
+    pkt->num_patches = patches.size();
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
+    if (pkt->num_patches > 0) {
+      // gamma LUT
+      for (int i = 0; i < 3; i++) {
+        struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*i);
+        patch->dst_buf_hdl = ife_cmd.handle;
+        patch->src_buf_hdl = ife_gamma_lut.handle;
+        patch->dst_offset = patches[i];
+        patch->src_offset = ife_gamma_lut.size*i;
+      }
+    }
   }
 
   int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
@@ -841,10 +853,17 @@ void SpectraCamera::configISP() {
   isp_dev_handle = *isp_dev_handle_;
   LOGD("acquire isp dev");
 
-  // config IFE
+  // allocate IFE memory, then configure it
   ife_cmd.init(m, 67984, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
+  ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
+                     CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                     m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
+  for (int i = 0; i < 3; i++) {
+    memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
+  }
+
   config_ife(0, 1, true);
 }
 
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index e295c67cb9..fd2843b39e 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -74,7 +74,8 @@ public:
   void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) {
     size = s;
     alignment = a;
-    ptr = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
+    void *p = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
+    ptr = (unsigned char*)p;
     assert(ptr != NULL);
   };
 
@@ -82,7 +83,7 @@ public:
     return ALIGNED_SIZE(size, alignment);
   };
 
-  void *ptr;
+  unsigned char *ptr;
   int size, alignment, handle;
 };
 
@@ -139,6 +140,7 @@ public:
   int32_t link_handle = -1;
 
   SpectraBuf ife_cmd;
+  SpectraBuf ife_gamma_lut;
 
   SpectraBuf bps_cmd;
   SpectraBuf bps_cdm_buffer;
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 3d74266645..5b2b7445b1 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -124,6 +124,18 @@ AR0231::AR0231() {
     0x00000fbc, 0x000000bb, 0x00000009,
     0x00000fb6, 0x00000fe0, 0x000000ea,
   };
+  for (int i = 0; i < 64; i++) {
+    float fx = i / 63.0;
+    const float gamma_k = 0.75;
+    const float gamma_b = 0.125;
+    const float mp = 0.01; // ideally midpoint should be adaptive
+    const float rk = 9 - 100*mp;
+    // poly approximation for s curve
+    fx = (fx > mp) ?
+      ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
+      ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
+    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
+  }
 }
 
 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index dbdceb9189..0ec891a4c0 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -68,6 +68,10 @@ OS04C10::OS04C10() {
     0x00000fa7, 0x000000d9, 0x00001000,
     0x00000fca, 0x00000fef, 0x000000c7,
   };
+  for (int i = 0; i < 64; i++) {
+    float fx = i / 63.0;
+    gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
+  }
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 739c1e4277..04184cc99b 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -68,6 +68,11 @@ OX03C10::OX03C10() {
     0x00000fcc, 0x000000b9, 0x00000ffb,
     0x00000fc2, 0x00000ff6, 0x000000c9,
   };
+  for (int i = 0; i < 64; i++) {
+    float fx = i / 63.0;
+    fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
+    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
+  }
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index a037942fb7..2dfb4d647b 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -68,7 +68,8 @@ public:
 
   // ISP image processing params
   uint32_t black_level;
-  std::vector<uint32_t> color_correct_matrix;
+  std::vector<uint32_t> color_correct_matrix;  // 3x3
+  std::vector<uint32_t> gamma_lut_rgb;  // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
 };
 
 class AR0231 : public SensorInfo {

From fc5aed10d54ce3f2277a0b55c4d9046c0dd8ddb3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 22 Oct 2024 15:14:39 -0700
Subject: [PATCH 0849/1243] Enable IFE linearization (#33852)

* enable linearization

* fixup

* gate that

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h      | 56 ++++---------------------------
 system/camerad/cameras/spectra.cc | 29 +++++++++++-----
 system/camerad/cameras/spectra.h  |  1 +
 system/camerad/sensors/ox03c10.cc |  3 ++
 system/camerad/sensors/sensor.h   |  3 +-
 5 files changed, 34 insertions(+), 58 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 18fbfb0067..b30c0a7d2a 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -5,6 +5,7 @@
 
 
 int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
+  uint64_t addr;
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -70,6 +71,9 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x2200297f,
     0x30ff387f,
   });
+  // TODO: this is DMI64 in the dump, does that matter?
+  dst += write_dmi(dst, &addr, 288, 0xc24, 9);
+  patches.push_back(addr - (uint64_t)start);
   /* TODO
   cdm_dmi_cmd_t 248
     .length = 287
@@ -182,7 +186,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_cont(dst, 0x798, {
     0x00000000,
   });
-  uint64_t addr;
   dst += write_dmi(dst, &addr, 256, 0xc24, 26);  // G
   patches.push_back(addr - (uint64_t)start);
   dst += write_dmi(dst, &addr, 256, 0xc24, 28);  // B
@@ -295,7 +298,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000586,
+    0x00000c06,
   });
 
   dst += write_cont(dst, 0x48, {
@@ -365,51 +368,6 @@ int build_first_update(uint8_t *dst) {
     0x3c, 0xffffffff,
   });
 
-  dst += write_cont(dst, 0x4dc, {
-    0x00000001,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 184
-    .length = 287
-    .reserved = 33
-    .cmd = 11
-    .addr = 832
-    .DMIAddr = 3108
-    .DMISel = 10
-  */
-
   dst += write_cont(dst, 0x560, {
     0x00000001,
     0x04440444,
@@ -510,7 +468,7 @@ int build_first_update(uint8_t *dst) {
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000444,
+    0x00000c06,
   });
 
   dst += write_cont(dst, 0x48, {
@@ -621,7 +579,7 @@ int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std:
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000c04,
+    0x00000c06,
   });
 
   dst += write_cont(dst, 0x48, {
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 0f5fdd30f6..a03ef6766c 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -463,7 +463,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     * IFE = Image Front End
   */
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
-  size += sizeof(struct cam_patch_desc)*3;
+  size += sizeof(struct cam_patch_desc)*4;
   if (!init) {
     size += sizeof(struct cam_buf_io_cfg);
   }
@@ -637,12 +637,19 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     pkt->num_patches = patches.size();
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
     if (pkt->num_patches > 0) {
+      // linearization LUT
+      struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset);
+      patch->dst_buf_hdl = ife_cmd.handle;
+      patch->src_buf_hdl = ife_linearization_lut.handle;
+      patch->dst_offset = patches[0];
+      patch->src_offset = 0;
+
       // gamma LUT
       for (int i = 0; i < 3; i++) {
-        struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*i);
+        patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*(i+1));
         patch->dst_buf_hdl = ife_cmd.handle;
         patch->src_buf_hdl = ife_gamma_lut.handle;
-        patch->dst_offset = patches[i];
+        patch->dst_offset = patches[i+1];
         patch->src_offset = ife_gamma_lut.size*i;
       }
     }
@@ -857,11 +864,17 @@ void SpectraCamera::configISP() {
   ife_cmd.init(m, 67984, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
-  ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
-                     CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                     m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
-  for (int i = 0; i < 3; i++) {
-    memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
+  if (!is_raw) {
+    ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
+                       CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                       m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
+    for (int i = 0; i < 3; i++) {
+      memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
+    }
+    ife_linearization_lut.init(m, sensor->linearization_lut.size(), 0x20,
+                               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                               m->device_iommu, m->cdm_iommu);
+    memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size);
   }
 
   config_ife(0, 1, true);
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index fd2843b39e..9da66a0900 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -141,6 +141,7 @@ public:
 
   SpectraBuf ife_cmd;
   SpectraBuf ife_gamma_lut;
+  SpectraBuf ife_linearization_lut;
 
   SpectraBuf bps_cmd;
   SpectraBuf bps_cdm_buffer;
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 04184cc99b..b39b496bfa 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -73,6 +73,9 @@ OX03C10::OX03C10() {
     fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  for (int i = 0; i < 288; i++) {
+    linearization_lut.push_back(0xff);
+  }
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 2dfb4d647b..5cb7b686d4 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -69,7 +69,8 @@ public:
   // ISP image processing params
   uint32_t black_level;
   std::vector<uint32_t> color_correct_matrix;  // 3x3
-  std::vector<uint32_t> gamma_lut_rgb;  // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
+  std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
+  std::vector<uint32_t> linearization_lut;     // length 288
 };
 
 class AR0231 : public SensorInfo {

From cf420ed00185b12ce2d4f7012e883e45ecaa8a78 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 22 Oct 2024 18:35:04 -0700
Subject: [PATCH 0850/1243] IFE register cleanup (#33854)

* remove first update

* no duplicates

* fix build

* lil more

* lil more

* lil more

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h      | 536 +++++-------------------------
 system/camerad/cameras/spectra.cc |   4 +-
 2 files changed, 83 insertions(+), 457 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index b30c0a7d2a..85d3fe35e9 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -4,8 +4,7 @@
 #include "system/camerad/sensors/sensor.h"
 
 
-int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
-  uint64_t addr;
+int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -16,26 +15,94 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x3c, 0xffffffff,
   });
 
+  dst += write_cont(dst, 0x560, {
+    0x00000001,
+    0x04440444,
+    0x04450445,
+    0x04440444,
+    0x04450445,
+    0x000000ca,
+    0x0000009c,
+  });
+
+  // white balance
+  dst += write_cont(dst, 0x6fc, {
+    0x00800080,
+    0x00000080,
+    0x00000000,
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0x40, {
+    0x00000c04,
+  });
+
+  dst += write_cont(dst, 0x48, {
+    (1 << 3) | (1 << 1),
+  });
+
+  dst += write_cont(dst, 0x4c, {
+    0x00000019,
+  });
+
+  dst += write_cont(dst, 0xe0c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0xe2c, {
+    0x00000e00,
+  });
+
+  dst += write_cont(dst, 0x44, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xaac, {
+    0x00000000,
+  });
+
+  dst += write_cont(dst, 0xf00, {
+    0x00000000,
+  });
+
+  // black level scale + offset
+  dst += write_cont(dst, 0x6b0, {
+    (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0),
+    0x0,
+    0x0,
+  });
+
+  return dst - start;
+}
+
+
+int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
+  uint8_t *start = dst;
+
+  // start with the every frame config
+  dst += build_update(dst, s, patches);
+
+  uint64_t addr;
+
+  // setup
   dst += write_cont(dst, 0x478, {
     0x00000004,
     0x004000c0,
   });
-
   dst += write_cont(dst, 0x488, {
     0x00000000,
     0x00000000,
     0x00000f0f,
   });
-
   dst += write_cont(dst, 0x49c, {
     0x00000001,
   });
-
   dst += write_cont(dst, 0xce4, {
     0x00000000,
     0x00000000,
   });
 
+  // linearization
   dst += write_cont(dst, 0x4dc, {
     0x00000000,
     0x04050b84,
@@ -84,54 +151,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     .DMISel = 9
   */
 
-  dst += write_cont(dst, 0x560, {
-    0x00000001,
-    0x04440444,
-    0x04450445,
-    0x04440444,
-    0x04450445,
-    0x000000ca,
-    0x0000009c,
-  });
-
-  dst += write_cont(dst, 0x5e8, {
-    0x06363005,
-  });
-
-  dst += write_cont(dst, 0x5f4, {
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x3b3839a0,
-    0x003f8040,
-    0x00000000,
-    0x00000000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00000009,
-    0x00400808,
-    0x00000044,
-    0x004000a0,
-    0x0a0d00a6,
-    0x0a0d00a6,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 392
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 12
-  */
-
+  // vignetting correction
   dst += write_cont(dst, 0x6bc, {
     0x0b3c0000,
     0x00670067,
@@ -164,22 +184,16 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     .DMISel = 15
   */
 
-  dst += write_cont(dst, 0x6fc, {
-    0x00bf0080,
-    0x00000106,
-    0x00000000,
-    0x00000000,
-  });
-
+  // debayer
   dst += write_cont(dst, 0x6f8, {
     0x00000100,
   });
-
   dst += write_cont(dst, 0x71c, {
     0x00008000,
     0x08000066,
   });
 
+  // color correction
   dst += write_cont(dst, 0x760, s->color_correct_matrix);
 
   // gamma
@@ -193,6 +207,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_dmi(dst, &addr, 256, 0xc24, 30);  // R
   patches.push_back(addr - (uint64_t)start);
 
+  // YUV
   dst += write_cont(dst, 0xf30, {
     0x00750259,
     0x00000132,
@@ -208,6 +223,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x03ff0000,
   });
 
+  // TODO: remove this
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
     0x07870787,
@@ -221,7 +237,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x00000000,
     0x000004b7,
   });
-
   dst += write_cont(dst, 0xa68, {
     0x00000003,
     0x03c30787,
@@ -236,412 +251,25 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x00000787,
   });
 
-
+  // cropping
   dst += write_cont(dst, 0xe10, {
-    0x000004b7,
-    0x00000787,
+    s->frame_height - 1,
+    s->frame_width - 1,
   });
-
   dst += write_cont(dst, 0xe30, {
-    0x0000025b,
-    0x00000787,
+    s->frame_height/2 - 1,
+    s->frame_width - 1,
   });
-
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,
     0x00000016,
   });
-
   dst += write_cont(dst, 0xe38, {
     0x0ff00000,
     0x00000017,
   });
 
-  dst += write_cont(dst, 0xd84, {
-    0x000004b7,
-    0x00000787,
-  });
-
-  dst += write_cont(dst, 0xda4, {
-    0x000004b7,
-    0x00000787,
-  });
-
-  dst += write_cont(dst, 0xd60, {
-    0x04380300,
-    0x09016c7d,
-    0x021c0300,
-  });
-
-  dst += write_cont(dst, 0xd98, {
-    0x0ff00000,
-    0x00000016,
-  });
-
-  dst += write_cont(dst, 0xdb8, {
-    0x0ff00000,
-    0x00000017,
-  });
-
-  dst += write_cont(dst, 0xd6c, {
-    0x00000300,
-  });
-
-  dst += write_cont(dst, 0xd70, {
-    0x010e0f00,
-    0x09016c7d,
-    0x00870f00,
-  });
-
-  dst += write_cont(dst, 0xd7c, {
-    0x00000f00,
-  });
-
-  dst += write_cont(dst, 0x40, {
-    0x00000c06,
-  });
-
-  dst += write_cont(dst, 0x48, {
-    0x0000000e,
-  });
-
-  dst += write_cont(dst, 0x4c, {
-    0x00000019,
-  });
-
-  dst += write_cont(dst, 0xe4c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xe6c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xe0c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xe2c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xd8c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdac, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdcc, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdec, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0x44, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xaac, {
-    0x00000040,
-  });
-
-  dst += write_cont(dst, 0xf00, {
-    0x00000000,
-  });
-
-  //hexdump(start, dst - start);
-  return dst - start;
-}
-
-int build_first_update(uint8_t *dst) {
-  uint8_t *start = dst;
-
-  dst += write_random(dst, {
-    0x2c, 0xffffffff,
-    0x30, 0xffffffff,
-    0x34, 0xffffffff,
-    0x38, 0xffffffff,
-    0x3c, 0xffffffff,
-  });
-
-  dst += write_cont(dst, 0x560, {
-    0x00000001,
-    0x04440444,
-    0x04450445,
-    0x04440444,
-    0x04450445,
-    0x000000ca,
-    0x0000009c,
-  });
-
-  dst += write_cont(dst, 0x5c4, {
-    0x00000000,
-    0x00001000,
-    0x00001000,
-    0x00001000,
-    0x00001000,
-    0x00800080,
-    0x00802040,
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0x5e8, {
-    0x06363007,
-  });
-
-  dst += write_cont(dst, 0x5f4, {
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x00000000,
-    0x3b3839a0,
-    0x003f8040,
-    0x00000000,
-    0x00000000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00078000,
-    0x00000009,
-    0x00400808,
-    0x00000044,
-    0x004000a0,
-    0x0a0d00a6,
-    0x0a0d00a6,
-  });
-  /* TODO
-  cdm_dmi_cmd_t 368
-    .length = 255
-    .reserved = 33
-    .cmd = 10
-    .addr = 5344
-    .DMIAddr = 3108
-    .DMISel = 13
-  */
-
-  dst += write_cont(dst, 0x6fc, {
-    0x00800080,
-    0x00000080,
-    0x00000000,
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0x6f8, {
-    0x00000100,
-  });
-
-  dst += write_cont(dst, 0x71c, {
-    0x00008000,
-    0x08000066,
-  });
-
-  dst += write_cont(dst, 0xd84, {
-    0x000004b7,
-    0x00000787,
-  });
-
-  dst += write_cont(dst, 0xda4, {
-    0x000004b7,
-    0x00000787,
-  });
-
-  dst += write_cont(dst, 0xd6c, {
-    0x00000300,
-  });
-
-  dst += write_cont(dst, 0xd70, {
-    0x02640f00,
-    0x09016c7d,
-    0x01320f00,
-  });
-
-  dst += write_cont(dst, 0xd7c, {
-    0x00000f00,
-  });
-
-  dst += write_cont(dst, 0x40, {
-    0x00000c06,
-  });
-
-  dst += write_cont(dst, 0x48, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0x4c, {
-    0x00000019,
-  });
-
-  dst += write_cont(dst, 0xe4c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xe6c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xe0c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xe2c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xd8c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdac, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdcc, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdec, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0x44, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xaac, {
-    0x00000040,
-  });
-
-  dst += write_cont(dst, 0xf00, {
-    0x00000000,
-  });
-
   return dst - start;
 }
 
-int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std::vector<uint32_t> &patches) {
-  uint8_t *start = dst;
-
-  dst += write_random(dst, {
-    0x2c, 0xffffffff,
-    0x30, 0xffffffff,
-    0x34, 0xffffffff,
-    0x38, 0xffffffff,
-    0x3c, 0xffffffff,
-  });
-
-  dst += write_cont(dst, 0x560, {
-    0x00000001,
-    0x04440444,
-    0x04450445,
-    0x04440444,
-    0x04450445,
-    0x000000ca,
-    0x0000009c,
-  });
-
-  dst += write_cont(dst, 0x6fc, {
-    0x00800080,
-    0x00000080,
-    0x00000000,
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xd84, {
-    0x000004b7,
-    0x00000787,
-  });
-
-  dst += write_cont(dst, 0xda4, {
-    0x000004b7,
-    0x00000787,
-  });
-
-  dst += write_cont(dst, 0xd6c, {
-    0x00000300,
-  });
-
-  dst += write_cont(dst, 0xd70, {
-    0x02640f00,
-    0x09016c7d,
-    0x01320f00,
-  });
-
-  dst += write_cont(dst, 0xd7c, {
-    0x00000f00,
-  });
-
-  dst += write_cont(dst, 0x40, {
-    0x00000c06,
-  });
-
-  dst += write_cont(dst, 0x48, {
-    (1 << 3) | (1 << 1),
-  });
-
-  dst += write_cont(dst, 0x4c, {
-    0x00000019,
-  });
-
-  dst += write_cont(dst, 0xe4c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xe6c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xe0c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xe2c, {
-    0x00000e00,
-  });
-
-  dst += write_cont(dst, 0xd8c, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdac, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdcc, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xdec, {
-    0x00000000,
-  });
 
-  dst += write_cont(dst, 0x44, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xaac, {
-    0x00000040,
-  });
-
-  dst += write_cont(dst, 0xf00, {
-    0x00000000,
-  });
-
-  // *** extras, not in original dump ***
-
-  // black level scale + offset
-  dst += write_cont(dst, 0x6b0, {
-    (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0),
-    0x0,
-    0x0,
-  });
-
-  return dst - start;
-}
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index a03ef6766c..d6de08de46 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -498,10 +498,8 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     if (!is_raw) {
       if (init) {
         buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
-      } else if (request_id == 1) {
-        buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset);
       } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
       }
     }
 

From 0ff498cc83f4306714fcf5c209a715ee0d33b9fe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 22 Oct 2024 20:49:10 -0700
Subject: [PATCH 0851/1243] longitudinal_planner: allow for zero actuator delay
 (#33855)

Allow zero actuator delay
---
 selfdrive/controls/lib/longitudinal_planner.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c5aaafa096..d4352791ed 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -56,7 +56,10 @@ def get_accel_from_plan(CP, speeds, accels):
     a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
     v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    if v_target != v_target_now:
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    else:
+      a_target = a_target_now
 
     v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
   else:

From 0440c3a83b94eea3afcf6f0f194260b171dfb5b7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 15:49:10 -0500
Subject: [PATCH 0852/1243] Deprecate some controls fields (#33857)

* deprecate a field

* some more

* bump
---
 cereal/log.capnp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 0a3673208e..142d4afcb9 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -844,7 +844,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   lateralPlanMonoTime @50 :UInt64;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vTargetLead @3 :Float32;
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
@@ -853,7 +852,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   forceDecel @51 :Bool;
 
   lateralControlState :union {
-    indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
@@ -861,6 +859,7 @@ struct ControlsState @0x97ff69c53601abf1 {
 
     curvatureStateDEPRECATED @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :LateralLQRState;
+    indiStateDEPRECATED @52 :LateralINDIState;
   }
 
   struct LateralINDIState {
@@ -994,6 +993,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   startMonoTimeDEPRECATED @48 :UInt64;
   cumLagMsDEPRECATED @15 :Float32;
   aTargetDEPRECATED @35 :Float32;
+  vTargetLeadDEPRECATED @3 :Float32;
 }
 
 struct DrivingModelData {

From c473688b2b63fa7d3e64186f836bad9a7ab250a9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 16:09:39 -0500
Subject: [PATCH 0853/1243] bump opendbc (#33862)

* bump

* update docs

* update refs
---
 docs/CARS.md                             | 2 +-
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 43bd18cdcd..84efe3c041 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -68,7 +68,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 9f9a5fe56f..42848c7c73 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 9f9a5fe56ff04d0b207c3ac01afe454021ca385b
+Subproject commit 42848c7c73112752aa16350546bf3fa1a53fb1a1
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ea0c416f20..b40eed5a54 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4e595fcc2e8e4ef1564d915f697ddd9334067a7f
\ No newline at end of file
+a43b1b988601b519c7add6fb0333962a1b3864b7
\ No newline at end of file

From 0b200072423abd469540d5537e6e10ace8eeef34 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 21:07:57 -0500
Subject: [PATCH 0854/1243] longitudinal report: valid if capable of resuming
 (#33864)

.
---
 tools/longitudinal_maneuvers/generate_report.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index d38ae87d90..f038469e94 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -55,7 +55,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
 
       # maneuver validity
       longActive = [m.longActive for m in carControl]
-      maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)
+      maneuver_valid = all(longActive) and (not any(cs.cruiseState.standstill for cs in carState) or CP.autoResumeSng)
 
       _open = 'open' if maneuver_valid else ''
       title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')

From 0466d111d220b7f8ce8b702cdd36d08f0ae3c83a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 23 Oct 2024 19:08:21 -0700
Subject: [PATCH 0855/1243] camerad: set EOF based on readout time (#33859)

* camerad: set EOF based on readout time

* set ar

* debug

* set processing time

* set ox

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.cc    | 1 +
 system/camerad/cameras/camera_common.h     | 1 +
 system/camerad/cameras/spectra.cc          | 6 +++---
 system/camerad/sensors/ar0231.cc           | 2 ++
 system/camerad/sensors/ar0231_registers.h  | 2 ++
 system/camerad/sensors/ox03c10.cc          | 2 ++
 system/camerad/sensors/ox03c10_registers.h | 1 +
 system/camerad/sensors/sensor.h            | 2 ++
 8 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index bfd9e1c54b..97df4ea75f 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -114,6 +114,7 @@ bool CameraBuf::acquire(int expo_time) {
     cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
   } else {
     cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
+    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6;
   }
 
   VisionIpcBufExtra extra = {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index a30730865c..e4cdb27e71 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -15,6 +15,7 @@ typedef struct FrameMetadata {
   uint32_t request_id;
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
+  uint64_t timestamp_end_of_isp;
   float processing_time;
 } FrameMetadata;
 
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index d6de08de46..b8827e66d8 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -671,8 +671,8 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
       LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
       // TODO: handle frame drop cleanly
     }
-
-    buf.frame_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
+    buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
+    buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
     if (dp) buf.queue(i);
 
     // destroy old output fence
@@ -1083,7 +1083,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     auto &meta_data = buf.frame_metadata[buf_idx];
     meta_data.frame_id = main_id - idx_offset;
     meta_data.request_id = real_id;
-    meta_data.timestamp_sof = timestamp;
+    meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback
 
     // dispatch
     enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 5b2b7445b1..11e06de76a 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -98,6 +98,8 @@ AR0231::AR0231() {
   frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
   mclk_frequency = 19200000; //Hz
 
+  readout_time_ns = 22850000;
+
   dc_gain_factor = 2.5;
   dc_gain_min_weight = 0;
   dc_gain_max_weight = 1;
diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h
index 6c4c251e8e..e0872a673a 100644
--- a/system/camerad/sensors/ar0231_registers.h
+++ b/system/camerad/sensors/ar0231_registers.h
@@ -6,6 +6,8 @@ const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
 const struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x301A, 0x0018}, // RESET_REGISTER
 
+  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
+
   // CLOCK Settings
   // input clock is 19.2 / 2 * 0x37 = 528 MHz
   // pixclk is 528 / 6 = 88 MHz
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index b39b496bfa..b2e90c4e1d 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -42,6 +42,8 @@ OX03C10::OX03C10() {
   frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
   mclk_frequency = 24000000; //Hz
 
+  readout_time_ns = 14697000;
+
   dc_gain_factor = 7.32;
   dc_gain_min_weight = 1;  // always on is fine
   dc_gain_max_weight = 1;
diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h
index 575a2cb934..ffa0b79574 100644
--- a/system/camerad/sensors/ox03c10_registers.h
+++ b/system/camerad/sensors/ox03c10_registers.h
@@ -31,6 +31,7 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
   // delay launch group 2
   {0x3208, 0xa2},*/
 
+  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
   // PLL setup
   {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
   {0x0303, 0x01}, // pll1_prediv
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 5cb7b686d4..b4c4303b66 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -66,6 +66,8 @@ public:
   uint32_t mclk_frequency;
   uint32_t frame_data_type;
 
+  uint32_t readout_time_ns;  // used to recover EOF from SOF
+
   // ISP image processing params
   uint32_t black_level;
   std::vector<uint32_t> color_correct_matrix;  // 3x3

From 8557b0440e5127eab901dc0f72054fc06849025e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 23 Oct 2024 19:38:05 -0700
Subject: [PATCH 0856/1243] camerad: fixup IFE cropping (#33865)

* start fixing

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 85d3fe35e9..44c4bb58ef 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -226,29 +226,29 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   // TODO: remove this
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    0x07870787,
+    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
-    0x00000787,
-    0x04b704b7,
+    s->frame_width - 1,
+    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
-    0x000004b7,
+    s->frame_height - 1,
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    0x03c30787,
+    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
-    0x00000787,
-    0x025b04b7,
+    s->frame_width - 1,
+    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
-    0x00000787,
+    s->frame_height - 1,
   });
 
   // cropping

From 719c634668ae2745b705cb897e5b20a6699cf8c3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 23 Oct 2024 19:52:06 -0700
Subject: [PATCH 0857/1243] Setup IFE vignetting correction (#33853)

* vignetting

* lil more

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h      | 24 +++++---------------
 system/camerad/cameras/spectra.cc | 37 +++++++++++++++++++++----------
 system/camerad/cameras/spectra.h  |  1 +
 system/camerad/sensors/ox03c10.cc |  3 +++
 system/camerad/sensors/sensor.h   |  1 +
 5 files changed, 35 insertions(+), 31 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 44c4bb58ef..380a6ae134 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000c04,
+    0x00000c04, // (1<<8) to enable vignetting correction
   });
 
   dst += write_cont(dst, 0x48, {
@@ -165,24 +165,10 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0xec4e4000,
     0x0100c003,
   });
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 883
-    .reserved = 33
-    .cmd = 10
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 14
-  */
-  /* TODO
-  cdm_dmi_cmd_t 444
-    .length = 883
-    .reserved = 33
-    .cmd = 10
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 15
-  */
+  dst += write_dmi(dst, &addr, 884, 0xc24, 14);
+  patches.push_back(addr - (uint64_t)start);
+  dst += write_dmi(dst, &addr, 884, 0xc24, 15);
+  patches.push_back(addr - (uint64_t)start);
 
   // debayer
   dst += write_cont(dst, 0x6f8, {
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index b8827e66d8..b262ddba9a 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -457,13 +457,21 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   (void)request_id;
 }
 
+void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) {
+  struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n);
+  p->dst_buf_hdl = dst_hdl;
+  p->src_buf_hdl = src_hdl;
+  p->dst_offset = dst_offset;
+  p->src_offset = src_offset;
+};
+
 void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   /*
     Handles initial + per-frame IFE config.
     * IFE = Image Front End
   */
   int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2;
-  size += sizeof(struct cam_patch_desc)*4;
+  size += sizeof(struct cam_patch_desc)*10;
   if (!init) {
     size += sizeof(struct cam_buf_io_cfg);
   }
@@ -632,23 +640,24 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   // *** patches ***
   // sets up the kernel driver to do address translation for the IFE
   {
+    // order here corresponds to the one in build_initial_config
+    assert(patches.size() == 6 || patches.size() == 0);
+
     pkt->num_patches = patches.size();
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
     if (pkt->num_patches > 0) {
+      void *p = (char*)&pkt->payload + pkt->patch_offset;
+
       // linearization LUT
-      struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset);
-      patch->dst_buf_hdl = ife_cmd.handle;
-      patch->src_buf_hdl = ife_linearization_lut.handle;
-      patch->dst_offset = patches[0];
-      patch->src_offset = 0;
+      add_patch(p, 0, ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0);
+
+      // vignetting correction LUTs
+      add_patch(p, 1, ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0);
+      add_patch(p, 2, ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size);
 
-      // gamma LUT
+      // gamma LUTs
       for (int i = 0; i < 3; i++) {
-        patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*(i+1));
-        patch->dst_buf_hdl = ife_cmd.handle;
-        patch->src_buf_hdl = ife_gamma_lut.handle;
-        patch->dst_offset = patches[i+1];
-        patch->src_offset = ife_gamma_lut.size*i;
+        add_patch(p, i+3, ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i);
       }
     }
   }
@@ -873,6 +882,10 @@ void SpectraCamera::configISP() {
                                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                                m->device_iommu, m->cdm_iommu);
     memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size);
+    ife_vignetting_lut.init(m, sensor->vignetting_lut.size(), 0x20,
+                            CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                            m->device_iommu, m->cdm_iommu, 2);
+    memcpy(ife_vignetting_lut.ptr, sensor->vignetting_lut.data(), ife_vignetting_lut.size*2);
   }
 
   config_ife(0, 1, true);
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 9da66a0900..ea5c563167 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -142,6 +142,7 @@ public:
   SpectraBuf ife_cmd;
   SpectraBuf ife_gamma_lut;
   SpectraBuf ife_linearization_lut;
+  SpectraBuf ife_vignetting_lut;
 
   SpectraBuf bps_cmd;
   SpectraBuf bps_cdm_buffer;
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index b2e90c4e1d..edfb47f439 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -78,6 +78,9 @@ OX03C10::OX03C10() {
   for (int i = 0; i < 288; i++) {
     linearization_lut.push_back(0xff);
   }
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index b4c4303b66..4fba4ff594 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -73,6 +73,7 @@ public:
   std::vector<uint32_t> color_correct_matrix;  // 3x3
   std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
   std::vector<uint32_t> linearization_lut;     // length 288
+  std::vector<uint32_t> vignetting_lut;        // 2x length 884
 };
 
 class AR0231 : public SensorInfo {

From a8908b5c082c76075f800303ee4648866f1f3dc6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 23 Oct 2024 21:22:03 -0700
Subject: [PATCH 0858/1243] model_replay: skip report if no PR associated with
 the branch (#33866)

* no pr number

* better

* test

* cleanup
---
 selfdrive/test/process_replay/model_replay.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 1233834772..b0ef6a55d5 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -82,6 +82,12 @@ def comment_replay_report(proposed, master, full_logs):
     PR_BRANCH = os.getenv("GIT_BRANCH","")
     DATA_BUCKET = f"model_replay_{PR_BRANCH}"
 
+    try:
+      GITHUB.get_pr_number(PR_BRANCH)
+    except Exception:
+      print("No PR associated with this branch. Skipping report.")
+      return
+
     files = generate_report(proposed, master, tmp)
 
     GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])

From 07ad6e27d0a93941a2ee208eac03f68931a65801 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 22:13:08 -0700
Subject: [PATCH 0859/1243] radard: remove deprecated function

---
 selfdrive/controls/radard.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index a5987b4bcc..fb69fb736f 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -80,10 +80,6 @@ class Track:
 
     self.cnt += 1
 
-  def get_key_for_cluster(self):
-    # Weigh y higher since radar is inaccurate in this dimension
-    return [self.dRel, self.yRel*2, self.vRel]
-
   def reset_a_lead(self, aLeadK: float, aLeadTau: float):
     self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
     self.aLeadK = aLeadK

From db98ba88aba539eeace8d772a0dd4243b5b80779 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 24 Oct 2024 13:35:58 -0700
Subject: [PATCH 0860/1243] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 9aec4294cc..8422a7437f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 9aec4294cc940964a5b2fa34aa83301ab408b377
+Subproject commit 8422a7437f8221175d4c8b857c676ed616cad7a5

From 24a32c3decd36223fc1c3482156fd5a717415836 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 25 Oct 2024 04:41:01 +0800
Subject: [PATCH 0861/1243] replay: remove Qt dependency from Segment and
 Timeline (#33847)

remove Segment, Timeline dependency on Qt
---
 tools/cabana/streams/replaystream.cc |   4 +
 tools/cabana/streams/replaystream.h  |   7 +-
 tools/cabana/videowidget.cc          |  47 +++-------
 tools/cabana/videowidget.h           |  16 ++--
 tools/replay/SConscript              |   3 +-
 tools/replay/consoleui.cc            |  20 +++--
 tools/replay/replay.cc               | 128 +++++----------------------
 tools/replay/replay.h                |  39 +++-----
 tools/replay/route.cc                |  30 ++++---
 tools/replay/route.h                 |  23 +++--
 tools/replay/tests/test_replay.cc    |  13 +--
 tools/replay/timeline.cc             | 109 +++++++++++++++++++++++
 tools/replay/timeline.h              |  46 ++++++++++
 tools/replay/util.cc                 |  10 ---
 tools/replay/util.h                  |  14 ++-
 15 files changed, 281 insertions(+), 228 deletions(-)
 create mode 100644 tools/replay/timeline.cc
 create mode 100644 tools/replay/timeline.h

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 18b0317d46..ac137434d3 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,6 +53,10 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                           {}, nullptr, replay_flags, data_dir.toStdString(), this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
+
+  // Forward replay callbacks to corresponding Qt signals.
+  replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
+
   QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 2a9f343645..1d1cdaec9e 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -10,6 +10,8 @@
 #include "tools/cabana/streams/abstractstream.h"
 #include "tools/replay/replay.h"
 
+Q_DECLARE_METATYPE(std::shared_ptr<LogReader>);
+
 class ReplayStream : public AbstractStream {
   Q_OBJECT
 
@@ -24,7 +26,7 @@ public:
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
-  inline QDateTime beginDateTime() const { return replay->routeDateTime(); }
+  inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); }
   inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
@@ -32,6 +34,9 @@ public:
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
 
+signals:
+  void qLogLoaded(std::shared_ptr<LogReader> qlog);
+
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 66a6efe569..7f9e3d6960 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -13,8 +13,6 @@
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
-#include "tools/cabana/streams/replaystream.h"
-
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
@@ -167,10 +165,7 @@ QWidget *VideoWidget::createCameraWidget() {
   QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
-
-  auto replay = static_cast<ReplayStream*>(can)->getReplay();
-  QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
-  QObject::connect(replay, &Replay::minMaxTimeChanged, this, &VideoWidget::timeRangeChanged, Qt::QueuedConnection);
+  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
   return w;
 }
 
@@ -248,11 +243,8 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
   setMouseTracking(true);
 }
 
-AlertInfo Slider::alertInfo(double seconds) {
-  uint64_t mono_time = can->toMonoTime(seconds);
-  auto alert_it = alerts.lower_bound(mono_time);
-  bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
-  return has_alert ? alert_it->second : AlertInfo{};
+std::optional<Timeline::Entry> Slider::alertInfo(double seconds) {
+  return getReplay()->findAlertAtTime(seconds);
 }
 
 QPixmap Slider::thumbnail(double seconds)  {
@@ -277,14 +269,6 @@ void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
         std::lock_guard lk(mutex);
         thumbnails[thumb.getTimestampEof()] = scaled;
       }
-    } else if (e.which == cereal::Event::Which::SELFDRIVE_STATE) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
-      if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
-          cs.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) {
-        std::lock_guard lk(mutex);
-        alerts.emplace(e.mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
-      }
     }
   });
   update();
@@ -306,8 +290,8 @@ void Slider::paintEvent(QPaintEvent *ev) {
 
   auto replay = getReplay();
   if (replay) {
-    for (auto [begin, end, type] : replay->getTimeline()) {
-      fillRange(begin, end, timeline_colors[(int)type]);
+    for (const auto &entry: *replay->getTimeline()) {
+      fillRange(entry.start_time, entry.end_time, timeline_colors[(int)entry.type]);
     }
 
     QColor empty_color = palette().color(QPalette::Window);
@@ -372,7 +356,7 @@ InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint
   setVisible(false);
 }
 
-void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) {
+void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert) {
   second = sec;
   pixmap = pm;
   alert_info = alert;
@@ -381,10 +365,10 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &
   update();
 }
 
-void InfoLabel::showAlert(const AlertInfo &alert) {
+void InfoLabel::showAlert(const std::optional<Timeline::Entry> &alert) {
   alert_info = alert;
   pixmap = {};
-  setVisible(!alert_info.text1.isEmpty());
+  setVisible(alert_info.has_value());
   update();
 }
 
@@ -396,18 +380,11 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
     p.drawRect(rect());
     p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
   }
-  if (alert_info.text1.size() > 0) {
-    QColor color = timeline_colors[(int)TimelineType::AlertInfo];
-    if (alert_info.status == cereal::SelfdriveState::AlertStatus::USER_PROMPT) {
-      color = timeline_colors[(int)TimelineType::AlertWarning];
-    } else if (alert_info.status == cereal::SelfdriveState::AlertStatus::CRITICAL) {
-      color = timeline_colors[(int)TimelineType::AlertCritical];
-    }
+  if (alert_info) {
+    QColor color = timeline_colors[int(alert_info->type)];
     color.setAlphaF(0.5);
-    QString text = alert_info.text1;
-    if (!alert_info.text2.isEmpty()) {
-      text += "\n" + alert_info.text2;
-    }
+    QString text = QString::fromStdString(alert_info->text1);
+    if (!alert_info->text2.empty()) text += "\n" + QString::fromStdString(alert_info->text2);
 
     if (!pixmap.isNull()) {
       QFont font;
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 17bec78545..d3342c34d7 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -16,22 +16,17 @@
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "tools/cabana/utils/util.h"
 #include "tools/replay/logreader.h"
-
-struct AlertInfo {
-  cereal::SelfdriveState::AlertStatus status;
-  QString text1;
-  QString text2;
-};
+#include "tools/cabana/streams/replaystream.h"
 
 class InfoLabel : public QWidget {
 public:
   InfoLabel(QWidget *parent);
-  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert);
-  void showAlert(const AlertInfo &alert);
+  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert);
+  void showAlert(const std::optional<Timeline::Entry> &alert);
   void paintEvent(QPaintEvent *event) override;
   QPixmap pixmap;
   QString second;
-  AlertInfo alert_info;
+  std::optional<Timeline::Entry> alert_info;
 };
 
 class Slider : public QSlider {
@@ -42,7 +37,7 @@ public:
   double currentSecond() const { return value() / factor; }
   void setCurrentSecond(double sec) { setValue(sec * factor); }
   void setTimeRange(double min, double max);
-  AlertInfo alertInfo(double sec);
+  std::optional<Timeline::Entry> alertInfo(double sec);
   QPixmap thumbnail(double sec);
   void parseQLog(std::shared_ptr<LogReader> qlog);
 
@@ -55,7 +50,6 @@ private:
   void paintEvent(QPaintEvent *ev) override;
 
   QMap<uint64_t, QPixmap> thumbnails;
-  std::map<uint64_t, AlertInfo> alerts;
   InfoLabel *thumbnail_label;
 };
 
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 1f966d4372..179af69d42 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -9,7 +9,8 @@ if arch == "Darwin":
 else:
   base_libs.append('OpenCL')
 
-replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
+replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
+                  "route.cc", "util.cc", "timeline.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 42c7238f7a..b5415ac808 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -1,5 +1,6 @@
 #include "tools/replay/consoleui.h"
 
+#include <time.h>
 #include <initializer_list>
 #include <string>
 #include <tuple>
@@ -152,7 +153,6 @@ void ConsoleUI::updateStatus() {
     add_str(win, unit.c_str());
   };
   static const std::pair<const char *, Color> status_text[] = {
-      {"loading...", Color::Red},
       {"playing", Color::Green},
       {"paused...", Color::Yellow},
   };
@@ -161,8 +161,10 @@ void ConsoleUI::updateStatus() {
 
   auto [status_str, status_color] = status_text[status];
   write_item(0, 0, "STATUS:    ", status_str, "      ", false, status_color);
+  auto cur_ts = replay->routeDateTime() + (int)replay->currentSeconds();
+  char *time_string = ctime(&cur_ts);
   std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
-  write_item(0, 25, "TIME:  ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true);
+  write_item(0, 25, "TIME:  ", time_string, current_segment, true);
 
   auto p = sm["liveParameters"].getLiveParameters();
   write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), "  ");
@@ -247,18 +249,18 @@ void ConsoleUI::updateTimeline() {
   wattroff(win, COLOR_PAIR(Color::Disengaged));
 
   const int total_sec = replay->maxSeconds() - replay->minSeconds();
-  for (auto [begin, end, type] : replay->getTimeline()) {
-    int start_pos = ((begin - replay->minSeconds()) / total_sec) * width;
-    int end_pos = ((end - replay->minSeconds()) / total_sec) * width;
-    if (type == TimelineType::Engaged) {
+  for (const auto &entry : *replay->getTimeline()) {
+    int start_pos = ((entry.start_time - replay->minSeconds()) / total_sec) * width;
+    int end_pos = ((entry.end_time - replay->minSeconds()) / total_sec) * width;
+    if (entry.type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
-    } else if (type == TimelineType::UserFlag) {
+    } else if (entry.type == TimelineType::UserFlag) {
       mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
     } else {
       auto color_id = Color::Green;
-      if (type != TimelineType::AlertInfo) {
-        color_id = type == TimelineType::AlertWarning ? Color::Yellow : Color::Red;
+      if (entry.type != TimelineType::AlertInfo) {
+        color_id = entry.type == TimelineType::AlertWarning ? Color::Yellow : Color::Red;
       }
       mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, color_id, NULL);
     }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index a0ae90c079..82e231937c 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -1,7 +1,5 @@
 #include "tools/replay/replay.h"
 
-#include <QDebug>
-#include <QtConcurrent>
 #include <capnp/dynamic.h>
 #include <csignal>
 #include "cereal/services.h"
@@ -11,6 +9,14 @@
 
 static void interrupt_sleep_handler(int signal) {}
 
+// Helper function to notify events with safety checks
+template <typename Callback, typename... Args>
+void notifyEvent(Callback &callback, Args &&...args) {
+  if (callback) {
+    callback(std::forward<Args>(args)...);
+  }
+}
+
 Replay::Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block, SubMaster *sm_,
                uint32_t flags, const std::string &data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
   // Register signal handler for SIGUSR1
@@ -40,7 +46,7 @@ Replay::Replay(const std::string &route, std::vector<std::string> allow, std::ve
     }
   }
 
-  rInfo("active services: %s", join(active_services, ',').c_str());
+  rInfo("active services: %s", join(active_services, ", ").c_str());
   rInfo("loading route %s", route.c_str());
 
   if (sm == nullptr) {
@@ -68,7 +74,6 @@ void Replay::stop() {
     stream_thread_ = nullptr;
     rInfo("shutdown: done");
   }
-  timeline_future.waitForFinished();
   camera_server_.reset(nullptr);
   segments_.clear();
 }
@@ -151,101 +156,11 @@ void Replay::checkSeekProgress() {
 }
 
 void Replay::seekToFlag(FindFlag flag) {
-  if (auto next = find(flag)) {
+  if (auto next = timeline_.find(currentSeconds(), flag)) {
     seekTo(*next - 2, false);  // seek to 2 seconds before next
   }
 }
 
-void Replay::buildTimeline() {
-  uint64_t engaged_begin = 0;
-  bool engaged = false;
-
-  auto alert_status = cereal::SelfdriveState::AlertStatus::NORMAL;
-  auto alert_size = cereal::SelfdriveState::AlertSize::NONE;
-  uint64_t alert_begin = 0;
-  std::string alert_type;
-
-  const TimelineType timeline_types[] = {
-    [(int)cereal::SelfdriveState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
-    [(int)cereal::SelfdriveState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
-    [(int)cereal::SelfdriveState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
-  };
-
-  const auto &route_segments = route_->segments();
-  for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
-    std::shared_ptr<LogReader> log(new LogReader());
-    if (!log->load(it->second.qlog, &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
-
-    std::vector<std::tuple<double, double, TimelineType>> timeline;
-    for (const Event &e : log->events) {
-      if (e.which == cereal::Event::Which::SELFDRIVE_STATE) {
-        capnp::FlatArrayMessageReader reader(e.data);
-        auto event = reader.getRoot<cereal::Event>();
-        auto cs = event.getSelfdriveState();
-
-        if (engaged != cs.getEnabled()) {
-          if (engaged) {
-            timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged});
-          }
-          engaged_begin = e.mono_time;
-          engaged = cs.getEnabled();
-        }
-
-        if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
-          if (!alert_type.empty() && alert_size != cereal::SelfdriveState::AlertSize::NONE) {
-            timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
-          }
-          alert_begin = e.mono_time;
-          alert_type = cs.getAlertType().cStr();
-          alert_size = cs.getAlertSize();
-          alert_status = cs.getAlertStatus();
-        }
-      } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag});
-      }
-    }
-
-    if (it->first == route_segments.rbegin()->first) {
-      if (engaged) {
-        timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged});
-      }
-      if (!alert_type.empty() && alert_size != cereal::SelfdriveState::AlertSize::NONE) {
-        timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]});
-      }
-
-      max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time));
-      emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_);
-    }
-    {
-      std::lock_guard lk(timeline_lock);
-      timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
-      std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
-    }
-    emit qLogLoaded(log);
-  }
-}
-
-std::optional<uint64_t> Replay::find(FindFlag flag) {
-  int cur_ts = currentSeconds();
-  for (auto [start_ts, end_ts, type] : getTimeline()) {
-    if (type == TimelineType::Engaged) {
-      if (flag == FindFlag::nextEngagement && start_ts > cur_ts) {
-        return start_ts;
-      } else if (flag == FindFlag::nextDisEngagement && end_ts > cur_ts) {
-        return end_ts;
-      }
-    } else if (start_ts > cur_ts) {
-      if ((flag == FindFlag::nextUserFlag && type == TimelineType::UserFlag) ||
-          (flag == FindFlag::nextInfo && type == TimelineType::AlertInfo) ||
-          (flag == FindFlag::nextWarning && type == TimelineType::AlertWarning) ||
-          (flag == FindFlag::nextCritical && type == TimelineType::AlertCritical)) {
-        return start_ts;
-      }
-    }
-  }
-  return std::nullopt;
-}
-
 void Replay::pause(bool pause) {
   if (user_paused_ != pause) {
     pauseStreamThread();
@@ -266,16 +181,15 @@ void Replay::pauseStreamThread() {
   }
 }
 
-void Replay::segmentLoadFinished(bool success) {
+void Replay::segmentLoadFinished(int seg_num, bool success) {
   if (!success) {
-    Segment *seg = qobject_cast<Segment *>(sender());
-    rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num);
+    rWarning("failed to load segment %d, removing it from current replay list", seg_num);
     updateEvents([&]() {
-      segments_.erase(seg->seg_num);
+      segments_.erase(seg_num);
       return !segments_.empty();
     });
   }
-  updateSegmentsCache();
+  QMetaObject::invokeMethod(this, &Replay::updateSegmentsCache, Qt::QueuedConnection);
 }
 
 void Replay::updateSegmentsCache() {
@@ -306,8 +220,10 @@ void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator
     auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
     if (it != last && !it->second) {
       rDebug("loading segment %d...", it->first);
-      it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
-      QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
+      it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_,
+                                             [this](int seg_num, bool success) {
+                                               segmentLoadFinished(seg_num, success);
+                                             });
       return true;
     }
     return false;
@@ -373,7 +289,7 @@ void Replay::startStream(const Segment *cur_segment) {
     auto event = reader.getRoot<cereal::Event>();
     uint64_t wall_time = event.getInitData().getWallTimeNanos();
     if (wall_time > 0) {
-      route_date_time_ = QDateTime::fromMSecsSinceEpoch(wall_time / 1e6);
+      route_date_time_ = wall_time / 1e6;
     }
   }
 
@@ -405,12 +321,16 @@ void Replay::startStream(const Segment *cur_segment) {
   }
 
   emit segmentsMerged();
+
+  timeline_.initialize(*route_, route_start_ts_, !(flags_ & REPLAY_FLAG_NO_FILE_CACHE),
+                       [this](std::shared_ptr<LogReader> log) {
+                         notifyEvent(onQLogLoaded, log);
+                       });
   // start stream thread
   stream_thread_ = new QThread();
   QObject::connect(stream_thread_, &QThread::started, [=]() { streamThread(); });
   stream_thread_->start();
 
-  timeline_future = QtConcurrent::run(this, &Replay::buildTimeline);
   emit streamStarted();
 }
 
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index e828b369aa..d3f5425308 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -6,7 +6,6 @@
 #include <optional>
 #include <set>
 #include <string>
-#include <tuple>
 #include <vector>
 #include <utility>
 
@@ -14,6 +13,7 @@
 
 #include "tools/replay/camera.h"
 #include "tools/replay/route.h"
+#include "tools/replay/timeline.h"
 
 #define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
 
@@ -32,19 +32,8 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
 };
 
-enum class FindFlag {
-  nextEngagement,
-  nextDisEngagement,
-  nextUserFlag,
-  nextInfo,
-  nextWarning,
-  nextCritical
-};
-
-enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
 typedef bool (*replayEventFilter)(const Event *, void *);
 typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
-Q_DECLARE_METATYPE(std::shared_ptr<LogReader>);
 
 class Replay : public QObject {
   Q_OBJECT
@@ -75,8 +64,7 @@ public:
   inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
   inline const Route* route() const { return route_.get(); }
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
-  inline QDateTime routeDateTime() const { return route_date_time_; }
-  inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); }
+  inline std::time_t routeDateTime() const { return route_date_time_; }
   inline uint64_t routeStartNanos() const { return route_start_ts_; }
   inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
   inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; }
@@ -85,22 +73,20 @@ public:
   inline float getSpeed() const { return speed_; }
   inline const SegmentMap &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
-  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
-    std::lock_guard lk(timeline_lock);
-    return timeline_;
-  }
+  inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.get(); }
+  inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
+
+  // Event callback functions
+  std::function<void(std::shared_ptr<LogReader>)> onQLogLoaded = nullptr;
+
 
 signals:
   void streamStarted();
   void segmentsMerged();
   void seeking(double sec);
   void seekedTo(double sec);
-  void qLogLoaded(std::shared_ptr<LogReader> qlog);
   void minMaxTimeChanged(double min_sec, double max_sec);
 
-protected slots:
-  void segmentLoadFinished(bool success);
-
 protected:
   std::optional<uint64_t> find(FindFlag flag);
   void pauseStreamThread();
@@ -108,16 +94,18 @@ protected:
   void streamThread();
   void updateSegmentsCache();
   void loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end);
+  void segmentLoadFinished(int seg_num, bool success);
   void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
   void updateEvents(const std::function<bool()>& update_events_function);
   std::vector<Event>::const_iterator publishEvents(std::vector<Event>::const_iterator first,
                                                    std::vector<Event>::const_iterator last);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
-  void buildTimeline();
   void checkSeekProgress();
   inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; }
 
+  Timeline timeline_;
+
   pthread_t stream_thread_id = 0;
   QThread *stream_thread_ = nullptr;
   std::mutex stream_lock_;
@@ -130,7 +118,7 @@ protected:
   std::atomic<bool> exit_ = false;
   std::atomic<bool> paused_ = false;
   bool events_ready_ = false;
-  QDateTime route_date_time_;
+  std::time_t route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
   std::atomic<double> max_seconds_ = 0;
@@ -146,9 +134,6 @@ protected:
   std::unique_ptr<CameraServer> camera_server_;
   std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;
 
-  std::mutex timeline_lock;
-  QFuture<void> timeline_future;
-  std::vector<std::tuple<double, double, TimelineType>> timeline_;
   std::string car_fingerprint_;
   std::atomic<float> speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e298b88b79..0d8d6d8fb7 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -1,10 +1,8 @@
 #include "tools/replay/route.h"
 
-#include <QDir>
 #include <QEventLoop>
 #include <QJsonArray>
 #include <QJsonDocument>
-#include <QtConcurrent>
 #include <array>
 #include <filesystem>
 #include <regex>
@@ -53,7 +51,11 @@ bool Route::load() {
     rInfo("invalid route format");
     return false;
   }
-  date_time_ = QDateTime::fromString(route_.timestamp.c_str(), "yyyy-MM-dd--HH-mm-ss");
+
+  struct tm tm_time = {0};
+  strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time);
+  date_time_ = mktime(&tm_time);
+
   bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal();
   if (ret) {
     if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first;
@@ -151,8 +153,9 @@ void Route::addFileToSegment(int n, const std::string &file) {
 
 // class Segment
 
-Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters)
-    : seg_num(n), flags(flags), filters_(filters) {
+Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters,
+                 std::function<void(int, bool)> callback)
+    : seg_num(n), flags(flags), filters_(filters), onLoadFinished_(callback) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
       (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam,
@@ -163,16 +166,20 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vec
   for (int i = 0; i < file_list.size(); ++i) {
     if (!file_list[i].empty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) {
       ++loading_;
-      synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i]));
+      threads_.emplace_back(&Segment::loadFile, this, i, file_list[i]);
     }
   }
 }
 
 Segment::~Segment() {
-  disconnect();
+  {
+    std::lock_guard lock(mutex_);
+    onLoadFinished_ = nullptr;  // Prevent callback after destruction
+  }
   abort_ = true;
-  synchronizer_.setCancelOnWait(true);
-  synchronizer_.waitForFinished();
+  for (auto &thread : threads_) {
+    if (thread.joinable()) thread.join();
+  }
 }
 
 void Segment::loadFile(int id, const std::string file) {
@@ -192,6 +199,9 @@ void Segment::loadFile(int id, const std::string file) {
   }
 
   if (--loading_ == 0) {
-    emit loadFinished(!abort_);
+    std::lock_guard lock(mutex_);
+    if (onLoadFinished_) {
+      onLoadFinished_(seg_num, !abort_);
+    }
   }
 }
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 9c1cc37e2a..a2a8121de7 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -2,11 +2,12 @@
 
 #include <map>
 #include <memory>
+#include <mutex>
 #include <string>
+#include <thread>
 #include <vector>
 
-#include <QDateTime>
-#include <QFutureSynchronizer>
+#include <QString>
 
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
@@ -43,7 +44,7 @@ public:
   bool load();
   RouteLoadError lastError() const { return err_; }
   inline const std::string &name() const { return route_.str; }
-  inline const QDateTime datetime() const { return date_time_; }
+  inline const std::time_t datetime() const { return date_time_; }
   inline const std::string &dir() const { return data_dir_; }
   inline const RouteIdentifier &identifier() const { return route_; }
   inline const std::map<int, SegmentFile> &segments() const { return segments_; }
@@ -58,15 +59,14 @@ protected:
   RouteIdentifier route_ = {};
   std::string data_dir_;
   std::map<int, SegmentFile> segments_;
-  QDateTime date_time_;
+  std::time_t date_time_;
   RouteLoadError err_ = RouteLoadError::None;
 };
 
-class Segment : public QObject {
-  Q_OBJECT
-
+class Segment {
 public:
-  Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters = {});
+  Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters,
+          std::function<void(int, bool)> callback);
   ~Segment();
   inline bool isLoaded() const { return !loading_ && !abort_; }
 
@@ -74,15 +74,14 @@ public:
   std::unique_ptr<LogReader> log;
   std::unique_ptr<FrameReader> frames[MAX_CAMERAS] = {};
 
-signals:
-  void loadFinished(bool success);
-
 protected:
   void loadFile(int id, const std::string file);
 
   std::atomic<bool> abort_ = false;
   std::atomic<int> loading_ = 0;
-  QFutureSynchronizer<void> synchronizer_;
+  std::mutex mutex_;
+  std::vector<std::thread> threads_;
+  std::function<void(int, bool)> onLoadFinished_ = nullptr;
   uint32_t flags;
   std::vector<bool> filters_;
 };
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 2fe468e726..d350df570a 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -72,9 +72,9 @@ TEST_CASE("LogReader") {
 }
 
 void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
-  QEventLoop loop;
-  Segment segment(n, segment_file, flags);
-  QObject::connect(&segment, &Segment::loadFinished, [&]() {
+  std::mutex mutex;
+  std::condition_variable cv;
+  Segment segment(n, segment_file, flags, {}, [&](int, bool) {
     REQUIRE(segment.isLoaded() == true);
     REQUIRE(segment.log != nullptr);
     REQUIRE(segment.frames[RoadCam] != nullptr);
@@ -105,10 +105,11 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
         REQUIRE(fr->get(i, &buf));
       }
     }
-
-    loop.quit();
+    cv.notify_one();
   });
-  loop.exec();
+
+  std::unique_lock lock(mutex);
+  cv.wait(lock);
 }
 
 std::string download_demo_route() {
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
new file mode 100644
index 0000000000..5a4f58a46f
--- /dev/null
+++ b/tools/replay/timeline.cc
@@ -0,0 +1,109 @@
+#include "tools/replay/timeline.h"
+
+#include <array>
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+Timeline::~Timeline() {
+  should_exit_.store(true);
+  if (thread_.joinable()) {
+    thread_.join();
+  }
+}
+
+void Timeline::initialize(const Route &route, uint64_t route_start_ts, bool local_cache,
+                          std::function<void(std::shared_ptr<LogReader>)> callback) {
+  thread_ = std::thread(&Timeline::buildTimeline, this, route, route_start_ts, local_cache, callback);
+}
+
+std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const {
+  for (const auto &entry : *get()) {
+    if (entry.type == TimelineType::Engaged) {
+      if (flag == FindFlag::nextEngagement && entry.start_time > cur_ts) {
+        return entry.start_time;
+      } else if (flag == FindFlag::nextDisEngagement && entry.end_time > cur_ts) {
+        return entry.end_time;
+      }
+    } else if (entry.start_time > cur_ts) {
+      if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) ||
+          (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) ||
+          (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) ||
+          (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) {
+        return entry.start_time;
+      }
+    }
+  }
+  return std::nullopt;
+}
+
+std::optional<Timeline::Entry> Timeline::findAlertAtTime(double target_time) const {
+  for (const auto &entry : *get()) {
+    if (entry.start_time > target_time) break;
+    if (entry.end_time >= target_time && entry.type >= TimelineType::AlertInfo) {
+      return entry;
+    }
+  }
+  return std::nullopt;
+}
+
+void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
+                             std::function<void(std::shared_ptr<LogReader>)> callback) {
+  std::optional<size_t> current_engaged_idx, current_alert_idx;
+
+  for (const auto &segment : route.segments()) {
+    if (should_exit_) break;
+
+    auto log = std::make_shared<LogReader>();
+    if (!log->load(segment.second.qlog, &should_exit_, local_cache, 0, 3) || log->events.empty()) {
+      continue;  // Skip if log loading fails or no events
+    }
+
+    for (const Event &e : log->events) {
+      double seconds = (e.mono_time - route_start_ts) / 1e9;
+      if (e.which == cereal::Event::Which::SELFDRIVE_STATE) {
+        capnp::FlatArrayMessageReader reader(e.data);
+        auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
+        updateEngagementStatus(cs, current_engaged_idx, seconds);
+        updateAlertStatus(cs, current_alert_idx, seconds);
+      } else if (e.which == cereal::Event::Which::USER_FLAG) {
+        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag});
+      }
+    }
+
+    callback(log);  // Notify the callback once the log is processed
+
+    // Sort and finalize the timeline entries
+    std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
+    timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_);
+  }
+}
+
+void Timeline::updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds) {
+  if (idx) staging_entries_[*idx].end_time = seconds;
+  if (cs.getEnabled()) {
+    if (!idx) {
+      idx = staging_entries_.size();
+      staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::Engaged});
+    }
+  } else {
+    idx.reset();
+  }
+}
+
+void Timeline::updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds) {
+  static auto alert_types = std::array{TimelineType::AlertInfo, TimelineType::AlertWarning, TimelineType::AlertCritical};
+
+  Entry *entry = idx ? &staging_entries_[*idx] : nullptr;
+  if (entry) entry->end_time = seconds;
+  if (cs.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) {
+    auto type = alert_types[(int)cs.getAlertStatus()];
+    std::string text1 = cs.getAlertText1().cStr();
+    std::string text2 = cs.getAlertText2().cStr();
+    if (!entry || entry->type != type || entry->text1 != text1 || entry->text2 != text2) {
+      idx = staging_entries_.size();
+      staging_entries_.emplace_back(Entry{seconds, seconds, type, text1, text2});  // Start a new entry
+    }
+  } else {
+    idx.reset();
+  }
+}
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
new file mode 100644
index 0000000000..b2535fd8b0
--- /dev/null
+++ b/tools/replay/timeline.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <atomic>
+#include <optional>
+#include <thread>
+#include <vector>
+
+#include "tools/replay/route.h"
+
+enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
+enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical };
+
+class Timeline {
+public:
+  struct Entry {
+    double start_time;
+    double end_time;
+    TimelineType type;
+    std::string text1;
+    std::string text2;
+  };
+
+  Timeline() : timeline_entries_(std::make_shared<std::vector<Entry>>()) {}
+  ~Timeline();
+
+  void initialize(const Route &route, uint64_t route_start_ts, bool local_cache,
+                  std::function<void(std::shared_ptr<LogReader>)> callback);
+  std::optional<uint64_t> find(double cur_ts, FindFlag flag) const;
+  std::optional<Entry> findAlertAtTime(double target_time) const;
+  const std::shared_ptr<std::vector<Entry>> get() const { return timeline_entries_; }
+
+private:
+ void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
+                    std::function<void(std::shared_ptr<LogReader>)> callback);
+ void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+ void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+
+ std::thread thread_;
+ std::atomic<bool> should_exit_ = false;
+
+ // Temporarily holds entries before they are sorted and finalized
+ std::vector<Entry> staging_entries_;
+
+ // Final sorted timeline entries
+ std::shared_ptr<std::vector<Entry>> timeline_entries_;
+};
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 91f6af4f84..fac1e11c47 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -14,7 +14,6 @@
 #include <map>
 #include <mutex>
 #include <numeric>
-#include <sstream>
 #include <utility>
 #include <zstd.h>
 
@@ -404,15 +403,6 @@ std::vector<std::string> split(std::string_view source, char delimiter) {
   return fields;
 }
 
-std::string join(const std::vector<std::string> &elements, char separator) {
-  std::ostringstream oss;
-  for (size_t i = 0; i < elements.size(); ++i) {
-    if (i != 0) oss << separator;
-    oss << elements[i];
-  }
-  return oss.str();
-}
-
 std::string extractFileName(const std::string &file) {
   size_t queryPos = file.find_first_of("?");
   std::string path = (queryPos != std::string::npos) ? file.substr(0, queryPos) : file;
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 317b964181..46df2bc191 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -3,6 +3,7 @@
 #include <atomic>
 #include <deque>
 #include <functional>
+#include <sstream>
 #include <string>
 #include <string_view>
 #include <vector>
@@ -59,6 +60,15 @@ typedef std::function<void(uint64_t cur, uint64_t total, bool success)> Download
 void installDownloadProgressHandler(DownloadProgressHandler);
 bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
 std::string formattedDataSize(size_t size);
-std::vector<std::string> split(std::string_view source, char delimiter);
-std::string join(const std::vector<std::string> &elements, char separator);
 std::string extractFileName(const std::string& file);
+std::vector<std::string> split(std::string_view source, char delimiter);
+
+template <typename Iterable>
+std::string join(const Iterable& elements, const std::string& separator) {
+  std::ostringstream oss;
+  for (auto it = elements.begin(); it != elements.end(); ++it) {
+    if (it != elements.begin()) oss << separator;
+    oss << *it;
+  }
+  return oss.str();
+}

From 2f7d09bb01426bfc5c1a3bfbe4d6bbd9804a1ded Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 25 Oct 2024 04:41:14 +0800
Subject: [PATCH 0862/1243] bridge: improve message sending loop (#33810)

improve sending loop
---
 cereal/messaging/msgq_to_zmq.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc
index a130f7dd04..ce626f2aad 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -48,11 +48,12 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
 
-          while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
+          while (pub_sock->sendMessage(msg.get()) == -1) {
             if (errno != EINTR) break;
           }
         }

From 47aee33ad2d94baecb806993e2d9d0b8aea51f71 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 24 Oct 2024 14:00:13 -0700
Subject: [PATCH 0863/1243] sensord: fix timestamp race condition (#33867)

Co-authored-by: Comma Device <device@comma.ai>
---
 system/sensord/sensors_qcom2.cc | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 189da78099..55c8d2a448 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -39,6 +39,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
     }
   }
 
+  uint64_t offset = 0;
   struct pollfd fd_list[1] = {0};
   fd_list[0].fd = fd;
   fd_list[0].events = POLLIN | POLLPRI;
@@ -68,9 +69,19 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
       continue;
     }
 
+    uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
+    uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
+    if (diff > 1*1e6) { // 1ms
+      LOGW("time jumped: %lu %lu", cur_offset, offset);
+      offset = cur_offset;
+
+      // we don't have a valid timestamp since the
+      // time jumped, so throw out this measurement.
+      continue;
+    }
+
     int num_events = err / sizeof(*evdata);
-    uint64_t offset = nanos_since_epoch() - nanos_since_boot();
-    uint64_t ts = evdata[num_events - 1].timestamp - offset;
+    uint64_t ts = evdata[num_events - 1].timestamp - cur_offset;
 
     for (auto &[sensor, msg_name] : sensors) {
       if (!sensor->has_interrupt_enabled()) {

From 835a27e993c569cbd9930f157658d10fd2ae1c78 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 24 Oct 2024 16:15:10 -0700
Subject: [PATCH 0864/1243] statsd: don't use datetime in filename (#33868)

---
 system/statsd.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/system/statsd.py b/system/statsd.py
index 5e76b73ae9..b8a7f2c661 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -2,6 +2,7 @@
 import os
 import zmq
 import time
+import uuid
 from pathlib import Path
 from collections import defaultdict
 from datetime import datetime, UTC
@@ -102,6 +103,7 @@ def main() -> NoReturn:
   sm = SubMaster(['deviceState'])
 
   idx = 0
+  boot_uid = str(uuid.uuid4())[:8]
   last_flush_time = time.monotonic()
   gauges = {}
   samples: dict[str, list[float]] = defaultdict(list)
@@ -164,7 +166,7 @@ def main() -> NoReturn:
         # check that we aren't filling up the drive
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
-            stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}")
+            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
             with atomic_write_in_dir(stats_path) as f:
               f.write(result)
             idx += 1

From 85c1b2b620ca784898aaf6c85b2827367f520bfc Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 24 Oct 2024 17:02:58 -0700
Subject: [PATCH 0865/1243] selfdrived: log all not running (#33869)

---
 selfdrive/selfdrived/selfdrived.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 0aeff3a116..d24939884d 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -255,11 +255,12 @@ class SelfdriveD:
     num_events = len(self.events)
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
-      self.events.add(EventName.processNotRunning)
+    if self.sm.recv_frame['managerState'] and len(not_running):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+      self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):

From 5f3625436ceba9ca4d597e4ed10f906483462a46 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 25 Oct 2024 08:10:50 +0800
Subject: [PATCH 0866/1243] ui: show driver camera in popup on demand (#33459)

* show driver camera in a popup dialog

* zero margins

* merge master
---
 selfdrive/ui/qt/home.cc               | 15 ------------
 selfdrive/ui/qt/home.h                |  3 ---
 selfdrive/ui/qt/offroad/driverview.cc | 35 +++++++++++++--------------
 selfdrive/ui/qt/offroad/driverview.h  | 20 +++++++--------
 selfdrive/ui/qt/offroad/settings.cc   |  9 +++++--
 selfdrive/ui/qt/offroad/settings.h    |  2 --
 selfdrive/ui/qt/window.cc             |  3 ---
 7 files changed, 33 insertions(+), 54 deletions(-)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 648f3685c7..9f179e0a38 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -33,11 +33,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   body = new BodyWindow(this);
   slayout->addWidget(body);
 
-  driver_view = new DriverViewWindow(this);
-  connect(driver_view, &DriverViewWindow::done, [=] {
-    showDriverView(false);
-  });
-  slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
@@ -68,16 +63,6 @@ void HomeWindow::offroadTransition(bool offroad) {
   }
 }
 
-void HomeWindow::showDriverView(bool show) {
-  if (show) {
-    emit closeSettings();
-    slayout->setCurrentWidget(driver_view);
-  } else {
-    slayout->setCurrentWidget(home);
-  }
-  sidebar->setVisible(show == false);
-}
-
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index a19b70ac3f..55bc706c0d 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -8,7 +8,6 @@
 #include <QWidget>
 
 #include "common/params.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
@@ -53,7 +52,6 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
-  void showDriverView(bool show);
   void showSidebar(bool show);
 
 protected:
@@ -65,7 +63,6 @@ private:
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
-  DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
 private slots:
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 9010227f18..a8d3151627 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -6,24 +6,6 @@
 #include "selfdrive/ui/qt/util.h"
 
 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
-  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
-    if (isVisible()) {
-      emit done();
-    }
-  });
-}
-
-void DriverViewWindow::showEvent(QShowEvent* event) {
-  params.putBool("IsDriverViewEnabled", true);
-  device()->resetInteractiveTimeout(60);
-  CameraWidget::showEvent(event);
-}
-
-void DriverViewWindow::hideEvent(QHideEvent* event) {
-  params.putBool("IsDriverViewEnabled", false);
-  stopVipcThread();
-  CameraWidget::hideEvent(event);
 }
 
 void DriverViewWindow::paintGL() {
@@ -80,3 +62,20 @@ mat4 DriverViewWindow::calcFrameMatrix() {
     0.0,  0.0, 0.0, 1.0,
   }};
 }
+
+DriverViewDialog::DriverViewDialog(QWidget *parent) : DialogBase(parent) {
+  Params().putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  auto camera = new DriverViewWindow(this);
+  main_layout->addWidget(camera);
+  QObject::connect(camera, &DriverViewWindow::clicked, this, &DialogBase::accept);
+  QObject::connect(device(), &Device::interactiveTimeout, this, &DialogBase::accept);
+}
+
+void DriverViewDialog::done(int r) {
+  Params().putBool("IsDriverViewEnabled", false);
+  QDialog::done(r);
+}
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index f6eb752fe6..10a97c1da8 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -2,22 +2,20 @@
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 class DriverViewWindow : public CameraWidget {
   Q_OBJECT
-
 public:
   explicit DriverViewWindow(QWidget *parent);
-
-signals:
-  void done();
-
-protected:
-  mat4 calcFrameMatrix() override;
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
   void paintGL() override;
-
-  Params params;
+  mat4 calcFrameMatrix() override;
   DriverMonitorRenderer driver_monitor;
 };
+
+class DriverViewDialog : public DialogBase {
+  Q_OBJECT
+public:
+  DriverViewDialog(QWidget *parent);
+  void done(int r) override;
+};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index c1f26c950e..29ff9807a1 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -8,6 +8,7 @@
 
 #include "common/watchdog.h"
 #include "common/util.h"
+#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -203,7 +204,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
                                    tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
-  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
+  connect(dcamBtn, &ButtonControl::clicked, [this, dcamBtn]() {
+    dcamBtn->setEnabled(false);
+    DriverViewDialog driver_view(this);
+    driver_view.exec();
+    dcamBtn->setEnabled(true);
+  });
   addItem(dcamBtn);
 
   auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
@@ -375,7 +381,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   // setup panels
   DevicePanel *device = new DevicePanel(this);
   QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
-  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 68ba0d1898..de0528ee0a 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -28,7 +28,6 @@ protected:
 signals:
   void closeSettings();
   void reviewTrainingGuide();
-  void showDriverView();
   void expandToggleDescription(const QString &param);
 
 private:
@@ -45,7 +44,6 @@ public:
 
 signals:
   void reviewTrainingGuide();
-  void showDriverView();
 
 private slots:
   void poweroff();
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 6b579fcc5d..e1ec916c6f 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -20,9 +20,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     onboardingWindow->showTrainingGuide();
     main_layout->setCurrentWidget(onboardingWindow);
   });
-  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
-    homeWindow->showDriverView(true);
-  });
 
   onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);

From e42c2034481ee4b57f621e3adedcfe2c6faf09f3 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Thu, 24 Oct 2024 18:46:57 -0700
Subject: [PATCH 0867/1243] [bot] Update Python packages (#33870)

* Update Python packages

* Update ref_commit

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 opendbc_repo                             |   2 +-
 selfdrive/test/process_replay/ref_commit |   2 +-
 uv.lock                                  | 154 +++++++++++------------
 3 files changed, 79 insertions(+), 79 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 42848c7c73..04b17b9346 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 42848c7c73112752aa16350546bf3fa1a53fb1a1
+Subproject commit 04b17b934655fb11a34727854b0b9a6b8f6ac82a
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b40eed5a54..1365eb1798 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a43b1b988601b519c7add6fb0333962a1b3864b7
\ No newline at end of file
+e7db12387eecd077c6eaca6622b7863ee1af7105
diff --git a/uv.lock b/uv.lock
index ae6f8e9b16..eed10e22ea 100644
--- a/uv.lock
+++ b/uv.lock
@@ -579,41 +579,41 @@ wheels = [
 
 [[package]]
 name = "frozenlist"
-version = "1.4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cf/3d/2102257e7acad73efc4a0c306ad3953f68c504c16982bbdfee3ad75d8085/frozenlist-1.4.1.tar.gz", hash = "sha256:c037a86e8513059a2613aaba4d817bb90b9d9b6b69aace3ce9c877e8c8ed402b", size = 37820 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/01/bc/8d33f2d84b9368da83e69e42720cff01c5e199b5a868ba4486189a4d8fa9/frozenlist-1.4.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:a0cb6f11204443f27a1628b0e460f37fb30f624be6051d490fa7d7e26d4af3d0", size = 97060 },
-    { url = "https://files.pythonhosted.org/packages/af/b2/904500d6a162b98a70e510e743e7ea992241b4f9add2c8063bf666ca21df/frozenlist-1.4.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b46c8ae3a8f1f41a0d2ef350c0b6e65822d80772fe46b653ab6b6274f61d4a49", size = 55347 },
-    { url = "https://files.pythonhosted.org/packages/5b/9c/f12b69997d3891ddc0d7895999a00b0c6a67f66f79498c0e30f27876435d/frozenlist-1.4.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:fde5bd59ab5357e3853313127f4d3565fc7dad314a74d7b5d43c22c6a5ed2ced", size = 53374 },
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 ]
 
 [[package]]

From b943cbd4210efd20e4b1a7e7b4a2853792c02c4c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 24 Oct 2024 21:24:11 -0500
Subject: [PATCH 0868/1243] Reapply "Remove steering wheel offset for planner
 slow down for curves" (#33848) (#33849)

* Reapply "Remove steering wheel offset for planner slow down for curves" (#33848)

This reverts commit 4f8b11257e86b407fad67cff047b91d9dcee21cc.

* careless

* Update ref_commit
---
 selfdrive/controls/lib/longitudinal_planner.py  | 3 ++-
 selfdrive/controls/plannerd.py                  | 4 ++--
 selfdrive/test/longitudinal_maneuvers/plant.py  | 2 ++
 selfdrive/test/process_replay/process_replay.py | 2 +-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 5 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index d4352791ed..5f47cebb1f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -134,7 +134,8 @@ class LongitudinalPlanner:
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index ae8301871d..bcfc4d0c14 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 3c8c09d6be..c08ac6d369 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -64,6 +64,7 @@ class Plant:
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
+    lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
@@ -130,6 +131,7 @@ class Plant:
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
+          'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index ef17325642..448dc6896d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -508,7 +508,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1365eb1798..66abbd2803 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e7db12387eecd077c6eaca6622b7863ee1af7105
+22530fd1bd915d5b37db900e2ac42a9501cd5972

From 251a9f028fff4ea04e06236e34bee10776c1af24 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 24 Oct 2024 20:15:59 -0700
Subject: [PATCH 0869/1243] jenkins: unsafe checkout for test_onroad (#33872)

unsafe
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 64b2f05758..23e5b016d3 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -172,7 +172,7 @@ node {
     parallel (
       // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           ["build openpilot", "cd system/manager && ./build.py"],

From 1570aa79610bd26bad06286fd085113db8695e27 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 25 Oct 2024 10:47:08 -0700
Subject: [PATCH 0870/1243] ci: tmp disable regen

---
 .github/workflows/selfdrive_tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 7557b7c554..9456914371 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -223,6 +223,7 @@ jobs:
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: Run regen
+      if: false
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \

From 72a88c931976463d4662272e9902daf7bd84160d Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Fri, 25 Oct 2024 21:37:15 -0300
Subject: [PATCH 0871/1243] Add Developer Panel in Settings (#33828)

* hello world

* hello btn

* add ssh toggles

* split out developer panel code

* test this

* fix

* add ZMQ button

* add developer panel case to bot autogen screenshots

* give up bridge

* fix CI (generate screenshots)

* change from btn to toggles and interlock protection

* duplicated

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 .github/workflows/ui_preview.yaml          |  2 +-
 selfdrive/ui/SConscript                    |  2 +-
 selfdrive/ui/qt/network/networking.cc      |  4 ---
 selfdrive/ui/qt/offroad/developer_panel.cc | 36 ++++++++++++++++++++++
 selfdrive/ui/qt/offroad/developer_panel.h  | 14 +++++++++
 selfdrive/ui/qt/offroad/settings.cc        |  2 ++
 selfdrive/ui/tests/test_ui/run.py          |  8 ++++-
 selfdrive/ui/translations/main_ar.ts       | 15 +++++++++
 selfdrive/ui/translations/main_de.ts       | 15 +++++++++
 selfdrive/ui/translations/main_es.ts       | 15 +++++++++
 selfdrive/ui/translations/main_fr.ts       | 15 +++++++++
 selfdrive/ui/translations/main_ja.ts       | 15 +++++++++
 selfdrive/ui/translations/main_ko.ts       | 15 +++++++++
 selfdrive/ui/translations/main_pt-BR.ts    | 15 +++++++++
 selfdrive/ui/translations/main_th.ts       | 15 +++++++++
 selfdrive/ui/translations/main_tr.ts       | 15 +++++++++
 selfdrive/ui/translations/main_zh-CHS.ts   | 15 +++++++++
 selfdrive/ui/translations/main_zh-CHT.ts   | 15 +++++++++
 18 files changed, 226 insertions(+), 7 deletions(-)
 create mode 100644 selfdrive/ui/qt/offroad/developer_panel.cc
 create mode 100644 selfdrive/ui/qt/offroad/developer_panel.h

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index a6daaad19f..3ed882ed05 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 643951fff3..19dcc625e2 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -28,7 +28,7 @@ qt_libs = [widgets, qt_util] + base_libs
 
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
-          "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
+          "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 22d9c01efe..066dc3ca7e 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -149,10 +149,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
   list->addItem(ipLabel);
 
-  // SSH keys
-  list->addItem(new SshToggle());
-  list->addItem(new SshControl());
-
   // Roaming toggle
   const bool roamingEnabled = params.getBool("GsmRoaming");
   roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
new file mode 100644
index 0000000000..bb11b35404
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -0,0 +1,36 @@
+#include <QDebug>
+
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
+  // SSH keys
+  addItem(new SshToggle());
+  addItem(new SshControl());
+
+  joystickToggle = new ParamControl("JoystickDebugMode", tr("Joystick Debug Mode"), "", "");
+  QObject::connect(joystickToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    params.putBool("LongitudinalManeuverMode", false);
+    longManeuverToggle->refresh();
+  });
+  addItem(joystickToggle);
+
+  longManeuverToggle = new ParamControl("LongitudinalManeuverMode", tr("Longitudinal Maneuver Mode"), "", "");
+  QObject::connect(longManeuverToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    params.putBool("JoystickDebugMode", false);
+    joystickToggle->refresh();
+  });
+  addItem(longManeuverToggle);
+
+  // Joystick and longitudinal maneuvers should be hidden on release branches
+  // also the toggles should be not available to change in onroad state
+  const bool is_release = params.getBool("IsReleaseBranch");
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<ParamControl *>()) {
+      btn->setVisible(!is_release);
+      btn->setEnabled(offroad);
+    }
+  });
+
+}
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
new file mode 100644
index 0000000000..9fcff1e97b
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class DeveloperPanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit DeveloperPanel(SettingsWindow *parent);
+
+private:
+  Params params;
+  ParamControl* joystickToggle;
+  ParamControl* longManeuverToggle;
+};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 29ff9807a1..d4aab53f5a 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -393,6 +394,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Network"), networking},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
+    {tr("Developer"), new DeveloperPanel(this)},
   };
 
   nav_btns = new QButtonGroup(this);
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0b98cb0b38..e6fd9a016a 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -42,7 +42,12 @@ def setup_settings_device(click, pm: PubMaster):
 
 def setup_settings_toggles(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 760)
+  click(278, 650)
+  time.sleep(UI_DELAY)
+
+def setup_settings_developer(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 960)
   time.sleep(UI_DELAY)
 
 def setup_onroad(click, pm: PubMaster):
@@ -175,6 +180,7 @@ CASES = {
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
+  "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,
   "onroad_override": setup_onroad_override,
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 5f254e9cd4..2854aceeaa 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -113,6 +113,17 @@
         <translation>رفض، إلغاء التثبيت %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -618,6 +629,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>البرنامج</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 4f5997228a..2abed6e305 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -113,6 +113,17 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -600,6 +611,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index fa50f33f15..45309eb745 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -113,6 +113,17 @@
         <translation>Rechazar, desinstalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Esto puede tardar un minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 566ed32f11..f4251bc41d 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -113,6 +113,17 @@
         <translation>Refuser, désinstaller %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Software</source>
         <translation>Logiciel</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 90c8aba00b..bc83d3f9ae 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -113,6 +113,17 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 6d01b1289f..0839ddf15e 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -113,6 +113,17 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index ba50e97141..342a212045 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -113,6 +113,17 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Isso pode levar até um minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 6d89c049b1..c2b2771830 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -113,6 +113,17 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ซอฟต์แวร์</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 663ad8c281..9a53449276 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -113,6 +113,17 @@
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Yazılım</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 494b1bc170..f061322c45 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -113,6 +113,17 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>软件</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 7ce6ac6d20..04e76a8d95 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -113,6 +113,17 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

From 1932aff0d97b3da2d46b1522a1bf45675c6adcea Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 25 Oct 2024 17:41:23 -0700
Subject: [PATCH 0872/1243] sensord: cleanup logging (#33875)

Co-authored-by: Comma Device <device@comma.ai>
---
 system/sensord/sensors/bmx055_accel.cc | 9 ++++++++-
 system/sensord/sensors/bmx055_gyro.cc  | 4 ++++
 system/sensord/sensors/bmx055_magn.cc  | 6 ++++--
 system/sensord/sensors/i2c_sensor.h    | 2 +-
 system/sensord/sensors/sensor.h        | 2 ++
 system/sensord/sensors_qcom2.cc        | 2 +-
 6 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc
index bdb0113de3..bcc31e1d6c 100644
--- a/system/sensord/sensors/bmx055_accel.cc
+++ b/system/sensord/sensors/bmx055_accel.cc
@@ -10,12 +10,15 @@ BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
 
 int BMX055_Accel::init() {
   int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID});
-  if (ret == -1) return -1;
+  if (ret == -1) {
+    goto fail;
+  }
 
   ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE);
   if (ret < 0) {
     goto fail;
   }
+
   // bmx055 accel has a 1.3ms wakeup time from deep suspend mode
   util::sleep_for(10);
 
@@ -36,11 +39,15 @@ int BMX055_Accel::init() {
     goto fail;
   }
 
+  enabled = true;
+
 fail:
   return ret;
 }
 
 int BMX055_Accel::shutdown()  {
+  if (!enabled) return 0;
+
   // enter deep suspend mode (lowest power mode)
   int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
   if (ret < 0) {
diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc
index 411b2f445e..0cc405f654 100644
--- a/system/sensord/sensors/bmx055_gyro.cc
+++ b/system/sensord/sensors/bmx055_gyro.cc
@@ -46,11 +46,15 @@ int BMX055_Gyro::init() {
     goto fail;
   }
 
+  enabled = true;
+
 fail:
   return ret;
 }
 
 int BMX055_Gyro::shutdown()  {
+  if (!enabled) return 0;
+
   // enter deep suspend mode (lowest power mode)
   int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
   if (ret < 0) {
diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
index 223f0337e8..b498c5fe3d 100644
--- a/system/sensord/sensors/bmx055_magn.cc
+++ b/system/sensord/sensors/bmx055_magn.cc
@@ -78,7 +78,7 @@ int BMX055_Magn::init() {
   // suspend -> sleep
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
   if (ret < 0) {
-    LOGW("Enabling power failed: %d", ret);
+    LOGD("Enabling power failed: %d", ret);
     goto fail;
   }
   util::sleep_for(5); // wait until the chip is powered on
@@ -139,7 +139,7 @@ int BMX055_Magn::init() {
     goto fail;
   }
 
-
+  enabled = true;
   return 0;
 
  fail:
@@ -147,6 +147,8 @@ int BMX055_Magn::init() {
 }
 
 int BMX055_Magn::shutdown() {
+  if (!enabled) return 0;
+
   // move to suspend mode
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
   if (ret < 0) {
diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h
index 6082510083..e6d328ce72 100644
--- a/system/sensord/sensors/i2c_sensor.h
+++ b/system/sensord/sensors/i2c_sensor.h
@@ -39,7 +39,7 @@ public:
     uint8_t chip_id = 0;
     int ret = read_register(address, &chip_id, 1);
     if (ret < 0) {
-      LOGW("Reading chip ID failed: %d", ret);
+      LOGD("Reading chip ID failed: %d", ret);
       return -1;
     }
     for (int i = 0; i < expected_ids.size(); ++i) {
diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h
index 1b0e3be0dc..ccf998d161 100644
--- a/system/sensord/sensors/sensor.h
+++ b/system/sensord/sensors/sensor.h
@@ -5,8 +5,10 @@
 class Sensor {
 public:
   int gpio_fd = -1;
+  bool enabled = false;
   uint64_t start_ts = 0;
   uint64_t init_delay = 500e6; // default dealy 500ms
+
   virtual ~Sensor() {}
   virtual int init() = 0;
   virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 55c8d2a448..532e28053f 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -39,7 +39,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
     }
   }
 
-  uint64_t offset = 0;
+  uint64_t offset = nanos_since_epoch() - nanos_since_boot();
   struct pollfd fd_list[1] = {0};
   fd_list[0].fd = fd;
   fd_list[0].events = POLLIN | POLLPRI;

From 9fcd1591410584870ff6c8a15a54badadeaadb23 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Fri, 25 Oct 2024 23:29:49 -0700
Subject: [PATCH 0873/1243] [bot] Update Python packages (#33877)

* Update Python packages

* just setting ki

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 opendbc_repo                             | 2 +-
 panda                                    | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 uv.lock                                  | 6 +++---
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 04b17b9346..92da02f476 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 04b17b934655fb11a34727854b0b9a6b8f6ac82a
+Subproject commit 92da02f476d0b17ade35fcb33b5b483c8f8bfac2
diff --git a/panda b/panda
index 8422a7437f..2bd2f2a702 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8422a7437f8221175d4c8b857c676ed616cad7a5
+Subproject commit 2bd2f2a7029e629518bfec60d30891fb0e2e0a88
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 66abbd2803..92de522199 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-22530fd1bd915d5b37db900e2ac42a9501cd5972
+fd0a24f9269e21dd5d4a0a4fcc0b29f1324a47f0
diff --git a/uv.lock b/uv.lock
index eed10e22ea..c4079add69 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4494,14 +4494,14 @@ wheels = [
 
 [[package]]
 name = "pytest-randomly"
-version = "3.15.0"
+version = "3.16.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/c9/d4/6e924a0b2855736d942703dec88dfc98b4fe0881c8fa849b6b0fbb9182fa/pytest_randomly-3.15.0.tar.gz", hash = "sha256:b908529648667ba5e54723088edd6f82252f540cc340d748d1fa985539687047", size = 21743 }
+sdist = { url = "https://files.pythonhosted.org/packages/c0/68/d221ed7f4a2a49a664da721b8e87b52af6dd317af2a6cb51549cf17ac4b8/pytest_randomly-3.16.0.tar.gz", hash = "sha256:11bf4d23a26484de7860d82f726c0629837cf4064b79157bd18ec9d41d7feb26", size = 13367 }
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+    { url = "https://files.pythonhosted.org/packages/22/70/b31577d7c46d8e2f9baccfed5067dd8475262a2331ffb0bfdf19361c9bde/pytest_randomly-3.16.0-py3-none-any.whl", hash = "sha256:8633d332635a1a0983d3bba19342196807f6afb17c3eef78e02c2f85dade45d6", size = 8396 },
 ]
 
 [[package]]

From 94d10ebf6a14d4cad82fff8547fc4de5a7c8c4a9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 26 Oct 2024 01:36:48 -0500
Subject: [PATCH 0874/1243] Ford: higher curvature rate limits at low speed
 (#33846)

* use closer to eps limits

* bump

* we've seen ~0.009 at 7 m/s, so allow that

* bump

* bump

* update refs
---
 opendbc_repo                             | 2 +-
 panda                                    | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 92da02f476..4aae6d02be 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 92da02f476d0b17ade35fcb33b5b483c8f8bfac2
+Subproject commit 4aae6d02bece759b6f25666db6b9428ae5011161
diff --git a/panda b/panda
index 2bd2f2a702..3066f93d8a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2bd2f2a7029e629518bfec60d30891fb0e2e0a88
+Subproject commit 3066f93d8a1db92ac900e6ccc64ff68c154deafb
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 92de522199..6842530946 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fd0a24f9269e21dd5d4a0a4fcc0b29f1324a47f0
+8f9dba78b0a2a4fbf8122f61d49e9529dba9b3b4
\ No newline at end of file

From f5c26b40575f0cdea011bba7106f091e7d009684 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 28 Oct 2024 10:12:43 -0700
Subject: [PATCH 0875/1243] [bot] Update Python packages (#33880)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 uv.lock | 41 +++++++++++++++++++----------------------
 1 file changed, 19 insertions(+), 22 deletions(-)

diff --git a/uv.lock b/uv.lock
index c4079add69..54b488a9f0 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1678,27 +1678,24 @@ wheels = [
 
 [[package]]
 name = "pyarrow"
-version = "17.0.0"
+version = "18.0.0"
 source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/27/4e/ea6d43f324169f8aec0e57569443a38bab4b398d09769ca64f7b4d467de3/pyarrow-17.0.0.tar.gz", hash = "sha256:4beca9521ed2c0921c1023e68d097d0299b62c362639ea315572a58f3f50fd28", size = 1112479 }
+sdist = { url = "https://files.pythonhosted.org/packages/ec/41/6bfd027410ba2cc35da4682394fdc4285dc345b1d99f7bd55e96255d0c7d/pyarrow-18.0.0.tar.gz", hash = "sha256:a6aa027b1a9d2970cf328ccd6dbe4a996bc13c39fd427f502782f5bdb9ca20f5", size = 1118457 }
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 ]
 
 [[package]]
@@ -5012,14 +5009,14 @@ wheels = [
 
 [[package]]
 name = "tqdm"
-version = "4.66.5"
+version = "4.66.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "platform_system == 'Windows'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/58/83/6ba9844a41128c62e810fddddd72473201f3eacde02046066142a2d96cc5/tqdm-4.66.5.tar.gz", hash = "sha256:e1020aef2e5096702d8a025ac7d16b1577279c9d63f8375b63083e9a5f0fcbad", size = 169504 }
+sdist = { url = "https://files.pythonhosted.org/packages/e9/34/bef135b27fe1864993a5284ad001157ee9b5538e859ac90f5b0e8cc8c9ec/tqdm-4.66.6.tar.gz", hash = "sha256:4bdd694238bef1485ce839d67967ab50af8f9272aab687c0d7702a01da0be090", size = 169533 }
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 [[package]]

From d2794f3dc92035cb4bbfed43e785dbcc96e09e7c Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 28 Oct 2024 14:39:49 -0300
Subject: [PATCH 0876/1243] update pt-BR translations (#33879)

---
 selfdrive/ui/translations/main_pt-BR.ts | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 342a212045..a89c85510e 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -117,11 +117,11 @@
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo Joystick Debug</translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo Longitudinal Maneuver</translation>
     </message>
 </context>
 <context>
@@ -615,7 +615,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Desenvdor</translation>
     </message>
 </context>
 <context>

From 21bb0a2d7a5a6f8942f8a3eb1d5b2bc2d950feba Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 28 Oct 2024 12:57:36 -0700
Subject: [PATCH 0877/1243] jenkins: revert unsafe checkout (#33881)

revert
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 23e5b016d3..64b2f05758 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -172,7 +172,7 @@ node {
     parallel (
       // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tici-needs-can", [], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           ["build openpilot", "cd system/manager && ./build.py"],

From 628e0daee034ff42e5e9f59a445c77c577daa3f3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 28 Oct 2024 15:00:59 -0700
Subject: [PATCH 0878/1243] tici: remove power save test, it's testing the
 wrong thing

---
 Jenkinsfile                                 |  1 -
 system/hardware/tici/tests/test_hardware.py | 26 ---------------------
 2 files changed, 27 deletions(-)
 delete mode 100644 system/hardware/tici/tests/test_hardware.py

diff --git a/Jenkinsfile b/Jenkinsfile
index 64b2f05758..5afffad48f 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -232,7 +232,6 @@ node {
           ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
           ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
         ])
       },
diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
deleted file mode 100644
index 75f53e7cdb..0000000000
--- a/system/hardware/tici/tests/test_hardware.py
+++ /dev/null
@@ -1,26 +0,0 @@
-import pytest
-import time
-import numpy as np
-
-from openpilot.system.hardware.tici.hardware import Tici
-
-HARDWARE = Tici()
-
-
-@pytest.mark.tici
-class TestHardware:
-
-  def test_power_save_time(self):
-    ts = {True: [], False: []}
-    for _ in range(5):
-      for on in (True, False):
-        st = time.monotonic()
-        HARDWARE.set_power_save(on)
-        ts[on].append(time.monotonic() - st)
-
-    # disabling power save is the main time-critical one
-    assert 0.1 < np.mean(ts[False]) < 0.15
-    assert max(ts[False]) < 0.2
-
-    assert 0.1 < np.mean(ts[True]) < 0.35
-    assert max(ts[True]) < 0.4

From 7fc7874804fac6a19d711fa54eb009e81493001f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 28 Oct 2024 15:22:11 -0700
Subject: [PATCH 0879/1243] test_pandad: adjust startup time

---
 selfdrive/pandad/tests/test_pandad.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 467c7f04c9..213678193f 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -103,9 +103,8 @@ class TestPandad:
     # 5s for USB (due to enumeration)
     # - 0.2s pandad -> pandad
     # - plus some buffer
-    assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
     print("startup times", ts, sum(ts) / len(ts))
-
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
 
   def test_protocol_version_check(self):
     if not self.spi:

From fcbdd39aaf3a17a7bf76d2986159028556b29a57 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 28 Oct 2024 17:25:48 -0700
Subject: [PATCH 0880/1243] test_onroad: lower bound for soundd cpu usage
 (#33883)

lb
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 714de01ca2..35338419de 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -53,7 +53,7 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
-  "selfdrive.ui.soundd": 3.38,
+  "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,

From 22a1b40566ec5887c336c7f8389477ddda0ce6ec Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 28 Oct 2024 18:54:05 -0700
Subject: [PATCH 0881/1243] camerad: IFE BLC/linearization (#33884)

* simplify

* not all needed

* need to combine this

* there is none

* p0s

* cleanup

* lgtm

* lgtm2

* same

* 4

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h      | 40 +++++--------------------------
 system/camerad/sensors/ar0231.cc  | 15 ++++++++++++
 system/camerad/sensors/os04c10.cc | 15 ++++++++++++
 system/camerad/sensors/ox03c10.cc | 18 +++++++++++---
 system/camerad/sensors/sensor.h   |  1 +
 5 files changed, 52 insertions(+), 37 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 380a6ae134..70a448dd1f 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000c04, // (1<<8) to enable vignetting correction
+    0x00000c06, // (1<<8) to enable vignetting correction
   });
 
   dst += write_cont(dst, 0x48, {
@@ -67,7 +67,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 
   // black level scale + offset
   dst += write_cont(dst, 0x6b0, {
-    (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0),
+    ((uint32_t)(1 << 11) << 0xf) | (s->black_level << 0),
     0x0,
     0x0,
   });
@@ -105,39 +105,11 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   // linearization
   dst += write_cont(dst, 0x4dc, {
     0x00000000,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
-    0x04050b84,
-    0x13031a82,
-    0x22022981,
-    0x3100387f,
-    0x04010b80,
-    0x13001a80,
-    0x2200297f,
-    0x30ff387f,
   });
+  dst += write_cont(dst, 0x4e0, s->linearization_pts);
+  dst += write_cont(dst, 0x4f0, s->linearization_pts);
+  dst += write_cont(dst, 0x500, s->linearization_pts);
+  dst += write_cont(dst, 0x510, s->linearization_pts);
   // TODO: this is DMI64 in the dump, does that matter?
   dst += write_dmi(dst, &addr, 288, 0xc24, 9);
   patches.push_back(addr - (uint64_t)start);
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 11e06de76a..a107a6e1b9 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -138,6 +138,21 @@ AR0231::AR0231() {
       ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  linearization_lut = {
+    0x02000000, 0x02000000, 0x02000000, 0x02000000,
+    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
+    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
+    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
+    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
+    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  for (int i = 0; i < 252; i++) {
+    linearization_lut.push_back(0x0);
+  }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
 }
 
 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 0ec891a4c0..08530989fe 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -72,6 +72,21 @@ OS04C10::OS04C10() {
     float fx = i / 63.0;
     gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
   }
+  linearization_lut = {
+    0x02000000, 0x02000000, 0x02000000, 0x02000000,
+    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
+    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
+    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
+    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
+    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  for (int i = 0; i < 252; i++) {
+    linearization_lut.push_back(0x0);
+  }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index edfb47f439..16ab0a65bc 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -64,7 +64,7 @@ OX03C10::OX03C10() {
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
 
-  black_level = 64;
+  black_level = 0;
   color_correct_matrix = {
     0x000000b6, 0x00000ff1, 0x00000fda,
     0x00000fcc, 0x000000b9, 0x00000ffb,
@@ -75,9 +75,21 @@ OX03C10::OX03C10() {
     fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
-  for (int i = 0; i < 288; i++) {
-    linearization_lut.push_back(0xff);
+  linearization_lut = {
+    0x00200000, 0x00200000, 0x00200000, 0x00200000,
+    0x00404080, 0x00404080, 0x00404080, 0x00404080,
+    0x00804100, 0x00804100, 0x00804100, 0x00804100,
+    0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402,
+    0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070,
+    0x06044804, 0x06044804, 0x06044804, 0x06044804,
+    0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  for (int i = 0; i < 252; i++) {
+    linearization_lut.push_back(0x0);
   }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff};
   for (int i = 0; i < 884*2; i++) {
     vignetting_lut.push_back(0xff);
   }
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 4fba4ff594..d94cd57c8d 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -73,6 +73,7 @@ public:
   std::vector<uint32_t> color_correct_matrix;  // 3x3
   std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
   std::vector<uint32_t> linearization_lut;     // length 288
+  std::vector<uint32_t> linearization_pts;     // length 4
   std::vector<uint32_t> vignetting_lut;        // 2x length 884
 };
 

From a0548168857548eb9ea38c4a4a2ecc897f83455b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 13:26:34 -0700
Subject: [PATCH 0882/1243] nightly-dev (#33876)

* dev

* installer'

* remove

* debug
---
 Jenkinsfile              | 1 +
 release/build_release.sh | 9 +++++++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 5afffad48f..9d6828000b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -165,6 +165,7 @@ node {
     if (env.BRANCH_NAME == 'master-ci') {
       deviceStage("build nightly", "tici-needs-can", [], [
         ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+        ["build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"],
       ])
     }
 
diff --git a/release/build_release.sh b/release/build_release.sh
index bcc4b5cded..62c2085300 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -50,8 +50,13 @@ git commit -a -m "openpilot v$VERSION release"
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc) --minimal
 
-# release panda fw
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+if [ -z "PANDA_DEBUG_BUILD" ]; then
+  # release panda fw
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+else
+  # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
+  scons -j$(nproc) panda/
+fi
 
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then

From e6afe355d434cddf417e6ce04d6699ca28b493f7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 13:56:16 -0700
Subject: [PATCH 0883/1243] model_replay: save plots for each commits (#33886)

* fix

* better

* cleanup
---
 selfdrive/test/process_replay/model_replay.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index b0ef6a55d5..7ffaea76b4 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -50,7 +50,7 @@ def get_event(logs, event):
 def zl(array, fill):
   return zip_longest(array, [], fillvalue=fill)
 
-def generate_report(proposed, master, tmp):
+def generate_report(proposed, master, tmp, commit):
   ModelV2_Plots = zl([
                      (lambda x: x.velocity.x[0], "velocity.x"),
                      (lambda x: x.action.desiredCurvature, "desiredCurvature"),
@@ -60,7 +60,7 @@ def generate_report(proposed, master, tmp):
                     ], "modelV2")
 
   return [plot(map(v[0], get_event(proposed, event)), \
-               map(v[0], get_event(master, event)), v[1], tmp) \
+               map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
                for v,event in [*ModelV2_Plots]]
 
 def create_table(title, files, link, open_table=False):
@@ -88,11 +88,11 @@ def comment_replay_report(proposed, master, full_logs):
       print("No PR associated with this branch. Skipping report.")
       return
 
-    files = generate_report(proposed, master, tmp)
+    commit = get_commit()
+    files = generate_report(proposed, master, tmp, commit)
 
     GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
 
-    commit = get_commit()
     log_name = get_log_fn(TEST_ROUTE, commit)
     save_log(log_name, full_logs)
     GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)

From bce376f1206a28215d62f966db9484392f7b3840 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 15:46:48 -0700
Subject: [PATCH 0884/1243] ui_preview: auto expand diffs (#33887)

auto exp
---
 .github/workflows/ui_preview.yaml | 15 +++------------
 1 file changed, 3 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 3ed882ed05..4f25a71452 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -88,22 +88,20 @@ jobs:
           A=($scenes)
 
           DIFF=""
-          open=false
-          TABLE="<summary>All Screenshots</summary>"
+          TABLE="<details><summary>All Screenshots</summary>"
           TABLE="${TABLE}<table>"
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
 
             if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
               mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
 
-              DIFF="${DIFF}<details>"
+              DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
               DIFF="${DIFF}<table>"
 
@@ -133,14 +131,7 @@ jobs:
             fi
           done
 
-          TABLE="${TABLE}</table>"
-          TABLE="${TABLE}</details>"
-
-          if $open; then
-            TABLE="<details open>${TABLE}"
-          else
-            TABLE="<details>${TABLE}"
-          fi
+          TABLE="${TABLE}</table></details>"
 
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 

From db98566084278cd60f3a00588d52809b6ab3b265 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 16:59:48 -0700
Subject: [PATCH 0885/1243] ci: faster sim test (#33888)

* sim

* no more
---
 .github/workflows/selfdrive_tests.yaml        | 20 +++++++++++++++++++
 .github/workflows/tools_tests.yaml            | 18 -----------------
 tools/sim/bridge/metadrive/metadrive_world.py |  2 +-
 tools/sim/tests/test_metadrive_bridge.py      |  5 +----
 tools/sim/tests/test_sim_bridge.py            |  5 +----
 5 files changed, 23 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 9456914371..9d37714c17 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -327,6 +327,26 @@ jobs:
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: 1
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c1c3552472..493671051f 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -25,24 +25,6 @@ env:
 
 
 jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run bridge test
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 5bb4555dc1..a34d270994 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 30
+      time_check_threshold = 15
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 8849e901cb..04ce5d584f 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -12,10 +12,7 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
   def setup_create_bridge(self, test_duration):
-    # run bridge test for at least 60s, since not-moving check runs every 30s
-    if test_duration < 60:
-      test_duration = 60
-    self.test_duration = test_duration
+    self.test_duration = 30
 
   def create_bridge(self):
     return MetaDriveBridge(False, False, self.test_duration, True)
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 12f38b86c3..d58cddff7f 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -89,7 +89,4 @@ class TestSimBridgeBase:
       p.terminate()
 
     for p in reversed(self.processes):
-      if isinstance(p, subprocess.Popen):
-        p.wait(15)
-      else:
-        p.join(15)
+      p.kill()

From 3f09d19c95e3c5a2bb87f881645213723716da8e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 17:08:57 -0700
Subject: [PATCH 0886/1243] ci: x86 build on namespace runner (#33889)

ns
---
 .github/workflows/selfdrive_tests.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 9d37714c17..e98b4a19f7 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -76,7 +76,9 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
+                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
+                   'ubuntu-latest'}}
     steps:
     - uses: actions/checkout@v4
       with:

From fe53185f64a882a2007c7c180ef0995018a4c4c8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 19:32:31 -0700
Subject: [PATCH 0887/1243] ci: faster ui preview (#33890)

* fast

* fast

* cleanup
---
 .github/workflows/selfdrive_tests.yaml | 14 ++++++-
 selfdrive/ui/tests/test_ui/run.py      | 58 ++++++++++----------------
 2 files changed, 34 insertions(+), 38 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index e98b4a19f7..b510e8509d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -352,19 +352,29 @@ jobs:
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
       - uses: ./.github/workflows/setup-with-retry
+      - name: caching frames
+        id: frames-cache
+        uses: actions/cache@v4
+        with:
+          path: .ci_cache/comma_download_cache
+          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python3 selfdrive/ui/tests/test_ui/run.py"
+                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
+                            chmod -R 777 /tmp/comma_download_cache"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index e6fd9a016a..8cd5f1930d 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -3,11 +3,10 @@ import capnp
 import pathlib
 import shutil
 import sys
-import jinja2
-import matplotlib.pyplot as plt
-import numpy as np
 import os
 import pywinctl
+import pyautogui
+import pickle
 import time
 
 from cereal import log
@@ -23,8 +22,9 @@ from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_c
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
 
-UI_DELAY = 0.5 # may be slower on CI?
+UI_DELAY = 0.1 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
@@ -222,41 +222,20 @@ class TestUI:
       print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
       self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
 
-  def screenshot(self):
-    import pyautogui
-    im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
+  def screenshot(self, name):
+    im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
     assert im.width == 2160
     assert im.height == 1080
-    img = np.array(im)
-    im.close()
-    return img
 
   def click(self, x, y, *args, **kwargs):
-    import pyautogui
     pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
     time.sleep(UI_DELAY) # give enough time for the UI to react
 
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
-
     setup_case(self.click, self.pm)
-
-    im = self.screenshot()
-    plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
-
-
-def create_html_report():
-  OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html"
-
-  with open(TEST_DIR / "template.html") as f:
-    template = jinja2.Template(f.read())
-
-  cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")}
-  cases = dict(sorted(cases.items()))
-
-  with open(OUTPUT_FILE, "w") as f:
-    f.write(template.render(cases=cases))
+    self.screenshot(name)
 
 def create_screenshots():
   if TEST_OUTPUT_DIR.exists():
@@ -277,13 +256,23 @@ def create_screenshots():
       break
 
   cam = DEVICE_CAMERAS[("tici", "ar0231")]
-  road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
 
-  wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
+  frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames'
+  if os.path.isfile(frames_cache):
+    with open(frames_cache, 'rb') as f:
+      frames = pickle.load(f)
+      road_img = frames[0]
+      wide_road_img = frames[1]
+      driver_img = frames[2]
+  else:
+    with open(frames_cache, 'wb') as f:
+      road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      pickle.dump([road_img, wide_road_img, driver_img], f)
 
-  driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
+  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
   STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
 
   t = TestUI()
@@ -302,6 +291,3 @@ def create_screenshots():
 if __name__ == "__main__":
   print("creating test screenshots")
   create_screenshots()
-
-  print("creating html report")
-  create_html_report()

From 219fd82b2cce1137f5dfd885037f608d8cc67022 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 19:49:23 -0700
Subject: [PATCH 0888/1243] ci: fix ui_preview when testing the tests (#33891)

fix for loop
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 .github/workflows/ui_preview.yaml      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b510e8509d..593fff8f09 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -378,5 +378,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 4f25a71452..1842ef21e9 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -52,7 +52,7 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-${{ env.REPORT_NAME }}
+          name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting master ui

From 935e4b9c83de6bed24152a33999590d47cb1038e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 30 Oct 2024 01:22:41 -0700
Subject: [PATCH 0889/1243] bump opendbc

docs
---
 docs/CARS.md | 6 +++---
 opendbc_repo | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 84efe3c041..44c9327378 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -30,7 +30,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 4aae6d02be..4493062729 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4aae6d02bece759b6f25666db6b9428ae5011161
+Subproject commit 44930627296dd4adbe10c79e74b763edef7909b3

From 5df9fcbde4980b66c15cac4427c3876f00397836 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 30 Oct 2024 11:51:32 -0700
Subject: [PATCH 0890/1243] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 3066f93d8a..352e7ff138 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3066f93d8a1db92ac900e6ccc64ff68c154deafb
+Subproject commit 352e7ff138e9706715c8f0b76a985751ac620ae3

From 390713428242bc71208e4cae41b5a96e84ba76f9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 30 Oct 2024 15:23:32 -0500
Subject: [PATCH 0891/1243] Ford: enable radar (#33893)

* enable

* updaterefs

* updatedocs

* bump to master

* bump
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 4493062729..c4114772ba 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 44930627296dd4adbe10c79e74b763edef7909b3
+Subproject commit c4114772ba9d77bf03b97972611591e0bf8e4a25
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 6842530946..80b8d3ac5c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8f9dba78b0a2a4fbf8122f61d49e9529dba9b3b4
\ No newline at end of file
+2f17dc637bb685cadc08521c63f26c2f9af604d0
\ No newline at end of file

From b470bef140e1f67dcba10bb7291d49feddd65801 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Wed, 30 Oct 2024 14:15:19 -0700
Subject: [PATCH 0892/1243] Fix low-speed allow_throttle behavior in long
 planner (#33894)

* Misc fixes

* don't check allow_throttle slowdown for e2e

* Removed unused variable

* believe this clip is still necessary

* Update process replay refs

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
---
 .../lib/longitudinal_mpc_lib/long_mpc.py      |  4 ++-
 .../controls/lib/longitudinal_planner.py      | 10 +++----
 .../test_longitudinal.py                      | 26 ++++++++++---------
 selfdrive/test/process_replay/ref_commit      |  2 +-
 4 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index fa6d5542bd..65e1421d77 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -347,7 +347,8 @@ class LongitudinalMpc:
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = self.max_a
+    # negative accel constraint causes problems because negative speed is not allowed
+    self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend
     if self.mode == 'acc':
@@ -356,6 +357,7 @@ class LongitudinalMpc:
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
       v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
+      # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 5f47cebb1f..f1637d960c 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -22,7 +22,7 @@ A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
-ACCEL_LIMIT_MARGIN = 0.05
+MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -151,12 +151,12 @@ class LongitudinalPlanner:
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
     # Don't clip at low speeds since throttle_prob doesn't account for creep
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= 5.0
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
-      # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
-      clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
-      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
+      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
       v_cruise = 0.0
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 7eea44aae6..4bc1ebba8f 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -108,18 +108,6 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       **kwargs,
     ),
-    Maneuver(
-      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
-      duration=25.,
-      initial_speed=20.,
-      lead_relevancy=False,
-      prob_throttle_values=[1., 0., 0.],
-      cruise_values=[20., 20., 20.],
-      pitch_values=[0., 0.1, 0.1],
-      breakpoints=[0.0, 2., 2.01],
-      ensure_slowdown=True,
-      **kwargs,
-    ),
     Maneuver(
       "approach slower cut-in car at 20m/s",
       duration=20.,
@@ -163,6 +151,20 @@ def create_maneuvers(kwargs):
       **kwargs,
     ),
   ]
+  if not kwargs['e2e']:
+    # allow_throttle won't trigger with e2e
+    maneuvers.append(Maneuver(
+      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=False,
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      ensure_slowdown=True,
+      **kwargs,
+    ))
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 80b8d3ac5c..2f565836fd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2f17dc637bb685cadc08521c63f26c2f9af604d0
\ No newline at end of file
+992ac80ef848afb85562ca24b1c5a3d410aacd05
\ No newline at end of file

From 25d2555e4957a259da65ba004278bc559a43d701 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 30 Oct 2024 17:04:05 -0700
Subject: [PATCH 0893/1243] tizi: fix panda amp race condition (#33895)

* backoff

* bump panda

* cleanup

* fix mypy

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 panda                             | 2 +-
 system/hardware/tici/amplifier.py | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/panda b/panda
index 352e7ff138..0b364ece1e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 352e7ff138e9706715c8f0b76a985751ac620ae3
+Subproject commit 0b364ece1eafa2e66b71be7cade3fdfb56a3014e
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index af82067467..f6b29ec0ce 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -125,13 +125,15 @@ class Amplifier:
   def set_configs(self, configs: list[AmpConfig]) -> bool:
     # retry in case panda is using the amp
     tries = 15
-    for i in range(15):
+    backoff = 0.
+    for i in range(tries):
       try:
         self._set_configs(configs)
         return True
       except OSError:
+        backoff += 0.1
+        time.sleep(backoff)
         print(f"Failed to set amp config, {tries - i - 1} retries left")
-        time.sleep(0.02)
     return False
 
   def set_global_shutdown(self, amp_disabled: bool) -> bool:

From 78b83959e6db39402c25ef4fd38f7d3dfac2ac13 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 30 Oct 2024 18:55:19 -0700
Subject: [PATCH 0894/1243] IFE: update cst (#33896)

cl was probably wrong
---
 system/camerad/cameras/ife.h | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 70a448dd1f..1616196a3f 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -167,16 +167,16 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
 
   // YUV
   dst += write_cont(dst, 0xf30, {
-    0x00750259,
-    0x00000132,
-    0x00000000,
+    0x00680208,
+    0x00000108,
+    0x00400000,
     0x03ff0000,
-    0x01fe1eae,
-    0x00001f54,
+    0x01c01ed8,
+    0x00001f68,
     0x02000000,
     0x03ff0000,
-    0x1fad1e55,
-    0x000001fe,
+    0x1fb81e88,
+    0x000001c0,
     0x02000000,
     0x03ff0000,
   });

From da20b46839f39c650314475b312939ec0a18a547 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 30 Oct 2024 18:55:43 -0700
Subject: [PATCH 0895/1243] IFE: fix gamma delta (#33897)

update gtab

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/ar0231.cc  | 5 +++--
 system/camerad/sensors/os04c10.cc | 5 +++--
 system/camerad/sensors/ox03c10.cc | 5 +++--
 system/camerad/sensors/sensor.h   | 6 ++++++
 4 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index a107a6e1b9..e4ef3af404 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -126,8 +126,8 @@ AR0231::AR0231() {
     0x00000fbc, 0x000000bb, 0x00000009,
     0x00000fb6, 0x00000fe0, 0x000000ea,
   };
-  for (int i = 0; i < 64; i++) {
-    float fx = i / 63.0;
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
     const float gamma_k = 0.75;
     const float gamma_b = 0.125;
     const float mp = 0.01; // ideally midpoint should be adaptive
@@ -138,6 +138,7 @@ AR0231::AR0231() {
       ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  prepare_gamma_lut();
   linearization_lut = {
     0x02000000, 0x02000000, 0x02000000, 0x02000000,
     0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 08530989fe..53ac37f08a 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -68,10 +68,11 @@ OS04C10::OS04C10() {
     0x00000fa7, 0x000000d9, 0x00001000,
     0x00000fca, 0x00000fef, 0x000000c7,
   };
-  for (int i = 0; i < 64; i++) {
-    float fx = i / 63.0;
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
     gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
   }
+  prepare_gamma_lut();
   linearization_lut = {
     0x02000000, 0x02000000, 0x02000000, 0x02000000,
     0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 16ab0a65bc..19742661b1 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -70,11 +70,12 @@ OX03C10::OX03C10() {
     0x00000fcc, 0x000000b9, 0x00000ffb,
     0x00000fc2, 0x00000ff6, 0x000000c9,
   };
-  for (int i = 0; i < 64; i++) {
-    float fx = i / 63.0;
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
     fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  prepare_gamma_lut();
   linearization_lut = {
     0x00200000, 0x00200000, 0x00200000, 0x00200000,
     0x00404080, 0x00404080, 0x00404080, 0x00404080,
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index d94cd57c8d..dc2aadfe13 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -72,6 +72,12 @@ public:
   uint32_t black_level;
   std::vector<uint32_t> color_correct_matrix;  // 3x3
   std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
+  void prepare_gamma_lut() {
+    for (int i = 0; i < 64; i++) {
+      gamma_lut_rgb[i] |= ((uint32_t)(gamma_lut_rgb[i+1] - gamma_lut_rgb[i]) << 10);
+    }
+    gamma_lut_rgb.pop_back();
+  }
   std::vector<uint32_t> linearization_lut;     // length 288
   std::vector<uint32_t> linearization_pts;     // length 4
   std::vector<uint32_t> vignetting_lut;        // 2x length 884

From 183a058853382193692608759df45f6d32849077 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 30 Oct 2024 19:57:27 -0700
Subject: [PATCH 0896/1243] ci: use setup with retry for static analysis
 (#33898)

* docker

* setup

* now
---
 .github/workflows/selfdrive_tests.yaml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 593fff8f09..7e122b57df 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -146,11 +146,12 @@ jobs:
       PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-    - name: Setup
-      run: tools/op.sh setup
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
     - name: Static analysis
       timeout-minutes: 1
-      run: tools/op.sh lint
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
 
   unit_tests:
     name: unit tests

From 3e1e9892a0789be2620f40518994b18a9d8c478e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 30 Oct 2024 20:21:49 -0700
Subject: [PATCH 0897/1243] ci: increase submodules fetch timeout (#33899)

* fix

* increase
---
 .github/workflows/selfdrive_tests.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 7e122b57df..6e17f5a480 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -48,7 +48,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      timeout-minutes: 1
+      timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -56,7 +56,7 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
-      timeout-minutes: 3
+      timeout-minutes: 1
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \

From 366d6abeb1c3ad673cbcd1f7d207c2e3e740e9cc Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 31 Oct 2024 10:46:34 -0700
Subject: [PATCH 0898/1243] fix build in master_ci (#33900)

fix
---
 release/build_release.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/build_release.sh b/release/build_release.sh
index 62c2085300..8b26dc74ab 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -50,7 +50,7 @@ git commit -a -m "openpilot v$VERSION release"
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc) --minimal
 
-if [ -z "PANDA_DEBUG_BUILD" ]; then
+if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
   CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
 else

From 4716629d7015833f94605aad6d6e7557255035a2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 31 Oct 2024 11:50:58 -0700
Subject: [PATCH 0899/1243] add nightly-dev to tested_branches (#33901)

fix test
---
 system/version.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/version.py b/system/version.py
index 94964526b3..2d8a387bf7 100755
--- a/system/version.py
+++ b/system/version.py
@@ -11,7 +11,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly']
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev']
 
 BUILD_METADATA_FILENAME = "build.json"
 

From c979282cfa7a4c6c04162fdb6d5fa52a0f3c8b2f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 31 Oct 2024 16:05:03 -0500
Subject: [PATCH 0900/1243] Ford: limit acceleration near PCM set speed
 (#33903)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index c4114772ba..d632cc5bec 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c4114772ba9d77bf03b97972611591e0bf8e4a25
+Subproject commit d632cc5bec14d4e077fdf25e19b24b434c2653fd

From 7899b9964c02d73c754ec997536f052ddf0bccdc Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 31 Oct 2024 16:00:09 -0700
Subject: [PATCH 0901/1243] IFE: fix bls offset scaling (#33905)

14u

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 1616196a3f..a232000100 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -67,7 +67,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 
   // black level scale + offset
   dst += write_cont(dst, 0x6b0, {
-    ((uint32_t)(1 << 11) << 0xf) | (s->black_level << 0),
+    ((uint32_t)(1 << 11) << 0xf) | (s->black_level << (14 - s->bits_per_pixel)),
     0x0,
     0x0,
   });

From 736b6a2f8ab4405c77601a4b92b6b17532e40039 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 31 Oct 2024 16:11:15 -0700
Subject: [PATCH 0902/1243] agnos 11.2 (#33904)

* agnos 11.2

* update kernel
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 71 +++++++++++++++------------------
 2 files changed, 34 insertions(+), 39 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 1e5bc7b607..781f40fc7e 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="10.1"
+  export AGNOS_VERSION="11.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index b1862bdef9..3aa712a6b0 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,39 +1,49 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
-    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
-    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
-    "size": 16029696,
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
+    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
+    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
+    "size": 16414720,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
-    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
-    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
-    "size": 274432,
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
+    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "size": 4404019200,
     "sparse": false,
-    "full_check": true,
+    "full_check": false,
     "has_ab": true
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5.img.xz",
-    "hash": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5",
-    "hash_raw": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5",
-    "size": 3282672,
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz",
+    "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz",
-    "hash": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac",
-    "hash_raw": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz",
+    "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
+    "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
     "size": 98124,
     "sparse": false,
     "full_check": true,
@@ -41,9 +51,9 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27.img.xz",
-    "hash": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27",
-    "hash_raw": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz",
+    "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
+    "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
     "size": 40336,
     "sparse": false,
     "full_check": true,
@@ -51,27 +61,12 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f.img.xz",
-    "hash": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f",
-    "hash_raw": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4.img.xz",
+    "hash": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
+    "hash_raw": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
-    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
-    "size": 10737418240,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "alt": {
-      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-      "size": 4548070000
-    }
   }
 ]
\ No newline at end of file

From 420927c8dbc4dd1f7e8da06f7a2c243506f65b4b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 31 Oct 2024 20:23:16 -0700
Subject: [PATCH 0903/1243] jenkins: pass multiple args (#33907)

args
---
 Jenkinsfile | 82 ++++++++++++++++++++++++++++++-----------------------
 1 file changed, 47 insertions(+), 35 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 9d6828000b..07c6b4f4f5 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -92,11 +92,20 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            if (branch != "master" && item.size() == 3 && !hasPathChanged(gitDiff, item[2])) {
-              println "Skipping ${item[0]}: no changes in ${item[2]}."
+            def name = item[0]
+            def cmd = item[1]
+
+            def args = item[2]
+            def diffPaths = args.diffPaths ?: []
+            def cmdTimeout = args.timeout ?: 9999
+
+            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+              println "Skipping ${name}: no changes in ${diffPaths}."
               return
             } else {
-              device(device_ip, item[0], item[1])
+              timeout(time: cmdTimeout, unit: 'SECONDS') {
+                device(device_ip, name, cmd)
+              }
             }
           }
         }
@@ -134,6 +143,9 @@ def setupCredentials() {
   }
 }
 
+def step(String name, String cmd, Map args = [:]) {
+  return [name, cmd, args]
+}
 
 node {
   env.CI = "1"
@@ -158,14 +170,14 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
       deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ["build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"],
+        step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+        step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
@@ -176,64 +188,64 @@ node {
         deviceStage("onroad", "tici-needs-can", [], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["check dirty", "release/check-dirty.sh"],
-          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("check dirty", "release/check-dirty.sh"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s"),
           //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
-          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
-          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-          ["test manager", "pytest system/manager/test/test_manager.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
+          step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
       'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py", ["selfdrive/modeld/"]],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py", ["selfdrive/modeld/"]],
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
-          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
         ])
       },
 

From df523385cad8c6c8d26d5f5ba804151bfb1304f9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 1 Nov 2024 11:15:21 -0700
Subject: [PATCH 0904/1243] ci: fix simulator test for github runner (#33910)

* try

* try

* test

* try

* fix

* back
---
 tools/sim/bridge/metadrive/metadrive_world.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index a34d270994..c5111289d0 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 15
+      time_check_threshold = 29
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:

From 572e9a466ca5759f85ed469d2460133626d26b10 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 1 Nov 2024 11:16:37 -0700
Subject: [PATCH 0905/1243] jenkins: parallelizes build of nightly and
 nightly-dev (#33911)

* split

* fix
---
 Jenkinsfile | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 07c6b4f4f5..b47a3884a0 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -175,10 +175,18 @@ node {
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
-      deviceStage("build nightly", "tici-needs-can", [], [
-        step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-        step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-      ])
+      parallel (
+        'nightly': {
+          deviceStage("build nightly", "tici-needs-can", [], [
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+          ])
+        },
+        'nightly-dev': {
+          deviceStage("build nightly-dev", "tici-needs-can", [], [
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+          ])
+        },
+      )
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {

From 61508e48a1f943f5e242b668218ab05fb1b09a3b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Nov 2024 15:44:57 -0500
Subject: [PATCH 0906/1243] PlotJuggler: add actuatorsOutput to longitudinal
 layout (#33912)

* add actuators output

* clean up
---
 tools/plotjuggler/layouts/longitudinal.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml
index 33a24f76d6..460de97025 100644
--- a/tools/plotjuggler/layouts/longitudinal.xml
+++ b/tools/plotjuggler/layouts/longitudinal.xml
@@ -11,6 +11,7 @@
        <curve name="/carState/aEgo" color="#f14cc1"/>
        <curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
        <curve name="/carControl/actuators/accel" color="#17becf"/>
+       <curve name="/carOutput/actuatorsOutput/accel" color="#d62728"/>
       </plot>
      </DockArea>
      <DockArea name="...">

From 2af9f6814723078af8a53dcb1072117c4c98e60b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Nov 2024 17:59:46 -0500
Subject: [PATCH 0907/1243] LogReader: more specific exceptions (#33914)

* more specific logreader exceptions

* huh

* fix
---
 selfdrive/car/tests/test_models.py | 10 ++++------
 tools/lib/logreader.py             | 12 ++++++++----
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 025c3ab660..2a62127749 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -22,7 +22,7 @@ from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
@@ -113,10 +113,8 @@ class TestCarModelBase(unittest.TestCase):
           (SafetyModel.elm327, SafetyModel.noOutput):
           cls.car_safety_mode_frame = len(can_msgs)
 
-    if len(can_msgs) > int(50 / DT_CTRL):
-      return car_fw, can_msgs, experimental_long
-
-    raise Exception("no can data found")
+    assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
+    return car_fw, can_msgs, experimental_long
 
   @classmethod
   def get_testing_data(cls):
@@ -130,7 +128,7 @@ class TestCarModelBase(unittest.TestCase):
       try:
         lr = LogReader(segment_range)
         return cls.get_testing_data_from_logreader(lr)
-      except Exception:
+      except (LogsUnavailable, AssertionError):
         pass
 
     raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index cf8748929c..5f7cdd3043 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -49,7 +49,7 @@ class _LogFileReader:
       _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
       if ext not in ('', '.bz2', '.zst'):
         # old rlogs weren't compressed
-        raise Exception(f"unknown extension {ext}")
+        raise ValueError(f"unknown extension {ext}")
 
       with FileReader(fn) as f:
         dat = f.read()
@@ -99,6 +99,10 @@ Source = Callable[[SegmentRange, ReadMode], list[LogPath]]
 InternalUnavailableException = Exception("Internal source not available")
 
 
+class LogsUnavailable(Exception):
+  pass
+
+
 @cache
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
@@ -128,7 +132,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: list[LogPath], qlog_paths: list[L
     return auto_strategy(rlog_paths, qlog_paths, False, valid_file)
   elif mode == ReadMode.AUTO_INTERACTIVE:
     return auto_strategy(rlog_paths, qlog_paths, True, valid_file)
-  raise Exception(f"invalid mode: {mode}")
+  raise ValueError(f"invalid mode: {mode}")
 
 
 def comma_api_source(sr: SegmentRange, mode: ReadMode) -> list[LogPath]:
@@ -224,8 +228,8 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG, sources: list[Source] = No
     except Exception as e:
       exceptions[source.__name__] = e
 
-  raise Exception("auto_source could not find any valid source, exceptions for sources:\n  - " +
-                  "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
+  raise LogsUnavailable("auto_source could not find any valid source, exceptions for sources:\n  - " +
+                        "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
 
 def parse_indirect(identifier: str) -> str:

From 4c0e2926e4da2b0c5875e2d8d0dac2c9f9561565 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Nov 2024 18:30:01 -0500
Subject: [PATCH 0908/1243] fix test_car_model.py segment format (#33915)

fix test_car_model.py
---
 tools/car_porting/test_car_model.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 6f274aaf69..7ed7ba4f4d 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -5,7 +5,7 @@ import unittest # noqa: TID251
 
 from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
-from openpilot.tools.lib.route import SegmentName
+from openpilot.tools.lib.route import SegmentRange
 
 
 def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite:
@@ -29,10 +29,9 @@ if __name__ == "__main__":
     parser.print_help()
     sys.exit()
 
-  route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
-  segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
+  sr = SegmentRange(args.route_or_segment_name)
 
-  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
-  test_suite = create_test_models_suite([test_route], ci=args.ci)
+  test_routes = [CarTestRoute(sr.route_name, args.car, segment=seg_idx) for seg_idx in sr.seg_idxs]
+  test_suite = create_test_models_suite(test_routes, ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)

From 6fc14b5b9398a5c60239202102ef4a1923046e33 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 2 Nov 2024 07:35:39 +0800
Subject: [PATCH 0909/1243] selfdrive/debug: fix broken
 check_can_parser_performance.py (#33908)

* fix check_can_parser_performance.py

* no difference

* this too

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/tests/test_models.py              | 2 +-
 selfdrive/debug/check_can_parser_performance.py | 1 -
 tools/car_porting/test_car_model.py             | 7 +++----
 3 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 2a62127749..e1e89abf9c 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -93,7 +93,7 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.platform is None and not cls.test_route_on_bucket:
+        if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
 
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index 2bddd362ae..7a0db1926b 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -14,7 +14,6 @@ N_RUNS = 10
 
 class CarModelTestCase(TestCarModelBase):
   test_route = CarTestRoute(DEMO_ROUTE, None)
-  ci = False
 
 
 if __name__ == '__main__':
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 7ed7ba4f4d..dd248f562e 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -8,11 +8,11 @@ from openpilot.selfdrive.car.tests.test_models import TestCarModel
 from openpilot.tools.lib.route import SegmentRange
 
 
-def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite:
+def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite:
   test_suite = unittest.TestSuite()
   for test_route in routes:
     # create new test case and discover tests
-    test_case_args = {"platform": test_route.car_model, "test_route": test_route, "test_route_on_bucket": ci}
+    test_case_args = {"platform": test_route.car_model, "test_route": test_route}
     CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
     test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
   return test_suite
@@ -23,7 +23,6 @@ if __name__ == "__main__":
                                                "Uses selfdrive/car/tests/test_models.py")
   parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
   parser.add_argument("--car", help="Specify car model for test route")
-  parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
   args = parser.parse_args()
   if len(sys.argv) == 1:
     parser.print_help()
@@ -32,6 +31,6 @@ if __name__ == "__main__":
   sr = SegmentRange(args.route_or_segment_name)
 
   test_routes = [CarTestRoute(sr.route_name, args.car, segment=seg_idx) for seg_idx in sr.seg_idxs]
-  test_suite = create_test_models_suite(test_routes, ci=args.ci)
+  test_suite = create_test_models_suite(test_routes)
 
   unittest.TextTestRunner().run(test_suite)

From 421ee1cffb226c237532bc82c61fa5c42625eac5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 1 Nov 2024 22:06:10 -0700
Subject: [PATCH 0910/1243] ci: retry lfs pull (#33918)

* retry

* pin

* name
---
 .github/workflows/selfdrive_tests.yaml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 6e17f5a480..eba999e260 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -41,7 +41,12 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: git lfs pull
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh

From 08c8986dfaedb0876cb16689445a4a0aaeed39ac Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 2 Nov 2024 00:08:29 -0500
Subject: [PATCH 0911/1243] Ford long: smooth creep compensation (#33920)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index d632cc5bec..658eacdc51 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d632cc5bec14d4e077fdf25e19b24b434c2653fd
+Subproject commit 658eacdc517c2311b8e7b705e782373f37a78452

From 02e71a8467c7a317782c648c3577bce5641b4f59 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 2 Nov 2024 00:15:13 -0500
Subject: [PATCH 0912/1243] Various CANParser optimizations (#33919)

bump opendbc to master
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 658eacdc51..472c62e386 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 658eacdc517c2311b8e7b705e782373f37a78452
+Subproject commit 472c62e38690eca27f1eee9e8fe0eacde0de3d02

From d7fbf70237fa28c41511f36ef718bfa219a90677 Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sat, 2 Nov 2024 17:18:20 -0300
Subject: [PATCH 0913/1243] docs: add user and pass to C3X serial console
 instructions (#33921)

* add user and pass to C3X serial console instructions

* better
---
 docs/how-to/connect-to-comma.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 67327fbaaf..5797f8618f 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -11,6 +11,9 @@ On the comma three, the serial console is exposed through a UART-to-USB chip, an
 
 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
 
+  * Username: `comma`
+  * Password: `comma`
+
 ## SSH
 
 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.

From 747b963a291a09982b902ab8271fea0ad4fff813 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 2 Nov 2024 20:15:57 -0700
Subject: [PATCH 0914/1243] nightly: avoid Jenkins cold reboot conflict
 (#33923)

conf
---
 .github/workflows/release.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 34e333bb59..c86c044772 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 10 * * *'
+    - cron: '0 9 * * *'
   workflow_dispatch:
 
 jobs:

From 32c5254415606664b162ba003cd7bf887dd390a3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 2 Nov 2024 21:19:05 -0700
Subject: [PATCH 0915/1243] ci: faster test_onroad (#33906)

* 30s

* ruff

* remove

* timeout

* global

* value

* get value

* better

* format

* cleaner
---
 Jenkinsfile                   |  4 +-
 selfdrive/test/test_onroad.py | 88 ++++++++++++++++++-----------------
 2 files changed, 47 insertions(+), 45 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index b47a3884a0..d6ebcb2589 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -66,7 +66,7 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
-${cmd}
+time ${cmd}
 END"""
 
     sh script: ssh_cmd, label: step_label
@@ -198,7 +198,7 @@ node {
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
           //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 35338419de..4908224b64 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -10,7 +10,6 @@ import time
 import numpy as np
 import zstandard as zstd
 from collections import Counter, defaultdict
-from functools import cached_property
 from pathlib import Path
 
 from cereal import car, log
@@ -33,6 +32,9 @@ CPU usage budget
   should not exceed MAX_TOTAL_CPU
 """
 
+TEST_DURATION = 25
+LOG_OFFSET = 8
+
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
@@ -58,12 +60,12 @@ PROCS = {
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
   "system.tombstoned": 0,
-  "./logcatd": 0,
+  "./logcatd": 1.0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
-  "system.loggerd.uploader": (0.5, 15.0),
+  "system.loggerd.uploader": (0.0, 15.0),
   "system.loggerd.deleter": 0.1,
 }
 
@@ -98,6 +100,13 @@ TIMINGS = {
   "wideRoadCameraState": [1.5, 0.35],
 }
 
+LOGS_SIZE_RATE = {
+  "qlog": 0.0083,
+  "rlog": 0.1528,
+  "qcamera.ts": 0.03828,
+}
+LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
+
 
 def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -124,7 +133,7 @@ class TestOnroad:
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
 
-    # start manager and run openpilot for a minute
+    # start manager and run openpilot for TEST_DURATION
     proc = None
     try:
       manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
@@ -135,26 +144,24 @@ class TestOnroad:
         while sm.recv_frame['carState'] < 0:
           sm.update(1000)
 
-      # make sure we get at least two full segments
       route = None
       cls.segments = []
       with Timeout(300, "timed out waiting for logs"):
         while route is None:
           route = params.get("CurrentRoute", encoding="utf-8")
-          time.sleep(0.1)
+          time.sleep(0.01)
 
         # test car params caching
         params.put("CarParamsCache", car.CarParams().to_bytes())
 
-        while len(cls.segments) < 3:
+        while len(cls.segments) < 1:
           segs = set()
           if Path(Paths.log_root()).exists():
             segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
-          time.sleep(2)
+          time.sleep(0.01)
 
-      # chop off last, incomplete segment
-      cls.segments = cls.segments[:-1]
+      time.sleep(TEST_DURATION)
 
     finally:
       cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
@@ -166,9 +173,8 @@ class TestOnroad:
 
     cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]
 
-    # use the second segment by default as it's the first full segment
-    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
-    cls.log_path = cls.segments[1]
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
+    cls.log_path = cls.segments[0]
 
     cls.log_sizes = {}
     for f in cls.log_path.iterdir():
@@ -178,16 +184,13 @@ class TestOnroad:
         with open(f, 'rb') as ff:
           cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6
 
+    cls.msgs = defaultdict(list)
+    for m in cls.lr:
+      cls.msgs[m.which()].append(m)
 
-  @cached_property
-  def service_msgs(self):
-    msgs = defaultdict(list)
-    for m in self.lr:
-      msgs[m.which()].append(m)
-    return msgs
 
   def test_service_frequencies(self, subtests):
-    for s, msgs in self.service_msgs.items():
+    for s, msgs in self.msgs.items():
       if s in ('initData', 'sentinel'):
         continue
 
@@ -196,10 +199,10 @@ class TestOnroad:
         continue
 
       with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
 
   def test_cloudlog_size(self):
-    msgs = [m for m in self.lr if m.which() == 'logMessage']
+    msgs = self.msgs['logMessage']
 
     total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
     assert total_size < 3.5e5
@@ -210,16 +213,10 @@ class TestOnroad:
 
   def test_log_sizes(self):
     for f, sz in self.log_sizes.items():
-      if f.name == "qcamera.ts":
-        assert 2.15 < sz < 2.6
-      elif f.name == "qlog":
-        assert 0.4 < sz < 0.55
-      elif f.name == "rlog":
-        assert 5 < sz < 50
-      elif f.name.endswith('.hevc'):
-        assert 70 < sz < 80
-      else:
-        raise NotImplementedError
+      rate = LOGS_SIZE_RATE[f.name]
+      minn = rate * TEST_DURATION * 0.8
+      maxx = rate * TEST_DURATION * 1.2
+      assert minn < sz <  maxx
 
   def test_ui_timings(self):
     result = "\n"
@@ -227,7 +224,7 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
+    ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -250,7 +247,7 @@ class TestOnroad:
     result += "------------------------------------------------\n"
 
     plogs_by_proc = defaultdict(list)
-    for pl in self.service_msgs['procLog']:
+    for pl in self.msgs['procLog']:
       for x in pl.procLog.procs:
         if len(x.cmdline) > 0:
           n = list(x.cmdline)[0]
@@ -258,7 +255,7 @@ class TestOnroad:
     print(plogs_by_proc.keys())
 
     cpu_ok = True
-    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
+    dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
     for proc_name, expected_cpu in PROCS.items():
 
       err = ""
@@ -290,7 +287,7 @@ class TestOnroad:
     result += "------------------------------------------------\n"
 
     # Ensure there's no missing procs
-    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
+    all_procs = {p.name for p in self.msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
     for p in all_procs:
       with subtests.test(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@@ -308,7 +305,8 @@ class TestOnroad:
     assert cpu_ok
 
   def test_memory_usage(self):
-    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
+    mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
     print("Memory usage: ", mems)
 
     # check for big leaks. note that memory usage is
@@ -324,7 +322,9 @@ class TestOnroad:
     result += "-------------- ImgProc Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
+    ts = []
+    for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']:
+      ts.extend(getattr(m, s).processingTime for m in self.msgs[s])
     assert min(ts) < 0.025, f"high execution time: {min(ts)}"
     result += f"execution time: min  {min(ts):.5f}s\n"
     result += f"execution time: max  {max(ts):.5f}s\n"
@@ -357,7 +357,7 @@ class TestOnroad:
 
     cfgs = [("longitudinalPlan", 0.05, 0.05),]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -377,7 +377,7 @@ class TestOnroad:
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -393,7 +393,8 @@ class TestOnroad:
     result += "----------------- Service Timings --------------\n"
     result += "------------------------------------------------\n"
     for s, (maxmin, rsd) in TIMINGS.items():
-      msgs = [m.logMonoTime for m in self.service_msgs[s]]
+      offset = int(SERVICE_LIST[s].frequency * LOG_OFFSET)
+      msgs = [m.logMonoTime for m in self.msgs[s][offset:]]
       if not len(msgs):
         raise Exception(f"missing {s}")
 
@@ -430,11 +431,12 @@ class TestOnroad:
 
   def test_engagable(self):
     no_entries = Counter()
-    for m in self.service_msgs['onroadEvents']:
+    for m in self.msgs['onroadEvents']:
       for evt in m.onroadEvents:
         if evt.noEntry:
           no_entries[evt.name] += 1
 
-    eng = [m.selfdriveState.engageable for m in self.service_msgs['selfdriveState']]
+    offset = int(SERVICE_LIST['selfdriveState'].frequency * LOG_OFFSET)
+    eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
     assert all(eng), \
            f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"

From 4f5ec14cf760d9938c593643f1311e0dd4a9a976 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 5 Nov 2024 01:07:07 +0800
Subject: [PATCH 0916/1243] ui: refactor spinner using raylib (#33738)

* raylib spinner

* fix build issue on device

* keep qt spinner

* own SConscript
---
 selfdrive/ui/SConscript        |  2 +
 selfdrive/ui/raylib/.gitignore |  1 +
 selfdrive/ui/raylib/SConscript | 16 ++++++++
 selfdrive/ui/raylib/spinner.cc | 69 ++++++++++++++++++++++++++++++++++
 selfdrive/ui/raylib/util.cc    | 56 +++++++++++++++++++++++++++
 selfdrive/ui/raylib/util.h     | 21 +++++++++++
 6 files changed, 165 insertions(+)
 create mode 100644 selfdrive/ui/raylib/.gitignore
 create mode 100644 selfdrive/ui/raylib/SConscript
 create mode 100644 selfdrive/ui/raylib/spinner.cc
 create mode 100644 selfdrive/ui/raylib/util.cc
 create mode 100644 selfdrive/ui/raylib/util.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 19dcc625e2..62f4152333 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -110,3 +110,5 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
+
+SConscript(['raylib/SConscript'])
diff --git a/selfdrive/ui/raylib/.gitignore b/selfdrive/ui/raylib/.gitignore
new file mode 100644
index 0000000000..c66ae096aa
--- /dev/null
+++ b/selfdrive/ui/raylib/.gitignore
@@ -0,0 +1 @@
+_spinner
diff --git a/selfdrive/ui/raylib/SConscript b/selfdrive/ui/raylib/SConscript
new file mode 100644
index 0000000000..e544564ac6
--- /dev/null
+++ b/selfdrive/ui/raylib/SConscript
@@ -0,0 +1,16 @@
+Import('env', 'arch', 'common')
+
+raylib_env = env.Clone()
+raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
+linked_libs = ['raylib', raylib_util_lib, common]
+raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+
+mac_frameworks = []
+if arch == "Darwin":
+  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
+elif arch == 'larch64':
+  linked_libs += []
+else:
+  linked_libs.append('OpenCL')
+
+raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
diff --git a/selfdrive/ui/raylib/spinner.cc b/selfdrive/ui/raylib/spinner.cc
new file mode 100644
index 0000000000..99aa5f3269
--- /dev/null
+++ b/selfdrive/ui/raylib/spinner.cc
@@ -0,0 +1,69 @@
+#include <algorithm>
+#include <cmath>
+#include <iostream>
+
+#include "selfdrive/ui/raylib/util.h"
+#include "third_party/raylib/include/raylib.h"
+
+constexpr int kProgressBarWidth = 1000;
+constexpr int kProgressBarHeight = 20;
+constexpr float kRotationRate = 12.0f;
+constexpr int kMargin = 200;
+constexpr int kTextureSize = 360;
+constexpr int kFontSize = 80;
+
+int main(int argc, char *argv[]) {
+  initApp("spinner", 30);
+
+  // Turn off input buffering for std::cin
+  std::cin.sync_with_stdio(false);
+  std::cin.tie(nullptr);
+
+  Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
+  Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);
+
+  float rotation = 0.0f;
+  std::string userInput;
+
+  while (!WindowShouldClose()) {
+    BeginDrawing();
+    ClearBackground(BLACK);
+
+    rotation = fmod(rotation + kRotationRate, 360.0f);
+    Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
+    const Vector2 spinnerOrigin{kTextureSize / 2.0f, kTextureSize / 2.0f};
+    const Vector2 commaPosition{center.x - kTextureSize / 2.0f, center.y - kTextureSize / 2.0f};
+
+    // Draw rotating spinner and static comma logo
+    DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
+                   {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
+                   spinnerOrigin, rotation, WHITE);
+    DrawTextureV(commaTexture, commaPosition, WHITE);
+
+    // Check for user input
+    if (std::cin.rdbuf()->in_avail() > 0) {
+      std::getline(std::cin, userInput);
+    }
+
+    // Display either a progress bar or user input text based on input
+    if (!userInput.empty()) {
+      float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
+      if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
+        Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
+        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
+
+        int progress = std::clamp(std::stoi(userInput), 0, 100);
+        bar.width *= progress / 100.0f;
+        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+      } else {
+        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
+      }
+    }
+
+    EndDrawing();
+  }
+
+  CloseWindow();
+  return 0;
+}
diff --git a/selfdrive/ui/raylib/util.cc b/selfdrive/ui/raylib/util.cc
new file mode 100644
index 0000000000..73c0e4e0b7
--- /dev/null
+++ b/selfdrive/ui/raylib/util.cc
@@ -0,0 +1,56 @@
+#include "selfdrive/ui/raylib/util.h"
+
+#include <array>
+
+#undef GREEN
+#undef RED
+#undef YELLOW
+#include "common/swaglog.h"
+#include "system/hardware/hw.h"
+
+constexpr std::array<const char *, static_cast<int>(FontWeight::Count)> FONT_FILE_PATHS = {
+    "../../assets/fonts/Inter-Black.ttf",
+    "../../assets/fonts/Inter-Bold.ttf",
+    "../../assets/fonts/Inter-ExtraBold.ttf",
+    "../../assets/fonts/Inter-ExtraLight.ttf",
+    "../../assets/fonts/Inter-Medium.ttf",
+    "../../assets/fonts/Inter-Regular.ttf",
+    "../../assets/fonts/Inter-SemiBold.ttf",
+    "../../assets/fonts/Inter-Thin.ttf",
+};
+
+struct FontManager {
+  FontManager() {
+    for (int i = 0; i < fonts.size(); ++i) {
+      fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
+      SetTextureFilter(fonts[i].texture, TEXTURE_FILTER_TRILINEAR);
+    }
+  }
+
+  ~FontManager() {
+    for (auto &f : fonts) UnloadFont(f);
+  }
+
+  std::array<Font, static_cast<int>(FontWeight::Count)> fonts;
+};
+
+const Font& getFont(FontWeight weight) {
+  static FontManager font_manager;
+  return font_manager.fonts[(int)weight];
+}
+
+Texture2D LoadTextureResized(const char *fileName, int size) {
+  Image img = LoadImage(fileName);
+  ImageResize(&img, size, size);
+  Texture2D texture = LoadTextureFromImage(img);
+  SetTextureFilter(texture, TEXTURE_FILTER_TRILINEAR);
+  return texture;
+}
+
+void initApp(const char *title, int fps) {
+  Hardware::set_display_power(true);
+  Hardware::set_brightness(65);
+  // SetTraceLogLevel(LOG_NONE);
+  InitWindow(0, 0, title);
+  SetTargetFPS(fps);
+}
diff --git a/selfdrive/ui/raylib/util.h b/selfdrive/ui/raylib/util.h
new file mode 100644
index 0000000000..da2ec7118b
--- /dev/null
+++ b/selfdrive/ui/raylib/util.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <string>
+
+#include "third_party/raylib/include/raylib.h"
+
+enum class FontWeight {
+  Normal,
+  Bold,
+  ExtraBold,
+  ExtraLight,
+  Medium,
+  Regular,
+  SemiBold,
+  Thin,
+  Count // To represent the total number of fonts
+};
+
+void initApp(const char *title, int fps);
+const Font& getFont(FontWeight weight = FontWeight::Normal);
+Texture2D LoadTextureResized(const char *fileName, int size);

From 6a324304990aff58b7e5d635b978b6005daf916e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 4 Nov 2024 09:16:42 -0800
Subject: [PATCH 0917/1243] ui: skip raylib build on aarch64 (#33929)

---
 selfdrive/ui/raylib/SConscript | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/raylib/SConscript b/selfdrive/ui/raylib/SConscript
index e544564ac6..2756331a4c 100644
--- a/selfdrive/ui/raylib/SConscript
+++ b/selfdrive/ui/raylib/SConscript
@@ -13,4 +13,5 @@ elif arch == 'larch64':
 else:
   linked_libs.append('OpenCL')
 
-raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
+if arch != 'aarch64':
+  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)

From 525482bf596262b46b5fcc3e2d45a085ea1c3158 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 4 Nov 2024 09:43:12 -0800
Subject: [PATCH 0918/1243] [bot] Update Python packages (#33928)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 uv.lock | 190 ++++++++++++++++++++++++++++----------------------------
 1 file changed, 95 insertions(+), 95 deletions(-)

diff --git a/uv.lock b/uv.lock
index 54b488a9f0..4b3f5fdb01 100644
--- a/uv.lock
+++ b/uv.lock
@@ -145,16 +145,16 @@ wheels = [
 
 [[package]]
 name = "azure-core"
-version = "1.31.0"
+version = "1.32.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "requests" },
     { name = "six" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/03/7a/f79ad135a276a37e61168495697c14ba1721a52c3eab4dae2941929c79f8/azure_core-1.31.0.tar.gz", hash = "sha256:656a0dd61e1869b1506b7c6a3b31d62f15984b1a573d6326f6aa2f3e4123284b", size = 277147 }
+sdist = { url = "https://files.pythonhosted.org/packages/cc/ee/668328306a9e963a5ad9f152cd98c7adad86c822729fd1d2a01613ad1e67/azure_core-1.32.0.tar.gz", hash = "sha256:22b3c35d6b2dae14990f6c1be2912bf23ffe50b220e708a28ab1bb92b1c730e5", size = 279128 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/01/8e/fcb6a77d3029d2a7356f38dbc77cf7daa113b81ddab76b5593d23321e44c/azure_core-1.31.0-py3-none-any.whl", hash = "sha256:22954de3777e0250029360ef31d80448ef1be13b80a459bff80ba7073379e2cd", size = 197399 },
+    { url = "https://files.pythonhosted.org/packages/39/83/325bf5e02504dbd8b4faa98197a44cdf8a325ef259b48326a2b6f17f8383/azure_core-1.32.0-py3-none-any.whl", hash = "sha256:eac191a0efb23bfa83fddf321b27b122b4ec847befa3091fa736a5c32c50d7b4", size = 198855 },
 ]
 
 [[package]]
@@ -1243,7 +1243,7 @@ wheels = [
 
 [[package]]
 name = "onnxruntime"
-version = "1.19.2"
+version = "1.20.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "coloredlogs" },
@@ -1254,15 +1254,15 @@ dependencies = [
     { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/78/e29f5fb76e0f6524f3520e8e5b9d53282784b45d14068c5112db9f712b0a/onnxruntime-1.19.2-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c1dfe4f660a71b31caa81fc298a25f9612815215a47b286236e61d540350d7b6", size = 11496005 },
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-    { url = "https://files.pythonhosted.org/packages/47/64/da42254ec14452cad2cdd4cf407094841c0a378c0d08944e9a36172197e9/onnxruntime-1.19.2-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d2d366fbcc205ce68a8a3bde2185fd15c604d9645888703785b61ef174265168", size = 11486028 },
-    { url = "https://files.pythonhosted.org/packages/b2/92/3574f6836f33b1b25f272293e72538c38451b12c2d9aa08630bb6bc0f057/onnxruntime-1.19.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:477b93df4db467e9cbf34051662a4b27c18e131fa1836e05974eae0d6e4cf29b", size = 13175054 },
+    { url = "https://files.pythonhosted.org/packages/ef/db/f9f3a2cac589f557c1227d27e288eeb248830613dd1a5b5c17f26894e802/onnxruntime-1.20.0-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8a831b720d0a7be8241a230cb06f592e8bb66652d7cea54ce02d83769651fdee", size = 11946136 },
+    { url = "https://files.pythonhosted.org/packages/53/d8/93706484c8e0db2dfde8559e74b5a9ab74d203a0471671121188c212f7cb/onnxruntime-1.20.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:041fefe60af844ebd90f344c84f908201490555cd0a6d78dd0a7acdc27b59972", size = 13318583 },
+    { url = "https://files.pythonhosted.org/packages/8d/bd/4b15cfc8242577376ed8eb8f10239422945cfa7e52b89db487ceea912c3b/onnxruntime-1.20.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:51e7b34e398089c4ed8d0f50722d7a64a4d5f11b38c4a42576458a03c6dbc72e", size = 11942243 },
+    { url = "https://files.pythonhosted.org/packages/ba/db/7e65fcf45f5485193158999c194470f40be4bb6c82ec7e70401f78220dec/onnxruntime-1.20.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:0e259378ff2843321e0bf4552adcbee48822c91d77d42dde78b87dcdf10ad01f", size = 13313619 },
 ]
 
 [[package]]
 name = "onnxruntime-gpu"
-version = "1.19.2"
+version = "1.20.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "coloredlogs" },
@@ -1273,8 +1273,8 @@ dependencies = [
     { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/85/33/06e856502a1d482532cfa7d4c7ca775dfddcd851c7bd1833f5177e567055/onnxruntime_gpu-1.19.2-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:562fc7c755393eaad9751e56149339dd201ffbfdb3ef5f43ff21d0619ba9045f", size = 226175096 },
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+    { url = "https://files.pythonhosted.org/packages/60/d0/9baa124f0276a186175c4e819d62ed75416096b0f7ff058296989d4712ff/onnxruntime_gpu-1.20.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:6338fdfc955489b1d4329498f7f07640c000f92eae8933de293adc5f5ed480f5", size = 291504604 },
+    { url = "https://files.pythonhosted.org/packages/ed/cd/98ea1ef90c5e51de69239881522a4c115a009dba99d83fd8e2606b33358d/onnxruntime_gpu-1.20.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:06398420c363b7e400de98deb8bc238fcff98adafe8eeda6ff96a94e20713ac0", size = 291507294 },
 ]
 
 [[package]]
@@ -4454,15 +4454,15 @@ wheels = [
 
 [[package]]
 name = "pytest-cov"
-version = "5.0.0"
+version = "6.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "coverage", extra = ["toml"] },
     { name = "pytest" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/be/45/9b538de8cef30e17c7b45ef42f538a94889ed6a16f2387a6c89e73220651/pytest-cov-6.0.0.tar.gz", hash = "sha256:fde0b595ca248bb8e2d76f020b465f3b107c9632e6a1d1705f17834c89dcadc0", size = 66945 }
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+    { url = "https://files.pythonhosted.org/packages/36/3b/48e79f2cd6a61dbbd4807b4ed46cb564b4fd50a76166b1c4ea5c1d9e2371/pytest_cov-6.0.0-py3-none-any.whl", hash = "sha256:eee6f1b9e61008bd34975a4d5bab25801eb31898b032dd55addc93e96fcaaa35", size = 22949 },
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@@ -4800,27 +4800,27 @@ wheels = [
 
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 ]
 
 [[package]]

From 474607ba0656026c53108cedf2e4e71abf5c691d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 5 Nov 2024 02:01:14 +0800
Subject: [PATCH 0919/1243] cabana: refactor video widget for simplified layout
 and enhanced rendering (#33909)

simplify video widget
---
 tools/cabana/mainwin.cc     |   2 +-
 tools/cabana/videowidget.cc | 236 ++++++++++++++----------------------
 tools/cabana/videowidget.h  |  43 ++-----
 tools/replay/replay.h       |   4 +-
 tools/replay/timeline.cc    |   4 +-
 5 files changed, 109 insertions(+), 180 deletions(-)

diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index ee8f42ea72..189f8ac18f 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -51,7 +51,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
     emit static_main_win->updateProgressBar(cur, total, success);
   });
   qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
+    if (type == QtDebugMsg) return;
     emit static_main_win->showMessage(msg, 2000);
   });
   installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 7f9e3d6960..3dddc0fb64 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,14 +1,12 @@
 #include "tools/cabana/videowidget.h"
 
 #include <algorithm>
-#include <utility>
 
 #include <QAction>
 #include <QActionGroup>
 #include <QMenu>
 #include <QMouseEvent>
 #include <QPainter>
-#include <QStackedLayout>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
 #include <QtConcurrent>
@@ -27,9 +25,7 @@ static const QColor timeline_colors[] = {
 
 static Replay *getReplay() {
   auto stream = qobject_cast<ReplayStream *>(can);
-  if (!stream) return nullptr;
-
-  return stream->getReplay();
+  return stream ? stream->getReplay() : nullptr;
 }
 
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
@@ -144,13 +140,9 @@ QWidget *VideoWidget::createCameraWidget() {
   camera_tab->setAutoHide(true);
   camera_tab->setExpanding(false);
 
-  QStackedLayout *stacked = new QStackedLayout();
-  stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
+  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  stacked->addWidget(alert_label = new InfoLabel(this));
-  l->addLayout(stacked);
 
   l->addWidget(slider = new Slider(w));
   slider->setSingleStep(0);
@@ -165,16 +157,13 @@ QWidget *VideoWidget::createCameraWidget() {
   QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
+  slider->installEventFilter(cam_widget);
   return w;
 }
 
 void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
-  static const QString stream_names[] = {
-    [VISION_STREAM_ROAD] = "Road camera",
-    [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
-    [VISION_STREAM_DRIVER] = "Driver camera"};
-
+  static const QString stream_names[] = {"Road camera", "Driver camera", "Wide road camera"};
   for (int i = 0; i < streams.size(); ++i) {
     if (camera_tab->count() <= i) {
       camera_tab->addTab(QString());
@@ -189,16 +178,9 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }
 
 void VideoWidget::loopPlaybackClicked() {
-  auto replay = getReplay();
-  if (!replay) return;
-
-  if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
-    replay->removeFlag(REPLAY_FLAG_NO_LOOP);
-    loop_btn->setIcon("repeat");
-  } else {
-    replay->addFlag(REPLAY_FLAG_NO_LOOP);
-    loop_btn->setIcon("repeat-1");
-  }
+  bool is_looping = getReplay()->loop();
+  getReplay()->setLoop(!is_looping);
+  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
 }
 
 void VideoWidget::timeRangeChanged() {
@@ -223,7 +205,9 @@ void VideoWidget::updateState() {
     if (!slider->isSliderDown()) {
       slider->setCurrentSecond(can->currentSec());
     }
-    alert_label->showAlert(slider->alertInfo(can->currentSec()));
+    if (camera_tab->count() == 0) {  //  No streams available
+      cam_widget->update();          // Manually refresh to show alert events
+    }
     time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
   } else {
@@ -239,41 +223,9 @@ void VideoWidget::updatePlayBtnState() {
 // Slider
 
 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
-  thumbnail_label = new InfoLabel(parent);
   setMouseTracking(true);
 }
 
-std::optional<Timeline::Entry> Slider::alertInfo(double seconds) {
-  return getReplay()->findAlertAtTime(seconds);
-}
-
-QPixmap Slider::thumbnail(double seconds)  {
-  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
-  return it != thumbnails.end() ? it.value() : QPixmap();
-}
-
-void Slider::setTimeRange(double min, double max) {
-  assert(min < max);
-  setRange(min * factor, max * factor);
-}
-
-void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
-  std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb = reader.getRoot<cereal::Event>().getThumbnail();
-      auto data = thumb.getThumbnail();
-      if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
-        QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
-        std::lock_guard lk(mutex);
-        thumbnails[thumb.getTimestampEof()] = scaled;
-      }
-    }
-  });
-  update();
-}
-
 void Slider::paintEvent(QPaintEvent *ev) {
   QPainter p(this);
   QRect r = rect().adjusted(0, 4, 0, -4);
@@ -288,9 +240,8 @@ void Slider::paintEvent(QPaintEvent *ev) {
     p.fillRect(r, color);
   };
 
-  auto replay = getReplay();
-  if (replay) {
-    for (const auto &entry: *replay->getTimeline()) {
+  if (auto replay = getReplay()) {
+    for (const auto &entry : *replay->getTimeline()) {
       fillRange(entry.start_time, entry.end_time, timeline_colors[(int)entry.type]);
     }
 
@@ -319,84 +270,7 @@ void Slider::mousePressEvent(QMouseEvent *e) {
   }
 }
 
-void Slider::mouseMoveEvent(QMouseEvent *e) {
-  int pos = std::clamp(e->pos().x(), 0, width());
-  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
-  QPixmap thumb = thumbnail(seconds);
-  if (!thumb.isNull()) {
-    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
-    int y = -thumb.height() - THUMBNAIL_MARGIN;
-    thumbnail_label->showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
-  } else {
-    thumbnail_label->hide();
-  }
-  QSlider::mouseMoveEvent(e);
-}
-
-bool Slider::event(QEvent *event) {
-  switch (event->type()) {
-    case QEvent::WindowActivate:
-    case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
-    case QEvent::FocusOut:
-    case QEvent::Leave:
-      thumbnail_label->hide();
-      break;
-    default:
-      break;
-  }
-  return QSlider::event(event);
-}
-
-// InfoLabel
-
-InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
-  setAttribute(Qt::WA_ShowWithoutActivating);
-  setAttribute(Qt::WA_TransparentForMouseEvents);
-  setVisible(false);
-}
-
-void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert) {
-  second = sec;
-  pixmap = pm;
-  alert_info = alert;
-  setGeometry(QRect(pt, pm.size()));
-  setVisible(true);
-  update();
-}
-
-void InfoLabel::showAlert(const std::optional<Timeline::Entry> &alert) {
-  alert_info = alert;
-  pixmap = {};
-  setVisible(alert_info.has_value());
-  update();
-}
-
-void InfoLabel::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-  if (!pixmap.isNull()) {
-    p.drawPixmap(0, 0, pixmap);
-    p.drawRect(rect());
-    p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
-  }
-  if (alert_info) {
-    QColor color = timeline_colors[int(alert_info->type)];
-    color.setAlphaF(0.5);
-    QString text = QString::fromStdString(alert_info->text1);
-    if (!alert_info->text2.empty()) text += "\n" + QString::fromStdString(alert_info->text2);
-
-    if (!pixmap.isNull()) {
-      QFont font;
-      font.setPixelSize(11);
-      p.setFont(font);
-    }
-    QRect text_rect = rect().adjusted(1, 1, -1, -1);
-    QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
-    p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
-    p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
-  }
-}
+// StreamCameraView
 
 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
     : CameraWidget(stream_name, stream_type, parent) {
@@ -404,15 +278,93 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str
   fade_animation->setDuration(500);
   fade_animation->setStartValue(0.2f);
   fade_animation->setEndValue(0.7f);
+  fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
+  connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
+}
+
+void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
+  std::mutex mutex;
+  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
+    if (e.which == cereal::Event::Which::THUMBNAIL) {
+      capnp::FlatArrayMessageReader reader(e.data);
+      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+      auto image_data = thumb_data.getThumbnail();
+      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+        std::lock_guard lock(mutex);
+        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+      }
+    }
+  });
+  update();
 }
 
 void StreamCameraView::paintGL() {
   CameraWidget::paintGL();
 
+  QPainter p(this);
+  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
+    drawAlert(p, rect(), *alert);
+  }
+  if (thumbnail_pt_) {
+    drawThumbnail(p);
+  }
   if (can->isPaused()) {
-    QPainter p(this);
-    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
     p.setFont(QFont(font().family(), 16, QFont::Bold));
     p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
   }
 }
+
+QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
+  QPixmap scaled = thumb.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+  QPainter p(&scaled);
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  p.drawRect(scaled.rect());
+  if (auto alert = getReplay()->findAlertAtTime(seconds)) {
+    p.setFont(QFont(font().family(), 10));
+    drawAlert(p, scaled.rect(), *alert);
+  }
+  return scaled;
+}
+
+void StreamCameraView::drawThumbnail(QPainter &p) {
+  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
+  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+  double seconds = min_sec + pos * (max_sec - min_sec) / width();
+
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
+  if (it != thumbnails.end()) {
+    const QPixmap &thumb = it.value();
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
+    int y = height() - thumb.height() - THUMBNAIL_MARGIN;
+
+    p.drawPixmap(x, y, thumb);
+    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN, Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds));
+  }
+}
+
+void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  QColor color = timeline_colors[int(alert.type)];
+  color.setAlphaF(0.5);
+  QString text = QString::fromStdString(alert.text1);
+  if (!alert.text2.empty()) text += "\n" + QString::fromStdString(alert.text2);
+
+  QRect text_rect = rect.adjusted(1, 1, -1, -1);
+  QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+  p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
+  p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+}
+
+bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
+  if (event->type() == QEvent::MouseMove) {
+    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
+    update();
+  } else if (event->type() == QEvent::Leave) {
+    thumbnail_pt_ = std::nullopt;
+    update();
+  }
+  return false;
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index d3342c34d7..78503365e5 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <map>
 #include <memory>
 #include <optional>
 #include <set>
@@ -18,17 +17,6 @@
 #include "tools/replay/logreader.h"
 #include "tools/cabana/streams/replaystream.h"
 
-class InfoLabel : public QWidget {
-public:
-  InfoLabel(QWidget *parent);
-  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert);
-  void showAlert(const std::optional<Timeline::Entry> &alert);
-  void paintEvent(QPaintEvent *event) override;
-  QPixmap pixmap;
-  QString second;
-  std::optional<Timeline::Entry> alert_info;
-};
-
 class Slider : public QSlider {
   Q_OBJECT
 
@@ -36,40 +24,30 @@ public:
   Slider(QWidget *parent);
   double currentSecond() const { return value() / factor; }
   void setCurrentSecond(double sec) { setValue(sec * factor); }
-  void setTimeRange(double min, double max);
-  std::optional<Timeline::Entry> alertInfo(double sec);
-  QPixmap thumbnail(double sec);
-  void parseQLog(std::shared_ptr<LogReader> qlog);
-
-  const double factor = 1000.0;
-
-private:
+  void setTimeRange(double min, double max) { setRange(min * factor, max * factor); }
   void mousePressEvent(QMouseEvent *e) override;
-  void mouseMoveEvent(QMouseEvent *e) override;
-  bool event(QEvent *event) override;
   void paintEvent(QPaintEvent *ev) override;
-
-  QMap<uint64_t, QPixmap> thumbnails;
-  InfoLabel *thumbnail_label;
+  const double factor = 1000.0;
 };
 
 class StreamCameraView : public CameraWidget {
   Q_OBJECT
-  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
 
 public:
   StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
   void paintGL() override;
   void showPausedOverlay() { fade_animation->start(); }
-  float overlayOpacity() const { return overlay_opacity; }
-  void setOverlayOpacity(float opacity) {
-    overlay_opacity = opacity;
-    update();
-  }
+  void parseQLog(std::shared_ptr<LogReader> qlog);
 
 private:
-  float overlay_opacity;
+  QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
+  void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
+  void drawThumbnail(QPainter &p);
+  bool eventFilter(QObject *obj, QEvent *event) override;
+
   QPropertyAnimation *fade_animation;
+  QMap<uint64_t, QPixmap> thumbnails;
+  std::optional<QPoint> thumbnail_pt_;
 };
 
 class VideoWidget : public QFrame {
@@ -96,7 +74,6 @@ protected:
   ToolButton *loop_btn = nullptr;
   QToolButton *speed_btn = nullptr;
   ToolButton *skip_to_end_btn = nullptr;
-  InfoLabel *alert_label = nullptr;
   Slider *slider = nullptr;
   QTabBar *camera_tab = nullptr;
 };
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index d3f5425308..0b4906532e 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -60,8 +60,8 @@ public:
   inline int segmentCacheLimit() const { return segment_cache_limit; }
   inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); }
   inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
-  inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
-  inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
+  void setLoop(bool loop) { loop ? flags_ &= ~REPLAY_FLAG_NO_LOOP : flags_ |= REPLAY_FLAG_NO_LOOP; }
+  bool loop() const { return !(flags_ & REPLAY_FLAG_NO_LOOP); }
   inline const Route* route() const { return route_.get(); }
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline std::time_t routeDateTime() const { return route_date_time_; }
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index 5a4f58a46f..8c33e95f11 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -70,11 +70,11 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
       }
     }
 
-    callback(log);  // Notify the callback once the log is processed
-
     // Sort and finalize the timeline entries
     std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
     timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_);
+
+    callback(log);  // Notify the callback once the log is processed
   }
 }
 

From e7d4139b1d8ce3f4bd3f64d5add49aab95342a6e Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 4 Nov 2024 17:03:52 -0800
Subject: [PATCH 0920/1243] IFE: fix ox (#33931)

* bp

* slightkly wrong

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/ox03c10.cc | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 19742661b1..5ca3fb8d93 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -80,9 +80,9 @@ OX03C10::OX03C10() {
     0x00200000, 0x00200000, 0x00200000, 0x00200000,
     0x00404080, 0x00404080, 0x00404080, 0x00404080,
     0x00804100, 0x00804100, 0x00804100, 0x00804100,
-    0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402,
-    0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070,
-    0x06044804, 0x06044804, 0x06044804, 0x06044804,
+    0x02014402, 0x02014402, 0x02014402, 0x02014402,
+    0x0402c804, 0x0402c804, 0x0402c804, 0x0402c804,
+    0x0805d00a, 0x0805d00a, 0x0805d00a, 0x0805d00a,
     0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
@@ -90,7 +90,7 @@ OX03C10::OX03C10() {
   for (int i = 0; i < 252; i++) {
     linearization_lut.push_back(0x0);
   }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
   for (int i = 0; i < 884*2; i++) {
     vignetting_lut.push_back(0xff);
   }

From 5a06d1df43b7c8f6c08fdc41d0affe9a8f361367 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 4 Nov 2024 20:26:08 -0800
Subject: [PATCH 0921/1243] add nightly-dev to branch selector (#33932)

top
---
 selfdrive/ui/qt/offroad/software_settings.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index c8245205ce..194b723fc9 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
     auto current = params.get("GitBranch");
     QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
       auto i = branches.indexOf(b);
       if (i >= 0) {
         branches.removeAt(i);

From 39dbee0329180d67355d0e2e668145f8ca7c4928 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 5 Nov 2024 10:52:47 -0800
Subject: [PATCH 0922/1243] ci: faster test_camerad (#33933)

* once

* timeout
---
 Jenkinsfile                         |  4 ++--
 system/camerad/test/test_camerad.py | 27 ++++++++++++++-------------
 2 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index d6ebcb2589..cdc1839f8c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -221,12 +221,12 @@ node {
       'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index ada9594895..aa8101aa1c 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -21,39 +21,40 @@ CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 @flaky(max_runs=3)
 @pytest.mark.tici
 class TestCamerad:
-  def setup_method(self):
+  @classmethod
+  def setup_class(cls):
     # run camerad and record logs
     managed_processes['camerad'].start()
     time.sleep(3)
     socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
 
-    self.logs = defaultdict(list)
+    cls.logs = defaultdict(list)
     start_time = time.monotonic()
     while time.monotonic()- start_time < TEST_TIMESPAN:
       for cam, s in socks.items():
-        self.logs[cam] += messaging.drain_sock(s)
+        cls.logs[cam] += messaging.drain_sock(s)
       time.sleep(0.2)
     managed_processes['camerad'].stop()
 
-    self.log_by_frame_id = defaultdict(list)
-    self.sensor_type = None
-    for cam, msgs in self.logs.items():
-      if self.sensor_type is None:
-        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    cls.log_by_frame_id = defaultdict(list)
+    cls.sensor_type = None
+    for cam, msgs in cls.logs.items():
+      if cls.sensor_type is None:
+        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
       expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
       dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:
-        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
 
     # strip beginning and end
     for _ in range(3):
-      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
-      del self.log_by_frame_id[mn]
-      del self.log_by_frame_id[mx]
+      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+      del cls.log_by_frame_id[mn]
+      del cls.log_by_frame_id[mx]
 
   def test_frame_skips(self):
     skips = {}

From 83b60a7ba632a4882d9d6a41aa575984e5667597 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 5 Nov 2024 12:37:45 -0700
Subject: [PATCH 0923/1243] Remove duplicate "build_metadata" declaration
 (#33927)

---
 system/sentry.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/system/sentry.py b/system/sentry.py
index 6b0332169b..63bf789b6f 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -63,8 +63,6 @@ def init(project: SentryProject) -> bool:
                   max_value_length=8192,
                   environment=env)
 
-  build_metadata = get_build_metadata()
-
   sentry_sdk.set_user({"id": dongle_id})
   sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
   sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)

From 12fd9e441f2d01dd1629f13e02e0aabf667e825d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Nov 2024 14:27:33 -0800
Subject: [PATCH 0924/1243] only show storage missing for comma threes

---
 system/hardware/hardwared.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 9ebb9c9d54..a579cc5eef 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -316,7 +316,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI:
+    if TICI and HARDWARE.get_device_type() == "tici":
       if not os.path.isfile("/persist/comma/living-in-the-moment"):
         if not Path("/data/media").is_mount():
           set_offroad_alert_if_changed("Offroad_StorageMissing", True)

From 954fa5e6da6bfaf1a9354405c5571d729a40fc36 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Nov 2024 15:51:45 -0800
Subject: [PATCH 0925/1243] pandad: fall back to panda voltage and current
 measurements (#33935)

---
 selfdrive/pandad/pandad.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index b0b10fe315..a85159f33a 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -306,6 +306,16 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
     LOGW("reading hwmon took %lfms", read_time);
   }
 
+  // fall back to panda's voltage and current measurement
+  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
+    auto health_opt = panda->get_state();
+    if (health_opt) {
+      health_t health = *health_opt;
+      ps.setVoltage(health.voltage_pkt);
+      ps.setCurrent(health.current_pkt);
+    }
+  }
+
   uint16_t fan_speed_rpm = panda->get_fan_speed();
   ps.setFanSpeedRpm(fan_speed_rpm);
 

From e92ff96de3b2fa6ab819a689f4a5801bce35967a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 5 Nov 2024 16:07:12 -0800
Subject: [PATCH 0926/1243] format mansueversd.py

---
 tools/longitudinal_maneuvers/maneuversd.py | 24 +++++++++++-----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index b10ffa1ac0..5e13737e85 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -79,20 +79,20 @@ MANEUVERS = [
     initial_speed=5.,
   ),
   Maneuver(
-   "start from stop",
-   [Action(1.5, 5)],
-   repeat=2,
-   initial_speed=0.,
+    "start from stop",
+    [Action(1.5, 5)],
+    repeat=2,
+    initial_speed=0.,
   ),
   Maneuver(
-   "creep: alternate between +1m/s^2 and -1m/s^2",
-   [
-     Action(1, 3), Action(-1, 3),
-     Action(1, 3), Action(-1, 3),
-     Action(1, 3), Action(-1, 3),
-   ],
-   repeat=2,
-   initial_speed=0.,
+    "creep: alternate between +1m/s^2 and -1m/s^2",
+    [
+      Action(1, 3), Action(-1, 3),
+      Action(1, 3), Action(-1, 3),
+      Action(1, 3), Action(-1, 3),
+    ],
+    repeat=2,
+    initial_speed=0.,
   ),
   Maneuver(
     "brake step response: -1m/s^2 from 20mph",

From fd849708339e57976fee6c3c009938bfac5c8abd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 5 Nov 2024 18:19:02 -0600
Subject: [PATCH 0927/1243] maneuversd: support interpolated breakpoints
 (#33936)

* breakpoints

* clean up

* fix

* simplify

* np fast

* might as well
---
 tools/longitudinal_maneuvers/maneuversd.py | 31 +++++++++++++---------
 1 file changed, 18 insertions(+), 13 deletions(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 5e13737e85..9a3a745cb5 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import numpy as np
 from dataclasses import dataclass
 
 from cereal import messaging, car
@@ -10,8 +11,11 @@ from openpilot.common.swaglog import cloudlog
 
 @dataclass
 class Action:
-  accel: float      # m/s^2
-  duration: float   # seconds
+  accel_bp: list[float]  # m/s^2
+  time_bp: list[float]   # seconds
+
+  def __post_init__(self):
+    assert len(self.accel_bp) == len(self.time_bp)
 
 
 @dataclass
@@ -41,11 +45,12 @@ class Maneuver:
       return min(max(self.initial_speed - v_ego, -2.), 2.)
 
     action = self.actions[self._action_index]
+    action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)
 
     self._action_frames += 1
 
     # reached duration of action
-    if self._action_frames > (action.duration / DT_MDL):
+    if self._action_frames > (action.time_bp[-1] / DT_MDL):
       # next action
       if self._action_index < len(self.actions) - 1:
         self._action_index += 1
@@ -60,7 +65,7 @@ class Maneuver:
       else:
         self._finished = True
 
-    return action.accel
+    return float(action_accel)
 
   @property
   def finished(self):
@@ -74,47 +79,47 @@ class Maneuver:
 MANEUVERS = [
   Maneuver(
     "come to stop",
-    [Action(-0.5, 12)],
+    [Action([-0.5], [12])],
     repeat=2,
     initial_speed=5.,
   ),
   Maneuver(
     "start from stop",
-    [Action(1.5, 5)],
+    [Action([1.5], [5])],
     repeat=2,
     initial_speed=0.,
   ),
   Maneuver(
     "creep: alternate between +1m/s^2 and -1m/s^2",
     [
-      Action(1, 3), Action(-1, 3),
-      Action(1, 3), Action(-1, 3),
-      Action(1, 3), Action(-1, 3),
+      Action([1], [3]), Action([-1], [3]),
+      Action([1], [3]), Action([-1], [3]),
+      Action([1], [3]), Action([-1], [3]),
     ],
     repeat=2,
     initial_speed=0.,
   ),
   Maneuver(
     "brake step response: -1m/s^2 from 20mph",
-    [Action(-1, 3)],
+    [Action([-1], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
     "brake step response: -4m/s^2 from 20mph",
-    [Action(-4, 3)],
+    [Action([-4], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
     "gas step response: +1m/s^2 from 20mph",
-    [Action(1, 3)],
+    [Action([1], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
     "gas step response: +4m/s^2 from 20mph",
-    [Action(4, 3)],
+    [Action([4], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),

From 4b21e221dd47d38b94d273af84fcc4bf3f3237c1 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 5 Nov 2024 17:03:20 -0800
Subject: [PATCH 0928/1243] test_camerad: reduce test time to allow retry
 (#33937)

allow all retries
---
 system/camerad/test/test_camerad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index aa8101aa1c..07a68e0020 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -9,7 +9,7 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.system.manager.process_config import managed_processes
 
-TEST_TIMESPAN = 30
+TEST_TIMESPAN = 10
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
                        log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,

From 4d08e114d9799ba004f69a2ce0bb88456a313c75 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 5 Nov 2024 17:10:08 -0800
Subject: [PATCH 0929/1243] installer: switch openpilot-internal to nightly-dev
 (#33938)

internal
---
 selfdrive/ui/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 62f4152333..81c18d03df 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -92,7 +92,7 @@ if GetOption('extras') and arch != "Darwin":
     ("openpilot", release),
     ("openpilot_test", f"{release}-staging"),
     ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "master"),
+    ("openpilot_internal", "nightly-dev"),
   ]
 
   cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",

From 6e8e51793ef7b00c063ed2cfd7216ecbedbde1a1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Nov 2024 17:37:01 -0800
Subject: [PATCH 0930/1243] tici: disable cavli sim sleep

---
 system/hardware/tici/hardware.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 70049d1849..8110a0808e 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -467,8 +467,9 @@ class Tici(HardwareBase):
     cmds = []
     if manufacturer == 'Cavli Inc.':
       cmds += [
-        # use sim slot
-        'AT^SIMSWAP=1',
+        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
+        'AT$QCSIMSLEEP=0',  # disable SIM sleep
+        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
 
         # ethernet config
         'AT$QCPCFG=usbNet,0',

From 8fc36c26f2ffbb0b870cf2813415566868b35eec Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Nov 2024 21:20:17 -0800
Subject: [PATCH 0931/1243] hardwared: configure modem even if SIM not present

---
 system/hardware/hardwared.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index a579cc5eef..da3172e8d1 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -148,8 +148,7 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        # TODO: remove this once the config is in AGNOS
-        if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0:
+        if not modem_configured and HARDWARE.get_modem_version() is not None:
           cloudlog.warning("configuring modem")
           HARDWARE.configure_modem()
           modem_configured = True

From 3474eb3d96102e2f8f21df80283080f4b5d8cc94 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Tue, 5 Nov 2024 21:54:05 -0800
Subject: [PATCH 0932/1243] fix raylib build (#33939)

---
 selfdrive/ui/raylib/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/raylib/SConscript b/selfdrive/ui/raylib/SConscript
index 2756331a4c..d603f263e1 100644
--- a/selfdrive/ui/raylib/SConscript
+++ b/selfdrive/ui/raylib/SConscript
@@ -11,7 +11,7 @@ if arch == "Darwin":
 elif arch == 'larch64':
   linked_libs += []
 else:
-  linked_libs.append('OpenCL')
+  linked_libs += ['OpenCL', 'dl', 'pthread']
 
 if arch != 'aarch64':
   raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)

From 09b68eef3e205f66413a203163d1c4e7b2f3bb68 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Nov 2024 16:41:45 -0600
Subject: [PATCH 0933/1243] fix lead distance bars w/ joystick mode (#33942)

---
 tools/joystick/joystickd.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index f8c000c259..dc1186c294 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -31,6 +31,7 @@ def joystickd_thread():
     CC.enabled = sm['selfdriveState'].enabled
     CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.hudControl.leadDistanceBars = 2
 
     actuators = CC.actuators
 

From 3081dca9e5845603b14954b38f9a9fb7c7eb5f75 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Wed, 6 Nov 2024 14:42:58 -0800
Subject: [PATCH 0934/1243] [bot] Update Python packages (#33943)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md |  4 ++--
 opendbc_repo |  2 +-
 panda        |  2 +-
 uv.lock      | 18 +++++++++---------
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 44c9327378..d40d8544a9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -34,8 +34,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
 |Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 472c62e386..54e2d7d190 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 472c62e38690eca27f1eee9e8fe0eacde0de3d02
+Subproject commit 54e2d7d190bf9a1e336525dd5a13987f29d7639a
diff --git a/panda b/panda
index 0b364ece1e..aab03bc4b6 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0b364ece1eafa2e66b71be7cade3fdfb56a3014e
+Subproject commit aab03bc4b6ab02be7db3fd60f034a84d79ad93b4
diff --git a/uv.lock b/uv.lock
index 4b3f5fdb01..123840f27a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -4736,7 +4736,7 @@ wheels = [
 
 [[package]]
 name = "rerun-sdk"
-version = "0.19.0"
+version = "0.19.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "attrs" },
@@ -4746,11 +4746,11 @@ dependencies = [
     { name = "typing-extensions" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c4/59/cfea9527a2f56652c9f2e54151c8a0d2b572b7f1255ca9bc6ea8ad2fd7ce/rerun_sdk-0.19.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:49a48d6d5d7de662ef3e83dc262e65705fa719726f6bc6deefad27c4b6d34e98", size = 37415314 },
-    { url = "https://files.pythonhosted.org/packages/d9/16/0d7099d537bf2f73988ac93f5075d4fd717e96c25697b3ea16af8bcc2cda/rerun_sdk-0.19.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:c8012b4e517a911a782472dc97ebbdc6ed4261b44bfdd0e0a0c64496f17ddc91", size = 35743438 },
-    { url = "https://files.pythonhosted.org/packages/cf/35/eaabd19deaa2bbb121df3a6949206f02ad6cff122d8ad6ba0fcdeeb972c6/rerun_sdk-0.19.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:65bb8ddf9611827c31d5502f9d1ee997c1facbbdf5dce9a268f0aa6bcaea5439", size = 39794278 },
-    { url = "https://files.pythonhosted.org/packages/8b/2c/1e06376a531431855c4ea12865aba0d83a1a1d0537a544191d09d3b44eea/rerun_sdk-0.19.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:6a49fde1c9d0691166402707ec3b317bf0d82fb1b4412b98e02ccbf499d9b92d", size = 41301646 },
-    { url = "https://files.pythonhosted.org/packages/b2/57/948b518f3db30b8dd27d1dc0280acc6510289a79675dcb523ccfcced39d6/rerun_sdk-0.19.0-cp38-abi3-win_amd64.whl", hash = "sha256:da304927485cb4e6afe25ea8ed84c0cb7e63f3ba8ce2c72a1034ae1ffc69a6c0", size = 33573220 },
+    { url = "https://files.pythonhosted.org/packages/48/b0/2f91b886fd701e3ded8e3013852e833519f2e640b857e1b0c0883c7a7d37/rerun_sdk-0.19.1-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:a61be3afea5ac856809bdff7234a21de308f149f92d5f4d4c532dcd5698de1c4", size = 37403183 },
+    { url = "https://files.pythonhosted.org/packages/4e/96/6e75b675d20ee584f3f3664aead70bc1736b958091c14b2a5a06f4f31881/rerun_sdk-0.19.1-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:56bb01adf13308725b1534b93be21ad6234ecfa98db13227dc281a3cb8b41922", size = 35748606 },
+    { url = "https://files.pythonhosted.org/packages/ed/e6/086f38552edeaebd227a47711f67be2cee9f07483694278daab0f87321f1/rerun_sdk-0.19.1-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:caa7bef1e63bb1c95d0cf52812cf16855b80c7b1d0137b6c2ba9e5031c35c095", size = 39801474 },
+    { url = "https://files.pythonhosted.org/packages/e4/91/631883fdacd12630b0a37d42a6e8c87785b9c8cfba68aed21aa6e7c73723/rerun_sdk-0.19.1-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:7a638d2009c5248ce61feadf283d1b10e98241e04a5834c8d27169a4401ed5b1", size = 41311782 },
+    { url = "https://files.pythonhosted.org/packages/c7/46/5f0ab6fd81e4e109915a886f572648e47b1d159c4c5369c81c4b57089c55/rerun_sdk-0.19.1-cp38-abi3-win_amd64.whl", hash = "sha256:5d7950ed35cfa0ecaad302dbc2413354654dd0d5cd44e73cb55d05fa1ed0004d", size = 33581988 },
 ]
 
 [[package]]
@@ -5009,14 +5009,14 @@ wheels = [
 
 [[package]]
 name = "tqdm"
-version = "4.66.6"
+version = "4.67.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "platform_system == 'Windows'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/e9/34/bef135b27fe1864993a5284ad001157ee9b5538e859ac90f5b0e8cc8c9ec/tqdm-4.66.6.tar.gz", hash = "sha256:4bdd694238bef1485ce839d67967ab50af8f9272aab687c0d7702a01da0be090", size = 169533 }
+sdist = { url = "https://files.pythonhosted.org/packages/e8/4f/0153c21dc5779a49a0598c445b1978126b1344bab9ee71e53e44877e14e0/tqdm-4.67.0.tar.gz", hash = "sha256:fe5a6f95e6fe0b9755e9469b77b9c3cf850048224ecaa8293d7d2d31f97d869a", size = 169739 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/41/73/02342de9c2d20922115f787e101527b831c0cffd2105c946c4a4826bcfd4/tqdm-4.66.6-py3-none-any.whl", hash = "sha256:223e8b5359c2efc4b30555531f09e9f2f3589bcd7fdd389271191031b49b7a63", size = 78326 },
+    { url = "https://files.pythonhosted.org/packages/2b/78/57043611a16c655c8350b4c01b8d6abfb38cc2acb475238b62c2146186d7/tqdm-4.67.0-py3-none-any.whl", hash = "sha256:0cd8af9d56911acab92182e88d763100d4788bdf421d251616040cc4d44863be", size = 78590 },
 ]
 
 [[package]]

From c3ca9a26c8af0a9438419ee1a28fd8b77193bc2b Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 6 Nov 2024 16:00:14 -0800
Subject: [PATCH 0935/1243] os04c10: 12bit tune (#33947)

* much better

* also isp

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/os04c10.cc   | 2 +-
 system/camerad/sensors/os04c10_cl.h | 6 +-----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 53ac37f08a..5109a28240 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -70,7 +70,7 @@ OS04C10::OS04C10() {
   };
   for (int i = 0; i < 65; i++) {
     float fx = i / 64.0;
-    gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
+    gamma_lut_rgb.push_back((uint32_t)((10*fx)/(1+9*fx)*1023.0 + 0.5));
   }
   prepare_gamma_lut();
   linearization_lut = {
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
index 7cfc99655e..e285fb37e0 100644
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -52,11 +52,7 @@ float3 color_correct(float3 rgb) {
 }
 
 float3 apply_gamma(float3 rgb, int expo_time) {
-  return powr(rgb, 0.7);
-/*float s = log2((float)expo_time);
-  if (s < 6) {s = fmin(12.0 - s, 9.0);}
-  // log function adaptive to number of bits
-  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/
+  return (10 * rgb) / (1 + 9 * rgb);
 }
 
 #endif

From 1e3f8bec46201911fdd8d10ef5517223139bab0a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Nov 2024 18:21:44 -0600
Subject: [PATCH 0936/1243] Ford Q3: enable long by default (#33945)

* bump

* update docs

* release notes

ctrl

* op

* migrate for regen

* regen and update refs

* only ford
---
 RELEASES.md                                   |  3 +-
 docs/CARS.md                                  | 34 +++++++++----------
 opendbc_repo                                  |  2 +-
 selfdrive/test/process_replay/migration.py    |  3 ++
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     |  2 +-
 6 files changed, 25 insertions(+), 21 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 1435809d84..0cd2380b1d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -4,8 +4,9 @@ Version 0.9.8 (2024-XX-XX)
   * Trained in brand new ML simulator
   * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
-  * Reduced false positives related to passengers 
+  * Reduced false positives related to passengers
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
 
 Version 0.9.7 (2024-06-13)
diff --git a/docs/CARS.md b/docs/CARS.md
index d40d8544a9..6861f411d2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -30,21 +30,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 54e2d7d190..df8fe2299a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 54e2d7d190bf9a1e336525dd5a13987f29d7639a
+Subproject commit df8fe2299abfd774a12ac85373c0242d347dbab1
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index cb3db26344..5376f91aee 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -6,6 +6,7 @@ import capnp
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
+from opendbc.car.ford.values import CAR as FORD, FordFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -270,6 +271,8 @@ def migrate_pandaStates(msgs):
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
     "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
+  # TODO: get new Ford route
+  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 2f565836fd..f3347ce5c2 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-992ac80ef848afb85562ca24b1c5a3d410aacd05
\ No newline at end of file
+931b922589a7afb631cd91e57fd6d8408a56564f
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index ec84f37d1f..4f0705f492 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -56,7 +56,7 @@ segments = [
   ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
   ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
+  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

From aed8e5cbd50f245c66519035a30209d72c49c149 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Nov 2024 18:34:17 -0600
Subject: [PATCH 0937/1243] bump opendbc (#33948)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index df8fe2299a..f090bf6fa2 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit df8fe2299abfd774a12ac85373c0242d347dbab1
+Subproject commit f090bf6fa2247beb01a102c2e109c4b6decd54fb

From 1965b2fd6e6f2b6ab929ab386bd1b899a56d18e4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Nov 2024 19:46:05 -0600
Subject: [PATCH 0938/1243] joystick: add cancel logic (#33950)

match cancel logic
---
 tools/joystick/joystickd.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index dc1186c294..3e3aed34a9 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -31,6 +31,7 @@ def joystickd_thread():
     CC.enabled = sm['selfdriveState'].enabled
     CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
     CC.hudControl.leadDistanceBars = 2
 
     actuators = CC.actuators

From f13d1ae4d668dbba71b32399bbf7cef24ecd8256 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Nov 2024 19:50:52 -0600
Subject: [PATCH 0939/1243] Toyota: clean up ACC_CONTROL sending (#33949)

* bump

* Update ref_commit
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index f090bf6fa2..2d08eded7a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f090bf6fa2247beb01a102c2e109c4b6decd54fb
+Subproject commit 2d08eded7a8497fd570c268f8b1761abdab5050f
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f3347ce5c2..458dc90414 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-931b922589a7afb631cd91e57fd6d8408a56564f
\ No newline at end of file
+bde3a4e45bcb4c1c1952421a669b9dc3a705e31a

From c995d5b9ae685ffc8994798c1cb1b9e9843e843d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 6 Nov 2024 19:17:15 -0800
Subject: [PATCH 0940/1243] ci: faster test_models (#33941)

* test

* try 4 runners

* try

* 100 for fun

* the fun is over

* try even less
---
 .github/workflows/selfdrive_tests.yaml | 4 ++--
 selfdrive/car/tests/test_models.py     | 2 +-
 tools/lib/filereader.py                | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index eba999e260..d82b450abd 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -251,7 +251,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1]
+        job: [0, 1, 2, 3]
     steps:
     - uses: actions/checkout@v4
       with:
@@ -271,7 +271,7 @@ jobs:
         ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 2
+        NUM_JOBS: 4
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index e1e89abf9c..fc224c8860 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -35,7 +35,7 @@ NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "200"))
 CI = os.environ.get("CI", None) is not None
 
 
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 963d7a8cdb..8206ad2228 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -12,6 +12,7 @@ def internal_source_available(url=DATA_ENDPOINT):
     hostname = urlparse(url).hostname
     port = urlparse(url).port or 80
     with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
+      s.settimeout(0.5)
       s.connect((hostname, port))
     return True
   except (socket.gaierror, ConnectionRefusedError):

From 6a2ae346aba068307a522bad8fe655430ed4f159 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 6 Nov 2024 20:30:38 -0800
Subject: [PATCH 0941/1243] ci: relax test_onroad cpu usage bounds (#33951)

bounds
---
 selfdrive/test/test_onroad.py | 41 ++++++++++++++---------------------
 1 file changed, 16 insertions(+), 25 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 4908224b64..666bafa3a7 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -51,28 +51,28 @@ PROCS = {
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 17.0,
   "selfdrive.modeld.dmonitoringmodeld": 11.0,
-  "system.hardware.hardwared": 3.87,
+  "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 1.54,
-  "system.logmessaged": 0.2,
+  "./proclogd": 2.0,
+  "system.logmessaged": 1.0,
   "system.tombstoned": 0,
   "./logcatd": 1.0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
-  "system.statsd": 0.4,
-  "system.loggerd.uploader": (0.0, 15.0),
-  "system.loggerd.deleter": 0.1,
+  "system.statsd": 1.0,
+  "system.loggerd.uploader": 15.0,
+  "system.loggerd.deleter": 1.0,
 }
 
 PROCS.update({
   "tici": {
     "./pandad": 4.0,
-    "./ubloxd": 0.02,
+    "./ubloxd": 1.0,
     "system.ubloxd.pigeond": 6.0,
   },
   "tizi": {
@@ -256,32 +256,23 @@ class TestOnroad:
 
     cpu_ok = True
     dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
-    for proc_name, expected_cpu in PROCS.items():
+    for proc_name, expected in PROCS.items():
 
       err = ""
-      exp = "???"
-      cpu_usage = 0.
+      usage = 0.
       x = plogs_by_proc[proc_name]
       if len(x) > 2:
         cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-        cpu_usage = cpu_time / dt * 100.
-
-        if isinstance(expected_cpu, tuple):
-          exp = str(expected_cpu)
-          minn, maxx = expected_cpu
-        else:
-          exp = f"{expected_cpu:5.2f}"
-          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
-          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
-
-        if cpu_usage > maxx:
-          err = "using more CPU than expected"
-        elif cpu_usage < minn:
-          err = "using less CPU than expected"
+        usage = cpu_time / dt * 100.
+
+        max_allowed = max(expected * 1.8, expected + 5.0)
+        if usage > max_allowed:
+          err = "USING MORE CPU THAN EXPECTED"
+
       else:
         err = "NO METRICS FOUND"
 
-      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
+      result += f"{proc_name.ljust(35)}  {usage=:5.2f}%  {expected=:5.2f}%  {max_allowed=:5.2f}%  {err}\n"
       if len(err) > 0:
         cpu_ok = False
     result += "------------------------------------------------\n"

From 66beaceeec0966460ef75eeb4f6775f5e37f1aa7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 7 Nov 2024 11:15:43 -0800
Subject: [PATCH 0942/1243] gitignore .zst logs (#33955)

ignore
---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index 919e011fe3..4562e47817 100644
--- a/.gitignore
+++ b/.gitignore
@@ -76,6 +76,7 @@ selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 
 *.bz2
+*.zst
 
 build/
 

From f2a1cce42b47306a9551cbfa65c5edbbaec037ae Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Nov 2024 14:41:08 -0800
Subject: [PATCH 0943/1243] camerad: move E + D cams image pipelines to the IFE
 (#33959)

* camerad: move E + D cams image pipelines to the IFE

* arvig
---
 system/camerad/cameras/camera_qcom2.cc        | 2 +-
 system/camerad/sensors/ar0231.cc              | 3 +++
 system/hardware/tici/tests/test_power_draw.py | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index fb325ac772..0c102051a5 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index e4ef3af404..f5d9d333ab 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -154,6 +154,9 @@ AR0231::AR0231() {
     linearization_lut.push_back(0x0);
   }
   linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }
 
 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 0ef34549b5..8598b2faa2 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -31,7 +31,7 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),

From 4f9794097b03648f2e5f2d4e9abdca9b2e06e87c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 7 Nov 2024 15:29:07 -0800
Subject: [PATCH 0944/1243] ci: faster unit_tests (#33953)

* effect

* test

* no

* yes

* try some caching

* try

* 1

* try more 1

* just for fun

* 50 maybe????

* all for nothing

* fix

* add back

* back

* timeout

* clean

* try

* no

* less
---
 .github/workflows/selfdrive_tests.yaml        |  4 ++--
 cereal/messaging/tests/test_pub_sub_master.py | 15 +++++++--------
 system/tests/test_logmessaged.py              |  4 ++--
 tools/replay/tests/test_replay.cc             | 12 +-----------
 4 files changed, 12 insertions(+), 23 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d82b450abd..a63a8d2df3 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -174,10 +174,10 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 15
+      timeout-minutes: 1
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --timeout 60 -m 'not slow' && \
+                        MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         pytest ./selfdrive/ui/tests/test_translations.py"
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
index 99965319eb..e9bc7a85cb 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -63,14 +63,13 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    for _ in range(5):
-      timeout = random.randrange(1000, 5000)
-      start_time = time.monotonic()
-      sm.update(timeout)
-      t = time.monotonic() - start_time
-      assert t >= timeout/1000.
-      assert t < 5
-      assert not any(sm.updated.values())
+    timeout = random.randrange(1000, 3000)
+    start_time = time.monotonic()
+    sm.update(timeout)
+    t = time.monotonic() - start_time
+    assert t >= timeout/1000.
+    assert t < 3
+    assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 3baf5300c0..03c13437bc 100644
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -35,7 +35,7 @@ class TestLogmessaged:
     msgs = [f"abc {i}" for i in range(10)]
     for m in msgs:
       cloudlog.error(m)
-    time.sleep(3)
+    time.sleep(1)
     m = messaging.drain_sock(self.sock)
     assert len(m) == len(msgs)
     assert len(self._get_log_files()) >= 1
@@ -45,7 +45,7 @@ class TestLogmessaged:
     msg = "a"*3*1024*1024
     for _ in range(n):
       cloudlog.info(msg)
-    time.sleep(3)
+    time.sleep(1)
 
     msgs = messaging.drain_sock(self.sock)
     assert len(msgs) == 0
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index d350df570a..e4d8c3e5f0 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -136,7 +136,7 @@ std::string download_demo_route() {
 }
 
 
-TEST_CASE("Local route") {
+TEST_CASE("Getting route") {
   std::string data_dir = download_demo_route();
 
   auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
@@ -148,16 +148,6 @@ TEST_CASE("Local route") {
   }
 }
 
-TEST_CASE("Remote route") {
-  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
-  Route route(DEMO_ROUTE);
-  REQUIRE(route.load());
-  REQUIRE(route.segments().size() == 13);
-  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
-    read_segment(i, route.at(i), flags);
-  }
-}
-
 TEST_CASE("seek_to") {
   QEventLoop loop;
   int seek_to = util::random_int(0, 2 * 59);

From 2ac776cfda5c2859324f547f3e53b63f7816678d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Nov 2024 16:25:29 -0800
Subject: [PATCH 0945/1243] CI: disable retries on Actions (#33960)

* no retries

* red
---
 .github/workflows/setup/action.yaml | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 701675942f..1315ba989e 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -20,6 +20,18 @@ runs:
         echo "You should not run this action directly. Use setup-with-retry instead"
         exit 1
 
+    - shell: bash
+      name: No retries!
+      run: |
+        if [ "${{ github.run_attempt }}" -gt 1 ]; then
+          echo -e "\033[31m"
+          echo "##################################################"
+          echo "    Retries not allowed! Fix the flaky test!      "
+          echo "##################################################"
+          echo -e "\033[0m"
+          exit 1
+        fi
+
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
       run: git lfs pull

From b6a153034644c5b8dfc3d415467d7b26a9904977 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Nov 2024 16:58:31 -0800
Subject: [PATCH 0946/1243] can't forget about os

---
 system/camerad/sensors/os04c10.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 5109a28240..8d0bed247f 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -88,6 +88,9 @@ OS04C10::OS04C10() {
     linearization_lut.push_back(0x0);
   }
   linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

From a342cef54568f3d4a2750bed0ba5e4533ac640a0 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 7 Nov 2024 17:08:46 -0800
Subject: [PATCH 0947/1243] IFE: remove OS/AR redundant point due to typo
 (#33963)

---
 system/camerad/sensors/ar0231.cc  | 4 ++--
 system/camerad/sensors/os04c10.cc | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index f5d9d333ab..88e978ebb1 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -144,16 +144,16 @@ AR0231::AR0231() {
     0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
     0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
     0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
     0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
     0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
   };
   for (int i = 0; i < 252; i++) {
     linearization_lut.push_back(0x0);
   }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
   for (int i = 0; i < 884*2; i++) {
     vignetting_lut.push_back(0xff);
   }
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 8d0bed247f..cbbb93fdce 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -78,16 +78,16 @@ OS04C10::OS04C10() {
     0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
     0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
     0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
     0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
     0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
   };
   for (int i = 0; i < 252; i++) {
     linearization_lut.push_back(0x0);
   }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
   for (int i = 0; i < 884*2; i++) {
     vignetting_lut.push_back(0xff);
   }

From e0acd86ca10658c5e67aba82cb046c265587104f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 7 Nov 2024 18:44:12 -0800
Subject: [PATCH 0948/1243] ci: faster unit_tests (#33962)

faster
---
 system/loggerd/tests/test_uploader.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index fa71600263..a05a28ee4e 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -73,7 +73,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
     self.join_thread()
 
     exp_order = self.gen_order([self.seg_num], [])
@@ -91,7 +91,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
     self.join_thread()
 
     exp_order = self.gen_order([self.seg_num], [])
@@ -110,7 +110,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
     self.join_thread()
 
     exp_order = self.gen_order([self.seg_num], [])
@@ -137,7 +137,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
     self.join_thread()
 
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@@ -155,7 +155,7 @@ class TestUploader(UploaderTestCase):
     f_paths = self.gen_files(lock=True, boot=False)
 
     # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(5)
+    time.sleep(2)
     self.join_thread()
 
     for f_path in f_paths:
@@ -168,7 +168,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(2)
     self.join_thread()
 
     assert len(log_handler.upload_order) == 0, "File uploaded again"

From 48fcb4dc604fbc8e2979897d9579925b6825e96d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 7 Nov 2024 19:01:31 -0800
Subject: [PATCH 0949/1243] fix isp processing_time unit (#33964)

should be in seconds

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 97df4ea75f..ff02fe4364 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -114,7 +114,7 @@ bool CameraBuf::acquire(int expo_time) {
     cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
   } else {
     cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
-    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6;
+    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-9;
   }
 
   VisionIpcBufExtra extra = {

From d899125b65041716811487d4ae2d1f7298c3840d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 7 Nov 2024 19:56:10 -0800
Subject: [PATCH 0950/1243] SensorInfo: set correct bayer_patterns (#33965)

clean up

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/ar0231.cc  | 1 +
 system/camerad/sensors/os04c10.cc | 1 +
 system/camerad/sensors/ox03c10.cc | 1 +
 system/camerad/sensors/sensor.h   | 2 +-
 4 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 88e978ebb1..5234ebd418 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -78,6 +78,7 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
 
 AR0231::AR0231() {
   image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
   pixel_size_mm = 0.003;
   data_word = true;
   frame_width = 1928;
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index cbbb93fdce..f6ba4504e1 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -22,6 +22,7 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
   pixel_size_mm = 0.004;
   data_word = false;
 
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 5ca3fb8d93..d8cdc89648 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -25,6 +25,7 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 
 OX03C10::OX03C10() {
   image_sensor = cereal::FrameData::ImageSensor::OX03C10;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
   pixel_size_mm = 0.003;
   data_word = false;
   frame_width = 1928;
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index dc2aadfe13..1651fd8061 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -61,7 +61,7 @@ public:
   std::vector<i2c_random_wr_payload> init_reg_array;
 
   uint32_t bits_per_pixel;
-  uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
+  uint32_t bayer_pattern;
   uint32_t mipi_format;
   uint32_t mclk_frequency;
   uint32_t frame_data_type;

From 3e88d680a5464e53fdf6eea77a24e45352001653 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 Nov 2024 21:45:12 -0800
Subject: [PATCH 0951/1243] Update maneuversd.py

---
 tools/longitudinal_maneuvers/maneuversd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 9a3a745cb5..6c6e252a57 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -85,7 +85,7 @@ MANEUVERS = [
   ),
   Maneuver(
     "start from stop",
-    [Action([1.5], [5])],
+    [Action([1.5], [6])],
     repeat=2,
     initial_speed=0.,
   ),

From 700a5651bd95d34a885ca37e4cfa3c123c2bc2c2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 7 Nov 2024 21:45:51 -0800
Subject: [PATCH 0952/1243] ci: nicer output for test_onroad (#33961)

* viz

* viz

* fix

* show more

* fix

* failure

* cleanup
---
 selfdrive/test/test_onroad.py | 69 +++++++++++++++++------------------
 1 file changed, 33 insertions(+), 36 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 666bafa3a7..6167e12999 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -11,6 +11,7 @@ import numpy as np
 import zstandard as zstd
 from collections import Counter, defaultdict
 from pathlib import Path
+from tabulate import tabulate
 
 from cereal import car, log
 import cereal.messaging as messaging
@@ -241,10 +242,9 @@ class TestOnroad:
     assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"
 
   def test_cpu_usage(self, subtests):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "------------------ CPU Usage -------------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("------------------ CPU Usage -------------------")
+    print("------------------------------------------------")
 
     plogs_by_proc = defaultdict(list)
     for pl in self.msgs['procLog']:
@@ -252,13 +252,14 @@ class TestOnroad:
         if len(x.cmdline) > 0:
           n = list(x.cmdline)[0]
           plogs_by_proc[n].append(x)
-    print(plogs_by_proc.keys())
 
     cpu_ok = True
     dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
+    header = ['process', 'usage', 'expected', 'max allowed', 'test result']
+    rows = []
     for proc_name, expected in PROCS.items():
 
-      err = ""
+      error = ""
       usage = 0.
       x = plogs_by_proc[proc_name]
       if len(x) > 2:
@@ -267,15 +268,15 @@ class TestOnroad:
 
         max_allowed = max(expected * 1.8, expected + 5.0)
         if usage > max_allowed:
-          err = "USING MORE CPU THAN EXPECTED"
+          error = "❌ USING MORE CPU THAN EXPECTED ❌"
+          cpu_ok = False
 
       else:
-        err = "NO METRICS FOUND"
-
-      result += f"{proc_name.ljust(35)}  {usage=:5.2f}%  {expected=:5.2f}%  {max_allowed=:5.2f}%  {err}\n"
-      if len(err) > 0:
+        error = "❌ NO METRICS FOUND ❌"
         cpu_ok = False
-    result += "------------------------------------------------\n"
+
+      rows.append([proc_name, usage, expected, max_allowed, error or "✅"])
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
 
     # Ensure there's no missing procs
     all_procs = {p.name for p in self.msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
@@ -287,11 +288,9 @@ class TestOnroad:
     procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
     with subtests.test(name="total CPU"):
       assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
-    result +=  "------------------------------------------------\n"
-    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
-    result +=  "------------------------------------------------\n"
-
-    print(result)
+    print("------------------------------------------------")
+    print(f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left")
+    print("------------------------------------------------")
 
     assert cpu_ok
 
@@ -379,10 +378,12 @@ class TestOnroad:
 
   def test_timings(self):
     passed = True
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "----------------- Service Timings --------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("----------------- Service Timings --------------")
+    print("------------------------------------------------")
+
+    header = ['service', 'max', 'min', 'mean', 'expected mean', 'rsd', 'max allowed rsd', 'test result']
+    rows = []
     for s, (maxmin, rsd) in TIMINGS.items():
       offset = int(SERVICE_LIST[s].frequency * LOG_OFFSET)
       msgs = [m.logMonoTime for m in self.msgs[s][offset:]]
@@ -392,21 +393,17 @@ class TestOnroad:
       ts = np.diff(msgs) / 1e9
       dt = 1 / SERVICE_LIST[s].frequency
 
-      try:
-        np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
-        np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
-      except Exception as e:
-        result += str(e) + "\n"
-        passed = False
-
-      if np.std(ts) / dt > rsd:
-        result += f"{s} - failed RSD timing check\n"
-        passed = False
-
-      result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
-      result += f"{''.ljust(40)}  {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
-    result += "="*67
-    print(result)
+      errors = []
+      if not np.allclose(np.mean(ts), dt, rtol=0.03, atol=0):
+        errors.append("❌ FAILED MEAN TIMING CHECK ❌")
+      if not np.allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, atol=0):
+        errors.append("❌ FAILED MAX/MIN TIMING CHECK ❌")
+      if (np.std(ts)/dt) > rsd:
+        errors.append("❌ FAILED RSD TIMING CHECK ❌")
+      passed = not errors
+      rows.append([s, *(np.array([np.max(ts), np.min(ts), np.mean(ts), dt])*1e3), np.std(ts)/dt, rsd, "\n".join(errors) or "✅"])
+
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
     assert passed
 
   @release_only

From a4848ceee968cb59e5776834f94dfd5fca699b35 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 7 Nov 2024 21:49:15 -0800
Subject: [PATCH 0953/1243] Add driverStateV2 plots to model replay (#33967)

---
 selfdrive/modeld/dmonitoringmodeld.py         |  3 ---
 selfdrive/test/process_replay/model_replay.py | 10 +++++++++-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 3030b31a0c..31440c1295 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -139,7 +139,6 @@ def main():
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  # last = 0
 
   while True:
     buf = vipc_client.recv()
@@ -155,8 +154,6 @@ def main():
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
-    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
-    # last = t1
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 7ffaea76b4..c6720cc601 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -58,10 +58,18 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: x.laneLines[1].y[0], "laneLines.y"),
                      (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                     ], "modelV2")
+  DriverStateV2_Plots = zl([
+                     (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
+                     (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
+                     (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
+                     (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
+                     (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
+                     (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
+                    ], "driverStateV2")
 
   return [plot(map(v[0], get_event(proposed, event)), \
                map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
-               for v,event in [*ModelV2_Plots]]
+               for v,event in ([*ModelV2_Plots] + [*DriverStateV2_Plots])]
 
 def create_table(title, files, link, open_table=False):
   if not files:

From a642973dc73fb942e55e60e2425d12877d6d25f6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 7 Nov 2024 22:31:23 -0800
Subject: [PATCH 0954/1243] ci: try faster macos setup (#33966)

* test

* try

* try

* fix

* fix

* fix

* fix

* fix

* fix

* fix

* fix

* cleanup
---
 .github/workflows/selfdrive_tests.yaml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a63a8d2df3..6bb0beb0fc 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -102,26 +102,26 @@ jobs:
 
   build_mac:
     name: build macOS
-    runs-on: macos-latest
+    runs-on: namespace-profile-macos-8x14
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: git lfs pull
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: ~/Library/Caches/Homebrew
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
+    - run: git lfs pull
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Getting scons cache
-      uses: 'actions/cache@v4'
+      uses: ./.github/workflows/auto-cache
       with:
         path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 

From ce7317407fa423c2341f8eab823e95b08f2083c5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 8 Nov 2024 11:49:04 -0800
Subject: [PATCH 0955/1243] ci: faster test_encoder (#33968)

* try

* timeout

* fix
---
 Jenkinsfile                          | 2 +-
 system/loggerd/tests/test_encoder.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index cdc1839f8c..7a392cdd2b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -207,7 +207,7 @@ node {
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [timeout: 60]),
           step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index 75862a9d45..cf38c8bc31 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -61,7 +61,7 @@ class TestEncoder:
     time.sleep(1.0)
     managed_processes['camerad'].start()
 
-    num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15)))
+    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))
 
     # wait for loggerd to make the dir for first segment
     route_prefix_path = None

From 7ecedbc39fef365c06577eb368adcb8ff64625f0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Nov 2024 13:31:43 -0800
Subject: [PATCH 0956/1243] setup: no low voltage warning without INA

---
 selfdrive/ui/qt/setup/setup.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index aff9b015b3..c716b6b4e9 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -408,7 +408,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
   std::stringstream buffer;
   buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
   float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
+  if (voltage > 0 && voltage < 7) {
     addWidget(low_voltage());
   }
 

From 13d4b5f8bb79c06811f4bee2c3542aca65292aac Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Nov 2024 15:17:06 -0800
Subject: [PATCH 0957/1243] Update RELEASES.md

---
 RELEASES.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/RELEASES.md b/RELEASES.md
index 0cd2380b1d..dbec5206cc 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -5,6 +5,9 @@ Version 0.9.8 (2024-XX-XX)
   * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
   * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for driving models
+  * Power draw reduced 0.5W, which means your device runs cooler 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune

From 44c889fa41bdddfb8dd549e80655c129bf91d9b6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Nov 2024 20:15:36 -0600
Subject: [PATCH 0958/1243] longcontrol: prevent integral windup when
 feedforward rises gradually (#33970)

* try

* messy

* simplify that

* clip instead

* clean up

* clean up

* update refs

* this is better for latcontrol

* Revert "update refs"

This reverts commit 1d2508237f76121248060614b0c5e6ecdfdc4daf.

* ref commit
---
 common/pid.py                            | 16 +++++++---------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/common/pid.py b/common/pid.py
index 29c4d8bd46..36cbf9c4e9 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -59,15 +59,13 @@ class PIDController:
     if override:
       self.i -= self.i_unwind_rate * float(np.sign(self.i))
     else:
-      i = self.i + error * self.k_i * self.i_rate
-      control = self.p + i + self.d + self.f
-
-      # Update when changing i will move the control away from the limits
-      # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-         not freeze_integrator:
-        self.i = i
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate
+
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 458dc90414..40bf1b836f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-bde3a4e45bcb4c1c1952421a669b9dc3a705e31a
+48ac1ed94c5f1aa3bd21ac609fed8ce3eb0bab8f
\ No newline at end of file

From 4979182a2e96c89a412070980b968316e34b1858 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 8 Nov 2024 19:38:38 -0800
Subject: [PATCH 0959/1243] ci: faster test_models (#33956)

* less

* timeout

* less

* merge

* debug

* debug

* try

* check now

* try this

* push

* fix

* CACHE

* test

* fix

* fix

* for now

* fix

* fix
---
 .github/workflows/selfdrive_tests.yaml |  4 ++--
 selfdrive/car/tests/test_models.py     | 10 +++++++---
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 6bb0beb0fc..e6b5950cbb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -266,9 +266,9 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 20
+      timeout-minutes: 2
       run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 4
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index fc224c8860..b50955b2a9 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -4,6 +4,7 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
+from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -22,7 +23,8 @@ from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source_zst, openpilotci_source, internal_source, \
+                                          internal_source_zst, comma_api_source, auto_source
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
@@ -35,7 +37,7 @@ NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "200"))
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
 CI = os.environ.get("CI", None) is not None
 
 
@@ -126,7 +128,9 @@ class TestCarModelBase(unittest.TestCase):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        lr = LogReader(segment_range)
+        source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
+                                              [openpilotci_source_zst, openpilotci_source, comma_api_source])
+        lr = LogReader(segment_range, source=source)
         return cls.get_testing_data_from_logreader(lr)
       except (LogsUnavailable, AssertionError):
         pass

From 3a2ca1516479e4c1231bbc835eeafe72b151ad71 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Nov 2024 22:30:41 -0600
Subject: [PATCH 0960/1243] bump opendbc (#33972)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 2d08eded7a..35979db999 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2d08eded7a8497fd570c268f8b1761abdab5050f
+Subproject commit 35979db999825a69befa9977c3ca3b0c922603ad

From 1c1e7330f0fbb188469031e2f73c26f1e23be5fe Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Nov 2024 23:13:59 -0600
Subject: [PATCH 0961/1243] Toyota: more responsive start from stop (#33974)

* bump

* Update ref_commit
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 35979db999..9b5f697a1e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 35979db999825a69befa9977c3ca3b0c922603ad
+Subproject commit 9b5f697a1ec82cf3a27ac0c93367ff91e83bedb2
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 40bf1b836f..c779902d6b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-48ac1ed94c5f1aa3bd21ac609fed8ce3eb0bab8f
\ No newline at end of file
+2fc2e865ab77fd8145feab86d454f2111c5d9871

From 47bd0f0166db1268bfa5504d7b95f94264d15500 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Sat, 9 Nov 2024 17:28:20 -0800
Subject: [PATCH 0962/1243] Dragon Rider Model (#33958)

* c77e258c-8e59-46aa-a2ef-09398823e801/400

* 04a1d006-4d46-499a-a27e-dfe9651398a9/400
---
 selfdrive/modeld/models/supercombo.onnx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 5ec978e566..2a0ddef57b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
-size 50309976
+oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
+size 50320138

From 5b0994c53c1fa8676be7f1cc726df14a7cc003a7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 9 Nov 2024 22:16:41 -0800
Subject: [PATCH 0963/1243] setup: fix uv (#33975)

* fix

* fix

* fix

* fix
---
 tools/install_python_dependencies.sh |  5 ++-
 uv.lock                              | 48 ++++++++++++++--------------
 2 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 7657457744..267577d712 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -24,9 +24,8 @@ function update_uv() {
 if ! command -v "uv" > /dev/null 2>&1; then
   echo "installing uv..."
   curl -LsSf https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.cargo/env"
-  ADD_PATH_CMD=". \"$UV_BIN\""
-  eval "$ADD_PATH_CMD"
+  UV_BIN="$HOME/.local/bin"
+  PATH="$UV_BIN:$PATH"
 fi
 
 echo "updating uv..."
diff --git a/uv.lock b/uv.lock
index 123840f27a..358423275d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1459,11 +1459,11 @@ requires-dist = [
 
 [[package]]
 name = "packaging"
-version = "24.1"
+version = "24.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/51/65/50db4dda066951078f0a96cf12f4b9ada6e4b811516bf0262c0f4f7064d4/packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002", size = 148788 }
+sdist = { url = "https://files.pythonhosted.org/packages/d0/63/68dbb6eb2de9cb10ee4c9c14a0148804425e13c4fb20d61cce69f53106da/packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f", size = 163950 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/08/aa/cc0199a5f0ad350994d660967a8efb233fe0416e4639146c089643407ce6/packaging-24.1-py3-none-any.whl", hash = "sha256:5b8f2217dbdbd2f7f384c41c628544e6d52f2d0f53c6d0c3ea61aa5d1d7ff124", size = 53985 },
+    { url = "https://files.pythonhosted.org/packages/88/ef/eb23f262cca3c0c4eb7ab1933c3b1f03d021f2c48f54763065b6f0e321be/packaging-24.2-py3-none-any.whl", hash = "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759", size = 65451 },
 ]
 
 [[package]]
@@ -4800,27 +4800,27 @@ wheels = [
 
 [[package]]
 name = "ruff"
-version = "0.7.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/95/51/231bb3790e5b0b9fd4131f9a231d73d061b3667522e3f406fd9b63334d0e/ruff-0.7.2.tar.gz", hash = "sha256:2b14e77293380e475b4e3a7a368e14549288ed2931fce259a6f99978669e844f", size = 3210036 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5c/56/0caa2b5745d66a39aa239c01059f6918fc76ed8380033d2f44bf297d141d/ruff-0.7.2-py3-none-linux_armv6l.whl", hash = "sha256:b73f873b5f52092e63ed540adefc3c36f1f803790ecf2590e1df8bf0a9f72cb8", size = 10373973 },
-    { url = "https://files.pythonhosted.org/packages/1a/33/cad6ff306731f335d481c50caa155b69a286d5b388e87ff234cd2a4b3557/ruff-0.7.2-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:5b813ef26db1015953daf476202585512afd6a6862a02cde63f3bafb53d0b2d4", size = 10171140 },
-    { url = "https://files.pythonhosted.org/packages/97/f5/6a2ca5c9ba416226eac9cf8121a1baa6f06655431937e85f38ffcb9d0d01/ruff-0.7.2-py3-none-macosx_11_0_arm64.whl", hash = "sha256:853277dbd9675810c6826dad7a428d52a11760744508340e66bf46f8be9701d9", size = 9809333 },
-    { url = "https://files.pythonhosted.org/packages/16/83/e3e87f13d1a1dc205713632978cd7bc287a59b08bc95780dbe359b9aefcb/ruff-0.7.2-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:21aae53ab1490a52bf4e3bf520c10ce120987b047c494cacf4edad0ba0888da2", size = 10622987 },
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 [[package]]

From e243acac3b8b304284134418c7f51a1b34055483 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 10 Nov 2024 12:29:27 -0500
Subject: [PATCH 0964/1243] longitudinal_maneuvers fix warning (#33980)

---
 tools/longitudinal_maneuvers/generate_report.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index f038469e94..aed972f606 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -121,6 +121,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
 
       buffer = io.BytesIO()
       fig.savefig(buffer, format='webp')
+      plt.close(fig)
       buffer.seek(0)
       builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
       builder.append("</details>\n")

From 37d38960dc4ca8ff05d80692fe0c2f7776969dec Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 10 Nov 2024 12:29:40 -0500
Subject: [PATCH 0965/1243] ui: update arabic translations (#33981)

Update main_ar.ts
---
 selfdrive/ui/translations/main_ar.ts | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 2854aceeaa..2315268a72 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -117,11 +117,11 @@
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع تصحيح أخطاء عصا التحكم</translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع المناورة الطولية</translation>
     </message>
 </context>
 <context>
@@ -435,11 +435,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>في انتظار البدء</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>النظام لا يستجيب</translation>
     </message>
 </context>
 <context>
@@ -631,7 +631,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>المطور</translation>
     </message>
 </context>
 <context>

From 482234ed35eb1a6b601d99312e6dc8b13405416b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 10 Nov 2024 19:15:11 -0800
Subject: [PATCH 0966/1243] long report: close plots

---
 tools/longitudinal_maneuvers/generate_report.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index aed972f606..d07da4c062 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -126,6 +126,8 @@ def report(platform, route, _description, CP, ID, maneuvers):
       builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
       builder.append("</details>\n")
 
+      plt.close()
+
   summary = ["<h2>Summary</h2>\n"]
   cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max']
   table = []

From 3c22a1ee274750ab0646cef977966fea352856a8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 10 Nov 2024 19:17:04 -0800
Subject: [PATCH 0967/1243] Revert "long report: close plots"

This reverts commit 482234ed35eb1a6b601d99312e6dc8b13405416b.
---
 tools/longitudinal_maneuvers/generate_report.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index d07da4c062..aed972f606 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -126,8 +126,6 @@ def report(platform, route, _description, CP, ID, maneuvers):
       builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
       builder.append("</details>\n")
 
-      plt.close()
-
   summary = ["<h2>Summary</h2>\n"]
   cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max']
   table = []

From 67b483f880acdb959639eac9a00c925c67787001 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Mon, 11 Nov 2024 12:51:25 +0900
Subject: [PATCH 0968/1243] Multilang: kor translation update (#33983)

---
 selfdrive/ui/translations/main_ko.ts | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 0839ddf15e..1d2a753e1f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -117,11 +117,11 @@
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>조이스틱 디버그 모드</translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>롱컨 기동 모드</translation>
     </message>
 </context>
 <context>
@@ -611,7 +611,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>개발자</translation>
     </message>
 </context>
 <context>

From 5e4b423b5a6cf5321ee6dfe8902506e7cef3d4e7 Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Sun, 10 Nov 2024 19:52:02 -0800
Subject: [PATCH 0969/1243] ui: update spanish translations (#33982)

---
 selfdrive/ui/translations/main_es.ts | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 45309eb745..38ba964f11 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -117,11 +117,11 @@
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo de depuración de joystick</translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo de maniobra longitudinal</translation>
     </message>
 </context>
 <context>
@@ -615,7 +615,7 @@ Esto puede tardar un minuto.</translation>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Desarrollador</translation>
     </message>
 </context>
 <context>

From f50ee8a67a283980ca758adca1a4f7ac39206437 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 11 Nov 2024 10:17:32 -0800
Subject: [PATCH 0970/1243] [bot] Update Python packages (#33986)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo | 2 +-
 panda        | 2 +-
 uv.lock      | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 9b5f697a1e..7cb3d4c021 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 9b5f697a1ec82cf3a27ac0c93367ff91e83bedb2
+Subproject commit 7cb3d4c02195772d16dfba9967e3443f2c10558b
diff --git a/panda b/panda
index aab03bc4b6..ae4f753582 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit aab03bc4b6ab02be7db3fd60f034a84d79ad93b4
+Subproject commit ae4f753582c1034f09e690a70912030c858644f2
diff --git a/uv.lock b/uv.lock
index 358423275d..4e05108071 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5153,11 +5153,11 @@ wheels = [
 
 [[package]]
 name = "zipp"
-version = "3.20.2"
+version = "3.21.0"
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+sdist = { url = "https://files.pythonhosted.org/packages/3f/50/bad581df71744867e9468ebd0bcd6505de3b275e06f202c2cb016e3ff56f/zipp-3.21.0.tar.gz", hash = "sha256:2c9958f6430a2040341a52eb608ed6dd93ef4392e02ffe219417c1b28b5dd1f4", size = 24545 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/62/8b/5ba542fa83c90e09eac972fc9baca7a88e7e7ca4b221a89251954019308b/zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350", size = 9200 },
+    { url = "https://files.pythonhosted.org/packages/b7/1a/7e4798e9339adc931158c9d69ecc34f5e6791489d469f5e50ec15e35f458/zipp-3.21.0-py3-none-any.whl", hash = "sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931", size = 9630 },
 ]
 
 [[package]]

From 127c922aedf8d405c89eb02559ae8fdc88bd54a2 Mon Sep 17 00:00:00 2001
From: Kevin Robert Keegan <kevin@krkeegan.com>
Date: Mon, 11 Nov 2024 11:54:18 -0800
Subject: [PATCH 0971/1243] ui: Fix Night Brightness (#33984)

---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b6ce6cb02e..ec3d40961d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -145,7 +145,7 @@ void Device::resetInteractiveTimeout(int timeout) {
 
 void Device::updateBrightness(const UIState &s) {
   float clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor > 0) {
+  if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
 
     // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm

From da952e9b6418b07df27a51de6629d8f4127cb03c Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 11 Nov 2024 13:32:21 -0800
Subject: [PATCH 0972/1243] Replace ThneedModel with TinygradModel (#33532)

* squash

* bump tg

* bump tg

* debump tinygrad

* bump tinygrad

* bump tg

* Skip init iteration

* fixes

* cleanups

* skip first test sample

* typos

* linter unhappy

* update cpu usage

* OPENCL just zeros for now

* imports

* Try printing

* Runs again, but slower

* unused import

* Allow more buffer with tg and all on gpu

* bump tinygrad

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
---
 release/release_files.py                     |   2 +-
 selfdrive/modeld/SConscript                  |  37 +--
 selfdrive/modeld/dmonitoringmodeld           |   6 -
 selfdrive/modeld/dmonitoringmodeld.py        |  47 ++--
 selfdrive/modeld/modeld.py                   |  72 ++++--
 selfdrive/modeld/models/commonmodel.cc       |  29 ++-
 selfdrive/modeld/models/commonmodel.h        |   7 +-
 selfdrive/modeld/models/commonmodel.pxd      |   3 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx  |  26 +-
 selfdrive/modeld/runners/__init__.py         |  10 +-
 selfdrive/modeld/runners/runmodel_pyx.pyx    |  12 +-
 selfdrive/modeld/runners/thneedmodel.cc      |  58 -----
 selfdrive/modeld/runners/thneedmodel.h       |  17 --
 selfdrive/modeld/runners/thneedmodel.pxd     |   9 -
 selfdrive/modeld/runners/thneedmodel_pyx.pyx |  14 -
 selfdrive/modeld/runners/tinygrad_helpers.py |   8 +
 selfdrive/modeld/thneed/README               |   8 -
 selfdrive/modeld/thneed/__init__.py          |   0
 selfdrive/modeld/thneed/serialize.cc         | 154 -----------
 selfdrive/modeld/thneed/thneed.h             | 133 ----------
 selfdrive/modeld/thneed/thneed_common.cc     | 216 ----------------
 selfdrive/modeld/thneed/thneed_pc.cc         |  32 ---
 selfdrive/modeld/thneed/thneed_qcom2.cc      | 258 -------------------
 selfdrive/test/test_onroad.py                |  12 +-
 tinygrad_repo                                |   2 +-
 25 files changed, 151 insertions(+), 1021 deletions(-)
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.cc
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.h
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.pxd
 delete mode 100644 selfdrive/modeld/runners/thneedmodel_pyx.pyx
 create mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
 delete mode 100644 selfdrive/modeld/thneed/README
 delete mode 100644 selfdrive/modeld/thneed/__init__.py
 delete mode 100644 selfdrive/modeld/thneed/serialize.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed.h
 delete mode 100644 selfdrive/modeld/thneed/thneed_common.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed_pc.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed_qcom2.cc

diff --git a/release/release_files.py b/release/release_files.py
index afd0d468b6..2802f10a2d 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -55,7 +55,7 @@ whitelist = [
   "tools/joystick/",
   "tools/longitudinal_maneuvers/",
 
-  "tinygrad_repo/openpilot/compile2.py",
+  "tinygrad_repo/examples/openpilot/compile3.py",
   "tinygrad_repo/extra/onnx.py",
   "tinygrad_repo/extra/onnx_ops.py",
   "tinygrad_repo/extra/thneed.py",
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index d472998416..54eeb4aa02 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -13,15 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-thneed_src_common = [
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
 # SNPE except on Mac and ARM Linux
 snpe_lib = []
 if arch != "Darwin" and arch != "aarch64":
@@ -59,20 +50,18 @@ fn = File("models/supercombo").abspath
 cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-# Build thneed model
-if arch == "larch64" or GetOption('pc_thneed'):
-  tinygrad_opts = []
-  if not GetOption('pc_thneed'):
-    # use FLOAT16 on device for speed + don't cache the CL kernels for space
-    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
-
-  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
+# Compile tinygrad model
+# TODO this is all super hacky
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+if arch == 'larch64':
+  device_string = 'QCOM=1'
+elif arch == 'Darwin' or arch == 'aarch64':
+  device_string = 'CLANG=1 IMAGE=0'
+else:
+  device_string = 'GPU=1'
 
-  fn_dm = File("models/dmonitoring_model").abspath
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
-  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
+for model_name in ['supercombo', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 80157e1751..90b43800fe 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -1,10 +1,4 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
 exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 31440c1295..7e69d3afde 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,8 +1,16 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+## TODO this is hack
+if TICI:
+  GPU_BACKEND = 'QCOM'
+else:
+  GPU_BACKEND = 'GPU'
+os.environ[GPU_BACKEND] = '1'
 import gc
 import math
 import time
+import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
@@ -14,9 +22,11 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext #, cl_from_visionbuf
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+#from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from tinygrad.tensor import Tensor
+#from tinygrad.dtype import dtypes
 
 CALIB_LEN = 3
 MODEL_WIDTH = 1440
@@ -26,9 +36,7 @@ OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
@@ -59,33 +67,32 @@ class DMonitoringModelResult(ctypes.Structure):
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
-  model: ModelRunner
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {
-      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
-      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
+    self.numpy_inputs = {'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+                         'input_img': np.zeros((1,MODEL_HEIGHT * MODEL_WIDTH), dtype=np.uint8)}
+    self.img = None
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
-    self.model.addInput("input_img", None)
-    self.model.addInput("calib", self.inputs['calib'])
+
+    with open(MODEL_PKL_PATH, "rb") as f:
+      self.model_run = pickle.load(f)
 
   def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
-    self.inputs['calib'][:] = calib
+    self.numpy_inputs['calib'][0,:] = calib
 
+    t1 = time.perf_counter()
+    # TODO use opencl buffer directly to make tensor
     v_offset = buf.height - MODEL_HEIGHT
     h_offset = (buf.width - MODEL_WIDTH) // 2
     buf_data = buf.data.reshape(-1, buf.stride)
-    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
-    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
+    self.numpy_inputs['input_img'][:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH].reshape((1, -1))
+
+    tensor_inputs = {k: Tensor(v) for k,v in self.numpy_inputs.items()}
+    output = self.model_run(**tensor_inputs)['outputs'].numpy().flatten()
 
-    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
-    t1 = time.perf_counter()
-    self.model.execute()
     t2 = time.perf_counter()
-    return self.output, t2 - t1
+    return output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 4e91d32400..e4690c6fe2 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,5 +1,12 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+## TODO this is hack
+if TICI:
+  GPU_BACKEND = 'QCOM'
+else:
+  GPU_BACKEND = 'GPU'
+os.environ[GPU_BACKEND] = '1'
 import time
 import pickle
 import numpy as np
@@ -18,21 +25,24 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+
+from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
+# TODO: should not hardcoded
+IMG_INPUT_SHAPE = (1, 12, 128, 256)
 
 class FrameMeta:
   frame_id: int = 0
@@ -49,7 +59,6 @@ class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
 
   def __init__(self, context: CLContext):
     self.frame = ModelFrame(context)
@@ -60,13 +69,14 @@ class ModelState:
     self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    self.numpy_inputs = {
+      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1,(ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
+    self.img_inputs = {} # type: ignore
 
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
@@ -76,11 +86,8 @@ class ModelState:
     self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
+    with open(MODEL_PKL_PATH, "rb") as f:
+      self.model_run = pickle.load(f)
 
   def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
@@ -97,18 +104,27 @@ class ModelState:
 
     self.desire_20Hz[:-1] = self.desire_20Hz[1:]
     self.desire_20Hz[-1] = new_desire
-    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
-
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
+
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+    input_imgs_cl = self.frame.prepare(buf, transform.flatten())
+    big_input_imgs_cl = self.wide_frame.prepare(wbuf, transform_wide.flatten())
+
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      if 'input_imgs' not in self.img_inputs:
+        self.img_inputs['input_imgs'] = qcom_tensor_from_opencl_address(input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
+        self.img_inputs['big_input_imgs'] = qcom_tensor_from_opencl_address(big_input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
+    else:
+      self.img_inputs['input_imgs'] = Tensor(self.frame.buffer_from_cl(input_imgs_cl)).reshape(IMG_INPUT_SHAPE)
+      self.img_inputs['big_input_imgs'] = Tensor(self.wide_frame.buffer_from_cl(big_input_imgs_cl)).reshape(IMG_INPUT_SHAPE)
 
+    tensor_inputs = {**self.img_inputs, **{k: Tensor(v) for k,v in self.numpy_inputs.items()}}
     if prepare_only:
       return None
 
-    self.model.execute()
+    self.output = self.model_run(**tensor_inputs)['outputs'].numpy().flatten()
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
@@ -118,9 +134,9 @@ class ModelState:
     self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
 
     idxs = np.arange(-4,-100,-4)[::-1]
-    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
     # TODO model only uses last value now, once that changes we need to input strided action history buffer
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
+    self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -189,7 +205,7 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  steer_delay =  .2
 
   DH = DesireHelper()
 
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index e8a5a7ed52..ef730e01aa 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -8,6 +8,7 @@
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
+  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
 
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
@@ -22,7 +23,7 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+cl_mem* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) {
   transform_queue(&this->transform, q,
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
@@ -31,19 +32,19 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-  if (output == NULL) {
-    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
-    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
-
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
+
+  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
+  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
+
+  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+  clFinish(q);
+  return &input_frames_cl;
+}
+
+uint8_t* ModelFrame::buffer_from_cl(cl_mem *in_frames) {
+  CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, MODEL_FRAME_SIZE * 2 * sizeof(uint8_t), &input_frames[0], 0, nullptr, nullptr));
+  clFinish(q);
+  return &input_frames[0];
 }
 
 ModelFrame::~ModelFrame() {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 1c7360f159..91cbbcddd3 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -20,7 +20,8 @@ class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  cl_mem* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform);
+  uint8_t* buffer_from_cl(cl_mem *in_frames);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -32,7 +33,7 @@ private:
   Transform transform;
   LoadYUVState loadyuv;
   cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl, input_frames_cl;
   cl_buffer_region region;
   std::unique_ptr<uint8_t[]> input_frames;
-};
\ No newline at end of file
+};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 3348af3f17..676defe15c 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -15,4 +15,5 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
-    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
+    unsigned char * buffer_from_cl(cl_mem*);
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 99f9c5dc17..e6ae349e00 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,6 +4,7 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -23,6 +24,13 @@ cdef class CLMem:
     mem.mem = <cl_mem*> cmem
     return mem
 
+  @property
+  def mem_address(self):
+    return <uintptr_t>(self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+  return CLMem.create(<void*>&buf.buf.buf_cl)
+
 cdef class ModelFrame:
   cdef cppModelFrame * frame
 
@@ -32,14 +40,14 @@ cdef class ModelFrame:
   def __dealloc__(self):
     del self.frame
 
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+  def prepare(self, VisionBuf buf, float[:] projection):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef unsigned char * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
+    cdef cl_mem * data
+    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
+    return CLMem.create(data)
+
+  def buffer_from_cl(self, CLMem in_frames):
+    cdef unsigned char * data2
+    data2 = self.frame.buffer_from_cl(in_frames.mem)
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data2)
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
index 4c29bf3f1c..afcb97df52 100644
--- a/selfdrive/modeld/runners/__init__.py
+++ b/selfdrive/modeld/runners/__init__.py
@@ -3,18 +3,18 @@ from openpilot.system.hardware import TICI
 from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
 assert Runtime
 
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_TINYGRAD = int(os.getenv('USE_TINYGRAD', str(int(TICI))))
 USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
 
 class ModelRunner(RunModel):
-  THNEED = 'THNEED'
+  TINYGRAD = 'TINYGRAD'
   SNPE = 'SNPE'
   ONNX = 'ONNX'
 
   def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
+    if ModelRunner.TINYGRAD in paths and USE_TINYGRAD:
+      from openpilot.selfdrive.modeld.runners.tinygradmodel import TinygradModel as Runner
+      runner_type = ModelRunner.TINYGRAD
     elif ModelRunner.SNPE in paths and USE_SNPE:
       from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
       runner_type = ModelRunner.SNPE
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index 12b8ec10ff..8ef41ea17f 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -5,6 +5,7 @@ from libcpp.string cimport string
 
 from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
+import numpy as np
 
 class Runtime:
   CPU = USE_CPU_RUNTIME
@@ -21,11 +22,12 @@ cdef class RunModel:
     else:
       self.model.addInput(name, NULL, 0)
 
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
+  def setInputBuffer(self, string name, unsigned char[:] input_buffer):
+    cdef int num_floats = len(input_buffer) // sizeof(float)
+    cdef float* float_ptr = <float*> &input_buffer[0]
+    cdef float[:] float_buffer_view = <float[:num_floats]> float_ptr
+    if float_buffer_view is not None:
+      self.model.setInputBuffer(name, &float_buffer_view[0], num_floats)
 
   def getCLBuffer(self, string name):
     cdef void * cl_buf = self.model.getCLBuffer(name)
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
deleted file mode 100644
index a16d8b42aa..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "selfdrive/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
deleted file mode 100644
index 6ed479c081..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index 79e24dbdd6..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index 6f8fdd255f..0000000000
--- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
new file mode 100644
index 0000000000..776381341c
--- /dev/null
+++ b/selfdrive/modeld/runners/tinygrad_helpers.py
@@ -0,0 +1,8 @@
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import to_mv
+
+def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
+  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
+  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
+  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/thneed/README b/selfdrive/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc..0000000000
--- a/selfdrive/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/selfdrive/modeld/thneed/__init__.py b/selfdrive/modeld/thneed/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
deleted file mode 100644
index 3dc2bef414..0000000000
--- a/selfdrive/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3..0000000000
--- a/selfdrive/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc
deleted file mode 100644
index ecdf1237e3..0000000000
--- a/selfdrive/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 8d0037628e..0000000000
--- a/selfdrive/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index 21de15d17c..0000000000
--- a/selfdrive/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 6167e12999..a5959cc768 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 265.  # total for all 8 cores
+MAX_TOTAL_CPU = 275.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -50,8 +50,8 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 17.0,
-  "selfdrive.modeld.dmonitoringmodeld": 11.0,
+  "selfdrive.modeld.modeld": 22.0,
+  "selfdrive.modeld.dmonitoringmodeld": 21.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -361,13 +361,15 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "----------------- Model Timing -----------------\n"
     result += "------------------------------------------------\n"
-    # TODO: this went up when plannerd cpu usage increased, why?
+    # TODO: Decrease again when tinygrad speeds ups
     cfgs = [
-      ("modelV2", 0.050, 0.036),
+      ("modelV2", 0.050, 0.040),
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
+      # TODO some tinygrad init happens in first iteration
+      ts = ts[1:]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
diff --git a/tinygrad_repo b/tinygrad_repo
index 9dda6d260d..ad119af6a5 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1
+Subproject commit ad119af6a511373e1c016a6525ab733f14a60c51

From f3e28275d9f12bd86a2141be8c53f32597257a1f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 11 Nov 2024 13:48:35 -0800
Subject: [PATCH 0973/1243] bump tinygrad depth (#33990)

deeper
---
 release/check-submodules.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 895f8fe1e0..61b37fd870 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 4000 origin master
+  git -C $submodule fetch --depth 5000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

From a683b7d99c68373db91e46b4fcebdfb8b3a7aa0f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Nov 2024 14:21:50 -0800
Subject: [PATCH 0974/1243] sensord: increase time jump tolerance

diffs on the order of ~5ms are somewhat common and false positives
---
 system/sensord/sensors_qcom2.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 532e28053f..f9f51539c9 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -71,7 +71,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
 
     uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
     uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
-    if (diff > 1*1e6) { // 1ms
+    if (diff > 10*1e6) { // 10ms
       LOGW("time jumped: %lu %lu", cur_offset, offset);
       offset = cur_offset;
 

From 13760968bbdec44c2bf234fde79f8ef0e5bbe254 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 11 Nov 2024 14:28:15 -0800
Subject: [PATCH 0975/1243] ci: set timeout based on runner (#33991)

* timeout

* 20
---
 .github/workflows/selfdrive_tests.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index e6b5950cbb..509e4e2f31 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -174,7 +174,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 1
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
@@ -266,7 +266,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 2
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       run: |
         ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"

From 97c990dac6425e6a7eb0299007927ceb6d1c1ea4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Nov 2024 16:21:50 -0800
Subject: [PATCH 0976/1243] docs: init glossary (#33995)

---
 docs/concepts/glossary.md | 11 ++++++-----
 mkdocs.yml                |  2 ++
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
index 46e8e834d2..a09b0f0785 100644
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -1,8 +1,9 @@
 # openpilot glossary
 
-* **route**:
+* **onroad**: openpilot's system state while ignition is on
+* **offroad**: openpilot's system state while ignition is off
+* **route**: a route is a recording of an onroad session
 * **segment**: routes are split into one minute chunks called segments.
-* **panda**: this is . See the repo.
-* **onroad**:
-* **offroad**:
-* **comma 3X**:
+* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
+* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
+* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
diff --git a/mkdocs.yml b/mkdocs.yml
index 743b8fa1b7..58527ea7ee 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -18,10 +18,12 @@ nav:
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
     - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:
     - Logs: concepts/logs.md
     - Safety: concepts/safety.md
+    - Glossary: concepts/glossary.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md
     - Porting a car brand: car-porting/brand-port.md

From 4170534c02f2c7681ccc04bc7b67936181320965 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 12 Nov 2024 14:26:21 -0800
Subject: [PATCH 0977/1243] ci: faster process_replay (#33989)

* try

* fix

* try

* try

* try

* monitor

* no

* how fast

* more

* timeout

* remove

* ruff

* try

* less

* cons

* less

* cons

* revert

* more and less

* more?

* more?

* cons

* cons

* cons

* cons

* cons
---
 .github/workflows/selfdrive_tests.yaml          | 2 +-
 selfdrive/controls/controlsd.py                 | 2 +-
 selfdrive/test/process_replay/test_processes.py | 4 ++++
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 509e4e2f31..fc12d2b92d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -210,7 +210,7 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      timeout-minutes: 30
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c97a06a0cf..64be434081 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -209,7 +209,7 @@ class Controls:
       self.update()
       CC, lac_log = self.state_control()
       self.publish(CC, lac_log)
-      rk.keep_time()
+      rk.monitor_time()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 4f0705f492..170daf6c1d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -193,6 +193,10 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
+        # to speed things up, we only test all segments on card
+        if cfg.proc_name != 'card' and car_brand not in ['HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD']:
+          continue
+
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")

From d050e0c2ac1b7055a67c45723808ef10a8d6e144 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 13 Nov 2024 06:33:25 +0800
Subject: [PATCH 0978/1243] ui/model: use height from LiveCalibration instead
 of hardcoded offset Z (#33802)

* add PATH_OFFSET_Z constant

* use height from liveCalibration
---
 selfdrive/ui/qt/onroad/model.cc | 5 +++--
 selfdrive/ui/qt/onroad/model.h  | 1 +
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 5263f4cede..52902abdc8 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -25,6 +25,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
   experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
   longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
 
   painter.save();
 
@@ -55,7 +56,7 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
     const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
     if (lead_data.getStatus()) {
       float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
+      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &lead_vertices[i]);
     }
   }
 }
@@ -87,7 +88,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
   max_idx = get_path_length_idx(model_position, max_distance);
-  mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
+  mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
 }
 
 void ModelRenderer::drawLaneLines(QPainter &painter) {
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 50d81937e2..79547e4b83 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -29,6 +29,7 @@ private:
   bool prev_allow_throttle = true;
   float lane_line_probs[4] = {};
   float road_edge_stds[2] = {};
+  float path_offset_z = 1.22f;
   QPolygonF track_vertices;
   QPolygonF lane_line_vertices[4] = {};
   QPolygonF road_edge_vertices[2] = {};

From f5dc1d08c9040f85e1f6ddf5854d15732b997155 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 13 Nov 2024 06:34:12 +0800
Subject: [PATCH 0979/1243] replay: replace HttpRequest with libcurl for
 accessing comma API (#33851)

Replay: Replace HttpRequest with libcurl for accessing comma api
---
 tools/replay/SConscript |   2 +-
 tools/replay/api.cc     | 162 ++++++++++++++++++++++++++++++++++++++++
 tools/replay/api.h      |  15 ++++
 tools/replay/route.cc   |  62 ++++++++-------
 tools/replay/route.h    |   5 +-
 5 files changed, 213 insertions(+), 33 deletions(-)
 create mode 100644 tools/replay/api.cc
 create mode 100644 tools/replay/api.h

diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 179af69d42..4a907849cb 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -10,7 +10,7 @@ else:
   base_libs.append('OpenCL')
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "timeline.cc"]
+                  "route.cc", "util.cc", "timeline.cc", "api.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
diff --git a/tools/replay/api.cc b/tools/replay/api.cc
new file mode 100644
index 0000000000..85e4e52b28
--- /dev/null
+++ b/tools/replay/api.cc
@@ -0,0 +1,162 @@
+
+#include "tools/replay/api.h"
+
+#include <openssl/pem.h>
+#include <openssl/rsa.h>
+#include <openssl/evp.h>
+#include <openssl/sha.h>
+
+#include <cassert>
+#include <chrono>
+#include <iostream>
+
+#include "common/params.h"
+#include "common/version.h"
+#include "system/hardware/hw.h"
+
+namespace CommaApi2 {
+
+// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
+static const std::string base64url_chars =
+    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+    "abcdefghijklmnopqrstuvwxyz"
+    "0123456789-_";
+
+std::string base64url_encode(const std::string &in) {
+  std::string out;
+  int val = 0, valb = -6;
+  for (unsigned char c : in) {
+    val = (val << 8) + c;
+    valb += 8;
+    while (valb >= 0) {
+      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
+      valb -= 6;
+    }
+  }
+  if (valb > -6) {
+    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
+  }
+
+  return out;
+}
+
+EVP_PKEY *get_rsa_private_key() {
+  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
+  if (!rsa_private) {
+    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
+    if (!fp) {
+      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
+      return nullptr;
+    }
+    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
+    fclose(fp);
+  }
+  return rsa_private.get();
+}
+
+std::string rsa_sign(const std::string &data) {
+  EVP_PKEY *private_key = get_rsa_private_key();
+  if (!private_key) return {};
+
+  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
+  assert(mdctx != nullptr);
+
+  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
+  uint32_t sig_len;
+
+  EVP_SignInit(mdctx, EVP_sha256());
+  EVP_SignUpdate(mdctx, data.data(), data.size());
+  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
+
+  EVP_MD_CTX_free(mdctx);
+
+  assert(ret == 1);
+  assert(sig.size() == sig_len);
+  return std::string(sig.begin(), sig.begin() + sig_len);
+}
+
+std::string create_jwt(const json11::Json &extra, int exp_time) {
+  int now = std::chrono::seconds(std::time(nullptr)).count();
+  std::string dongle_id = Params().get("DongleId");
+
+  // Create header and payload
+  json11::Json header = json11::Json::object{{"alg", "RS256"}};
+  auto payload = json11::Json::object{
+      {"identity", dongle_id},
+      {"iat", now},
+      {"nbf", now},
+      {"exp", now + exp_time},
+  };
+  // Merge extra payload
+  for (const auto &item : extra.object_items()) {
+    payload[item.first] = item.second;
+  }
+
+  // JWT construction
+  std::string jwt = base64url_encode(header.dump()) + '.' +
+                    base64url_encode(json11::Json(payload).dump());
+
+  // Hash and sign
+  std::string hash(SHA256_DIGEST_LENGTH, '\0');
+  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
+  std::string signature = rsa_sign(hash);
+
+  return jwt + "." + base64url_encode(signature);
+}
+
+std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
+  if (use_jwt) {
+    return create_jwt(payloads, expiry);
+  }
+
+  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+  std::string err;
+  auto json = json11::Json::parse(token_json, err);
+  if (!err.empty()) {
+    std::cerr << "Error parsing auth.json " << err << std::endl;
+    return "";
+  }
+  return json["access_token"].string_value();
+}
+
+std::string httpGet(const std::string &url, long *response_code) {
+  CURL *curl = curl_easy_init();
+  assert(curl);
+
+  std::string readBuffer;
+  const std::string token = CommaApi2::create_token(!Hardware::PC());
+
+  // Set up the lambda for the write callback
+  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
+  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
+    size_t totalSize = size * nmemb;
+    userp->append((char *)contents, totalSize);
+    return totalSize;
+  };
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
+
+  // Handle headers
+  struct curl_slist *headers = nullptr;
+  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
+  if (!token.empty()) {
+    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
+  }
+  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
+
+  CURLcode res = curl_easy_perform(curl);
+
+  if (response_code) {
+    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
+  }
+
+  curl_slist_free_all(headers);
+  curl_easy_cleanup(curl);
+
+  return res == CURLE_OK ? readBuffer : std::string{};
+}
+
+}  // namespace CommaApi
diff --git a/tools/replay/api.h b/tools/replay/api.h
new file mode 100644
index 0000000000..dff59c0659
--- /dev/null
+++ b/tools/replay/api.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <curl/curl.h>
+#include <string>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+
+namespace CommaApi2 {
+
+const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
+std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
+std::string httpGet(const std::string &url, long *response_code = nullptr);
+
+}  // namespace CommaApi2
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 0d8d6d8fb7..9306b9fb07 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -1,14 +1,12 @@
 #include "tools/replay/route.h"
 
-#include <QEventLoop>
-#include <QJsonArray>
-#include <QJsonDocument>
 #include <array>
 #include <filesystem>
 #include <regex>
 
-#include "selfdrive/ui/qt/api.h"
+#include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
+#include "tools/replay/api.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
@@ -72,42 +70,48 @@ bool Route::load() {
 }
 
 bool Route::loadFromServer(int retries) {
+  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
   for (int i = 1; i <= retries; ++i) {
-    QString result;
-    QEventLoop loop;
-    HttpRequest http(nullptr, !Hardware::PC());
-    QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) {
-      result = json;
-      loop.exit((int)err);
-    });
-    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files");
-    auto err = (QNetworkReply::NetworkError)loop.exec();
-    if (err == QNetworkReply::NoError) {
+    long response_code = 0;
+    std::string result = CommaApi2::httpGet(url, &response_code);
+    if (response_code == 200) {
       return loadFromJson(result);
-    } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
-      rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
-      err_ = RouteLoadError::AccessDenied;
-      return false;
-    } else if (err == QNetworkReply::ContentNotFoundError) {
+    }
+
+    if (response_code == 401 || response_code == 403) {
+      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
+      err_ = RouteLoadError::Unauthorized;
+      break;
+    }
+    if (response_code == 404) {
       rWarning("The specified route could not be found on the server.");
       err_ = RouteLoadError::FileNotFound;
-      return false;
-    } else {
-      err_ = RouteLoadError::NetworkError;
+      break;
     }
+
+    err_ = RouteLoadError::NetworkError;
     rWarning("Retrying %d/%d", i, retries);
     util::sleep_for(3000);
   }
+
   return false;
 }
 
-bool Route::loadFromJson(const QString &json) {
-  QRegExp rx(R"(\/(\d+)\/)");
-  for (const auto &value : QJsonDocument::fromJson(json.trimmed().toUtf8()).object()) {
-    for (const auto &url : value.toArray()) {
-      QString url_str = url.toString();
-      if (rx.indexIn(url_str) != -1) {
-        addFileToSegment(rx.cap(1).toInt(), url_str.toStdString());
+bool Route::loadFromJson(const std::string &json) {
+  const static std::regex rx(R"(\/(\d+)\/)");
+  std::string err;
+  auto jsonData = json11::Json::parse(json, err);
+  if (!err.empty()) {
+    rWarning("JSON parsing error: %s", err.c_str());
+    return false;
+  }
+  for (const auto &value : jsonData.object_items()) {
+    const auto &urlArray = value.second.array_items();
+    for (const auto &url : urlArray) {
+      std::string url_str = url.string_value();
+      std::smatch match;
+      if (std::regex_search(url_str, match, rx)) {
+        addFileToSegment(std::stoi(match[1]), url_str);
       }
     }
   }
diff --git a/tools/replay/route.h b/tools/replay/route.h
index a2a8121de7..c2c7af6bc7 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -7,14 +7,13 @@
 #include <thread>
 #include <vector>
 
-#include <QString>
-
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
 
 enum class RouteLoadError {
   None,
+  Unauthorized,
   AccessDenied,
   NetworkError,
   FileNotFound,
@@ -54,7 +53,7 @@ public:
 protected:
   bool loadFromLocal();
   bool loadFromServer(int retries = 3);
-  bool loadFromJson(const QString &json);
+  bool loadFromJson(const std::string &json);
   void addFileToSegment(int seg_num, const std::string &file);
   RouteIdentifier route_ = {};
   std::string data_dir_;

From 01a6dccc862b7524fce9b148aeb2499c2cb6c115 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Nov 2024 14:34:43 -0800
Subject: [PATCH 0980/1243] use a tuple

---
 selfdrive/test/process_replay/test_processes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 170daf6c1d..8af779ccf8 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -194,7 +194,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ['HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD']:
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

From 1ab2ec26e11a35e35fee67344e33933153d0f837 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Nov 2024 17:55:03 -0600
Subject: [PATCH 0981/1243] ListWidget: fix stretch (#34003)

fix stretch
---
 selfdrive/ui/qt/widgets/controls.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index aa304e0df6..aebf934f2a 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -262,7 +262,7 @@ class ListWidget : public QWidget {
     outer_layout.addLayout(&inner_layout);
     inner_layout.setMargin(0);
     inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
+    outer_layout.addStretch(1);
   }
   inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
   inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }

From 4176c749696b0ad8f7a8b4a701cb78d1fbcc1ceb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Nov 2024 18:07:00 -0600
Subject: [PATCH 0982/1243] ui report: add software (#34004)

* wow copilot got the coords right

* try again
---
 .github/workflows/ui_preview.yaml | 2 +-
 selfdrive/ui/tests/test_ui/run.py | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 1842ef21e9..f9d7feba87 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 8cd5f1930d..87ef52fb8f 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -45,6 +45,11 @@ def setup_settings_toggles(click, pm: PubMaster):
   click(278, 650)
   time.sleep(UI_DELAY)
 
+def setup_settings_software(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 800)
+  time.sleep(UI_DELAY)
+
 def setup_settings_developer(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(278, 960)
@@ -180,6 +185,7 @@ CASES = {
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
+  "settings_software": setup_settings_software,
   "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,

From 5b9aa0b0f07e1b8dc36f2a685dce506a00544e0f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Nov 2024 18:17:10 -0600
Subject: [PATCH 0983/1243] unit test job: remove duplicate test (#34005)

* already tested

try again

fix

* clean up
---
 .github/workflows/selfdrive_tests.yaml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fc12d2b92d..0bbdb97472 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -179,8 +179,7 @@ jobs:
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        pytest ./selfdrive/ui/tests/test_translations.py"
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:

From def2a7382c645cca476afd33c5b95a5e74d464f2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 12 Nov 2024 16:42:03 -0800
Subject: [PATCH 0984/1243] ci: don't create xvfb for unit_test (#34007)

no more
---
 .github/workflows/selfdrive_tests.yaml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 0bbdb97472..ab1ba33c8f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -176,8 +176,7 @@ jobs:
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
+        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations"
     - name: "Upload coverage to Codecov"

From 7d5031a6d6020f2ef6e9be17c03b0d6e9e4be0fd Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 12 Nov 2024 19:41:00 -0800
Subject: [PATCH 0985/1243] ci: reduce sleep in test_uploader (#34009)

less
---
 system/loggerd/tests/test_uploader.py | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index a05a28ee4e..961a8aa36f 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -73,7 +73,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(2)
+    time.sleep(1)
     self.join_thread()
 
     exp_order = self.gen_order([self.seg_num], [])
@@ -91,7 +91,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(2)
+    time.sleep(1)
     self.join_thread()
 
     exp_order = self.gen_order([self.seg_num], [])
@@ -110,7 +110,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(2)
+    time.sleep(1)
     self.join_thread()
 
     exp_order = self.gen_order([self.seg_num], [])
@@ -137,7 +137,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(2)
+    time.sleep(1)
     self.join_thread()
 
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@@ -155,7 +155,7 @@ class TestUploader(UploaderTestCase):
     f_paths = self.gen_files(lock=True, boot=False)
 
     # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(2)
+    time.sleep(1)
     self.join_thread()
 
     for f_path in f_paths:
@@ -168,7 +168,7 @@ class TestUploader(UploaderTestCase):
 
     self.start_thread()
     # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(2)
+    time.sleep(1)
     self.join_thread()
 
     assert len(log_handler.upload_order) == 0, "File uploaded again"
@@ -176,7 +176,7 @@ class TestUploader(UploaderTestCase):
   def test_clear_locks_on_startup(self):
     f_paths = self.gen_files(lock=True, boot=False)
     self.start_thread()
-    time.sleep(1)
+    time.sleep(0.25)
     self.join_thread()
 
     for f_path in f_paths:

From eda8a1feed70ec3356fa50790795160f8ff26cd3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 12 Nov 2024 20:48:46 -0800
Subject: [PATCH 0986/1243] ci: test_models timeout (#34011)

timeout
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index ab1ba33c8f..477be3546d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -264,7 +264,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"

From 96f6e186c4d07f5dff65b71122699bc8138af49b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 13 Nov 2024 15:35:14 +0800
Subject: [PATCH 0987/1243] test_ui: fix broken keyboard display in screenshots
 (#34013)

fix broken keyboard display in screenshots
---
 selfdrive/ui/tests/test_ui/run.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 87ef52fb8f..2c4d8d7037 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -122,11 +122,8 @@ def setup_body(click, pm: PubMaster):
 
 def setup_keyboard(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(250, 575)
-  click(2020, 218)
-  click(1830, 80)
-  click(2035, 808)
-  click(90, 480)
+  click(250, 965)
+  click(1930, 228)
 
 def setup_driver_camera(click, pm: PubMaster):
   setup_settings_device(click, pm)

From 31cd290cbf8d8e6a7c44da6294fae1bce7160a88 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Nov 2024 10:11:18 -0800
Subject: [PATCH 0988/1243] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index ae4f753582..dec9223f97 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ae4f753582c1034f09e690a70912030c858644f2
+Subproject commit dec9223f9726e400e4a4eb91ca19fffcd745f97a

From 4948f910f013fd89d525bb87efde39e68b740f34 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 13 Nov 2024 12:02:17 -0800
Subject: [PATCH 0989/1243] ci: fix test_onroad (#34016)

fix
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index a5959cc768..2e67791675 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -402,7 +402,7 @@ class TestOnroad:
         errors.append("❌ FAILED MAX/MIN TIMING CHECK ❌")
       if (np.std(ts)/dt) > rsd:
         errors.append("❌ FAILED RSD TIMING CHECK ❌")
-      passed = not errors
+      passed = not errors and passed
       rows.append([s, *(np.array([np.max(ts), np.min(ts), np.mean(ts), dt])*1e3), np.std(ts)/dt, rsd, "\n".join(errors) or "✅"])
 
     print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))

From 3fffd6c46605ebba6d1b249d12be824889f7e779 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Nov 2024 12:03:27 -0800
Subject: [PATCH 0990/1243] jenkins: run model replay on tinygrad bumps
 (#34014)

* jenkins: run model replay on tinygrad bumps

* bump

* /

* fix

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 Jenkinsfile | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 7a392cdd2b..ca0d6dac6b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -205,9 +205,9 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [timeout: 60]),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
           step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
@@ -242,7 +242,7 @@ node {
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/"]]),
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
           step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
         ])
       },
@@ -251,7 +251,7 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
           step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
         ])

From e8a2f199e8ce7f901eb1ce7a0143610143633bfd Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 13 Nov 2024 13:52:07 -0800
Subject: [PATCH 0991/1243] tools: fix replay build (#34017)

fix
---
 tools/replay/timeline.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index 8c33e95f11..a984c20016 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -1,6 +1,7 @@
 #include "tools/replay/timeline.h"
 
 #include <array>
+#include <algorithm>
 
 #include "cereal/gen/cpp/log.capnp.h"
 

From 3dc970960ddc2103a84c6a902bc525f83abb3844 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 13 Nov 2024 14:40:42 -0800
Subject: [PATCH 0992/1243] ci: try safe_checkout if unsafe_checkout fails
 (#34018)

fallback
---
 Jenkinsfile                       | 2 +-
 selfdrive/test/setup_device_ci.sh | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index ca0d6dac6b..f7d62024bc 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -193,7 +193,7 @@ node {
     parallel (
       // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           step("build openpilot", "cd system/manager && ./build.py"),
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index fff01d260b..67671546a6 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -115,8 +115,8 @@ if [ ! -d "$SOURCE_DIR" ]; then
 fi
 
 if [ ! -z "$UNSAFE" ]; then
-  echo "doing unsafe checkout"
-  unsafe_checkout
+  echo "trying unsafe checkout"
+  unsafe_checkout || safe_checkout
 else
   echo "doing safe checkout"
   safe_checkout

From d9d57e5d6f8c040172a771f8be356d1f0586fd25 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Nov 2024 19:27:11 -0800
Subject: [PATCH 0993/1243] Revert ISP image processing + tinygrad bump
 (#34020)

* Revert "Replace ThneedModel with TinygradModel (#33532)"

This reverts commit da952e9b6418b07df27a51de6629d8f4127cb03c.

* Revert "camerad: move E + D cams image pipelines to the IFE (#33959)"

This reverts commit f2a1cce42b47306a9551cbfa65c5edbbaec037ae.
---
 release/release_files.py                      |   2 +-
 selfdrive/modeld/SConscript                   |  37 ++-
 selfdrive/modeld/dmonitoringmodeld            |   6 +
 selfdrive/modeld/dmonitoringmodeld.py         |  47 ++--
 selfdrive/modeld/modeld.py                    |  72 ++---
 selfdrive/modeld/models/commonmodel.cc        |  29 +-
 selfdrive/modeld/models/commonmodel.h         |   7 +-
 selfdrive/modeld/models/commonmodel.pxd       |   3 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx   |  26 +-
 selfdrive/modeld/runners/__init__.py          |  10 +-
 selfdrive/modeld/runners/runmodel_pyx.pyx     |  12 +-
 selfdrive/modeld/runners/thneedmodel.cc       |  58 ++++
 selfdrive/modeld/runners/thneedmodel.h        |  17 ++
 selfdrive/modeld/runners/thneedmodel.pxd      |   9 +
 selfdrive/modeld/runners/thneedmodel_pyx.pyx  |  14 +
 selfdrive/modeld/runners/tinygrad_helpers.py  |   8 -
 selfdrive/modeld/thneed/README                |   8 +
 selfdrive/modeld/thneed/__init__.py           |   0
 selfdrive/modeld/thneed/serialize.cc          | 154 +++++++++++
 selfdrive/modeld/thneed/thneed.h              | 133 +++++++++
 selfdrive/modeld/thneed/thneed_common.cc      | 216 +++++++++++++++
 selfdrive/modeld/thneed/thneed_pc.cc          |  32 +++
 selfdrive/modeld/thneed/thneed_qcom2.cc       | 258 ++++++++++++++++++
 selfdrive/test/test_onroad.py                 |  12 +-
 system/camerad/cameras/camera_qcom2.cc        |   2 +-
 system/hardware/tici/tests/test_power_draw.py |   2 +-
 tinygrad_repo                                 |   2 +-
 27 files changed, 1023 insertions(+), 153 deletions(-)
 create mode 100644 selfdrive/modeld/runners/thneedmodel.cc
 create mode 100644 selfdrive/modeld/runners/thneedmodel.h
 create mode 100644 selfdrive/modeld/runners/thneedmodel.pxd
 create mode 100644 selfdrive/modeld/runners/thneedmodel_pyx.pyx
 delete mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
 create mode 100644 selfdrive/modeld/thneed/README
 create mode 100644 selfdrive/modeld/thneed/__init__.py
 create mode 100644 selfdrive/modeld/thneed/serialize.cc
 create mode 100644 selfdrive/modeld/thneed/thneed.h
 create mode 100644 selfdrive/modeld/thneed/thneed_common.cc
 create mode 100644 selfdrive/modeld/thneed/thneed_pc.cc
 create mode 100644 selfdrive/modeld/thneed/thneed_qcom2.cc

diff --git a/release/release_files.py b/release/release_files.py
index 2802f10a2d..afd0d468b6 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -55,7 +55,7 @@ whitelist = [
   "tools/joystick/",
   "tools/longitudinal_maneuvers/",
 
-  "tinygrad_repo/examples/openpilot/compile3.py",
+  "tinygrad_repo/openpilot/compile2.py",
   "tinygrad_repo/extra/onnx.py",
   "tinygrad_repo/extra/onnx_ops.py",
   "tinygrad_repo/extra/thneed.py",
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 54eeb4aa02..d472998416 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -13,6 +13,15 @@ common_src = [
   "transforms/transform.cc",
 ]
 
+thneed_src_common = [
+  "thneed/thneed_common.cc",
+  "thneed/serialize.cc",
+]
+
+thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
+thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
+thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
+
 # SNPE except on Mac and ARM Linux
 snpe_lib = []
 if arch != "Darwin" and arch != "aarch64":
@@ -50,18 +59,20 @@ fn = File("models/supercombo").abspath
 cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-# Compile tinygrad model
-# TODO this is all super hacky
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-elif arch == 'Darwin' or arch == 'aarch64':
-  device_string = 'CLANG=1 IMAGE=0'
-else:
-  device_string = 'GPU=1'
+# Build thneed model
+if arch == "larch64" or GetOption('pc_thneed'):
+  tinygrad_opts = []
+  if not GetOption('pc_thneed'):
+    # use FLOAT16 on device for speed + don't cache the CL kernels for space
+    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
+
+  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
-for model_name in ['supercombo', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+  fn_dm = File("models/dmonitoring_model").abspath
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
+  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
 
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 90b43800fe..80157e1751 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -1,4 +1,10 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
 exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7e69d3afde..31440c1295 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,16 +1,8 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-## TODO this is hack
-if TICI:
-  GPU_BACKEND = 'QCOM'
-else:
-  GPU_BACKEND = 'GPU'
-os.environ[GPU_BACKEND] = '1'
 import gc
 import math
 import time
-import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
@@ -22,11 +14,9 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext #, cl_from_visionbuf
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-#from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-from tinygrad.tensor import Tensor
-#from tinygrad.dtype import dtypes
 
 CALIB_LEN = 3
 MODEL_WIDTH = 1440
@@ -36,7 +26,9 @@ OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
 
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
@@ -67,32 +59,33 @@ class DMonitoringModelResult(ctypes.Structure):
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
+  model: ModelRunner
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.numpy_inputs = {'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
-                         'input_img': np.zeros((1,MODEL_HEIGHT * MODEL_WIDTH), dtype=np.uint8)}
-    self.img = None
+    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {
+      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
+      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
-
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
+    self.model.addInput("input_img", None)
+    self.model.addInput("calib", self.inputs['calib'])
 
   def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
-    self.numpy_inputs['calib'][0,:] = calib
+    self.inputs['calib'][:] = calib
 
-    t1 = time.perf_counter()
-    # TODO use opencl buffer directly to make tensor
     v_offset = buf.height - MODEL_HEIGHT
     h_offset = (buf.width - MODEL_WIDTH) // 2
     buf_data = buf.data.reshape(-1, buf.stride)
-    self.numpy_inputs['input_img'][:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH].reshape((1, -1))
-
-    tensor_inputs = {k: Tensor(v) for k,v in self.numpy_inputs.items()}
-    output = self.model_run(**tensor_inputs)['outputs'].numpy().flatten()
+    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
+    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
 
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    t1 = time.perf_counter()
+    self.model.execute()
     t2 = time.perf_counter()
-    return output, t2 - t1
+    return self.output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index e4690c6fe2..4e91d32400 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,12 +1,5 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-## TODO this is hack
-if TICI:
-  GPU_BACKEND = 'QCOM'
-else:
-  GPU_BACKEND = 'GPU'
-os.environ[GPU_BACKEND] = '1'
 import time
 import pickle
 import numpy as np
@@ -25,24 +18,21 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-
-from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
+
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
-# TODO: should not hardcoded
-IMG_INPUT_SHAPE = (1, 12, 128, 256)
 
 class FrameMeta:
   frame_id: int = 0
@@ -59,6 +49,7 @@ class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  model: ModelRunner
 
   def __init__(self, context: CLContext):
     self.frame = ModelFrame(context)
@@ -69,14 +60,13 @@ class ModelState:
     self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1,(ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
-    self.img_inputs = {} # type: ignore
 
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
@@ -86,8 +76,11 @@ class ModelState:
     self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
+    self.model.addInput("input_imgs", None)
+    self.model.addInput("big_input_imgs", None)
+    for k,v in self.inputs.items():
+      self.model.addInput(k, v)
 
   def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
@@ -104,27 +97,18 @@ class ModelState:
 
     self.desire_20Hz[:-1] = self.desire_20Hz[1:]
     self.desire_20Hz[-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
-
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    input_imgs_cl = self.frame.prepare(buf, transform.flatten())
-    big_input_imgs_cl = self.wide_frame.prepare(wbuf, transform_wide.flatten())
-
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_imgs' not in self.img_inputs:
-        self.img_inputs['input_imgs'] = qcom_tensor_from_opencl_address(input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
-        self.img_inputs['big_input_imgs'] = qcom_tensor_from_opencl_address(big_input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
-    else:
-      self.img_inputs['input_imgs'] = Tensor(self.frame.buffer_from_cl(input_imgs_cl)).reshape(IMG_INPUT_SHAPE)
-      self.img_inputs['big_input_imgs'] = Tensor(self.wide_frame.buffer_from_cl(big_input_imgs_cl)).reshape(IMG_INPUT_SHAPE)
+    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+
+    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+
+    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
+    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
 
-    tensor_inputs = {**self.img_inputs, **{k: Tensor(v) for k,v in self.numpy_inputs.items()}}
     if prepare_only:
       return None
 
-    self.output = self.model_run(**tensor_inputs)['outputs'].numpy().flatten()
+    self.model.execute()
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
@@ -134,9 +118,9 @@ class ModelState:
     self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
 
     idxs = np.arange(-4,-100,-4)[::-1]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
+    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
     # TODO model only uses last value now, once that changes we need to input strided action history buffer
-    self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -205,7 +189,7 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay =  .2
+  steer_delay = CP.steerActuatorDelay + .2
 
   DH = DesireHelper()
 
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index ef730e01aa..e8a5a7ed52 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -8,7 +8,6 @@
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
 
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
@@ -23,7 +22,7 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-cl_mem* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) {
+uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
   transform_queue(&this->transform, q,
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
@@ -32,19 +31,19 @@ cl_mem* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, in
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-uint8_t* ModelFrame::buffer_from_cl(cl_mem *in_frames) {
-  CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, MODEL_FRAME_SIZE * 2 * sizeof(uint8_t), &input_frames[0], 0, nullptr, nullptr));
-  clFinish(q);
-  return &input_frames[0];
+  if (output == NULL) {
+    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
 }
 
 ModelFrame::~ModelFrame() {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 91cbbcddd3..1c7360f159 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -20,8 +20,7 @@ class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform);
-  uint8_t* buffer_from_cl(cl_mem *in_frames);
+  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -33,7 +32,7 @@ private:
   Transform transform;
   LoadYUVState loadyuv;
   cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl, input_frames_cl;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
   cl_buffer_region region;
   std::unique_ptr<uint8_t[]> input_frames;
-};
+};
\ No newline at end of file
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 676defe15c..3348af3f17 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -15,5 +15,4 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-    unsigned char * buffer_from_cl(cl_mem*);
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index e6ae349e00..99f9c5dc17 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,7 +4,6 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -24,13 +23,6 @@ cdef class CLMem:
     mem.mem = <cl_mem*> cmem
     return mem
 
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
 cdef class ModelFrame:
   cdef cppModelFrame * frame
 
@@ -40,14 +32,14 @@ cdef class ModelFrame:
   def __dealloc__(self):
     del self.frame
 
-  def prepare(self, VisionBuf buf, float[:] projection):
+  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem)
-    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data2)
+    cdef unsigned char * data
+    if output is None:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
+    else:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
+    if not data:
+      return None
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
index afcb97df52..4c29bf3f1c 100644
--- a/selfdrive/modeld/runners/__init__.py
+++ b/selfdrive/modeld/runners/__init__.py
@@ -3,18 +3,18 @@ from openpilot.system.hardware import TICI
 from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
 assert Runtime
 
-USE_TINYGRAD = int(os.getenv('USE_TINYGRAD', str(int(TICI))))
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
 USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
 
 class ModelRunner(RunModel):
-  TINYGRAD = 'TINYGRAD'
+  THNEED = 'THNEED'
   SNPE = 'SNPE'
   ONNX = 'ONNX'
 
   def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.TINYGRAD in paths and USE_TINYGRAD:
-      from openpilot.selfdrive.modeld.runners.tinygradmodel import TinygradModel as Runner
-      runner_type = ModelRunner.TINYGRAD
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
     elif ModelRunner.SNPE in paths and USE_SNPE:
       from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
       runner_type = ModelRunner.SNPE
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index 8ef41ea17f..12b8ec10ff 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -5,7 +5,6 @@ from libcpp.string cimport string
 
 from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
-import numpy as np
 
 class Runtime:
   CPU = USE_CPU_RUNTIME
@@ -22,12 +21,11 @@ cdef class RunModel:
     else:
       self.model.addInput(name, NULL, 0)
 
-  def setInputBuffer(self, string name, unsigned char[:] input_buffer):
-    cdef int num_floats = len(input_buffer) // sizeof(float)
-    cdef float* float_ptr = <float*> &input_buffer[0]
-    cdef float[:] float_buffer_view = <float[:num_floats]> float_ptr
-    if float_buffer_view is not None:
-      self.model.setInputBuffer(name, &float_buffer_view[0], num_floats)
+  def setInputBuffer(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.setInputBuffer(name, &buffer[0], len(buffer))
+    else:
+      self.model.setInputBuffer(name, NULL, 0)
 
   def getCLBuffer(self, string name):
     cdef void * cl_buf = self.model.getCLBuffer(name)
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
new file mode 100644
index 0000000000..a16d8b42aa
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -0,0 +1,58 @@
+#include "selfdrive/modeld/runners/thneedmodel.h"
+
+#include <string>
+
+#include "common/swaglog.h"
+
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
+  thneed = new Thneed(true, context);
+  thneed->load(path.c_str());
+  thneed->clexec();
+
+  recorded = false;
+  output = _output;
+}
+
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
+
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
+}
+
+void ThneedModel::execute() {
+  if (!recorded) {
+    thneed->record = true;
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+
+    thneed->copy_inputs(input_buffers);
+    thneed->clexec();
+    thneed->copy_output(output);
+    thneed->stop();
+
+    recorded = true;
+  } else {
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+    thneed->execute(input_buffers, output);
+  }
+}
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
new file mode 100644
index 0000000000..6ed479c081
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <string>
+
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+
+class ThneedModel : public RunModel {
+public:
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
+  void execute();
+private:
+  Thneed *thneed = NULL;
+  bool recorded;
+  float *output;
+};
diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd
new file mode 100644
index 0000000000..79e24dbdd6
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "selfdrive/modeld/runners/thneedmodel.h":
+  cdef cppclass ThneedModel:
+    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
new file mode 100644
index 0000000000..6f8fdd255f
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .thneedmodel cimport ThneedModel as cppThneedModel
+from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
+from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
+from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ThneedModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/selfdrive/modeld/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/thneed/README b/selfdrive/modeld/thneed/README
new file mode 100644
index 0000000000..f3bc66d8fc
--- /dev/null
+++ b/selfdrive/modeld/thneed/README
@@ -0,0 +1,8 @@
+thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
+
+It runs on the local device, and caches a single model run. Then it replays it, but fast.
+
+thneed slices through abstraction layers like a fish.
+
+You need a thneed.
+
diff --git a/selfdrive/modeld/thneed/__init__.py b/selfdrive/modeld/thneed/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
new file mode 100644
index 0000000000..3dc2bef414
--- /dev/null
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -0,0 +1,154 @@
+#include <cassert>
+#include <set>
+
+#include "third_party/json11/json11.hpp"
+#include "common/util.h"
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+using namespace json11;
+
+extern map<cl_program, string> g_program_source;
+
+void Thneed::load(const char *filename) {
+  LOGD("Thneed::load: loading from %s\n", filename);
+
+  string buf = util::read_file(filename);
+  int jsz = *(int *)buf.data();
+  string jsonerr;
+  string jj(buf.data() + sizeof(int), jsz);
+  Json jdat = Json::parse(jj, jsonerr);
+
+  map<cl_mem, cl_mem> real_mem;
+  real_mem[NULL] = NULL;
+
+  int ptr = sizeof(int)+jsz;
+  for (auto &obj : jdat["objects"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem clbuf = NULL;
+
+    if (mobj["buffer_id"].string_value().size() > 0) {
+      // image buffer must already be allocated
+      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+      assert(mobj["needs_load"].bool_value() == false);
+    } else {
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
+        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
+        ptr += sz;
+      } else {
+        // TODO: is there a faster way to init zeroed out buffers?
+        void *host_zeros = calloc(sz, 1);
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
+        free(host_zeros);
+      }
+    }
+    assert(clbuf != NULL);
+
+    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+      cl_image_desc desc = {0};
+      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
+      desc.image_width = mobj["width"].int_value();
+      desc.image_height = mobj["height"].int_value();
+      desc.image_row_pitch = mobj["row_pitch"].int_value();
+      assert(sz == desc.image_height*desc.image_row_pitch);
+#ifdef QCOM2
+      desc.buffer = clbuf;
+#else
+      // TODO: we are creating unused buffers on PC
+      clReleaseMemObject(clbuf);
+#endif
+      cl_image_format format = {0};
+      format.image_channel_order = CL_RGBA;
+      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
+
+      cl_int errcode;
+
+#ifndef QCOM2
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
+      } else {
+        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+      }
+#else
+      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+#endif
+      if (clbuf == NULL) {
+        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
+             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
+      }
+      assert(clbuf != NULL);
+    }
+
+    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
+  }
+
+  map<string, cl_program> g_programs;
+  for (const auto &[name, source] : jdat["programs"].object_items()) {
+    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
+    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
+  }
+
+  for (auto &obj : jdat["inputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    input_clmem.push_back(aa);
+    input_sizes.push_back(sz);
+    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
+
+    cl_int cl_err;
+    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
+    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
+    assert(cl_err == CL_SUCCESS);
+    inputs.push_back(ret);
+  }
+
+  for (auto &obj : jdat["outputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    LOGD("Thneed::save: adding output with size %d\n", sz);
+    // TODO: support multiple outputs
+    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    assert(output != NULL);
+  }
+
+  for (auto &obj : jdat["binaries"].array_items()) {
+    string name = obj["name"].string_value();
+    size_t length = obj["length"].int_value();
+    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
+    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
+    ptr += length;
+  }
+
+  for (auto &obj : jdat["kernels"].array_items()) {
+    auto gws = obj["global_work_size"];
+    auto lws = obj["local_work_size"];
+    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
+
+    kk->name = obj["name"].string_value();
+    kk->program = g_programs[kk->name];
+    kk->work_dim = obj["work_dim"].int_value();
+    for (int i = 0; i < kk->work_dim; i++) {
+      kk->global_work_size[i] = gws[i].int_value();
+      kk->local_work_size[i] = lws[i].int_value();
+    }
+    kk->num_args = obj["num_args"].int_value();
+    for (int i = 0; i < kk->num_args; i++) {
+      string arg = obj["args"].array_items()[i].string_value();
+      int arg_size = obj["args_size"].array_items()[i].int_value();
+      kk->args_size.push_back(arg_size);
+      if (arg_size == 8) {
+        cl_mem val = *(cl_mem*)(arg.data());
+        val = real_mem[val];
+        kk->args.push_back(string((char*)&val, sizeof(val)));
+      } else {
+        kk->args.push_back(arg);
+      }
+    }
+    kq.push_back(kk);
+  }
+
+  clFinish(command_queue);
+}
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
new file mode 100644
index 0000000000..47e18e0be3
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -0,0 +1,133 @@
+#pragma once
+
+#ifndef __user
+#define __user __attribute__(())
+#endif
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <CL/cl.h>
+
+#include "third_party/linux/include/msm_kgsl.h"
+
+using namespace std;
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
+
+namespace json11 {
+  class Json;
+}
+class Thneed;
+
+class GPUMalloc {
+  public:
+    GPUMalloc(int size, int fd);
+    ~GPUMalloc();
+    void *alloc(int size);
+  private:
+    uint64_t base;
+    int remaining;
+};
+
+class CLQueuedKernel {
+  public:
+    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
+    CLQueuedKernel(Thneed *lthneed,
+                   cl_kernel _kernel,
+                   cl_uint _work_dim,
+                   const size_t *_global_work_size,
+                   const size_t *_local_work_size);
+    cl_int exec();
+    void debug_print(bool verbose);
+    int get_arg_num(const char *search_arg_name);
+    cl_program program;
+    string name;
+    cl_uint num_args;
+    vector<string> arg_names;
+    vector<string> arg_types;
+    vector<string> args;
+    vector<int> args_size;
+    cl_kernel kernel = NULL;
+    json11::Json to_json() const;
+
+    cl_uint work_dim;
+    size_t global_work_size[3] = {0};
+    size_t local_work_size[3] = {0};
+  private:
+    Thneed *thneed;
+};
+
+class CachedIoctl {
+  public:
+    virtual void exec() {}
+};
+
+class CachedSync: public CachedIoctl {
+  public:
+    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
+    void exec();
+  private:
+    Thneed *thneed;
+    string data;
+};
+
+class CachedCommand: public CachedIoctl {
+  public:
+    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
+    void exec();
+  private:
+    void disassemble(int cmd_index);
+    struct kgsl_gpu_command cache;
+    unique_ptr<kgsl_command_object[]> cmds;
+    unique_ptr<kgsl_command_object[]> objs;
+    Thneed *thneed;
+    vector<shared_ptr<CLQueuedKernel> > kq;
+};
+
+class Thneed {
+  public:
+    Thneed(bool do_clinit=false, cl_context _context = NULL);
+    void stop();
+    void execute(float **finputs, float *foutput, bool slow=false);
+    void wait();
+
+    vector<cl_mem> input_clmem;
+    vector<void *> inputs;
+    vector<size_t> input_sizes;
+    cl_mem output = NULL;
+
+    cl_context context = NULL;
+    cl_command_queue command_queue;
+    cl_device_id device_id;
+    int context_id;
+
+    // protected?
+    bool record = false;
+    int debug;
+    int timestamp;
+
+#ifdef QCOM2
+    unique_ptr<GPUMalloc> ram;
+    vector<unique_ptr<CachedIoctl> > cmds;
+    int fd;
+#endif
+
+    // all CL kernels
+    void copy_inputs(float **finputs, bool internal=false);
+    void copy_output(float *foutput);
+    cl_int clexec();
+    vector<shared_ptr<CLQueuedKernel> > kq;
+
+    // pending CL kernels
+    vector<shared_ptr<CLQueuedKernel> > ckq;
+
+    // loading
+    void load(const char *filename);
+  private:
+    void clinit();
+};
+
diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc
new file mode 100644
index 0000000000..ecdf1237e3
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed_common.cc
@@ -0,0 +1,216 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <cassert>
+#include <cstring>
+#include <map>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+map<pair<cl_kernel, int>, string> g_args;
+map<pair<cl_kernel, int>, int> g_args_size;
+map<cl_program, string> g_program_source;
+
+void Thneed::stop() {
+  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
+  record = false;
+}
+
+void Thneed::clinit() {
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
+  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
+  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  printf("Thneed::clinit done\n");
+}
+
+cl_int Thneed::clexec() {
+  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
+  for (auto &k : kq) {
+    if (record) ckq.push_back(k);
+    cl_int ret = k->exec();
+    assert(ret == CL_SUCCESS);
+  }
+  return clFinish(command_queue);
+}
+
+void Thneed::copy_inputs(float **finputs, bool internal) {
+  for (int idx = 0; idx < inputs.size(); ++idx) {
+    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
+
+    if (internal) {
+      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
+      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+    } else {
+      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
+    }
+  }
+}
+
+void Thneed::copy_output(float *foutput) {
+  if (output != NULL) {
+    size_t sz;
+    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
+    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
+  } else {
+    printf("CAUTION: model output is NULL, does it have no outputs?\n");
+  }
+}
+
+// *********** CLQueuedKernel ***********
+
+CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
+                               cl_kernel _kernel,
+                               cl_uint _work_dim,
+                               const size_t *_global_work_size,
+                               const size_t *_local_work_size) {
+  thneed = lthneed;
+  kernel = _kernel;
+  work_dim = _work_dim;
+  assert(work_dim <= 3);
+  for (int i = 0; i < work_dim; i++) {
+    global_work_size[i] = _global_work_size[i];
+    local_work_size[i] = _local_work_size[i];
+  }
+
+  char _name[0x100];
+  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
+  name = string(_name);
+  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
+
+  // get args
+  for (int i = 0; i < num_args; i++) {
+    char arg_name[0x100] = {0};
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_names.push_back(string(arg_name));
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_types.push_back(string(arg_name));
+
+    args.push_back(g_args[make_pair(kernel, i)]);
+    args_size.push_back(g_args_size[make_pair(kernel, i)]);
+  }
+
+  // get program
+  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
+}
+
+int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
+  for (int i = 0; i < num_args; i++) {
+    if (arg_names[i] == search_arg_name) return i;
+  }
+  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
+  assert(false);
+}
+
+cl_int CLQueuedKernel::exec() {
+  if (kernel == NULL) {
+    kernel = clCreateKernel(program, name.c_str(), NULL);
+    arg_names.clear();
+    arg_types.clear();
+
+    for (int j = 0; j < num_args; j++) {
+      char arg_name[0x100] = {0};
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_names.push_back(string(arg_name));
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_types.push_back(string(arg_name));
+
+      cl_int ret;
+      if (args[j].size() != 0) {
+        assert(args[j].size() == args_size[j]);
+        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
+      } else {
+        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
+      }
+      assert(ret == CL_SUCCESS);
+    }
+  }
+
+  if (thneed->debug >= 1) {
+    debug_print(thneed->debug >= 2);
+  }
+
+  return clEnqueueNDRangeKernel(thneed->command_queue,
+    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
+}
+
+void CLQueuedKernel::debug_print(bool verbose) {
+  printf("%p %56s -- ", kernel, name.c_str());
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf(" -- ");
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", local_work_size[i]);
+  }
+  printf("\n");
+
+  if (verbose) {
+    for (int i = 0; i < num_args; i++) {
+      string arg = args[i];
+      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
+      void *arg_value = (void*)arg.data();
+      int arg_size = arg.size();
+      if (arg_size == 0) {
+        printf(" (size) %d", args_size[i]);
+      } else if (arg_size == 1) {
+        printf(" = %d", *((char*)arg_value));
+      } else if (arg_size == 2) {
+        printf(" = %d", *((short*)arg_value));
+      } else if (arg_size == 4) {
+        if (arg_types[i] == "float") {
+          printf(" = %f", *((float*)arg_value));
+        } else {
+          printf(" = %d", *((int*)arg_value));
+        }
+      } else if (arg_size == 8) {
+        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
+        printf(" = %p", val);
+        if (val != NULL) {
+          cl_mem_object_type obj_type;
+          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
+          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
+            cl_image_format format;
+            size_t width, height, depth, array_size, row_pitch, slice_pitch;
+            cl_mem buf;
+            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
+            assert(format.image_channel_order == CL_RGBA);
+            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
+            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
+            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
+            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
+            assert(depth == 0);
+            assert(array_size == 0);
+            assert(slice_pitch == 0);
+
+            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+            size_t sz = 0;
+            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
+          } else {
+            size_t sz;
+            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" buffer %zu", sz);
+          }
+        }
+      }
+      printf("\n");
+    }
+  }
+}
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
+  g_args_size[make_pair(kernel, arg_index)] = arg_size;
+  if (arg_value != NULL) {
+    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
+  } else {
+    g_args[make_pair(kernel, arg_index)] = string("");
+  }
+  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
+  return ret;
+}
diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc
new file mode 100644
index 0000000000..8d0037628e
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed_pc.cc
@@ -0,0 +1,32 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  context = _context;
+  if (do_clinit) clinit();
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs);
+
+  // ****** run commands
+  clexec();
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
new file mode 100644
index 0000000000..21de15d17c
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed_qcom2.cc
@@ -0,0 +1,258 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <dlfcn.h>
+#include <sys/mman.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <map>
+#include <string>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed *g_thneed = NULL;
+int g_fd = -1;
+
+void hexdump(uint8_t *d, int len) {
+  assert((len%4) == 0);
+  printf("  dumping %p len 0x%x\n", d, len);
+  for (int i = 0; i < len/4; i++) {
+    if (i != 0 && (i%0x10) == 0) printf("\n");
+    printf("%8x ", d[i]);
+  }
+  printf("\n");
+}
+
+// *********** ioctl interceptor ***********
+
+extern "C" {
+
+int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
+#undef ioctl
+int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
+  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
+  Thneed *thneed = g_thneed;
+
+  // save the fd
+  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
+
+  // note that this runs always, even without a thneed object
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
+  }
+
+  if (thneed != NULL) {
+    if (request == IOCTL_KGSL_GPU_COMMAND) {
+      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
+      if (thneed->record) {
+        thneed->timestamp = cmd->timestamp;
+        thneed->context_id = cmd->context_id;
+        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
+      }
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
+            thneed->cmds.size(),
+            cmd->flags,
+            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
+      }
+    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
+      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
+      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
+
+      if (thneed->debug >= 2) {
+        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
+        for (int i = 0; i < cmd->count; i++) {
+          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
+        }
+        printf("\n");
+      }
+
+      if (thneed->record) {
+        thneed->cmds.push_back(unique_ptr<CachedSync>(new
+              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
+      }
+    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
+      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
+            cmd->context_id, cmd->timestamp, cmd->timeout);
+      }
+    } else if (request == IOCTL_KGSL_SETPROPERTY) {
+      if (thneed->debug >= 1) {
+        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
+        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
+        if (thneed->debug >= 2) {
+          hexdump((uint8_t *)prop->value, prop->sizebytes);
+          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
+            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
+            hexdump((uint8_t *)constraint->data, constraint->size);
+          }
+        }
+      }
+    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
+      // this happens
+    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
+      // this happens
+    } else {
+      if (thneed->debug >= 1) {
+        printf("other ioctl %lx\n", request);
+      }
+    }
+  }
+
+  int ret = my_ioctl(filedes, request, argp);
+  // NOTE: This error message goes into stdout and messes up pyenv
+  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  return ret;
+}
+
+}
+
+// *********** GPUMalloc ***********
+
+GPUMalloc::GPUMalloc(int size, int fd) {
+  struct kgsl_gpuobj_alloc alloc;
+  memset(&alloc, 0, sizeof(alloc));
+  alloc.size = size;
+  alloc.flags = 0x10000a00;
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
+  assert(addr != MAP_FAILED);
+
+  base = (uint64_t)addr;
+  remaining = size;
+}
+
+GPUMalloc::~GPUMalloc() {
+  // TODO: free the GPU malloced area
+}
+
+void *GPUMalloc::alloc(int size) {
+  void *ret = (void*)base;
+  size = (size+0xff) & (~0xFF);
+  assert(size <= remaining);
+  remaining -= size;
+  base += size;
+  return ret;
+}
+
+// *********** CachedSync, at the ioctl layer ***********
+
+void CachedSync::exec() {
+  struct kgsl_gpuobj_sync cmd;
+
+  cmd.objs = (uint64_t)data.data();
+  cmd.obj_len = data.length();
+  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
+
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
+  assert(ret == 0);
+}
+
+// *********** CachedCommand, at the ioctl layer ***********
+
+CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
+  thneed = lthneed;
+  assert(cmd->numsyncs == 0);
+
+  memcpy(&cache, cmd, sizeof(cache));
+
+  if (cmd->numcmds > 0) {
+    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
+    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
+    cache.cmdlist = (uint64_t)cmds.get();
+    for (int i = 0; i < cmd->numcmds; i++) {
+      void *nn = thneed->ram->alloc(cmds[i].size);
+      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
+      cmds[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  if (cmd->numobjs > 0) {
+    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
+    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
+    cache.objlist = (uint64_t)objs.get();
+    for (int i = 0; i < cmd->numobjs; i++) {
+      void *nn = thneed->ram->alloc(objs[i].size);
+      memset(nn, 0, objs[i].size);
+      objs[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  kq = thneed->ckq;
+  thneed->ckq.clear();
+}
+
+void CachedCommand::exec() {
+  cache.timestamp = ++thneed->timestamp;
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
+
+  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
+
+  if (thneed->debug >= 2) {
+    for (auto &it : kq) {
+      it->debug_print(false);
+    }
+  }
+
+  assert(ret == 0);
+}
+
+// *********** Thneed ***********
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  // TODO: QCOM2 actually requires a different context
+  //context = _context;
+  if (do_clinit) clinit();
+  assert(g_fd != -1);
+  fd = g_fd;
+  ram = make_unique<GPUMalloc>(0x80000, fd);
+  timestamp = -1;
+  g_thneed = this;
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::wait() {
+  struct kgsl_device_waittimestamp_ctxtid wait;
+  wait.context_id = context_id;
+  wait.timestamp = timestamp;
+  wait.timeout = -1;
+
+  uint64_t tb = nanos_since_boot();
+  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
+  uint64_t te = nanos_since_boot();
+
+  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs, true);
+
+  // ****** run commands
+  int i = 0;
+  for (auto &it : cmds) {
+    ++i;
+    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
+    it->exec();
+    if ((i == cmds.size()) || slow) wait();
+  }
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 2e67791675..9b131a639a 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 275.  # total for all 8 cores
+MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -50,8 +50,8 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 21.0,
+  "selfdrive.modeld.modeld": 17.0,
+  "selfdrive.modeld.dmonitoringmodeld": 11.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -361,15 +361,13 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "----------------- Model Timing -----------------\n"
     result += "------------------------------------------------\n"
-    # TODO: Decrease again when tinygrad speeds ups
+    # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
-      ("modelV2", 0.050, 0.040),
+      ("modelV2", 0.050, 0.036),
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some tinygrad init happens in first iteration
-      ts = ts[1:]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 0c102051a5..fb325ac772 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 8598b2faa2..0ef34549b5 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -31,7 +31,7 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
diff --git a/tinygrad_repo b/tinygrad_repo
index ad119af6a5..9dda6d260d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit ad119af6a511373e1c016a6525ab733f14a60c51
+Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1

From 26b928596d32451c5c5c848088db4378afcab7b7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Nov 2024 19:43:06 -0800
Subject: [PATCH 0994/1243] CI: always run submodule check (#34021)

* CI: always run submodule check

* ignore tinygrad

* skip
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 release/check-submodules.sh            | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 477be3546d..446b0ab44b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -52,7 +52,7 @@ jobs:
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.repository == 'commaai/openpilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 61b37fd870..93869a7403 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,12 @@
 #!/usr/bin/env bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 5000 origin master
+  if [ "$submodule" = "tinygrad_repo" ]; then
+    echo "Skipping $submodule"
+    continue
+  fi
+
+  git -C $submodule fetch --depth 100 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

From 50aac48fbab2fd9c556ae3c42cfd9924de40f75c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 13 Nov 2024 21:27:23 -0800
Subject: [PATCH 0995/1243] ci: faster unit_test (#34019)

* multiple

* CACHE

* ...

* cache

* now fast

* maybe

* bp

* vv

* slow

* fast

* fix

* faster

* ruff

* info

* timeout

* info

* more

* clean

* faster

* test

* collection time

* is this real?

* fix

* back

* clean

* just to make sure

* faster!
---
 .github/workflows/selfdrive_tests.yaml      | 11 +++-
 cereal/messaging/tests/test_messaging.py    | 10 +--
 selfdrive/test/process_replay/test_fuzzy.py |  5 +-
 system/tests/test_logmessaged.py            |  6 +-
 tools/replay/tests/test_replay.cc           | 67 ---------------------
 5 files changed, 21 insertions(+), 78 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 446b0ab44b..fc59d25684 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -173,12 +173,19 @@ jobs:
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Setup cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/comma_download_cache
+        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
+        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations"
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        chmod -R 777 /tmp/comma_download_cache"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index 58fa7f7b28..6234a11c08 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -168,18 +168,18 @@ class TestMessaging:
 
     # this test doesn't work with ZMQ since multiprocessing interrupts it
     if "ZMQ" not in os.environ:
-      # wait 15 socket timeouts and make sure it's still retrying
+      # wait 5 socket timeouts and make sure it's still retrying
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
-      time.sleep(sock_timeout*15)
+      time.sleep(sock_timeout*5)
       assert p.is_alive()
       p.terminate()
 
-    # wait 15 socket timeouts before sending
+    # wait 5 socket timeouts before sending
     msg = random_carstate()
-    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert (time.monotonic() - start_time) >= sock_timeout*5
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 39e3bfb94a..723112163e 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -1,4 +1,5 @@
 import copy
+import os
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
 from parameterized import parameterized
@@ -14,13 +15,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))
 
 class TestFuzzProcesses:
 
   # TODO: make this faster and increase examples
   @parameterized.expand(TEST_CASES)
   @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
+            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
   def test_fuzz_process(self, proc_name, cfg, data):
     msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 03c13437bc..9ccc8ef53b 100644
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -19,7 +19,7 @@ class TestLogmessaged:
     self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
 
     # ensure sockets are connected
-    time.sleep(1)
+    time.sleep(0.5)
     messaging.drain_sock(self.sock)
     messaging.drain_sock(self.error_sock)
 
@@ -35,7 +35,7 @@ class TestLogmessaged:
     msgs = [f"abc {i}" for i in range(10)]
     for m in msgs:
       cloudlog.error(m)
-    time.sleep(1)
+    time.sleep(0.5)
     m = messaging.drain_sock(self.sock)
     assert len(m) == len(msgs)
     assert len(self._get_log_files()) >= 1
@@ -45,7 +45,7 @@ class TestLogmessaged:
     msg = "a"*3*1024*1024
     for _ in range(n):
       cloudlog.info(msg)
-    time.sleep(1)
+    time.sleep(0.5)
 
     msgs = messaging.drain_sock(self.sock)
     assert len(msgs) == 0
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index e4d8c3e5f0..6b366169bb 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -23,42 +23,6 @@ bool download_to_file(const std::string &url, const std::string &local_file, int
   return false;
 }
 
-TEST_CASE("httpMultiPartDownload") {
-  char filename[] = "/tmp/XXXXXX";
-  close(mkstemp(filename));
-
-  const size_t chunk_size = 5 * 1024 * 1024;
-  std::string content;
-  SECTION("download to file") {
-    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
-    content = util::read_file(filename);
-  }
-  SECTION("download to buffer") {
-    for (int i = 0; i < 3 && content.empty(); ++i) {
-      content = httpGet(TEST_RLOG_URL, chunk_size);
-      std::this_thread::sleep_for(std::chrono::milliseconds(500));
-    }
-    REQUIRE(!content.empty());
-  }
-  REQUIRE(content.size() == 9112651);
-  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
-}
-
-TEST_CASE("FileReader") {
-  auto enable_local_cache = GENERATE(true, false);
-  std::string cache_file = cacheFilePath(TEST_RLOG_URL);
-  system(("rm " + cache_file + " -f").c_str());
-
-  FileReader reader(enable_local_cache);
-  std::string content = reader.read(TEST_RLOG_URL);
-  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
-  if (enable_local_cache) {
-    REQUIRE(sha256(util::read_file(cache_file)) == TEST_RLOG_CHECKSUM);
-  } else {
-    REQUIRE(util::file_exists(cache_file) == false);
-  }
-}
-
 TEST_CASE("LogReader") {
   SECTION("corrupt log") {
     FileReader reader(true);
@@ -134,34 +98,3 @@ std::string download_demo_route() {
 
   return data_dir;
 }
-
-
-TEST_CASE("Getting route") {
-  std::string data_dir = download_demo_route();
-
-  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
-  Route route(DEMO_ROUTE, data_dir);
-  REQUIRE(route.load());
-  REQUIRE(route.segments().size() == 2);
-  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
-    read_segment(i, route.at(i), flags);
-  }
-}
-
-TEST_CASE("seek_to") {
-  QEventLoop loop;
-  int seek_to = util::random_int(0, 2 * 59);
-  Replay replay(DEMO_ROUTE, {}, {}, nullptr, REPLAY_FLAG_NO_VIPC);
-
-  QObject::connect(&replay, &Replay::seekedTo, [&](double sec) {
-    INFO("seek to " << seek_to << "s sought to" << sec);
-    REQUIRE(sec >= seek_to);
-    loop.quit();
-  });
-
-  REQUIRE(replay.load());
-  replay.start();
-  replay.seekTo(seek_to, false);
-
-  loop.exec();
-}

From dc73e6e2aa2c862d67f9a99f523940219c9622b8 Mon Sep 17 00:00:00 2001
From: JaSpa99 <worf9910@gmail.com>
Date: Thu, 14 Nov 2024 19:25:50 +0100
Subject: [PATCH 0996/1243] Make SimulatorBridge picklable (MacOS support)
 (#34023)

* remove unused

* make Params (un)serializable

* move initialization after spawn

_thread.lock objects can't be pickled
---
 common/params_pyx.pyx      | 5 +++++
 tools/sim/bridge/common.py | 9 ++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 535514e521..2d11ab649d 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -36,11 +36,16 @@ class UnknownKeyName(Exception):
 
 cdef class Params:
   cdef c_Params* p
+  cdef str d
 
   def __cinit__(self, d=""):
     cdef string path = <string>d.encode()
     with nogil:
       self.p = new c_Params(path)
+    self.d = d
+
+  def __reduce__(self):
+    return (type(self), (self.d,))
 
   def __dealloc__(self):
     del self.p
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index be1d7505a3..bbbfd9a981 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -47,12 +47,11 @@ class SimulatorBridge(ABC):
     self.dual_camera = dual_camera
     self.high_quality = high_quality
 
-    self._exit_event = threading.Event()
+    self._exit_event: threading.Event | None = None
     self._threads = []
     self._keep_alive = True
     self.started = Value('i', False)
     signal.signal(signal.SIGTERM, self._on_shutdown)
-    self._exit = threading.Event()
     self.simulator_state = SimulatorState()
 
     self.world: World | None = None
@@ -76,7 +75,9 @@ class SimulatorBridge(ABC):
 
   def close(self, reason):
     self.started.value = False
-    self._exit_event.set()
+
+    if self._exit_event is not None:
+      self._exit_event.set()
 
     if self.world is not None:
       self.world.close(reason)
@@ -103,6 +104,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
     self.simulated_car = SimulatedCar()
     self.simulated_sensors = SimulatedSensors(self.dual_camera)
 
+    self._exit_event = threading.Event()
+
     self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
                                                                         100, self._exit_event))
     self.simulated_car_thread.start()

From 233dc24929b42660afd704c49c9f081aaedb69e6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 14 Nov 2024 11:35:14 -0800
Subject: [PATCH 0997/1243] ci: fix jenkins checkout (#34025)

fix
---
 selfdrive/test/setup_device_ci.sh | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 67671546a6..238af373f7 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -86,7 +86,7 @@ safe_checkout() {
   rsync -a --delete $SOURCE_DIR $TEST_DIR
 }
 
-unsafe_checkout() {
+unsafe_checkout() {( set -e
   # checkout directly in test dir, leave old build products
 
   cd $TEST_DIR
@@ -105,7 +105,7 @@ unsafe_checkout() {
 
   git lfs pull
   (ulimit -n 65535 && git lfs prune)
-}
+)}
 
 export GIT_PACK_THREADS=8
 
@@ -116,7 +116,12 @@ fi
 
 if [ ! -z "$UNSAFE" ]; then
   echo "trying unsafe checkout"
-  unsafe_checkout || safe_checkout
+  set +e
+  unsafe_checkout
+  if [[ "$?" -ne 0 ]]; then
+    safe_checkout
+  fi
+  set -e
 else
   echo "doing safe checkout"
   safe_checkout

From 87bc80d35145686903ccb499cd4fe4092054a45e Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Thu, 14 Nov 2024 18:38:41 -0300
Subject: [PATCH 0998/1243] Dev panel: disable long maneuver toggle for stock
 long (#34006)

* fix errors in developerPanel

* clean up

* clean up

* need to keep track of offroad sadly

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/offroad/developer_panel.cc | 36 +++++++++++++++++-----
 selfdrive/ui/qt/offroad/developer_panel.h  |  6 ++++
 2 files changed, 34 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index bb11b35404..5e127eb21f 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -3,6 +3,7 @@
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
+#include "common/util.h"
 
 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   // SSH keys
@@ -24,13 +25,32 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   // Joystick and longitudinal maneuvers should be hidden on release branches
-  // also the toggles should be not available to change in onroad state
-  const bool is_release = params.getBool("IsReleaseBranch");
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<ParamControl *>()) {
-      btn->setVisible(!is_release);
-      btn->setEnabled(offroad);
-    }
-  });
+  is_release = params.getBool("IsReleaseBranch");
+
+  // Toggles should be not available to change in onroad state
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
+}
+
+void DeveloperPanel::updateToggles(bool _offroad) {
+  for (auto btn : findChildren<ParamControl *>()) {
+    btn->setVisible(!is_release);
+    btn->setEnabled(_offroad);
+  }
+
+  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+  } else {
+    longManeuverToggle->setEnabled(false);
+  }
+
+  offroad = _offroad;
+}
 
+void DeveloperPanel::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
 }
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 9fcff1e97b..fe38612e57 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -6,9 +6,15 @@ class DeveloperPanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DeveloperPanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;
 
 private:
   Params params;
   ParamControl* joystickToggle;
   ParamControl* longManeuverToggle;
+  bool is_release;
+  bool offroad;
+
+private slots:
+  void updateToggles(bool _offroad);
 };

From db32fbea2024f7a43e21383e7164101a866f454b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 15 Nov 2024 01:14:20 -0600
Subject: [PATCH 0999/1243] bump opendbc (#34027)

* bump opendbc

* bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7cb3d4c021..34597084d8 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7cb3d4c02195772d16dfba9967e3443f2c10558b
+Subproject commit 34597084d8eed79059538327a580ea9ae81b12fb

From a4656bd9396aa72fecd5b76a3d87b16c979d97d9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 15 Nov 2024 01:21:03 -0600
Subject: [PATCH 1000/1243] Toyota: use filter for PCM compensation (#34029)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 34597084d8..af2333f7c9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 34597084d8eed79059538327a580ea9ae81b12fb
+Subproject commit af2333f7c93047065446df646d1487f2c08fc68a

From 3a1c9e0f015726339de2653db4545d9fd8ed7ff6 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 15 Nov 2024 15:22:47 +0800
Subject: [PATCH 1001/1243] cabana: fix route load error handing (#34028)

fix error handing
---
 tools/cabana/streams/replaystream.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index ac137434d3..bd48d97d52 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -62,7 +62,7 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
   bool success = replay->load();
   if (!success) {
-    if (replay->lastRouteError() == RouteLoadError::AccessDenied) {
+    if (replay->lastRouteError() == RouteLoadError::Unauthorized) {
       auto auth_content = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
       QString message;
       if (auth_content.empty()) {

From 360bb685479918923aa8ef24940935e6c729e9e0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 14 Nov 2024 23:24:07 -0800
Subject: [PATCH 1002/1243] proposed should be orange

---
 selfdrive/test/process_replay/model_replay.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index c6720cc601..ecc245c242 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -37,8 +37,8 @@ def plot(proposed, master, title, tmp):
   proposed = list(proposed)
   master = list(master)
   fig, ax = plt.subplots()
-  ax.plot(proposed, label='PROPOSED')
   ax.plot(master, label='MASTER')
+  ax.plot(proposed, label='PROPOSED')
   plt.legend(loc='best')
   plt.title(title)
   plt.savefig(f'{tmp}/{title}.png')

From 308d26ae146bdf3709e1fd6fc11c11382c39fc5a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 14 Nov 2024 23:28:47 -0800
Subject: [PATCH 1003/1243] bump

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index af2333f7c9..40951c19ee 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit af2333f7c93047065446df646d1487f2c08fc68a
+Subproject commit 40951c19ee2422a3a63eae878aedc9f0e1b255d4

From bcd0c6766988250f2b7773680a0d4a1b601bb7b7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 14 Nov 2024 23:29:02 -0800
Subject: [PATCH 1004/1243] Revert "bump"

This reverts commit 308d26ae146bdf3709e1fd6fc11c11382c39fc5a.
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 40951c19ee..af2333f7c9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 40951c19ee2422a3a63eae878aedc9f0e1b255d4
+Subproject commit af2333f7c93047065446df646d1487f2c08fc68a

From 83714de07507859ddfbf66d2acb656d2f4e22917 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 15 Nov 2024 01:49:23 -0600
Subject: [PATCH 1005/1243] bump opendbc (#34030)

* bump

* update refs
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index af2333f7c9..40951c19ee 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit af2333f7c93047065446df646d1487f2c08fc68a
+Subproject commit 40951c19ee2422a3a63eae878aedc9f0e1b255d4
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c779902d6b..979e0e9bb0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2fc2e865ab77fd8145feab86d454f2111c5d9871
+dd0a40182707975c94a40d19198cd60c88735199
\ No newline at end of file

From 354db5efd4d545e23f0ad3f880137dcab6e1ea3b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 15 Nov 2024 16:36:08 -0800
Subject: [PATCH 1006/1243] ci: remove unnecessary filereader_cache (#34033)

not needed
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fc59d25684..01ffef8e7f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -273,7 +273,7 @@ jobs:
     - name: Test car models
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 4

From 55b94abfe4d0d87c086ad306cf99522492f25d20 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 15 Nov 2024 19:42:46 -0800
Subject: [PATCH 1007/1243] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index dec9223f97..acc15afaa0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dec9223f9726e400e4a4eb91ca19fffcd745f97a
+Subproject commit acc15afaa0bea090c045a624f940e98cc521b701

From 863d86c10caafc60d99cc4b9e1267a688c7df2f9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 15 Nov 2024 23:16:15 -0600
Subject: [PATCH 1008/1243] Toyota: adaptive ACCEL_NET for new long tune
 (#34034)

* bump

* bump

* fix that

* should be a better way

* raise
---
 opendbc_repo                          |  2 +-
 tools/cabana/dbc/generate_dbc_json.py | 13 ++++++++++++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 40951c19ee..661a42c91e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 40951c19ee2422a3a63eae878aedc9f0e1b255d4
+Subproject commit 661a42c91e28c370d90b3c4f0bf0f5a8cf015733
diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py
index 04d45f304a..5e928e6054 100755
--- a/tools/cabana/dbc/generate_dbc_json.py
+++ b/tools/cabana/dbc/generate_dbc_json.py
@@ -2,12 +2,23 @@
 import argparse
 import json
 
+from opendbc.car import Bus
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.values import PLATFORMS
 
 
 def generate_dbc_json() -> str:
-  dbc_map = {platform.name: platform.config.dbc_dict['pt'] for platform in PLATFORMS.values() if platform != "MOCK"}
+  dbc_map = {}
+  for platform in PLATFORMS.values():
+    if platform != "MOCK":
+      if Bus.pt in platform.config.dbc_dict:
+        dbc_map[platform.name] = platform.config.dbc_dict[Bus.pt]
+      elif Bus.main in platform.config.dbc_dict:
+        dbc_map[platform.name] = platform.config.dbc_dict[Bus.main]
+      elif Bus.party in platform.config.dbc_dict:
+        dbc_map[platform.name] = platform.config.dbc_dict[Bus.party]
+      else:
+        raise ValueError("Unknown main type")
 
   for m in MIGRATION:
     if MIGRATION[m] in dbc_map:

From 22d19f2fc42e90f1a26a6da15b0ed73a6574be78 Mon Sep 17 00:00:00 2001
From: Patrick Bassut <patrick@bassut.com.br>
Date: Sat, 16 Nov 2024 15:29:26 -0300
Subject: [PATCH 1009/1243] cabana: don't check for socketcan when not
 available (#34039)

---
 tools/cabana/cabana.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index a798d13a81..cd7a0be0db 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -49,7 +49,7 @@ int main(int argc, char *argv[]) {
       qWarning() << e.what();
       return 0;
     }
-  } else if (cmd_parser.isSet("socketcan")) {
+  } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
     stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;

From 847a5ce1f3ea18648e1483d2fb6e831f0cdbd40c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 16 Nov 2024 15:34:21 -0800
Subject: [PATCH 1010/1243] ci: faster model_replay (#34036)

* cache draft

* fix

* fix

* fix

* better

* zst

* more

* try

* pool

* fix

* fix

* revert :C

* better

* cleanup

* no cache

* this too
---
 Jenkinsfile                                   |  2 +-
 selfdrive/test/process_replay/model_replay.py | 42 +++++++++++++++----
 tools/lib/framereader.py                      | 22 ++++++++++
 3 files changed, 56 insertions(+), 10 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index f7d62024bc..8e353c17eb 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -243,7 +243,7 @@ node {
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index ecc245c242..94803643e0 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -7,19 +7,20 @@ import tempfile
 from itertools import zip_longest
 
 import matplotlib.pyplot as plt
+import numpy as np
 
 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
-MAX_FRAMES = 100 if PC else 600
+MAX_FRAMES = 100 if PC else 400
 
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
@@ -31,7 +32,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 
 def get_log_fn(test_route, ref="master"):
-  return f"{test_route}_model_tici_{ref}.bz2"
+  return f"{test_route}_model_tici_{ref}.zst"
 
 def plot(proposed, master, title, tmp):
   proposed = list(proposed)
@@ -151,21 +152,44 @@ def model_replay(lr, frs):
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
   modeld_msgs = replay_process(modeld, modeld_logs, frs)
+  if isinstance(frs['roadCameraState'], NumpyFrameReader):
+    del frs['roadCameraState'].frames
+    del frs['wideRoadCameraState'].frames
   dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
   return modeld_msgs + dmonitoringmodeld_msgs
 
 
+def get_frames():
+  regen_cache = "--regen-cache" in sys.argv
+  cache = "--cache" in sys.argv or not PC or regen_cache
+  videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
+  cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+
+  if cache:
+    frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
+    os.makedirs(frames_cache, exist_ok=True)
+
+    cache_size = 200
+    for v in videos:
+      if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
+        f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
+        print(f'Caching {v}...')
+        for i in range(MAX_FRAMES//cache_size):
+          np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
+        del f
+
+    return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
+  else:
+    return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
+
+
 if __name__ == "__main__":
   update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
 
   # load logs
-  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
-  frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
-  }
+  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
+  frs = get_frames()
 
   log_msgs = []
   # run replays
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index 275b9b65b8..7c01992a28 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -535,3 +535,25 @@ def FrameIterator(fn, pix_fmt, **kwargs):
   else:
     for i in range(fr.frame_count):
       yield fr.get(i, pix_fmt=pix_fmt)[0]
+
+
+class NumpyFrameReader:
+  def __init__(self, name, w, h, cache_size):
+    self.name = name
+    self.pos = -1
+    self.frames = None
+    self.w = w
+    self.h = h
+    self.cache_size = cache_size
+
+  def close(self):
+    pass
+
+  def get(self, num, count=1, pix_fmt="nv12"):
+    num -= 1
+    q = num // self.cache_size
+    if q != self.pos:
+      del self.frames
+      self.pos = q
+      self.frames = np.load(f'{self.name}_{self.pos}.npy')
+    return [self.frames[num % self.cache_size]]

From 8c8ac3f28f37d7868259b76ca6cd0a149fdd6944 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 16 Nov 2024 16:39:39 -0800
Subject: [PATCH 1011/1243] tici: add STM_PWR_EN_N pin

---
 system/hardware/tici/pins.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py
index 4388351e1f..747278d1ec 100644
--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@@ -7,8 +7,10 @@ class GPIO:
   UBLOX_RST_N = 32
   UBLOX_SAFEBOOT_N = 33
   GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN
+
   STM_RST_N = 124
   STM_BOOT0 = 134
+  STM_PWR_EN_N = 41 # because STM32H7 RST doesn't generate a full power-on-reset
 
   SIREN = 42
   SOM_ST_IO = 49

From c11e9a3bdd7cd490c9243d8cdf90ef8af64fd9ba Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 17 Nov 2024 16:21:45 -0800
Subject: [PATCH 1012/1243] agnos 11.2 v2 (#34015)

* agnos 11.2 v2

* new build

* new build
---
 system/hardware/tici/agnos.json | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 3aa712a6b0..025202019e 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
-    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "size": 16414720,
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-974d920c6b631708bff58a1080c9e48c78213a72e570ae2eeb7a4029e578b85c.img.xz",
+    "hash": "974d920c6b631708bff58a1080c9e48c78213a72e570ae2eeb7a4029e578b85c",
+    "hash_raw": "974d920c6b631708bff58a1080c9e48c78213a72e570ae2eeb7a4029e578b85c",
+    "size": 16422912,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
-    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
-    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-bd5bc0257f8a60ab7239f37d7cbae20860f354805c7fee151310fe3805308cfc.img.xz",
+    "hash": "bd5bc0257f8a60ab7239f37d7cbae20860f354805c7fee151310fe3805308cfc",
+    "hash_raw": "bd5bc0257f8a60ab7239f37d7cbae20860f354805c7fee151310fe3805308cfc",
     "size": 4404019200,
     "sparse": false,
     "full_check": false,

From e123ac3d32f47f35c1fc024f3dc09bff8ee14e94 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 18 Nov 2024 09:31:13 -0800
Subject: [PATCH 1013/1243] Last Horizon Model (#34024)

516b3968-82ec-4d7c-89ff-57ded21b3966/400
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 2a0ddef57b..d096d64a63 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
+oid sha256:5d7eb9b9b08a6cc42a6a1f1be1da8414861a8e2ca7d9bc669e753d0f67680801
 size 50320138

From 612dbb32e1b0529afe065b01339f8ab795b00b79 Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Mon, 18 Nov 2024 09:32:54 -0800
Subject: [PATCH 1014/1243] Revert "Last Horizon Model (#34024)"

This reverts commit e123ac3d32f47f35c1fc024f3dc09bff8ee14e94.
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index d096d64a63..2a0ddef57b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5d7eb9b9b08a6cc42a6a1f1be1da8414861a8e2ca7d9bc669e753d0f67680801
+oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
 size 50320138

From 4576f7f1547e29cc50f97b6674b950ef03e39016 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 18 Nov 2024 10:38:37 -0800
Subject: [PATCH 1015/1243] [bot] Update Python packages (#34043)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 msgq_repo    |   2 +-
 opendbc_repo |   2 +-
 uv.lock      | 450 ++++++++++++++++++++++++---------------------------
 3 files changed, 216 insertions(+), 238 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index 3e17f865bb..e621ce0763 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 3e17f865bbd3bbabb3841227ed0774c8fb74efef
+Subproject commit e621ce0763803ea821f9b41a20b0b77d83ab6c97
diff --git a/opendbc_repo b/opendbc_repo
index 661a42c91e..1e65cc0f7e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 661a42c91e28c370d90b3c4f0bf0f5a8cf015733
+Subproject commit 1e65cc0f7e93d924dabfcc3f9e184855e7b71f3c
diff --git a/uv.lock b/uv.lock
index 4e05108071..b21add8e9c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -20,7 +20,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.10.10"
+version = "3.11.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -28,40 +28,41 @@ dependencies = [
     { name = "attrs" },
     { name = "frozenlist" },
     { name = "multidict" },
+    { name = "propcache" },
     { name = "yarl" },
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+    { url = "https://files.pythonhosted.org/packages/ec/1f/c45d9c02111389f71e6d9b49dff8744f7987b174da974619c4815f2d671d/yarl-1.17.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5870d620b23b956f72bafed6a0ba9a62edb5f2ef78a8849b7615bd9433384171", size = 336391 },
+    { url = "https://files.pythonhosted.org/packages/9b/11/6946a16258ae9fcea4da2e71c0d5d9f21868821109ceca2884d6bb137fc1/yarl-1.17.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2941756754a10e799e5b87e2319bbec481ed0957421fba0e7b9fb1c11e40509f", size = 325233 },
+    { url = "https://files.pythonhosted.org/packages/ae/83/72453e6e570fd6948d21348350c3cf2cd811dc0cc9b7779a99e5a57554a3/yarl-1.17.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:9611b83810a74a46be88847e0ea616794c406dbcb4e25405e52bff8f4bee2d0a", size = 343952 },
+    { url = "https://files.pythonhosted.org/packages/6e/91/4de2fecb15129a0ecb6844b7693f18c6616586b801635e30ef0d232bc0e2/yarl-1.17.2-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:cd7e35818d2328b679a13268d9ea505c85cd773572ebb7a0da7ccbca77b6a52e", size = 340256 },
+    { url = "https://files.pythonhosted.org/packages/60/d4/6dd9959a6499a8d52ca48bbe139fc84ad3291697c681758c4851f5375972/yarl-1.17.2-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:6b981316fcd940f085f646b822c2ff2b8b813cbd61281acad229ea3cbaabeb6b", size = 345975 },
+    { url = "https://files.pythonhosted.org/packages/1f/97/76ac1bc71faa71101ed8e0d902471124d8d9d5adc3faa3aa9a0bd0989e54/yarl-1.17.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:688058e89f512fb7541cb85c2f149c292d3fa22f981d5a5453b40c5da49eb9e8", size = 359359 },
+    { url = "https://files.pythonhosted.org/packages/1b/d7/47ffcb4ea188af16b6b0f6ae1b53ed620a81a7180b92f68a551750f5c812/yarl-1.17.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:56afb44a12b0864d17b597210d63a5b88915d680f6484d8d202ed68ade38673d", size = 363988 },
+    { url = "https://files.pythonhosted.org/packages/30/d6/385e830d3b9efcd18bcdd212d5c752dbcc9f1c48bde00a256f7401f8b32b/yarl-1.17.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:17931dfbb84ae18b287279c1f92b76a3abcd9a49cd69b92e946035cff06bcd20", size = 357342 },
+    { url = "https://files.pythonhosted.org/packages/ae/5b/6b5e78e7a71698b2b4830e83aa71e86c85357dbf13c617c8515c03d019a9/yarl-1.17.2-cp312-cp312-win32.whl", hash = "sha256:ff8d95e06546c3a8c188f68040e9d0360feb67ba8498baf018918f669f7bc39b", size = 83581 },
+    { url = "https://files.pythonhosted.org/packages/bd/fa/a70635eabe46ba55032bd1e1c2561067f35036b614299f09b15cdef167ee/yarl-1.17.2-cp312-cp312-win_amd64.whl", hash = "sha256:4c840cc11163d3c01a9d8aad227683c48cd3e5be5a785921bcc2a8b4b758c4f3", size = 89882 },
+    { url = "https://files.pythonhosted.org/packages/80/01/7536ea609df5afce0c0d3c00e5843f0005d65226b6a61028310ac9673a07/yarl-1.17.2-py3-none-any.whl", hash = "sha256:dd7abf4f717e33b7487121faf23560b3a50924f80e4bef62b22dab441ded8f3b", size = 44583 },
 ]
 
 [[package]]

From 7dfc45f15f469c9b6ecfb8b6b9e3c80bec9a5005 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 18 Nov 2024 14:30:41 -0800
Subject: [PATCH 1016/1243] camerad: fix os04 max IntegLines (#34051)

0x938 - 8

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/os04c10.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index f6ba4504e1..4d8479ddba 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -49,7 +49,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 2400;
+  exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x36;

From 47c90317bf8d7ecb4c6abeaef25b4272e47d340d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 Nov 2024 14:50:45 -0800
Subject: [PATCH 1017/1243] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index acc15afaa0..422e3e0c0f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit acc15afaa0bea090c045a624f940e98cc521b701
+Subproject commit 422e3e0c0f458c721517454cefcd22407576e9d5

From 3e7270a30ee45ad06ef1a37f0b8bd03fecbdf466 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 18 Nov 2024 14:55:46 -0800
Subject: [PATCH 1018/1243] ci: run test_qcomgpsd only on changes (#34052)

* check

* change

* clean
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 8e353c17eb..5e4323d3cb 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -253,7 +253,7 @@ node {
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 

From c71c2ab6518e33c8ce84ab1415c283a34ac2e91d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 18 Nov 2024 15:04:03 -0800
Subject: [PATCH 1019/1243] ci: fix macos runner for forks (#34053)

fix
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 01ffef8e7f..32f2ab306e 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -102,7 +102,7 @@ jobs:
 
   build_mac:
     name: build macOS
-    runs-on: namespace-profile-macos-8x14
+    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:

From 01384affbbdb3586cbbb387880c6c7c3cd833a2d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Nov 2024 17:19:44 -0600
Subject: [PATCH 1020/1243] bump opendbc (#34054)

* bump

* bump refs
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 1e65cc0f7e..e74e496cdc 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1e65cc0f7e93d924dabfcc3f9e184855e7b71f3c
+Subproject commit e74e496cdce385c2e732d320de3a8491a2324489
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 979e0e9bb0..6bd0d25e2a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dd0a40182707975c94a40d19198cd60c88735199
\ No newline at end of file
+da616638d93e5d7c974d05230c66cd97fd8049fd

From d50732af946a35d190a55bbd07091290a42922c3 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 18 Nov 2024 15:23:50 -0800
Subject: [PATCH 1021/1243] camerad: adjust os04 SCG setting (#34055)

* 0x938 - 8

* ll

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/os04c10_registers.h | 28 +++++++++++-----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 53e80e079f..5bea52b814 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -42,21 +42,21 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3691, 0x0d},
   {0x3696, 0x4c},
   {0x3697, 0x4c},
-  {0x3698, 0x40},
+  {0x3698, 0x00},
   {0x3699, 0x80},
-  {0x369a, 0x18},
+  {0x369a, 0x80},
   {0x369b, 0x1f},
-  {0x369c, 0x14},
+  {0x369c, 0x1f},
   {0x369d, 0x80},
   {0x369e, 0x40},
   {0x369f, 0x21},
   {0x36a0, 0x12},
-  {0x36a1, 0x5d},
+  {0x36a1, 0xdd},
   {0x36a2, 0x66},
   {0x370a, 0x02},
-  {0x370e, 0x0c},
+  {0x370e, 0x00},
   {0x3710, 0x00},
-  {0x3713, 0x00},
+  {0x3713, 0x04},
   {0x3725, 0x02},
   {0x372a, 0x03},
   {0x3738, 0xce},
@@ -81,11 +81,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37ba, 0x03},
   {0x37bb, 0x00},
   {0x37bc, 0x04},
-  {0x37be, 0x08},
+  {0x37be, 0x26},
   {0x37c4, 0x11},
   {0x37c5, 0x80},
   {0x37c6, 0x14},
-  {0x37c7, 0x08},
+  {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
   // {0x3829, 0x03},
@@ -186,10 +186,10 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3661, 0x04},
   {0x3664, 0x70},
   {0x3665, 0x00},
-  {0x3681, 0xa6},
-  {0x3682, 0x53},
-  {0x3683, 0x2a},
-  {0x3684, 0x15},
+  {0x3681, 0x80},
+  {0x3682, 0x40},
+  {0x3683, 0x21},
+  {0x3684, 0x12},
   {0x3700, 0x2a},
   {0x3701, 0x12},
   {0x3703, 0x28},
@@ -198,7 +198,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3709, 0x4a},
   {0x370b, 0x48},
   {0x370c, 0x01},
-  {0x370f, 0x04},
+  {0x370f, 0x00},
   {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
@@ -283,7 +283,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
-  {0x3880, 0x25},
+  {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
   {0x3c94, 0x45},

From f8497d4af075244407f3b55bbbfde143925b733e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 18 Nov 2024 20:45:55 -0800
Subject: [PATCH 1022/1243] setup: fix mac install (#34058)

* try

* fix

* fix

* space
---
 tools/mac_setup.sh | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 062de6aabf..6547f05839 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -43,11 +43,14 @@ brew "llvm"
 brew "openssl@3.0"
 brew "qt@5"
 brew "zeromq"
-cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
 EOS
 
+# TODO: revert back to using 'cask "gcc-arm-embedded"' when ARM fixes https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads for 13.3
+curl -L "https://raw.githubusercontent.com/Homebrew/homebrew-cask/0d591515ad2a153113e0316d31fe06915fb07ac0/Casks/g/gcc-arm-embedded.rb" > gcc-arm-embedded.rb && brew install --cask gcc-arm-embedded.rb
+rm -f gcc-arm-embedded.rb
+
 echo "[ ] finished brew install t=$SECONDS"
 
 BREW_PREFIX=$(brew --prefix)

From 3ac9208364c85b6ad651630cc85c52bf817e9d6e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 18 Nov 2024 21:16:15 -0800
Subject: [PATCH 1023/1243] ci: increase timeout on cache misses + switch some
 caches to github (#34056)

* cache

* test ns

* try this

* try

* try now?

* bp

* bp agian

* fix

* remove

* test

* try

* fix

* fix

* regen cache

* fix
---
 .github/workflows/auto-cache/action.yaml      |  9 +++++++
 .github/workflows/selfdrive_tests.yaml        | 24 +++++--------------
 .../workflows/setup-with-retry/action.yaml    |  3 ---
 .github/workflows/setup/action.yaml           | 17 -------------
 4 files changed, 15 insertions(+), 38 deletions(-)

diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
index e99c46e3c3..fadd422b6e 100644
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@@ -14,17 +14,25 @@ inputs:
     description: 'whether to save the cache'
     default: 'false'
     required: false
+outputs:
+  cache-hit:
+    description: 'cache hit occurred'
+    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
 
 runs:
   using: "composite"
   steps:
     - name: setup namespace cache
+      id: ns-cache
       if: ${{ contains(runner.name, 'nsc') }}
       uses: namespacelabs/nscloud-cache-action@v1
       with:
         path: ${{ inputs.path }}
 
     - name: setup github cache
+      id: gha-cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
       uses: 'actions/cache@v4'
       with:
@@ -33,6 +41,7 @@ runs:
         restore-keys: ${{ inputs.restore-keys }}
 
     - name: setup github cache
+      id: gha-cache-ro
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
       uses: 'actions/cache/restore@v4'
       with:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 32f2ab306e..ec40660f15 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -95,10 +95,8 @@ jobs:
         echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      timeout-minutes: 30
 
   build_mac:
     name: build macOS
@@ -168,16 +166,8 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Setup cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/comma_download_cache
-        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
@@ -203,19 +193,17 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
@@ -263,15 +251,15 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
-      id: dependency-cache
-      uses: ./.github/workflows/auto-cache
+      id: routes-cache
+      uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
index 369ac45c9a..ad297403cf 100644
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -17,7 +17,6 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
@@ -27,7 +26,6 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
@@ -36,5 +34,4 @@ runs:
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 1315ba989e..935db34154 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -1,10 +1,6 @@
 name: 'openpilot env setup'
 
 inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: true
-    default: ''
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -36,19 +32,6 @@ runs:
     - shell: bash
       run: git lfs pull
 
-    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
-    # https://buildjet.com/for-github-actions/docs/guides/docker
-    - shell: bash
-      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
-      run: |
-        echo "Need to set the Docker Hub PAT secret as an input to this action"
-        exit 1
-    - name: Login to Docker Hub
-      if: contains(runner.name, 'buildjet')
-      shell: bash
-      run: |
-        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
-
     # build cache
     - id: date
       shell: bash

From 293c3fc57fc7de70a43a257a188c433a66d909ff Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 19 Nov 2024 10:40:21 -0800
Subject: [PATCH 1024/1243] ci: Revert "setup: fix mac install (#34058)"
 (#34061)

Revert "setup: fix mac install (#34058)"

This reverts commit f8497d4af075244407f3b55bbbfde143925b733e.
---
 tools/mac_setup.sh | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 6547f05839..062de6aabf 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -43,14 +43,11 @@ brew "llvm"
 brew "openssl@3.0"
 brew "qt@5"
 brew "zeromq"
+cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
 EOS
 
-# TODO: revert back to using 'cask "gcc-arm-embedded"' when ARM fixes https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads for 13.3
-curl -L "https://raw.githubusercontent.com/Homebrew/homebrew-cask/0d591515ad2a153113e0316d31fe06915fb07ac0/Casks/g/gcc-arm-embedded.rb" > gcc-arm-embedded.rb && brew install --cask gcc-arm-embedded.rb
-rm -f gcc-arm-embedded.rb
-
 echo "[ ] finished brew install t=$SECONDS"
 
 BREW_PREFIX=$(brew --prefix)

From bf21e10d81c9c00ada555957f5f95ebe395369a7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 19 Nov 2024 14:27:15 -0800
Subject: [PATCH 1025/1243] ci: move manager test_startup_time to test_onroad
 (#34062)

* get

* fix

* now

* try

* better sign

* better

* better

* clean

* space

* fix

* more

* msg
---
 selfdrive/test/test_onroad.py       |  5 +++++
 system/manager/test/test_manager.py | 10 ----------
 2 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 9b131a639a..494b1507c4 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -138,6 +138,7 @@ class TestOnroad:
     proc = None
     try:
       manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
+      cls.manager_st = time.monotonic()
       proc = subprocess.Popen(["python", manager_path])
 
       sm = messaging.SubMaster(['carState'])
@@ -202,6 +203,10 @@ class TestOnroad:
       with subtests.test(service=s):
         assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
 
+  def test_manager_starting_time(self):
+    st = self.msgs['managerState'][0].logMonoTime / 1e9
+    assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
+
   def test_cloudlog_size(self):
     msgs = self.msgs['logMessage']
 
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index 497f4f8240..b6f47fb75f 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -3,8 +3,6 @@ import pytest
 import signal
 import time
 
-from parameterized import parameterized
-
 from cereal import car
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
@@ -37,14 +35,6 @@ class TestManager:
     # TODO: ensure there are blacklisted procs until we have a dedicated test
     assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
 
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_startup_time(self, index):
-    start = time.monotonic()
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-    t = time.monotonic() - start
-    assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
-
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """

From c9a3a1a0187c2442ead718e9164ce1b50e2e6ad8 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 19 Nov 2024 16:09:26 -0800
Subject: [PATCH 1026/1243] camerad: update os04 blc settings (#34065)

* not 64

* capped

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/os04c10.cc          | 4 ++--
 system/camerad/sensors/os04c10_cl.h        | 4 ++--
 system/camerad/sensors/os04c10_registers.h | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 4d8479ddba..9f365693ee 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -52,7 +52,7 @@ OS04C10::OS04C10() {
   exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
-  analog_gain_max_idx = 0x36;
+  analog_gain_max_idx = 0x28;
   analog_gain_cost_delta = -1;
   analog_gain_cost_low = 0.4;
   analog_gain_cost_high = 6.4;
@@ -63,7 +63,7 @@ OS04C10::OS04C10() {
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
 
-  black_level = 64;
+  black_level = 48;
   color_correct_matrix = {
     0x000000c2, 0x00000fe0, 0x00000fde,
     0x00000fa7, 0x000000d9, 0x00001000,
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
index e285fb37e0..3da3fab8df 100644
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -4,9 +4,9 @@
 
 #define BIT_DEPTH 12
 #define PV_MAX10 1023
-#define PV_MAX12 4096
+#define PV_MAX12 4095
 #define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 64
+#define BLACK_LVL 48
 #define VIGNETTE_RSZ 2.2545f
 
 float combine_dual_pvs(float lv, float sv, int expo_time) {
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 5bea52b814..b8844379f9 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -291,7 +291,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3cae, 0x00},
   {0x4000, 0xf3},
   {0x4001, 0x60},
-  {0x4003, 0x80},
+  {0x4003, 0x40},
   {0x4300, 0xff},
   {0x4302, 0x0f},
   {0x4305, 0x83},

From b206879e4d49f2015ca91ae951021528eeb91861 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 19 Nov 2024 21:07:22 -0800
Subject: [PATCH 1027/1243] ci: more robust memory usage test in test_onroad
 (#34067)

metric
---
 selfdrive/test/test_onroad.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 494b1507c4..7dc7a75c12 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -300,13 +300,18 @@ class TestOnroad:
     assert cpu_ok
 
   def test_memory_usage(self):
+    print("\n------------------------------------------------")
+    print("--------------- Memory Usage -------------------")
+    print("------------------------------------------------")
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
     mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
     print("Memory usage: ", mems)
 
     # check for big leaks. note that memory usage is
     # expected to go up while the MSGQ buffers fill up
-    assert max(mems) - min(mems) <= 3.0
+    assert np.average(mems) <= 65, "Average memory usage above 65%"
+    assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
+    assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
 
   def test_gpu_usage(self):
     assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}

From d90d5a403f9f16b395aa6a0d30949065f2ecab7f Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 20 Nov 2024 15:40:55 -0800
Subject: [PATCH 1028/1243] camerad: ev scaling (#34070)

ev scaling

Co-authored-by: Waddle Wednesday <>
---
 system/camerad/cameras/camera_qcom2.cc | 4 ++--
 system/camerad/sensors/os04c10.cc      | 3 ++-
 system/camerad/sensors/sensor.h        | 1 +
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index fb325ac772..ef5a03085b 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -140,14 +140,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
   // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete
 
-  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3];
   const auto &sensor = camera.sensor;
+  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale;
 
   // Scale target grey between 0.1 and 0.4 depending on lighting conditions
   float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
   float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
 
-  float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
+  float desired_ev = std::clamp(cur_ev_ / sensor->ev_scale * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
   float k = (1.0 - k_ev) / 3.0;
   desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
 
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 9f365693ee..e15b4470e2 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -43,6 +43,7 @@ OS04C10::OS04C10() {
   frame_data_type = 0x2c;
   mclk_frequency = 24000000; // Hz
 
+  ev_scale = 150.0;
   dc_gain_factor = 1;
   dc_gain_min_weight = 1;  // always on is fine
   dc_gain_max_weight = 1;
@@ -59,7 +60,7 @@ OS04C10::OS04C10() {
   for (int i = 0; i <= analog_gain_max_idx; i++) {
     sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
   }
-  min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
+  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
 
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 1651fd8061..c4a4b64a07 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -43,6 +43,7 @@ public:
   float dc_gain_on_grey;
   float dc_gain_off_grey;
 
+  float ev_scale = 1.0;
   float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
   int analog_gain_min_idx;
   int analog_gain_max_idx;

From 670cf27f8ece83f2ca815293483821426a46d82b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 20 Nov 2024 16:01:48 -0800
Subject: [PATCH 1029/1243] tici: modem cleanups (#34071)

* tici: modem cleanups

* rm that

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/hardware/base.py          |  3 ---
 system/hardware/hardwared.py     |  8 +++-----
 system/hardware/tici/hardware.py | 15 +--------------
 3 files changed, 4 insertions(+), 22 deletions(-)

diff --git a/system/hardware/base.py b/system/hardware/base.py
index 620f2c71b8..fafdbb41dc 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -107,9 +107,6 @@ class HardwareBase(ABC):
   def get_modem_version(self):
     return None
 
-  def get_modem_nv(self):
-    return None
-
   @abstractmethod
   def get_modem_temperatures(self):
     pass
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index da3172e8d1..beb9b4a3a0 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -99,7 +99,6 @@ def hw_state_thread(end_event, hw_queue):
   prev_hw_state = None
 
   modem_version = None
-  modem_nv = None
   modem_configured = False
   modem_restarted = False
   modem_missing_count = 0
@@ -114,12 +113,11 @@ def hw_state_thread(end_event, hw_queue):
           modem_temps = prev_hw_state.modem_temps
 
         # Log modem version once
-        if AGNOS and ((modem_version is None) or (modem_nv is None)):
+        if AGNOS and (modem_version is None):
           modem_version = HARDWARE.get_modem_version()
-          modem_nv = HARDWARE.get_modem_nv()
 
-          if (modem_version is not None) and (modem_nv is not None):
-            cloudlog.event("modem version", version=modem_version, nv=modem_nv)
+          if modem_version is not None:
+            cloudlog.event("modem version", version=modem_version)
           else:
             if not modem_restarted:
               # TODO: we may be able to remove this with a MM update
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 8110a0808e..21e2c8fe1a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -294,19 +294,6 @@ class Tici(HardwareBase):
     except Exception:
       return None
 
-  def get_modem_nv(self):
-    timeout = 0.2  # Default timeout is too short
-    files = (
-      '/nv/item_files/modem/mmode/ue_usage_setting',
-      '/nv/item_files/ims/IMS_enable',
-      '/nv/item_files/modem/mmode/sms_only',
-    )
-    try:
-      modem = self.get_modem()
-      return { fn: str(modem.Command(f'AT+QNVFR="{fn}"', math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)) for fn in files}
-    except Exception:
-      return None
-
   def get_modem_temperatures(self):
     timeout = 0.2  # Default timeout is too short
     try:
@@ -475,7 +462,7 @@ class Tici(HardwareBase):
         'AT$QCPCFG=usbNet,0',
         'AT$QCNETDEVCTL=3,1',
       ]
-    else:
+    elif self.get_device_type() in ("tici", "tizi"):
       cmds += [
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',

From e2436635205fe6a42f964137adf505abdf933493 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 20 Nov 2024 16:14:12 -0800
Subject: [PATCH 1030/1243] Revert "setup: no low voltage warning without INA"

This reverts commit 7ecedbc39fef365c06577eb368adcb8ff64625f0.
---
 selfdrive/ui/qt/setup/setup.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index c716b6b4e9..aff9b015b3 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -408,7 +408,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
   std::stringstream buffer;
   buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
   float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage > 0 && voltage < 7) {
+  if (voltage < 7) {
     addWidget(low_voltage());
   }
 

From 7496dcee5874faa6fd18c7bf4a959dafc24b62d8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 20 Nov 2024 18:31:00 -0800
Subject: [PATCH 1031/1243] test_qcomgpsd: let qcomgpsd delete the assistance
 (#34069)

* del

* class
---
 system/qcomgpsd/tests/test_qcomgpsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 716bc33ed2..2fc6205ea4 100644
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -16,6 +16,7 @@ GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 class TestRawgpsd:
   @classmethod
   def setup_class(cls):
+    os.environ['GPS_COLD_START'] = '1'
     os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
@@ -27,7 +28,6 @@ class TestRawgpsd:
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
-    at_cmd("AT+QGPSDEL=0")
     self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
 
   def teardown_method(self):

From df1789ccf57b9a46640cd85319f9eee1d773400f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 20 Nov 2024 19:33:00 -0800
Subject: [PATCH 1032/1243] bump panda (#34072)

maybe
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 422e3e0c0f..998a639360 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 422e3e0c0f458c721517454cefcd22407576e9d5
+Subproject commit 998a63936087a3d90cd29df88375d786491a78f8

From b0699ccf2009387af3206a07c48c7f77ce079492 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Nov 2024 19:44:15 -0800
Subject: [PATCH 1033/1243] Toyota: new long tune improvements (#34073)

bump
---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index e74e496cdc..b17502d658 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e74e496cdce385c2e732d320de3a8491a2324489
+Subproject commit b17502d65833f95b32740ba6969e1293aa0f2ce9

From 5131c19232de8ff9f062d0a3cbcac57e0b21a115 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Nov 2024 11:15:43 -0800
Subject: [PATCH 1034/1243] pandad: set CAN FD auto mode (#34076)

* pandad: set CAN FD auto mode

* bump
---
 panda                      | 2 +-
 selfdrive/pandad/panda.cc  | 4 ++++
 selfdrive/pandad/panda.h   | 1 +
 selfdrive/pandad/pandad.cc | 4 ++++
 4 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/panda b/panda
index 998a639360..2fbf0c5ff8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 998a63936087a3d90cd29df88375d786491a78f8
+Subproject commit 2fbf0c5ff86f2e94021d7c937b9f8eb6839af484
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 5372e54aef..7b5fc9a999 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -145,6 +145,10 @@ void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
   handle->control_write(0xde, bus, (speed * 10));
 }
 
+void Panda::set_can_fd_auto(uint16_t bus, bool enabled) {
+  handle->control_write(0xe8, bus, enabled);
+}
+
 void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
   handle->control_write(0xf9, bus, (speed * 10));
 }
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 2491f2eb74..6ae2c77755 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -77,6 +77,7 @@ public:
   void enable_deepsleep();
   void send_heartbeat(bool engaged);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
+  void set_can_fd_auto(uint16_t bus, bool enabled);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
   void can_send(const capnp::List<cereal::CanData>::Reader &can_data_list);
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index a85159f33a..dd970dd16c 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -67,6 +67,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
+  for (int i = 0; i < PANDA_BUS_CNT; i++) {
+    panda->set_can_fd_auto(i, true);
+  }
+
   if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }

From 00c10f685107c1c03e6ed413834077af6a9f6f09 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 21 Nov 2024 11:32:06 -0800
Subject: [PATCH 1035/1243] ci: adjust pandad cpu usage (#34077)

more
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7dc7a75c12..09f15069ea 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -72,7 +72,7 @@ PROCS = {
 
 PROCS.update({
   "tici": {
-    "./pandad": 4.0,
+    "./pandad": 5.0,
     "./ubloxd": 1.0,
     "system.ubloxd.pigeond": 6.0,
   },

From fc354ec8cfa15baa1a20c5b5eeb3d3982b4cd467 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 21 Nov 2024 13:02:38 -0800
Subject: [PATCH 1036/1243] ci: retry flash in test_pandad (#34078)

retry
---
 selfdrive/pandad/tests/test_pandad.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 213678193f..87f30e4793 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -6,6 +6,7 @@ import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
+from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
@@ -51,6 +52,7 @@ class TestPandad:
     assert not Panda.wait_for_dfu(None, 3)
     assert not Panda.wait_for_panda(None, 3)
 
+  @retry(attempts=3)
   def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
     self._go_to_dfu()
     pd = PandaDFU(None)

From 8d9a1fa436abd742c037e69c9b7eaa7e185a5f6b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 21 Nov 2024 22:20:29 -0600
Subject: [PATCH 1037/1243] Corolla TSS2: support new Toyota tune (#34081)

* bump

* bump docs

* bump

* revert

* Update ref_commit
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index b17502d658..fb6ad760cc 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b17502d65833f95b32740ba6969e1293aa0f2ce9
+Subproject commit fb6ad760cce11efc21abc37bafa6e3013dc79797
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 6bd0d25e2a..6c92ba25d5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-da616638d93e5d7c974d05230c66cd97fd8049fd
+4bf2792e5997c0d916fa9be4442fd4c4901f597a

From 8939e3a30bf5f4e969e61fa20bdd089b4f8a4b19 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 21 Nov 2024 22:46:31 -0800
Subject: [PATCH 1038/1243] pandad: fix return value in spi_transfer (#34082)

zero
---
 selfdrive/pandad/spi.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc
index 8f1e29689b..d365dd3620 100644
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@@ -418,7 +418,7 @@ fail:
     }
   }
 
-  if (ret > 0) ret = -1;
+  if (ret >= 0) ret = -1;
   return ret;
 }
 #endif

From 0f4ed56d513b58af2b462e9406077c5306cc68a9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 23 Nov 2024 02:38:27 +0800
Subject: [PATCH 1039/1243] cabana: fix thumbnail font size and timeline
 sorting issues (#34086)

fix thumbnail font size and timeline sorting issues
---
 tools/cabana/videowidget.cc | 4 +++-
 tools/replay/replay.h       | 2 +-
 tools/replay/timeline.cc    | 9 +++++----
 tools/replay/timeline.h     | 2 +-
 4 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 3dddc0fb64..552d86b5d7 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -341,7 +341,9 @@ void StreamCameraView::drawThumbnail(QPainter &p) {
 
     p.drawPixmap(x, y, thumb);
     p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN, Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds));
+    p.setFont(QFont(font().family(), 10));
+    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN,
+               Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
   }
 }
 
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 0b4906532e..61c538c0a7 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -73,7 +73,7 @@ public:
   inline float getSpeed() const { return speed_; }
   inline const SegmentMap &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
-  inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.get(); }
+  inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.getEntries(); }
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
 
   // Event callback functions
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index a984c20016..d836de972b 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -18,7 +18,7 @@ void Timeline::initialize(const Route &route, uint64_t route_start_ts, bool loca
 }
 
 std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const {
-  for (const auto &entry : *get()) {
+  for (const auto &entry : *getEntries()) {
     if (entry.type == TimelineType::Engaged) {
       if (flag == FindFlag::nextEngagement && entry.start_time > cur_ts) {
         return entry.start_time;
@@ -38,7 +38,7 @@ std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const {
 }
 
 std::optional<Timeline::Entry> Timeline::findAlertAtTime(double target_time) const {
-  for (const auto &entry : *get()) {
+  for (const auto &entry : *getEntries()) {
     if (entry.start_time > target_time) break;
     if (entry.end_time >= target_time && entry.type >= TimelineType::AlertInfo) {
       return entry;
@@ -72,8 +72,9 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     }
 
     // Sort and finalize the timeline entries
-    std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
-    timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_);
+    auto entries = std::make_shared<std::vector<Entry>>(staging_entries_);
+    std::sort(entries->begin(), entries->end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
+    timeline_entries_ = entries;
 
     callback(log);  // Notify the callback once the log is processed
   }
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
index b2535fd8b0..689a80635f 100644
--- a/tools/replay/timeline.h
+++ b/tools/replay/timeline.h
@@ -27,7 +27,7 @@ public:
                   std::function<void(std::shared_ptr<LogReader>)> callback);
   std::optional<uint64_t> find(double cur_ts, FindFlag flag) const;
   std::optional<Entry> findAlertAtTime(double target_time) const;
-  const std::shared_ptr<std::vector<Entry>> get() const { return timeline_entries_; }
+  const std::shared_ptr<std::vector<Entry>> getEntries() const { return timeline_entries_; }
 
 private:
  void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,

From 7fc5040ed9aef2154755dff720a81cb6a99cfd48 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 22 Nov 2024 18:01:53 -0600
Subject: [PATCH 1040/1243] LogReader: fix issue when your dns resolves all
 requests (#34089)

* terrible :(

* keep this spacing
---
 tools/lib/filereader.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 8206ad2228..6773d5a599 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -5,12 +5,15 @@ from urllib.parse import urlparse
 from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
+LOCAL_IPS = ["10.", "192.168.", *[f"172.{i}" for i in range(16, 32)]]
 
 
 def internal_source_available(url=DATA_ENDPOINT):
   try:
     hostname = urlparse(url).hostname
     port = urlparse(url).port or 80
+    if not socket.gethostbyname(hostname).startswith(LOCAL_IPS):
+      return False
     with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
       s.settimeout(0.5)
       s.connect((hostname, port))

From 006482b3f41546f2a1799038042ebe4c1eef8703 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 22 Nov 2024 17:41:17 -0800
Subject: [PATCH 1041/1243] open new long reports

---
 tools/longitudinal_maneuvers/generate_report.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index aed972f606..e5972495b7 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -5,6 +5,7 @@ import io
 import os
 import math
 import pprint
+import webbrowser
 from collections import defaultdict
 from pathlib import Path
 import matplotlib.pyplot as plt
@@ -143,7 +144,8 @@ def report(platform, route, _description, CP, ID, maneuvers):
   with open(output_fn, "w") as f:
     f.write(''.join(builder))
 
-  print(f"\nReport written to {output_fn}\n")
+  print(f"\nOpening report: {output_fn}\n")
+  webbrowser.open_new_tab(str(output_fn))
 
 
 if __name__ == '__main__':

From fee1f29ce9615880d5aef6ccae5ae22dfef6025c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 22 Nov 2024 19:19:55 -0800
Subject: [PATCH 1042/1243] Last Horizon Model (#34090)

* 516b3968-82ec-4d7c-89ff-57ded21b3966/400

* 074f0168-aa4a-456b-a82c-464a6fc4ecdf/400

* f3dede04-b52d-4ca1-83aa-9686bd9d49ae/400
---
 selfdrive/modeld/models/supercombo.onnx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 2a0ddef57b..5a16eddf9b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
-size 50320138
+oid sha256:fe2822a955c2017c2995397aa1eb08b568203230c7c270238edd03679b40cbc9
+size 50320584

From 1b921fa6f99bc30c0adbd6f78ffc2cc101b41134 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 22 Nov 2024 19:29:40 -0800
Subject: [PATCH 1043/1243] ci: fix timeout when runner takes a long time to
 pick up the job (#34091)

fix
---
 .github/workflows/docs.yaml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 26b60ffec2..a0062500c5 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -19,14 +19,15 @@ jobs:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 1
     steps:
     - uses: actions/checkout@v4
+      timeout-minutes: 1
       with:
         submodules: true
 
     # Build
     - name: Build docs
+      timeout-minutes: 1
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
         pip install mkdocs
@@ -34,12 +35,14 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
+      timeout-minutes: 1
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: commaai/openpilot-docs
     - name: Push
+      timeout-minutes: 1
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x

From 38318db4c6b0fb76c7d2e067e06cf601068a0caa Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 22 Nov 2024 19:40:34 -0800
Subject: [PATCH 1044/1243] pandad: lower log level for low level error

---
 selfdrive/pandad/spi.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc
index d365dd3620..108b11b9dc 100644
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@@ -239,7 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
         // due to full TX buffers
         nack_count += 1;
         if (nack_count > 3) {
-          SPILOG(LOGE, "NACK sleep %d", nack_count);
+          SPILOG(LOGD, "NACK sleep %d", nack_count);
           usleep(std::clamp(nack_count*10, 200, 2000));
         }
       }

From 83950c1b36075b93c44d6eb3e15546a355eb5fb6 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 22 Nov 2024 20:26:41 -0800
Subject: [PATCH 1045/1243] fix OS04 line lengths (#34093)

* was bs

* 69c-8

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/sensors/os04c10.cc          | 2 +-
 system/camerad/sensors/os04c10_registers.h | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index e15b4470e2..5074b08f2c 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -50,7 +50,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 2352;
+  exposure_time_max = 1684;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x28;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index b8844379f9..8b1c78c69d 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -278,8 +278,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
@@ -307,7 +307,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // {0x0100, 0x01},
   // {0x320d, 0x00},
   // {0x3208, 0xa0},
-  {0x3822, 0x14},
 
   // initialize exposure
   {0x3503, 0x88},

From 1bbace7dfff9c38b9abc31be498675bbb869f535 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 22 Nov 2024 20:42:57 -0800
Subject: [PATCH 1046/1243] ci: fix retry color (#34094)

* color

* fix

* fix
---
 .github/workflows/setup/action.yaml | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 935db34154..818060c3b0 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -20,11 +20,9 @@ runs:
       name: No retries!
       run: |
         if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[31m"
-          echo "##################################################"
-          echo "    Retries not allowed! Fix the flaky test!      "
-          echo "##################################################"
-          echo -e "\033[0m"
+          echo -e "\033[0;31m##################################################"
+          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
+          echo -e "\033[0;31m##################################################\033[0m"
           exit 1
         fi
 

From 794ee3c9b4d895356a64e6377e2216103dd9b7ee Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 23 Nov 2024 00:22:22 -0600
Subject: [PATCH 1047/1243] bump opendbc (#34088)

* bump

* build dbcs

* bump

* bump

* bump

* bump

* no cache

* Revert "no cache"

This reverts commit 98929bb47ff8354bcfb19511947528b72654e45d.

* clean

* debug

* bump

* fix that

* fix
---
 SConstruct              | 2 +-
 opendbc_repo            | 2 +-
 tools/cabana/SConscript | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/SConstruct b/SConstruct
index 8aa46b9359..7cc672cef0 100644
--- a/SConstruct
+++ b/SConstruct
@@ -349,7 +349,7 @@ Export('common', 'gpucommon')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 
diff --git a/opendbc_repo b/opendbc_repo
index fb6ad760cc..8e349c3955 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit fb6ad760cce11efc21abc37bafa6e3013dc79797
+Subproject commit 8e349c395545b7d4ba59dcf317ef55baa591510c
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 74dc4d9f50..1cacaba4a2 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -39,4 +39,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc', "#cereal", "#msgq_repo", Glob("#opendbc/*.dbc")])
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc_repo', "#cereal", "#msgq_repo"])

From 78b6eaea7cc2c88c1cae2e7dd46bc4e53b41c6a4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 23 Nov 2024 19:35:04 -0800
Subject: [PATCH 1048/1243] ci: 1 minute global timeout for docs (#34095)

bring back
---
 .github/workflows/docs.yaml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index a0062500c5..6ede255a00 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -20,14 +20,14 @@ jobs:
     name: build docs
     runs-on: ubuntu-latest
     steps:
+    - uses: commaai/timeout@v1
+
     - uses: actions/checkout@v4
-      timeout-minutes: 1
       with:
         submodules: true
 
     # Build
     - name: Build docs
-      timeout-minutes: 1
       run: |
         # TODO: can we install just the "docs" dependency group without the normal deps?
         pip install mkdocs
@@ -35,14 +35,12 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      timeout-minutes: 1
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: commaai/openpilot-docs
     - name: Push
-      timeout-minutes: 1
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x

From 957d39a5b6398b3a15a77ccec5a2333001c5dbe9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 24 Nov 2024 12:35:42 +0800
Subject: [PATCH 1049/1243] athenad: close websocket before starting next loop
 iteration (#34085)

explicitly close websocket before starting next loop iteration
---
 system/athena/athenad.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index b5a8f5127f..9c9acf2c13 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -801,6 +801,8 @@ def main(exit_event: threading.Event = None):
       cur_upload_items.clear()
 
       handle_long_poll(ws, exit_event)
+
+      ws.close()
     except (KeyboardInterrupt, SystemExit):
       break
     except (ConnectionError, TimeoutError, WebSocketException):

From a58853e70ebf18cb070989b456fc3499efc89816 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 24 Nov 2024 10:50:34 -0800
Subject: [PATCH 1050/1243] ubloxd: update time validity check (#34103)

---
 system/ubloxd/pigeond.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 8809689dcd..2b34ec2ea8 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -9,6 +9,7 @@ import urllib.parse
 from datetime import datetime, UTC
 
 from cereal import messaging
+from openpilot.common.time import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import TICI
@@ -196,8 +197,8 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
         cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
 
       # sending time to ublox
-      t_now = datetime.now(UTC).replace(tzinfo=None)
-      if t_now >= datetime(2021, 6, 1):
+      if system_time_valid():
+        t_now = datetime.now(UTC).replace(tzinfo=None)
         cloudlog.warning("Sending current time to ublox")
 
         # UBX-MGA-INI-TIME_UTC

From 3c765a1f450242e121a1db0e36dd338099e1ca53 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 26 Nov 2024 01:13:22 +0800
Subject: [PATCH 1051/1243] replay: eliminate qt dependency (#34102)

refactor to remove qt dependency and module Replay classes
---
 tools/cabana/streams/abstractstream.cc |   6 +-
 tools/cabana/streams/abstractstream.h  |   2 +-
 tools/cabana/streams/replaystream.cc   |  19 +-
 tools/cabana/streams/replaystream.h    |   3 +-
 tools/cabana/videowidget.cc            |   5 +-
 tools/replay/SConscript                |  18 +-
 tools/replay/consoleui.cc              |  12 +-
 tools/replay/main.cc                   |  14 +-
 tools/replay/replay.cc                 | 346 +++++++++----------------
 tools/replay/replay.h                  | 103 +++-----
 tools/replay/route.cc                  |  14 +-
 tools/replay/route.h                   |   8 +-
 tools/replay/seg_mgr.cc                | 133 ++++++++++
 tools/replay/seg_mgr.h                 |  56 ++++
 tools/replay/tests/test_replay.cc      |  85 +-----
 tools/replay/tests/test_runner.cc      |  10 -
 tools/replay/util.cc                   |   4 +-
 tools/replay/util.h                    |   2 +-
 18 files changed, 404 insertions(+), 436 deletions(-)
 create mode 100644 tools/replay/seg_mgr.cc
 create mode 100644 tools/replay/seg_mgr.h
 delete mode 100644 tools/replay/tests/test_runner.cc

diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 9bf80deb98..08acba9dd8 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -126,9 +126,8 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   return it != last_msgs.end() ? it->second : empty_data;
 }
 
-// it is thread safe to update data in updateLastMsgsTo.
-// updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
+  std::lock_guard lk(mutex_);
   current_sec_ = sec;
   uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
@@ -160,7 +159,10 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                     std::any_of(messages_.cbegin(), messages_.cend(),
                                 [this](const auto &m) { return !last_msgs.count(m.first); });
   last_msgs = messages_;
+  mutex_.unlock();
+
   emit msgsReceived(nullptr, id_changed);
+  resumeStream();
 }
 
 const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 7ae119bcf0..5ecf086c95 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -108,7 +108,7 @@ protected:
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-
+  virtual void resumeStream() {}
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index bd48d97d52..bfe5ca74da 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -23,13 +23,10 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
   });
 }
 
-static bool event_filter(const Event *e, void *opaque) {
-  return ((ReplayStream *)opaque)->eventFilter(e);
-}
-
 void ReplayStream::mergeSegments() {
-  for (auto &[n, seg] : replay->segments()) {
-    if (seg && seg->isLoaded() && !processed_segments.count(n)) {
+  auto event_data = replay->getEventData();
+  for (const auto &[n, seg] : event_data->segments) {
+    if (!processed_segments.count(n)) {
       processed_segments.insert(n);
 
       std::vector<const CanEvent *> new_events;
@@ -50,16 +47,16 @@ void ReplayStream::mergeSegments() {
 
 bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
   replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir.toStdString(), this));
+                          {}, nullptr, replay_flags, data_dir.toStdString()));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
-  replay->installEventFilter(event_filter, this);
+  replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
 
   // Forward replay callbacks to corresponding Qt signals.
+  replay->onSeeking = [this](double sec) { emit seeking(sec); };
+  replay->onSeekedTo = [this](double sec) { emit seekedTo(sec); };
   replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
+  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::QueuedConnection); };
 
-  QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
-  QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
-  QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
   bool success = replay->load();
   if (!success) {
     if (replay->lastRouteError() == RouteLoadError::Unauthorized) {
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 1d1cdaec9e..2d7f335193 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -22,7 +22,7 @@ public:
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
-  inline QString routeName() const override { return QString::fromStdString(replay->route()->name()); }
+  inline QString routeName() const override { return QString::fromStdString(replay->route().name()); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
@@ -32,6 +32,7 @@ public:
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
+  void resumeStream() override { return replay->resumeStream(); }
   void pause(bool pause) override;
 
 signals:
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 552d86b5d7..0b2beb1dd6 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -247,8 +247,9 @@ void Slider::paintEvent(QPaintEvent *ev) {
 
     QColor empty_color = palette().color(QPalette::Window);
     empty_color.setAlpha(160);
-    for (const auto &[n, seg] : replay->segments()) {
-      if (!(seg && seg->isLoaded()))
+    const auto event_data = replay->getEventData();
+    for (const auto &[n, _] : replay->route().segments()) {
+      if (!event_data->isSegmentLoaded(n))
         fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
     }
   }
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 4a907849cb..18849407cf 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -1,8 +1,10 @@
-Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 
-base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc,
-             'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"]
+replay_env = env.Clone()
+replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
+
+base_frameworks = []
+base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
@@ -10,11 +12,11 @@ else:
   base_libs.append('OpenCL')
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "timeline.cc", "api.cc"]
-replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
+                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
+replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
-qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
+replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
-  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, base_libs])
+  replay_env.Program('tests/test_replay', ['tests/test_replay.cc'], LIBS=replay_libs)
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index b5415ac808..503902622c 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -6,8 +6,6 @@
 #include <tuple>
 #include <utility>
 
-#include <QApplication>
-
 #include "common/ratekeeper.h"
 #include "common/util.h"
 #include "common/version.h"
@@ -57,6 +55,8 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold
   if (color != Color::Default) wattroff(w, COLOR_PAIR(color));
 }
 
+ExitHandler do_exit;
+
 }  // namespace
 
 ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "liveParameters"}) {
@@ -95,6 +95,8 @@ ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "livePara
 }
 
 ConsoleUI::~ConsoleUI() {
+  installDownloadProgressHandler(nullptr);
+  installMessageHandler(nullptr);
   endwin();
 }
 
@@ -233,7 +235,7 @@ void ConsoleUI::updateProgressBar() {
 
 void ConsoleUI::updateSummary() {
   const auto &route = replay->route();
-  mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", route->name().c_str(), route->segments().size());
+  mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", route.name().c_str(), route.segments().size());
   mvwprintw(w[Win::Stats], 1, 0, "Car Fingerprint: %s", replay->carFingerprint().c_str());
   wrefresh(w[Win::Stats]);
 }
@@ -349,7 +351,8 @@ void ConsoleUI::handleKey(char c) {
 
 int ConsoleUI::exec() {
   RateKeeper rk("Replay", 20);
-  while (true) {
+
+  while (!do_exit) {
     int c = getch();
     if (c == 'q' || c == 'Q') {
       break;
@@ -373,7 +376,6 @@ int ConsoleUI::exec() {
       logs.clear();
     }
 
-    qApp->processEvents();
     rk.keepTime();
   }
   return 0;
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index b880e99e23..31493d1486 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,6 +1,5 @@
 #include <getopt.h>
 
-#include <QApplication>
 #include <iostream>
 #include <map>
 #include <string>
@@ -126,7 +125,6 @@ int main(int argc, char *argv[]) {
   util::set_file_descriptor_limit(1024);
 #endif
 
-  QCoreApplication app(argc, argv);
   ReplayConfig config;
 
   if (!parseArgs(argc, argv, config)) {
@@ -138,18 +136,18 @@ int main(int argc, char *argv[]) {
     op_prefix = std::make_unique<OpenpilotPrefix>(config.prefix);
   }
 
-  Replay *replay = new Replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, &app);
+  Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir);
   if (config.cache_segments > 0) {
-    replay->setSegmentCacheLimit(config.cache_segments);
+    replay.setSegmentCacheLimit(config.cache_segments);
   }
   if (config.playback_speed > 0) {
-    replay->setSpeed(std::clamp(config.playback_speed, ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
+    replay.setSpeed(std::clamp(config.playback_speed, ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
   }
-  if (!replay->load()) {
+  if (!replay.load()) {
     return 1;
   }
 
-  ConsoleUI console_ui(replay);
-  replay->start(config.start_seconds);
+  ConsoleUI console_ui(&replay);
+  replay.start(config.start_seconds);
   return console_ui.exec();
 }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 82e231937c..2bd3614530 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -4,7 +4,6 @@
 #include <csignal>
 #include "cereal/services.h"
 #include "common/params.h"
-#include "common/timing.h"
 #include "tools/replay/util.h"
 
 static void interrupt_sleep_handler(int signal) {}
@@ -12,145 +11,124 @@ static void interrupt_sleep_handler(int signal) {}
 // Helper function to notify events with safety checks
 template <typename Callback, typename... Args>
 void notifyEvent(Callback &callback, Args &&...args) {
-  if (callback) {
-    callback(std::forward<Args>(args)...);
-  }
+  if (callback) callback(std::forward<Args>(args)...);
 }
 
-Replay::Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block, SubMaster *sm_,
-               uint32_t flags, const std::string &data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
-  // Register signal handler for SIGUSR1
+Replay::Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block,
+               SubMaster *sm, uint32_t flags, const std::string &data_dir)
+    : sm_(sm), flags_(flags), seg_mgr_(std::make_unique<SegmentManager>(route, flags, data_dir)) {
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
     block.insert(block.end(), {"uiDebug", "userFlag"});
   }
+  setupServices(allow, block);
+  setupSegmentManager(!allow.empty() || !block.empty());
+}
 
+void Replay::setupServices(const std::vector<std::string> &allow, const std::vector<std::string> &block) {
   auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
-  sockets_.resize(event_schema.getUnionFields().size());
-  std::vector<std::string> active_services;
+  sockets_.resize(event_schema.getUnionFields().size(), nullptr);
 
+  std::vector<const char *> active_services;
   for (const auto &[name, _] : services) {
-    bool in_block = std::find(block.begin(), block.end(), name) != block.end();
-    bool in_allow = std::find(allow.begin(), allow.end(), name) != allow.end();
-    if (!in_block && (allow.empty() || in_allow)) {
+    bool is_blocked = std::find(block.begin(), block.end(), name) != block.end();
+    bool is_allowed = allow.empty() || std::find(allow.begin(), allow.end(), name) != allow.end();
+    if (is_allowed && !is_blocked) {
       uint16_t which = event_schema.getFieldByName(name).getProto().getDiscriminantValue();
       sockets_[which] = name.c_str();
-      active_services.push_back(name);
+      active_services.push_back(name.c_str());
     }
   }
-
-  if (!allow.empty()) {
-    for (int i = 0; i < sockets_.size(); ++i) {
-      filters_.push_back(i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
-    }
+  rInfo("active services: %s", join(active_services, ", ").c_str());
+  if (!sm_) {
+    pm_ = std::make_unique<PubMaster>(active_services);
   }
+}
 
-  rInfo("active services: %s", join(active_services, ", ").c_str());
-  rInfo("loading route %s", route.c_str());
+void Replay::setupSegmentManager(bool has_filters) {
+  seg_mgr_->setCallback([this]() { handleSegmentMerge(); });
 
-  if (sm == nullptr) {
-    std::vector<const char *> socket_names;
-    std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(socket_names),
-                 [](const char *name) { return name != nullptr; });
-    pm = std::make_unique<PubMaster>(socket_names);
+  if (has_filters) {
+    std::vector<bool> filters(sockets_.size(), false);
+    for (size_t i = 0; i < sockets_.size(); ++i) {
+      filters[i] = (i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
+    }
+    seg_mgr_->setFilters(filters);
   }
-  route_ = std::make_unique<Route>(route, data_dir);
 }
 
 Replay::~Replay() {
-  stop();
-}
-
-void Replay::stop() {
-  exit_ = true;
-  if (stream_thread_ != nullptr) {
+  seg_mgr_.reset();
+  if (stream_thread_.joinable()) {
     rInfo("shutdown: in progress...");
-    pauseStreamThread();
-    stream_cv_.notify_one();
-    stream_thread_->quit();
-    stream_thread_->wait();
-    stream_thread_->deleteLater();
-    stream_thread_ = nullptr;
+    interruptStream([this]() {
+      exit_ = true;
+      return false;
+    });
+    stream_thread_.join();
     rInfo("shutdown: done");
   }
-  camera_server_.reset(nullptr);
-  segments_.clear();
+  camera_server_.reset();
 }
 
 bool Replay::load() {
-  if (!route_->load()) {
-    rError("failed to load route %s from %s", route_->name().c_str(),
-           route_->dir().empty() ? "server" : route_->dir().c_str());
-    return false;
-  }
+  rInfo("loading route %s", seg_mgr_->route_.name().c_str());
+  if (!seg_mgr_->load()) return false;
 
-  for (auto &[n, f] : route_->segments()) {
-    bool has_log = !f.rlog.empty() || !f.qlog.empty();
-    bool has_video = !f.road_cam.empty() || !f.qcamera.empty();
-    if (has_log && (has_video || hasFlag(REPLAY_FLAG_NO_VIPC))) {
-      segments_.insert({n, nullptr});
-    }
-  }
-  if (segments_.empty()) {
-    rInfo("no valid segments in route: %s", route_->name().c_str());
-    return false;
-  }
-  rInfo("load route %s with %zu valid segments", route_->name().c_str(), segments_.size());
-  max_seconds_ = (segments_.rbegin()->first + 1) * 60;
+  min_seconds_ = seg_mgr_->route_.segments().begin()->first * 60;
+  max_seconds_ = (seg_mgr_->route_.segments().rbegin()->first + 1) * 60;
   return true;
 }
 
-void Replay::start(int seconds) {
-  seekTo(route_->identifier().begin_segment * 60 + seconds, false);
-}
-
-void Replay::updateEvents(const std::function<bool()> &update_events_function) {
-  pauseStreamThread();
+void Replay::interruptStream(const std::function<bool()> &update_fn) {
+  if (stream_thread_.joinable() && stream_thread_id) {
+    pthread_kill(stream_thread_id, SIGUSR1);  // Interrupt sleep in stream thread
+  }
   {
-    std::unique_lock lk(stream_lock_);
-    events_ready_ = update_events_function();
-    paused_ = user_paused_;
+    interrupt_requested_ = true;
+    std::unique_lock lock(stream_lock_);
+    events_ready_ = update_fn();
+    interrupt_requested_ = user_paused_;
   }
   stream_cv_.notify_one();
 }
 
 void Replay::seekTo(double seconds, bool relative) {
-  updateEvents([&]() {
-    double target_time = relative ? seconds + currentSeconds() : seconds;
-    target_time = std::max(double(0.0), target_time);
-    int target_segment = (int)target_time / 60;
-    if (segments_.count(target_segment) == 0) {
-      rWarning("Can't seek to %.2f s segment %d is invalid", target_time, target_segment);
-      return true;
-    }
-    if (target_time > max_seconds_) {
-      rWarning("Can't seek to %.2f s, time is invalid", target_time);
-      return true;
-    }
+  double target_time = relative ? seconds + currentSeconds() : seconds;
+  target_time = std::max(0.0, target_time);
+  int target_segment = target_time / 60;
+  if (!seg_mgr_->hasSegment(target_segment)) {
+    rWarning("Invalid seek to %.2f s (segment %d)", target_time, target_segment);
+    return;
+  }
 
-    rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
+  rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
+  notifyEvent(onSeeking, target_time);
+
+  double seeked_to_sec = -1;
+  interruptStream([&]() {
     current_segment_ = target_segment;
     cur_mono_time_ = route_start_ts_ + target_time * 1e9;
     seeking_to_ = target_time;
+
+    if (event_data_->isSegmentLoaded(target_segment)) {
+      seeked_to_sec = *seeking_to_;
+      seeking_to_.reset();
+    }
     return false;
   });
 
-  checkSeekProgress();
-  updateSegmentsCache();
+  checkSeekProgress(seeked_to_sec);
+  seg_mgr_->setCurrentSegment(target_segment);
 }
 
-void Replay::checkSeekProgress() {
-  if (seeking_to_) {
-    auto it = segments_.find(int(*seeking_to_ / 60));
-    if (it != segments_.end() && it->second && it->second->isLoaded()) {
-      emit seekedTo(*seeking_to_);
-      seeking_to_ = std::nullopt;
-      // wake up stream thread
-      updateEvents([]() { return true; });
+void Replay::checkSeekProgress(double seeked_to_sec) {
+  if (seeked_to_sec >= 0) {
+    if (onSeekedTo) {
+      onSeekedTo(seeked_to_sec);
     } else {
-      // Emit signal indicating the ongoing seek operation
-      emit seeking(*seeking_to_);
+      interruptStream([]() { return true; });
     }
   }
 }
@@ -163,125 +141,45 @@ void Replay::seekToFlag(FindFlag flag) {
 
 void Replay::pause(bool pause) {
   if (user_paused_ != pause) {
-    pauseStreamThread();
-    {
-      std::unique_lock lk(stream_lock_);
+    interruptStream([=]() {
       rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
-      paused_ = user_paused_ = pause;
-    }
-    stream_cv_.notify_one();
-  }
-}
-
-void Replay::pauseStreamThread() {
-  paused_ = true;
-  // Send SIGUSR1 to interrupt clock_nanosleep
-  if (stream_thread_ && stream_thread_id) {
-    pthread_kill(stream_thread_id, SIGUSR1);
-  }
-}
-
-void Replay::segmentLoadFinished(int seg_num, bool success) {
-  if (!success) {
-    rWarning("failed to load segment %d, removing it from current replay list", seg_num);
-    updateEvents([&]() {
-      segments_.erase(seg_num);
-      return !segments_.empty();
+      user_paused_ = pause;
+      return !pause;
     });
   }
-  QMetaObject::invokeMethod(this, &Replay::updateSegmentsCache, Qt::QueuedConnection);
 }
 
-void Replay::updateSegmentsCache() {
-  auto cur = segments_.lower_bound(current_segment_.load());
-  if (cur == segments_.end()) return;
-
-  // Calculate the range of segments to load
-  auto begin = std::prev(cur, std::min<int>(segment_cache_limit / 2, std::distance(segments_.begin(), cur)));
-  auto end = std::next(begin, std::min<int>(segment_cache_limit, std::distance(begin, segments_.end())));
-  begin = std::prev(end, std::min<int>(segment_cache_limit, std::distance(segments_.begin(), end)));
-
-  loadSegmentInRange(begin, cur, end);
-  mergeSegments(begin, end);
+void Replay::handleSegmentMerge() {
+  if (exit_) return;
 
-  // free segments out of current semgnt window.
-  std::for_each(segments_.begin(), begin, [](auto &e) { e.second.reset(nullptr); });
-  std::for_each(end, segments_.end(), [](auto &e) { e.second.reset(nullptr); });
+  double seeked_to_sec = -1;
+  interruptStream([&]() {
+    event_data_ = seg_mgr_->getEventData();
+    notifyEvent(onSegmentsMerged);
 
-  // start stream thread
-  const auto &cur_segment = cur->second;
-  if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
-    startStream(cur_segment.get());
-  }
-}
-
-void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
-  auto loadNextSegment = [this](auto first, auto last) {
-    auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
-    if (it != last && !it->second) {
-      rDebug("loading segment %d...", it->first);
-      it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_,
-                                             [this](int seg_num, bool success) {
-                                               segmentLoadFinished(seg_num, success);
-                                             });
-      return true;
+    bool segment_loaded = event_data_->isSegmentLoaded(current_segment_);
+    if (seeking_to_ && segment_loaded) {
+      seeked_to_sec = *seeking_to_;
+      seeking_to_.reset();
+      return false;
     }
-    return false;
-  };
-
-  // Try loading forward segments, then reverse segments
-  if (!loadNextSegment(cur, end)) {
-    loadNextSegment(std::make_reverse_iterator(cur), std::make_reverse_iterator(begin));
-  }
-}
-
-void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {
-  std::set<int> segments_to_merge;
-  size_t new_events_size = 0;
-  for (auto it = begin; it != end; ++it) {
-    if (it->second && it->second->isLoaded()) {
-      segments_to_merge.insert(it->first);
-      new_events_size += it->second->log->events.size();
-    }
-  }
-
-  if (segments_to_merge == merged_segments_) return;
-
-  rDebug("merge segments %s", std::accumulate(segments_to_merge.begin(), segments_to_merge.end(), std::string{},
-    [](auto & a, int b) { return a + (a.empty() ? "" : ", ") + std::to_string(b); }).c_str());
-
-  std::vector<Event> new_events;
-  new_events.reserve(new_events_size);
-
-  // Merge events from segments_to_merge into new_events
-  for (int n : segments_to_merge) {
-    size_t size = new_events.size();
-    const auto &events = segments_.at(n)->log->events;
-    std::copy_if(events.begin(), events.end(), std::back_inserter(new_events),
-                  [this](const Event &e) { return e.which < sockets_.size() && sockets_[e.which] != nullptr; });
-    std::inplace_merge(new_events.begin(), new_events.begin() + size, new_events.end());
-  }
+    return segment_loaded;
+  });
 
-  if (stream_thread_) {
-    emit segmentsMerged();
+  checkSeekProgress(seeked_to_sec);
+  if (!stream_thread_.joinable() && !event_data_->events.empty()) {
+    startStream();
   }
-
-  updateEvents([&]() {
-    events_.swap(new_events);
-    merged_segments_ = segments_to_merge;
-    // Wake up the stream thread if the current segment is loaded or invalid.
-    return !seeking_to_ && (isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0));
-  });
-  checkSeekProgress();
 }
 
-void Replay::startStream(const Segment *cur_segment) {
+void Replay::startStream() {
+  const auto &cur_segment = event_data_->segments.begin()->second;
   const auto &events = cur_segment->log->events;
   route_start_ts_ = events.front().mono_time;
   cur_mono_time_ += route_start_ts_ - 1;
 
   // get datetime from INIT_DATA, fallback to datetime in the route name
-  route_date_time_ = route()->datetime();
+  route_date_time_ = route().datetime();
   auto it = std::find_if(events.cbegin(), events.cend(),
                          [](const Event &e) { return e.which == cereal::Event::Which::INIT_DATA; });
   if (it != events.cend()) {
@@ -299,6 +197,7 @@ void Replay::startStream(const Segment *cur_segment) {
     capnp::FlatArrayMessageReader reader(it->data);
     auto event = reader.getRoot<cereal::Event>();
     car_fingerprint_ = event.getCarParams().getCarFingerprint();
+
     capnp::MallocMessageBuilder builder;
     builder.setRoot(event.getCarParams());
     auto words = capnp::messageToFlatArray(builder);
@@ -320,26 +219,18 @@ void Replay::startStream(const Segment *cur_segment) {
     camera_server_ = std::make_unique<CameraServer>(camera_size);
   }
 
-  emit segmentsMerged();
-
-  timeline_.initialize(*route_, route_start_ts_, !(flags_ & REPLAY_FLAG_NO_FILE_CACHE),
-                       [this](std::shared_ptr<LogReader> log) {
-                         notifyEvent(onQLogLoaded, log);
-                       });
-  // start stream thread
-  stream_thread_ = new QThread();
-  QObject::connect(stream_thread_, &QThread::started, [=]() { streamThread(); });
-  stream_thread_->start();
+  timeline_.initialize(seg_mgr_->route_, route_start_ts_, !(flags_ & REPLAY_FLAG_NO_FILE_CACHE),
+                       [this](std::shared_ptr<LogReader> log) { notifyEvent(onQLogLoaded, log); });
 
-  emit streamStarted();
+  stream_thread_ = std::thread(&Replay::streamThread, this);
 }
 
 void Replay::publishMessage(const Event *e) {
-  if (event_filter && event_filter(e, filter_opaque)) return;
+  if (event_filter_ && event_filter_(e)) return;
 
-  if (sm == nullptr) {
+  if (!sm_) {
     auto bytes = e->data.asBytes();
-    int ret = pm->send(sockets_[e->which], (capnp::byte *)bytes.begin(), bytes.size());
+    int ret = pm_->send(sockets_[e->which], (capnp::byte *)bytes.begin(), bytes.size());
     if (ret == -1) {
       rWarning("stop publishing %s due to multiple publishers error", sockets_[e->which]);
       sockets_[e->which] = nullptr;
@@ -347,7 +238,7 @@ void Replay::publishMessage(const Event *e) {
   } else {
     capnp::FlatArrayMessageReader reader(e->data);
     auto event = reader.getRoot<cereal::Event>();
-    sm->update_msgs(nanos_since_boot(), {{sockets_[e->which], event}});
+    sm_->update_msgs(nanos_since_boot(), {{sockets_[e->which], event}});
   }
 }
 
@@ -363,9 +254,9 @@ void Replay::publishFrame(const Event *e) {
   if ((cam == DriverCam && !hasFlag(REPLAY_FLAG_DCAM)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_ECAM)))
     return;  // Camera isdisabled
 
-  if (isSegmentMerged(e->eidx_segnum)) {
-    auto &segment = segments_.at(e->eidx_segnum);
-    if (auto &frame = segment->frames[cam]; frame) {
+  auto seg_it = event_data_->segments.find(e->eidx_segnum);
+  if (seg_it != event_data_->segments.end()) {
+    if (auto &frame = seg_it->second->frames[cam]; frame) {
       camera_server_->pushFrame(cam, frame.get(), e);
     }
   }
@@ -377,32 +268,33 @@ void Replay::streamThread() {
   std::unique_lock lk(stream_lock_);
 
   while (true) {
-    stream_cv_.wait(lk, [=]() { return exit_ || ( events_ready_ && !paused_); });
+    stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); });
     if (exit_) break;
 
-    Event event(cur_which, cur_mono_time_, {});
-    auto first = std::upper_bound(events_.cbegin(), events_.cend(), event);
-    if (first == events_.cend()) {
+    const auto &events = event_data_->events;
+    auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which, cur_mono_time_, {}));
+    if (first == events.cend()) {
       rInfo("waiting for events...");
       events_ready_ = false;
       continue;
     }
 
-    auto it = publishEvents(first, events_.cend());
+    auto it = publishEvents(first, events.cend());
 
     // Ensure frames are sent before unlocking to prevent race conditions
     if (camera_server_) {
       camera_server_->waitForSent();
     }
 
-    if (it != events_.cend()) {
+    if (it != events.cend()) {
       cur_which = it->which;
     } else if (!hasFlag(REPLAY_FLAG_NO_LOOP)) {
-      // Check for loop end and restart if necessary
-      int last_segment = segments_.rbegin()->first;
-      if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
+      int last_segment = seg_mgr_->route_.segments().rbegin()->first;
+      if (event_data_->isSegmentLoaded(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
-        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, minSeconds(), false), Qt::QueuedConnection);
+        stream_lock_.unlock();
+        seekTo(minSeconds(), false);
+        stream_lock_.lock();
       }
     }
   }
@@ -414,16 +306,16 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
   uint64_t loop_start_ts = nanos_since_boot();
   double prev_replay_speed = speed_;
 
-  for (; !paused_ && first != last; ++first) {
+  for (; !interrupt_requested_ && first != last; ++first) {
     const Event &evt = *first;
     int segment = toSeconds(evt.mono_time) / 60;
 
     if (current_segment_ != segment) {
       current_segment_ = segment;
-      QMetaObject::invokeMethod(this, &Replay::updateSegmentsCache, Qt::QueuedConnection);
+      seg_mgr_->setCurrentSegment(current_segment_);
     }
 
-     // Skip events if socket is not present
+    // Skip events if socket is not present
     if (!sockets_[evt.which]) continue;
 
     cur_mono_time_ = evt.mono_time;
@@ -438,10 +330,10 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
     } else if (time_diff > 0) {
-      precise_nano_sleep(time_diff, paused_);
+      precise_nano_sleep(time_diff, interrupt_requested_);
     }
 
-    if (paused_) break;
+    if (interrupt_requested_) break;
 
     if (evt.eidx_segnum == -1) {
       publishMessage(&evt);
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 61c538c0a7..5169e88629 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -1,25 +1,18 @@
 #pragma once
 
-#include <algorithm>
-#include <map>
+#include <functional>
 #include <memory>
+#include <mutex>
 #include <optional>
-#include <set>
 #include <string>
 #include <vector>
-#include <utility>
-
-#include <QThread>
 
 #include "tools/replay/camera.h"
-#include "tools/replay/route.h"
+#include "tools/replay/seg_mgr.h"
 #include "tools/replay/timeline.h"
 
 #define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
 
-// one segment uses about 100M of memory
-constexpr int MIN_SEGMENTS_CACHE = 5;
-
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
   REPLAY_FLAG_DCAM = 0x0002,
@@ -32,111 +25,85 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
 };
 
-typedef bool (*replayEventFilter)(const Event *, void *);
-typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
-
-class Replay : public QObject {
-  Q_OBJECT
-
+class Replay {
 public:
   Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block, SubMaster *sm = nullptr,
-         uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "", QObject *parent = 0);
+         uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "");
   ~Replay();
   bool load();
-  RouteLoadError lastRouteError() const { return route_->lastError(); }
-  void start(int seconds = 0);
-  void stop();
+  RouteLoadError lastRouteError() const { return route().lastError(); }
+  void start(int seconds = 0) { seekTo(min_seconds_ + seconds, false); }
   void pause(bool pause);
   void seekToFlag(FindFlag flag);
   void seekTo(double seconds, bool relative);
   inline bool isPaused() const { return user_paused_; }
-  // the filter is called in streaming thread.try to return quickly from it to avoid blocking streaming.
-  // the filter function must return true if the event should be filtered.
-  // otherwise it must return false.
-  inline void installEventFilter(replayEventFilter filter, void *opaque) {
-    filter_opaque = opaque;
-    event_filter = filter;
-  }
-  inline int segmentCacheLimit() const { return segment_cache_limit; }
-  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); }
+  inline int segmentCacheLimit() const { return seg_mgr_->segment_cache_limit_; }
+  inline void setSegmentCacheLimit(int n) { seg_mgr_->segment_cache_limit_ = std::max(MIN_SEGMENTS_CACHE, n); }
   inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
   void setLoop(bool loop) { loop ? flags_ &= ~REPLAY_FLAG_NO_LOOP : flags_ |= REPLAY_FLAG_NO_LOOP; }
   bool loop() const { return !(flags_ & REPLAY_FLAG_NO_LOOP); }
-  inline const Route* route() const { return route_.get(); }
+  const Route &route() const { return seg_mgr_->route_; }
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline std::time_t routeDateTime() const { return route_date_time_; }
   inline uint64_t routeStartNanos() const { return route_start_ts_; }
   inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
-  inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; }
+  inline double minSeconds() const { return min_seconds_; }
   inline double maxSeconds() const { return max_seconds_; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
-  inline const SegmentMap &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.getEntries(); }
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
+  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return event_data_; }
+  void installEventFilter(std::function<bool(const Event *)> filter) { event_filter_ = filter; }
+  void resumeStream() { interruptStream([]() { return true; }); }
 
   // Event callback functions
+  std::function<void()> onSegmentsMerged = nullptr;
+  std::function<void(double)> onSeeking = nullptr;
+  std::function<void(double)> onSeekedTo = nullptr;
   std::function<void(std::shared_ptr<LogReader>)> onQLogLoaded = nullptr;
 
-
-signals:
-  void streamStarted();
-  void segmentsMerged();
-  void seeking(double sec);
-  void seekedTo(double sec);
-  void minMaxTimeChanged(double min_sec, double max_sec);
-
-protected:
-  std::optional<uint64_t> find(FindFlag flag);
-  void pauseStreamThread();
-  void startStream(const Segment *cur_segment);
+private:
+  void setupServices(const std::vector<std::string> &allow, const std::vector<std::string> &block);
+  void setupSegmentManager(bool has_filters);
+  void startStream();
   void streamThread();
-  void updateSegmentsCache();
-  void loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end);
-  void segmentLoadFinished(int seg_num, bool success);
-  void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
-  void updateEvents(const std::function<bool()>& update_events_function);
+  void handleSegmentMerge();
+  void interruptStream(const std::function<bool()>& update_fn);
   std::vector<Event>::const_iterator publishEvents(std::vector<Event>::const_iterator first,
                                                    std::vector<Event>::const_iterator last);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
-  void checkSeekProgress();
-  inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; }
+  void checkSeekProgress(double seeked_to_sec);
 
+  std::unique_ptr<SegmentManager> seg_mgr_;
   Timeline timeline_;
 
   pthread_t stream_thread_id = 0;
-  QThread *stream_thread_ = nullptr;
+  std::thread stream_thread_;
   std::mutex stream_lock_;
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
-  std::atomic<int> current_segment_ = 0;
+  int current_segment_ = 0;
   std::optional<double> seeking_to_;
-  SegmentMap segments_;
-  // the following variables must be protected with stream_lock_
   std::atomic<bool> exit_ = false;
-  std::atomic<bool> paused_ = false;
+  std::atomic<bool> interrupt_requested_ = false;
   bool events_ready_ = false;
   std::time_t route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
-  std::atomic<double> max_seconds_ = 0;
-  std::vector<Event> events_;
-  std::set<int> merged_segments_;
-
-  // messaging
-  SubMaster *sm = nullptr;
-  std::unique_ptr<PubMaster> pm;
+  double min_seconds_ = 0;
+  double max_seconds_ = 0;
+  SubMaster *sm_ = nullptr;
+  std::unique_ptr<PubMaster> pm_;
   std::vector<const char*> sockets_;
-  std::vector<bool> filters_;
-  std::unique_ptr<Route> route_;
   std::unique_ptr<CameraServer> camera_server_;
   std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;
 
   std::string car_fingerprint_;
   std::atomic<float> speed_ = 1.0;
-  replayEventFilter event_filter = nullptr;
-  void *filter_opaque = nullptr;
-  int segment_cache_limit = MIN_SEGMENTS_CACHE;
+  std::function<bool(const Event *)> event_filter_ = nullptr;
+
+  std::shared_ptr<SegmentManager::EventData> event_data_ = std::make_shared<SegmentManager::EventData>();
 };
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 9306b9fb07..7731d0daf4 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -159,7 +159,7 @@ void Route::addFileToSegment(int n, const std::string &file) {
 
 Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters,
                  std::function<void(int, bool)> callback)
-    : seg_num(n), flags(flags), filters_(filters), onLoadFinished_(callback) {
+    : seg_num(n), flags(flags), filters_(filters), on_load_finished_(callback) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
       (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam,
@@ -178,7 +178,7 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vec
 Segment::~Segment() {
   {
     std::lock_guard lock(mutex_);
-    onLoadFinished_ = nullptr;  // Prevent callback after destruction
+    on_load_finished_ = nullptr;  // Prevent callback after destruction
   }
   abort_ = true;
   for (auto &thread : threads_) {
@@ -204,8 +204,14 @@ void Segment::loadFile(int id, const std::string file) {
 
   if (--loading_ == 0) {
     std::lock_guard lock(mutex_);
-    if (onLoadFinished_) {
-      onLoadFinished_(seg_num, !abort_);
+    load_state_ = !abort_ ? LoadState::Loaded : LoadState::Failed;
+    if (on_load_finished_) {
+      on_load_finished_(seg_num, !abort_);
     }
   }
 }
+
+Segment::LoadState Segment::getState() {
+  std::scoped_lock lock(mutex_);
+  return load_state_;
+}
diff --git a/tools/replay/route.h b/tools/replay/route.h
index c2c7af6bc7..1806be5afa 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <ctime>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -64,10 +65,12 @@ protected:
 
 class Segment {
 public:
+  enum class LoadState {Loading, Loaded, Failed};
+
   Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters,
           std::function<void(int, bool)> callback);
   ~Segment();
-  inline bool isLoaded() const { return !loading_ && !abort_; }
+  LoadState getState();
 
   const int seg_num = 0;
   std::unique_ptr<LogReader> log;
@@ -80,7 +83,8 @@ protected:
   std::atomic<int> loading_ = 0;
   std::mutex mutex_;
   std::vector<std::thread> threads_;
-  std::function<void(int, bool)> onLoadFinished_ = nullptr;
+  std::function<void(int, bool)> on_load_finished_ = nullptr;
   uint32_t flags;
   std::vector<bool> filters_;
+  LoadState load_state_  = LoadState::Loading;
 };
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
new file mode 100644
index 0000000000..315356b833
--- /dev/null
+++ b/tools/replay/seg_mgr.cc
@@ -0,0 +1,133 @@
+#include "tools/replay/seg_mgr.h"
+
+SegmentManager::~SegmentManager() {
+  {
+    std::unique_lock lock(mutex_);
+    exit_ = true;
+    onSegmentMergedCallback_ = nullptr;
+  }
+  cv_.notify_one();
+  if (thread_.joinable()) thread_.join();
+}
+
+bool SegmentManager::load() {
+  if (!route_.load()) {
+    rError("failed to load route: %s", route_.name().c_str());
+    return false;
+  }
+
+  for (const auto &[n, file] : route_.segments()) {
+    if (!file.rlog.empty() || !file.qlog.empty()) {
+      segments_.insert({n, nullptr});
+    }
+  }
+
+  if (segments_.empty()) {
+    rInfo("no valid segments in route: %s", route_.name().c_str());
+    return false;
+  }
+
+  rInfo("loaded route %s with %zu valid segments", route_.name().c_str(), segments_.size());
+  thread_ = std::thread(&SegmentManager::manageSegmentCache, this);
+  return true;
+}
+
+void SegmentManager::setCurrentSegment(int seg_num) {
+  {
+    std::unique_lock lock(mutex_);
+    cur_seg_num_ = seg_num;
+    needs_update_ = true;
+  }
+  cv_.notify_one();
+}
+
+void SegmentManager::manageSegmentCache() {
+  while (true) {
+    std::unique_lock lock(mutex_);
+    cv_.wait(lock, [this]() { return exit_ || needs_update_; });
+    if (exit_) break;
+
+    needs_update_ = false;
+    auto cur = segments_.lower_bound(cur_seg_num_);
+    if (cur == segments_.end()) continue;
+
+    // Calculate the range of segments to load
+    auto begin = std::prev(cur, std::min<int>(segment_cache_limit_ / 2, std::distance(segments_.begin(), cur)));
+    auto end = std::next(begin, std::min<int>(segment_cache_limit_, std::distance(begin, segments_.end())));
+    begin = std::prev(end, std::min<int>(segment_cache_limit_, std::distance(segments_.begin(), end)));
+
+    loadSegmentsInRange(begin, cur, end);
+    bool merged = mergeSegments(begin, end);
+
+    // Free segments outside the current range
+    std::for_each(segments_.begin(), begin, [](auto &segment) { segment.second.reset(); });
+    std::for_each(end, segments_.end(), [](auto &segment) { segment.second.reset(); });
+
+    lock.unlock();
+
+    if (merged && onSegmentMergedCallback_) {
+      onSegmentMergedCallback_();  // Notify listener that segments have been merged
+    }
+  }
+}
+
+bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {
+  std::set<int> segments_to_merge;
+  size_t total_event_count = 0;
+  for (auto it = begin; it != end; ++it) {
+    const auto &segment = it->second;
+    if (segment && segment->getState() == Segment::LoadState::Loaded) {
+      segments_to_merge.insert(segment->seg_num);
+      total_event_count += segment->log->events.size();
+    }
+  }
+
+  if (segments_to_merge == merged_segments_) return false;
+
+  auto merged_event_data = std::make_shared<EventData>();
+  auto &merged_events = merged_event_data->events;
+  merged_events.reserve(total_event_count);
+
+  rDebug("merging segments: %s", join(segments_to_merge, ", ").c_str());
+  for (int n : segments_to_merge) {
+    const auto &events = segments_.at(n)->log->events;
+    if (events.empty()) continue;
+
+    // Skip INIT_DATA if present
+    auto events_begin = (events.front().which == cereal::Event::Which::INIT_DATA) ? std::next(events.begin()) : events.begin();
+
+    size_t previous_size = merged_events.size();
+    merged_events.insert(merged_events.end(), events_begin, events.end());
+    std::inplace_merge(merged_events.begin(), merged_events.begin() + previous_size, merged_events.end());
+
+    merged_event_data->segments[n] = segments_.at(n);
+  }
+
+  event_data_ = merged_event_data;
+  merged_segments_ = segments_to_merge;
+
+  return true;
+}
+
+void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
+  auto tryLoadSegment = [this](auto first, auto last) {
+    for (auto it = first; it != last; ++it) {
+      auto &segment_ptr = it->second;
+      if (!segment_ptr) {
+        segment_ptr = std::make_shared<Segment>(
+            it->first, route_.at(it->first), flags_, filters_,
+            [this](int seg_num, bool success) { setCurrentSegment(cur_seg_num_); });
+      }
+
+      if (segment_ptr->getState() == Segment::LoadState::Loading) {
+        return true;  // Segment is still loading
+      }
+    }
+    return false;  // No segments need loading
+  };
+
+  // Try forward loading, then reverse if necessary
+  if (!tryLoadSegment(cur, end)) {
+    tryLoadSegment(std::make_reverse_iterator(cur), std::make_reverse_iterator(begin));
+  }
+}
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
new file mode 100644
index 0000000000..efb3d7f0ea
--- /dev/null
+++ b/tools/replay/seg_mgr.h
@@ -0,0 +1,56 @@
+#pragma once
+
+#include <condition_variable>
+#include <map>
+#include <mutex>
+#include <set>
+#include <vector>
+
+#include "tools/replay/route.h"
+
+constexpr int MIN_SEGMENTS_CACHE = 5;
+
+using SegmentMap = std::map<int, std::shared_ptr<Segment>>;
+
+class SegmentManager {
+public:
+  struct EventData {
+    std::vector<Event> events;  //  Events extracted from the segments
+    SegmentMap segments;        // Associated segments that contributed to these events
+    bool isSegmentLoaded(int n) const { return segments.find(n) != segments.end(); }
+  };
+
+  SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "")
+      : flags_(flags), route_(route_name, data_dir) {};
+  ~SegmentManager();
+
+  bool load();
+  void setCurrentSegment(int seg_num);
+  void setCallback(const std::function<void()> &callback) { onSegmentMergedCallback_ = callback; }
+  void setFilters(const std::vector<bool> &filters) { filters_ = filters; }
+  const std::shared_ptr<EventData> getEventData() const { return event_data_; }
+  bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); }
+
+  Route route_;
+  int segment_cache_limit_ = MIN_SEGMENTS_CACHE;
+
+private:
+  void manageSegmentCache();
+  void loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end);
+  bool mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
+
+  std::vector<bool> filters_;
+  uint32_t flags_;
+
+  std::mutex mutex_;
+  std::condition_variable cv_;
+  std::thread thread_;
+  std::atomic<int> cur_seg_num_ = -1;
+  bool needs_update_ = false;
+  bool exit_ = false;
+
+  SegmentMap segments_;
+  std::shared_ptr<EventData> event_data_;
+  std::function<void()> onSegmentMergedCallback_ = nullptr;
+  std::set<int> merged_segments_;
+};
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 6b366169bb..aed3de59a8 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -1,27 +1,8 @@
-#include <chrono>
-#include <thread>
-
-#include <QEventLoop>
-
+#define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
-#include "common/util.h"
 #include "tools/replay/replay.h"
-#include "tools/replay/util.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
-const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
-
-const int TEST_REPLAY_SEGMENTS = std::getenv("TEST_REPLAY_SEGMENTS") ? atoi(std::getenv("TEST_REPLAY_SEGMENTS")) : 1;
-
-bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
-  do {
-    if (httpDownload(url, local_file, chunk_size)) {
-      return true;
-    }
-    std::this_thread::sleep_for(std::chrono::milliseconds(500));
-  } while (--retries >= 0);
-  return false;
-}
 
 TEST_CASE("LogReader") {
   SECTION("corrupt log") {
@@ -34,67 +15,3 @@ TEST_CASE("LogReader") {
     REQUIRE(log.events.size() > 0);
   }
 }
-
-void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
-  std::mutex mutex;
-  std::condition_variable cv;
-  Segment segment(n, segment_file, flags, {}, [&](int, bool) {
-    REQUIRE(segment.isLoaded() == true);
-    REQUIRE(segment.log != nullptr);
-    REQUIRE(segment.frames[RoadCam] != nullptr);
-    if (flags & REPLAY_FLAG_DCAM) {
-      REQUIRE(segment.frames[DriverCam] != nullptr);
-    }
-    if (flags & REPLAY_FLAG_ECAM) {
-      REQUIRE(segment.frames[WideRoadCam] != nullptr);
-    }
-
-    // test LogReader & FrameReader
-    REQUIRE(segment.log->events.size() > 0);
-    REQUIRE(std::is_sorted(segment.log->events.begin(), segment.log->events.end()));
-
-    for (auto cam : ALL_CAMERAS) {
-      auto &fr = segment.frames[cam];
-      if (!fr) continue;
-
-      if (cam == RoadCam || cam == WideRoadCam) {
-        REQUIRE(fr->getFrameCount() == 1200);
-      }
-      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height);
-      VisionBuf buf;
-      buf.allocate(nv12_buffer_size);
-      buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height);
-      // sequence get 100 frames
-      for (int i = 0; i < 100; ++i) {
-        REQUIRE(fr->get(i, &buf));
-      }
-    }
-    cv.notify_one();
-  });
-
-  std::unique_lock lock(mutex);
-  cv.wait(lock);
-}
-
-std::string download_demo_route() {
-  static std::string data_dir;
-
-  if (data_dir == "") {
-    char tmp_path[] = "/tmp/root_XXXXXX";
-    data_dir = mkdtemp(tmp_path);
-
-    Route remote_route(DEMO_ROUTE);
-    assert(remote_route.load());
-
-    // Create a local route from remote for testing
-    const std::string route_name = std::string(DEMO_ROUTE).substr(17);
-    for (int i = 0; i < 2; ++i) {
-      std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
-      util::create_directories(log_path, 0755);
-      REQUIRE(download_to_file(remote_route.at(i).rlog, log_path + "rlog.bz2"));
-      REQUIRE(download_to_file(remote_route.at(i).qcamera, log_path + "qcamera.ts"));
-    }
-  }
-
-  return data_dir;
-}
diff --git a/tools/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc
deleted file mode 100644
index b20ac86c64..0000000000
--- a/tools/replay/tests/test_runner.cc
+++ /dev/null
@@ -1,10 +0,0 @@
-#define CATCH_CONFIG_RUNNER
-#include "catch2/catch.hpp"
-#include <QCoreApplication>
-
-int main(int argc, char **argv) {
-  // unit tests for Qt
-  QCoreApplication app(argc, argv);
-  const int res = Catch::Session().run(argc, argv);
-  return (res < 0xff ? res : 0xff);
-}
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index fac1e11c47..94cea961ff 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -362,11 +362,11 @@ std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
-void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested) {
   struct timespec req, rem;
   req.tv_sec = nanoseconds / 1000000000;
   req.tv_nsec = nanoseconds % 1000000000;
-  while (!should_exit) {
+  while (!interrupt_requested) {
 #ifdef __APPLE__
     int ret = nanosleep(&req, &rem);
     if (ret == 0 || errno != EINTR)
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 46df2bc191..1f61951d21 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -47,7 +47,7 @@ private:
 };
 
 std::string sha256(const std::string &str);
-void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);

From a923f252259ba522f6e33db404aea850f5ac5b55 Mon Sep 17 00:00:00 2001
From: Patrick Bassut <patrickbassut@hotmail.com>
Date: Mon, 25 Nov 2024 14:14:58 -0300
Subject: [PATCH 1052/1243] Using carControl/enabled on PJ template (#34100)

using carControl/enabled
---
 tools/plotjuggler/layouts/controls_mismatch_debug.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index 7f9def379c..646e12a281 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -8,7 +8,7 @@
       <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
        <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve color="#1f77b4" name="/controlsState/enabled"/>
+       <curve color="#1f77b4" name="/carControl/enabled"/>
        <curve color="#d62728" name="/pandaStates/0/controlsAllowed"/>
       </plot>
      </DockArea>

From c287232374f44886648b415a77ea600142015763 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Nov 2024 09:40:23 -0800
Subject: [PATCH 1053/1243] uploader: increase max qlog size (#34106)

---
 system/loggerd/uploader.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 965d74bef8..0a21712096 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -24,7 +24,11 @@ NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
 UPLOAD_ATTR_VALUE = b'1'
 
-UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+MAX_UPLOAD_SIZES = {
+  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
+                   # bugs, including ones that can cause massive log sizes
+  "qcam": 5*1e6,
+}
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
@@ -170,7 +174,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:

From 5542bd57a4abcc0364547263971bf060bc730c20 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Nov 2024 09:42:49 -0800
Subject: [PATCH 1054/1243] Revert "agnos 11.2 v2 (#34015)"

This reverts commit c11e9a3bdd7cd490c9243d8cdf90ef8af64fd9ba.
---
 system/hardware/tici/agnos.json | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 025202019e..3aa712a6b0 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-974d920c6b631708bff58a1080c9e48c78213a72e570ae2eeb7a4029e578b85c.img.xz",
-    "hash": "974d920c6b631708bff58a1080c9e48c78213a72e570ae2eeb7a4029e578b85c",
-    "hash_raw": "974d920c6b631708bff58a1080c9e48c78213a72e570ae2eeb7a4029e578b85c",
-    "size": 16422912,
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
+    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
+    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
+    "size": 16414720,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-bd5bc0257f8a60ab7239f37d7cbae20860f354805c7fee151310fe3805308cfc.img.xz",
-    "hash": "bd5bc0257f8a60ab7239f37d7cbae20860f354805c7fee151310fe3805308cfc",
-    "hash_raw": "bd5bc0257f8a60ab7239f37d7cbae20860f354805c7fee151310fe3805308cfc",
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
+    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
     "size": 4404019200,
     "sparse": false,
     "full_check": false,

From 8ebfc99b93049da91cd1f8df62414d2f49122dd6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Nov 2024 09:43:05 -0800
Subject: [PATCH 1055/1243] gc unicore gps

---
 system/ugpsd.py | 165 ------------------------------------------------
 1 file changed, 165 deletions(-)
 delete mode 100755 system/ugpsd.py

diff --git a/system/ugpsd.py b/system/ugpsd.py
deleted file mode 100755
index 34b20b01c8..0000000000
--- a/system/ugpsd.py
+++ /dev/null
@@ -1,165 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import traceback
-import serial
-import datetime
-import numpy as np
-from collections import defaultdict
-
-from cereal import log
-import cereal.messaging as messaging
-from openpilot.common.retry import retry
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
-
-
-def sfloat(n: str):
-  return float(n) if len(n) > 0 else 0
-
-def checksum(s: str):
-  ret = 0
-  for c in s[1:-3]:
-    ret ^= ord(c)
-  return format(ret, '02X')
-
-class Unicore:
-  def __init__(self):
-    self.s = serial.Serial('/dev/ttyHS0', 115200)
-    self.s.timeout = 1
-    self.s.writeTimeout = 1
-    self.s.newline = b'\r\n'
-
-    self.s.flush()
-    self.s.reset_input_buffer()
-    self.s.reset_output_buffer()
-    self.s.read(2048)
-
-  def send(self, cmd):
-    self.s.write(cmd.encode('utf8') + b'\r')
-    resp = self.s.read(2048)
-    print(len(resp), cmd, "\n", resp)
-    assert b"OK" in resp
-
-  def recv(self):
-    return self.s.readline()
-
-def build_msg(state):
-  """
-    NMEA sentences:
-      https://campar.in.tum.de/twiki/pub/Chair/NaviGpsDemon/nmea.html#RMC
-    NAV messages:
-      https://www.unicorecomm.com/assets/upload/file/UFirebird_Standard_Positioning_Products_Protocol_Specification_CH.pdf
-  """
-
-  msg = messaging.new_message('gpsLocation', valid=True)
-  gps = msg.gpsLocation
-
-  gnrmc = state['$GNRMC']
-  gps.hasFix = gnrmc[1] == 'A'
-  gps.source = log.GpsLocationData.SensorSource.unicore
-  gps.latitude = (sfloat(gnrmc[3][:2]) + (sfloat(gnrmc[3][2:]) / 60)) * (1 if gnrmc[4] == "N" else -1)
-  gps.longitude = (sfloat(gnrmc[5][:3]) + (sfloat(gnrmc[5][3:]) / 60)) * (1 if gnrmc[6] == "E" else -1)
-
-  try:
-    date = gnrmc[9][:6]
-    dt = datetime.datetime.strptime(f"{date} {gnrmc[1]}", '%d%m%y %H%M%S.%f')
-    gps.unixTimestampMillis = dt.timestamp()*1e3
-  except Exception:
-    pass
-
-  gps.bearingDeg = sfloat(gnrmc[8])
-
-  if len(state['$GNGGA']):
-    gngga = state['$GNGGA']
-    if gngga[10] == 'M':
-      gps.altitude = sfloat(gngga[9])
-
-  if len(state['$GNGSA']):
-    gngsa = state['$GNGSA']
-    gps.horizontalAccuracy = sfloat(gngsa[4])
-    gps.verticalAccuracy = sfloat(gngsa[5])
-
-  #if len(state['$NAVACC']):
-  #  # $NAVVEL,264415000,5,3,0.375,0.141,-0.735,-65.450*2A
-  #  navacc = state['$NAVACC']
-  #  gps.horizontalAccuracy = sfloat(navacc[3])
-  #  gps.speedAccuracy = sfloat(navacc[4])
-  #  gps.bearingAccuracyDeg = sfloat(navacc[5])
-
-  if len(state['$NAVVEL']):
-    # $NAVVEL,264415000,5,3,0.375,0.141,-0.735,-65.450*2A
-    navvel = state['$NAVVEL']
-    vECEF = [
-      sfloat(navvel[4]),
-      sfloat(navvel[5]),
-      sfloat(navvel[6]),
-    ]
-
-    lat = np.radians(gps.latitude)
-    lon = np.radians(gps.longitude)
-    R = np.array([
-      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
-      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
-      [np.cos(lat), 0, -np.sin(lat)]
-    ])
-
-    vNED = [float(x) for x in R.dot(vECEF)]
-    gps.vNED = vNED
-    gps.speed = np.linalg.norm(vNED)
-
-  # TODO: set these from the module
-  gps.bearingAccuracyDeg = 5.
-  gps.speedAccuracy = 3.
-
-  return msg
-
-
-@retry(attempts=10, delay=0.1)
-def setup(u):
-  at_cmd('AT+CGPS=0')
-  at_cmd('AT+CGPS=1')
-  time.sleep(1.0)
-
-  # setup NAVXXX outputs
-  for i in range(4):
-    u.send(f"$CFGMSG,1,{i},1")
-  for i in (1, 3):
-    u.send(f"$CFGMSG,3,{i},1")
-
-  # 10Hz NAV outputs
-  u.send("$CFGNAV,100,100,1000")
-
-
-def main():
-  wait_for_modem("AT+CGPS?")
-
-  u = Unicore()
-  setup(u)
-
-  state = defaultdict(list)
-  pm = messaging.PubMaster(['gpsLocation'])
-  while True:
-    try:
-      msg = u.recv().decode('utf8').strip()
-      if "DEBUG" in os.environ:
-        print(repr(msg))
-
-      if len(msg) > 0:
-        if checksum(msg) != msg.split('*')[1]:
-          cloudlog.error(f"invalid checksum: {repr(msg)}")
-          continue
-
-        k = msg.split(',')[0]
-        state[k] = msg.split(',')
-        if '$GNRMC' not in msg:
-          continue
-
-        pm.send('gpsLocation', build_msg(state))
-    except Exception:
-      traceback.print_exc()
-      cloudlog.exception("gps.issue")
-
-
-if __name__ == "__main__":
-  main()

From 81252f549c1ec85f11fc7364f77564d47ea28594 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Mon, 25 Nov 2024 14:34:36 -0800
Subject: [PATCH 1056/1243] Alabama model (#34108)

e22d5e0c-1441-4953-b878-8f0f36e527c6/400
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 5a16eddf9b..06b7875362 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fe2822a955c2017c2995397aa1eb08b568203230c7c270238edd03679b40cbc9
+oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
 size 50320584

From 29577a3346775111430f7f967c8dc1ebee361160 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Nov 2024 15:41:21 -0800
Subject: [PATCH 1057/1243] bootlog: monotonic ts for journalctl

---
 system/loggerd/bootlog.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index b8257b6d69..85eeb369a1 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -27,7 +27,7 @@ static kj::Array<capnp::word> build_boot_log() {
 
   // Gather output of commands
   std::vector<std::string> bootlog_commands = {
-    "[ -x \"$(command -v journalctl)\" ] && journalctl",
+    "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic",
   };
 
   if (Hardware::TICI()) {

From eccdf8d8801e3fd564d3e4e0825dc1e1231baf72 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 26 Nov 2024 05:46:05 +0100
Subject: [PATCH 1058/1243] locationd: timing spikes resiliance (#34080)

* Locationd scenario for timing spike

* Add test for consistent timing spike

* Resiliance to bad timing

* Test update

* Refactor test

* fix comment

* Decay based on frequency

* Fix

* Update comment

* Only for critical services

* Fix tests
---
 selfdrive/locationd/locationd.py              | 27 ++++++---
 .../test/test_locationd_scenarios.py          | 58 ++++++++++++++-----
 2 files changed, 63 insertions(+), 22 deletions(-)

diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 7f5541b8c2..f7780834b0 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -8,6 +8,7 @@ from enum import Enum
 from collections import defaultdict
 
 from cereal import log, messaging
+from cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
@@ -23,8 +24,10 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after a bad input
+INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
+TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
+INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
+TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
 
@@ -265,10 +268,13 @@ def main():
   estimator = LocationEstimator(DEBUG)
 
   filter_initialized = False
-  critcal_services = ["accelerometer", "gyroscope", "liveCalibration", "cameraOdometry"]
-  observation_timing_invalid = False
+  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
+  observation_timing_invalid = defaultdict(int)
   observation_input_invalid = defaultdict(int)
 
+  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+
   initial_pose = params.get("LocationFilterInitialState")
   if initial_pose is not None:
     initial_pose = json.loads(initial_pose)
@@ -282,8 +288,6 @@ def main():
     acc_msgs, gyro_msgs = (messaging.drain_sock(sock) for sock in sensor_sockets)
 
     if filter_initialized:
-      observation_timing_invalid = False
-
       msgs = []
       for msg in acc_msgs + gyro_msgs:
         t, valid, which, data = msg.logMonoTime, msg.valid, msg.which(), getattr(msg, msg.which())
@@ -298,18 +302,23 @@ def main():
         if valid:
           t = log_mono_time * 1e-9
           res = estimator.handle_log(t, which, msg)
+          if which not in critcal_services:
+            continue
+
           if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid = True
+            observation_timing_invalid[which] += 1
           elif res == HandleLogResult.INPUT_INVALID:
             observation_input_invalid[which] += 1
           else:
-            observation_input_invalid[which] *= INPUT_INVALID_DECAY
+            observation_input_invalid[which] *= input_invalid_decay[which]
+            observation_timing_invalid[which] *= timing_invalid_decay[which]
     else:
       filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
     if sm.updated["cameraOdometry"]:
       critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and not observation_timing_invalid
+      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index 166d715c34..e0ff96a362 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -17,6 +17,7 @@ SELECT_COMPARE_FIELDS = {
   'sensors_flag': ['sensorsOK'],
 }
 JUNK_IDX = 100
+CONSISTENT_SPIKES_COUNT = 10
 
 
 class Scenario(Enum):
@@ -25,6 +26,8 @@ class Scenario(Enum):
   GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
   ACCEL_OFF = 'accel_off'
   ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
+  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'
 
 
 def get_select_fields_data(logs):
@@ -43,6 +46,17 @@ def get_select_fields_data(logs):
   return data
 
 
+def modify_logs_midway(logs, which, count, fn):
+  non_which = [x for x in logs if x.which() != which]
+  which = [x for x in logs if x.which() == which]
+  temps = which[len(which) // 2:len(which) // 2 + count]
+  for i, temp in enumerate(temps):
+    temp = temp.as_builder()
+    fn(temp)
+    which[len(which) // 2 + i] = temp.as_reader()
+  return sorted(non_which + which, key=lambda x: x.logMonoTime)
+
+
 def run_scenarios(scenario, logs):
   if scenario == Scenario.BASE:
     pass
@@ -51,23 +65,23 @@ def run_scenarios(scenario, logs):
     logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
 
   elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
-    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
-    gyro = [x for x in logs if x.which() in 'gyroscope']
-    temp = gyro[len(gyro) // 2].as_builder()
-    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
-    gyro[len(gyro) // 2] = temp.as_reader()
-    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
+    def gyro_spike(msg):
+      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
+    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
 
   elif scenario == Scenario.ACCEL_OFF:
     logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
 
   elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
-    non_accel = [x for x in logs if x.which() not in 'accelerometer']
-    accel = [x for x in logs if x.which() in 'accelerometer']
-    temp = accel[len(accel) // 2].as_builder()
-    temp.accelerometer.acceleration.v[0] += 10.0
-    accel[len(accel) // 2] = temp.as_reader()
-    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
+    def acc_spike(msg):
+      msg.accelerometer.acceleration.v[0] += 10.0
+    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+
+  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
+    def timing_spike(msg):
+      msg.accelerometer.timestamp -= int(0.150 * 1e9)
+    count = 1 if scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, timing_spike)
 
   replayed_logs = replay_process_with_name(name='locationd', lr=logs)
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
@@ -122,7 +136,7 @@ class TestLocationdScenarios:
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
     assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[696] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
 
   def test_accel_off(self):
     """
@@ -146,3 +160,21 @@ class TestLocationdScenarios:
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+
+  def test_single_timing_spike(self):
+    """
+    Test: timing of 150ms off for the single accelerometer message in the middle of the segment
+    Expected Result: the message is ignored, and inputsOK is False for that time
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_SPIKE_MIDWAY, self.logs)
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_timing_spikes(self):
+    """
+    Test: consistent timing spikes for N accelerometer messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0

From 00c964abfb38fa49fc27cca14d8674254e7523de Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 26 Nov 2024 13:33:17 -0800
Subject: [PATCH 1059/1243] tici: more modem config (#34110)

* tici: more modem config

* separate those

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/hardware/tici/hardware.py | 37 +++++++++++++++++++++-----------
 1 file changed, 24 insertions(+), 13 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 21e2c8fe1a..2692fc128a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -452,17 +452,11 @@ class Tici(HardwareBase):
       manufacturer = None
 
     cmds = []
-    if manufacturer == 'Cavli Inc.':
-      cmds += [
-        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
-        'AT$QCSIMSLEEP=0',  # disable SIM sleep
-        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
 
-        # ethernet config
-        'AT$QCPCFG=usbNet,0',
-        'AT$QCNETDEVCTL=3,1',
-      ]
-    elif self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() in ("tici", "tizi"):
+      # clear out old blue prime initial APN
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
+
       cmds += [
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',
@@ -470,14 +464,31 @@ class Tici(HardwareBase):
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
       if self.get_device_type() == "tizi":
+        # SIM hot swap, not routed on tici
         cmds += [
-          # SIM hot swap
           'AT+QSIMDET=1,0',
           'AT+QSIMSTAT=1',
         ]
+    elif manufacturer == 'Cavli Inc.':
+      cmds += [
+        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
+        'AT$QCSIMSLEEP=0',  # disable SIM sleep
+        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
+
+        # ethernet config
+        'AT$QCPCFG=usbNet,0',
+        'AT$QCNETDEVCTL=3,1',
+      ]
+    else:
+      cmds += [
+        # SIM sleep disable
+        'AT$QCSIMSLEEP=0',
+        'AT$QCSIMCFG=SimPowerSave,0',
+
+        # ethernet config
+        'AT$QCPCFG=usbNet,1',
+      ]
 
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
     for cmd in cmds:
       try:
         modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)

From 7b5478a58eace7412dbda10e9b8cfeb8843458f3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 26 Nov 2024 14:06:27 -0800
Subject: [PATCH 1060/1243] fix replay build

---
 tools/replay/replay.h   | 1 +
 tools/replay/seg_mgr.cc | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 5169e88629..d549eaefc4 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <algorithm>
 #include <functional>
 #include <memory>
 #include <mutex>
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index 315356b833..954b25e874 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -1,5 +1,7 @@
 #include "tools/replay/seg_mgr.h"
 
+#include <algorithm>
+
 SegmentManager::~SegmentManager() {
   {
     std::unique_lock lock(mutex_);

From 8f71d53eb0b14b9344789d65abe458436bcb0c2a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 26 Nov 2024 16:54:05 -0800
Subject: [PATCH 1061/1243] test_models: display failed rx msg address

---
 selfdrive/car/tests/test_models.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b50955b2a9..ee60c47021 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -394,7 +394,7 @@ class TestCarModelBase(unittest.TestCase):
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
-        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
+        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")
 
       # Skip first frame so CS_prev is properly initialized
       if idx == 0:

From b737e8472f52a993f9cb0e114df23c038470c7a7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 27 Nov 2024 16:35:36 +0800
Subject: [PATCH 1062/1243] athenad: explicitly delete socket in getMessage
 (#34098)

explicitly delete socket in getMessage
---
 system/athena/athenad.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9c9acf2c13..4c056461ac 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -309,13 +309,16 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)
-  ret = messaging.recv_one(socket)
+  try:
+    ret = messaging.recv_one(socket)
 
-  if ret is None:
-    raise TimeoutError
+    if ret is None:
+      raise TimeoutError
 
-  # this is because capnp._DynamicStructReader doesn't have typing information
-  return cast(dict, ret.to_dict())
+    # this is because capnp._DynamicStructReader doesn't have typing information
+    return cast(dict, ret.to_dict())
+  finally:
+    del socket
 
 
 @dispatcher.add_method

From adb9560870ef8cef83beaf0bc539ca0905ffe133 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 27 Nov 2024 18:44:32 +0800
Subject: [PATCH 1063/1243] athenad: move last_scan outside the loop (#34099)

move last_scan outside the loop
---
 system/athena/athenad.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 4c056461ac..909e99fa71 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -629,8 +629,9 @@ def log_handler(end_event: threading.Event) -> None:
 
 def stat_handler(end_event: threading.Event) -> None:
   STATS_DIR = Paths.stats_root()
+  last_scan = 0.0
+
   while not end_event.is_set():
-    last_scan = 0.
     curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:

From 8e14e400efab9671cbf61443b516ba881748b3bc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 28 Nov 2024 02:58:33 +0800
Subject: [PATCH 1064/1243] cabana: enhance freq calculation and add zero
 division protection (#34121)

fix frequency calculation
---
 tools/cabana/streams/abstractstream.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 08acba9dd8..7abeafea94 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/streams/abstractstream.h"
 
+#include <limits>
 #include <utility>
 
 #include <QApplication>
@@ -228,11 +229,10 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
   auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
 
   int count = std::distance(first, last);
-  if (count > 1) {
-    double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
-    return count / duration;
-  }
-  return 0;
+  if (count <= 1) return 0.0;
+
+  double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
+  return duration > std::numeric_limits<double>::epsilon() ? (count - 1) / duration : 0.0;
 }
 
 }  // namespace

From 4226ef5a66ee6015533f6fad3ee6691948c4b003 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 28 Nov 2024 11:48:48 -0800
Subject: [PATCH 1065/1243] Setup system/ui/ move (#34124)

---
 SConstruct                                    |  1 +
 selfdrive/ui/SConscript                       |  2 --
 selfdrive/ui/raylib/.gitignore                |  1 -
 system/ui/.gitignore                          |  1 +
 {selfdrive/ui/raylib => system/ui}/SConscript | 11 ++++++-----
 {selfdrive => system}/ui/raylib/spinner.cc    |  2 +-
 {selfdrive => system}/ui/raylib/util.cc       |  2 +-
 {selfdrive => system}/ui/raylib/util.h        |  0
 8 files changed, 10 insertions(+), 10 deletions(-)
 delete mode 100644 selfdrive/ui/raylib/.gitignore
 create mode 100644 system/ui/.gitignore
 rename {selfdrive/ui/raylib => system/ui}/SConscript (53%)
 rename {selfdrive => system}/ui/raylib/spinner.cc (98%)
 rename {selfdrive => system}/ui/raylib/util.cc (97%)
 rename {selfdrive => system}/ui/raylib/util.h (100%)

diff --git a/SConstruct b/SConstruct
index 7cc672cef0..d1661e7b6c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -366,6 +366,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 81c18d03df..22bf4760bf 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -110,5 +110,3 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
-
-SConscript(['raylib/SConscript'])
diff --git a/selfdrive/ui/raylib/.gitignore b/selfdrive/ui/raylib/.gitignore
deleted file mode 100644
index c66ae096aa..0000000000
--- a/selfdrive/ui/raylib/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-_spinner
diff --git a/system/ui/.gitignore b/system/ui/.gitignore
new file mode 100644
index 0000000000..1d32f7d877
--- /dev/null
+++ b/system/ui/.gitignore
@@ -0,0 +1 @@
+spinner
diff --git a/selfdrive/ui/raylib/SConscript b/system/ui/SConscript
similarity index 53%
rename from selfdrive/ui/raylib/SConscript
rename to system/ui/SConscript
index d603f263e1..1f75e9cbe5 100644
--- a/selfdrive/ui/raylib/SConscript
+++ b/system/ui/SConscript
@@ -1,9 +1,10 @@
 Import('env', 'arch', 'common')
 
-raylib_env = env.Clone()
-raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
-linked_libs = ['raylib', raylib_util_lib, common]
-raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+renv = env.Clone()
+
+rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
+linked_libs = ['raylib', rayutil, common]
+renv['LIBPATH'] += [f'#third_party/raylib/{arch}/']
 
 mac_frameworks = []
 if arch == "Darwin":
@@ -14,4 +15,4 @@ else:
   linked_libs += ['OpenCL', 'dl', 'pthread']
 
 if arch != 'aarch64':
-  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
+  renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
diff --git a/selfdrive/ui/raylib/spinner.cc b/system/ui/raylib/spinner.cc
similarity index 98%
rename from selfdrive/ui/raylib/spinner.cc
rename to system/ui/raylib/spinner.cc
index 99aa5f3269..085d452385 100644
--- a/selfdrive/ui/raylib/spinner.cc
+++ b/system/ui/raylib/spinner.cc
@@ -2,7 +2,7 @@
 #include <cmath>
 #include <iostream>
 
-#include "selfdrive/ui/raylib/util.h"
+#include "system/ui/raylib/util.h"
 #include "third_party/raylib/include/raylib.h"
 
 constexpr int kProgressBarWidth = 1000;
diff --git a/selfdrive/ui/raylib/util.cc b/system/ui/raylib/util.cc
similarity index 97%
rename from selfdrive/ui/raylib/util.cc
rename to system/ui/raylib/util.cc
index 73c0e4e0b7..5dcebd024e 100644
--- a/selfdrive/ui/raylib/util.cc
+++ b/system/ui/raylib/util.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/raylib/util.h"
+#include "system/ui/raylib/util.h"
 
 #include <array>
 
diff --git a/selfdrive/ui/raylib/util.h b/system/ui/raylib/util.h
similarity index 100%
rename from selfdrive/ui/raylib/util.h
rename to system/ui/raylib/util.h

From ce948f7362d04ec6ac7b0a279430581d2262c9ac Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 28 Nov 2024 15:59:27 -0800
Subject: [PATCH 1066/1243] raylib on device (#34126)

* setup

* tp

* more

* device
---
 system/ui/SConscript                   |   2 +-
 system/ui/raylib/spinner.cc            |   4 +-
 system/ui/raylib/util.cc               |   4 +-
 third_party/raylib/include/raylib.h    | 270 ++++----
 third_party/raylib/include/raymath.h   | 825 ++++++++++++++++++++++++-
 third_party/raylib/include/rlgl.h      | 783 +++++++++++++++++------
 third_party/raylib/larch64/libraylib.a |   4 +-
 third_party/raylib/setup.sh            |  31 +-
 third_party/raylib/x86_64/libraylib.a  |   4 +-
 9 files changed, 1569 insertions(+), 358 deletions(-)

diff --git a/system/ui/SConscript b/system/ui/SConscript
index 1f75e9cbe5..0e164efb92 100644
--- a/system/ui/SConscript
+++ b/system/ui/SConscript
@@ -10,7 +10,7 @@ mac_frameworks = []
 if arch == "Darwin":
   mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
 elif arch == 'larch64':
-  linked_libs += []
+  linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
 else:
   linked_libs += ['OpenCL', 'dl', 'pthread']
 
diff --git a/system/ui/raylib/spinner.cc b/system/ui/raylib/spinner.cc
index 085d452385..cf96ccb117 100644
--- a/system/ui/raylib/spinner.cc
+++ b/system/ui/raylib/spinner.cc
@@ -19,8 +19,8 @@ int main(int argc, char *argv[]) {
   std::cin.sync_with_stdio(false);
   std::cin.tie(nullptr);
 
-  Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
-  Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);
+  Texture2D commaTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_comma.png", kTextureSize);
+  Texture2D spinnerTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_track.png", kTextureSize);
 
   float rotation = 0.0f;
   std::string userInput;
diff --git a/system/ui/raylib/util.cc b/system/ui/raylib/util.cc
index 5dcebd024e..46f8a4fd3f 100644
--- a/system/ui/raylib/util.cc
+++ b/system/ui/raylib/util.cc
@@ -23,7 +23,6 @@ struct FontManager {
   FontManager() {
     for (int i = 0; i < fonts.size(); ++i) {
       fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
-      SetTextureFilter(fonts[i].texture, TEXTURE_FILTER_TRILINEAR);
     }
   }
 
@@ -43,7 +42,6 @@ Texture2D LoadTextureResized(const char *fileName, int size) {
   Image img = LoadImage(fileName);
   ImageResize(&img, size, size);
   Texture2D texture = LoadTextureFromImage(img);
-  SetTextureFilter(texture, TEXTURE_FILTER_TRILINEAR);
   return texture;
 }
 
@@ -51,6 +49,6 @@ void initApp(const char *title, int fps) {
   Hardware::set_display_power(true);
   Hardware::set_brightness(65);
   // SetTraceLogLevel(LOG_NONE);
-  InitWindow(0, 0, title);
+  InitWindow(2160, 1080, title);
   SetTargetFPS(fps);
 }
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
index 1c4c4a09fa..56abfa7a55 100644
--- a/third_party/raylib/include/raylib.h
+++ b/third_party/raylib/include/raylib.h
@@ -1,22 +1,22 @@
 /**********************************************************************************************
 *
-*   raylib v5.0 - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
+*   raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
 *
 *   FEATURES:
 *       - NO external dependencies, all required libraries included with raylib
 *       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
 *                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
 *       - Written in plain C code (C99) in PascalCase/camelCase notation
-*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3 or ES2 - choose at compile)
+*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
 *       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
-*       - Multiple Fonts formats supported (TTF, XNA fonts, AngelCode fonts)
+*       - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
 *       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
 *       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
 *       - Flexible Materials system, supporting classic maps and PBR maps
-*       - Animated 3D models supported (skeletal bones animation) (IQM)
+*       - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
 *       - Shaders support, including Model shaders and Postprocessing shaders
 *       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
-*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, XM, MOD)
+*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
 *       - VR stereo rendering with configurable HMD device parameters
 *       - Bindings to multiple programming languages available!
 *
@@ -27,29 +27,35 @@
 *       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
 *
 *   DEPENDENCIES (included):
-*       [rcore] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input (PLATFORM_DESKTOP)
-*       [rlgl] glad (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading (PLATFORM_DESKTOP)
+*       [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
+*       [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
+*       [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
 *       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
 *
 *   OPTIONAL DEPENDENCIES (included):
 *       [rcore] msf_gif (Miles Fogle) for GIF recording
 *       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
 *       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
+*       [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
+*       [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
 *       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
 *       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
-*       [rtextures] stb_image_resize (Sean Barret) for image resizing algorithms
+*       [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
+*       [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
 *       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
 *       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
 *       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
 *       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
 *       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
-*       [rmodels] Model3D (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
+*       [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
+*       [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
 *       [raudio] dr_wav (David Reid) for WAV audio file loading
 *       [raudio] dr_flac (David Reid) for FLAC audio file loading
 *       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
 *       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
 *       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
 *       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
+*       [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
 *
 *
 *   LICENSE: zlib/libpng
@@ -57,7 +63,7 @@
 *   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
 *   BSD-like license that allows static linking with closed source software:
 *
-*   Copyright (c) 2013-2023 Ramon Santamaria (@raysan5)
+*   Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
 *
 *   This software is provided "as-is", without any express or implied warranty. In no event
 *   will the authors be held liable for any damages arising from the use of this software.
@@ -82,21 +88,26 @@
 #include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
 
 #define RAYLIB_VERSION_MAJOR 5
-#define RAYLIB_VERSION_MINOR 0
+#define RAYLIB_VERSION_MINOR 6
 #define RAYLIB_VERSION_PATCH 0
-#define RAYLIB_VERSION  "5.0"
+#define RAYLIB_VERSION  "5.6-dev"
 
-// Function specifiers in case library is build/used as a shared library (Windows)
+// Function specifiers in case library is build/used as a shared library
 // NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
+// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
 #if defined(_WIN32)
+    #if defined(__TINYC__)
+        #define __declspec(x) __attribute__((x))
+    #endif
     #if defined(BUILD_LIBTYPE_SHARED)
-        #if defined(__TINYC__)
-            #define __declspec(x) __attribute__((x))
-        #endif
         #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
     #elif defined(USE_LIBTYPE_SHARED)
         #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
     #endif
+#else
+    #if defined(BUILD_LIBTYPE_SHARED)
+        #define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
+    #endif
 #endif
 
 #ifndef RLAPI
@@ -347,8 +358,10 @@ typedef struct Mesh {
     // Animation vertex data
     float *animVertices;    // Animated vertex positions (after bones transformations)
     float *animNormals;     // Animated normals (after bones transformations)
-    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning)
-    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning)
+    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
+    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
+    Matrix *boneMatrices;   // Bones animated transformation matrices
+    int boneCount;          // Number of bones
 
     // OpenGL identifiers
     unsigned int vaoId;     // OpenGL Vertex Array Object id
@@ -416,7 +429,7 @@ typedef struct ModelAnimation {
 // Ray, ray for raycasting
 typedef struct Ray {
     Vector3 position;       // Ray position (origin)
-    Vector3 direction;      // Ray direction
+    Vector3 direction;      // Ray direction (normalized)
 } Ray;
 
 // RayCollision, ray hit information
@@ -479,7 +492,6 @@ typedef struct VrDeviceInfo {
     int vResolution;                // Vertical resolution in pixels
     float hScreenSize;              // Horizontal size in meters
     float vScreenSize;              // Vertical size in meters
-    float vScreenCenter;            // Screen center in meters
     float eyeToScreenDistance;      // Distance between eye and display in meters
     float lensSeparationDistance;   // Lens separation distance in meters
     float interpupillaryDistance;   // IPD (distance between pupils) in meters
@@ -673,7 +685,7 @@ typedef enum {
     KEY_KP_EQUAL        = 336,      // Key: Keypad =
     // Android key buttons
     KEY_BACK            = 4,        // Key: Android back button
-    KEY_MENU            = 82,       // Key: Android menu button
+    KEY_MENU            = 5,        // Key: Android menu button
     KEY_VOLUME_UP       = 24,       // Key: Android volume up button
     KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
 } KeyboardKey;
@@ -717,12 +729,12 @@ typedef enum {
     GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
     GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
     GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
-    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Square, Xbox: X)
+    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
     GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
-    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Circle, Xbox: B)
+    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Square, Xbox: X)
     GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
     GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (one), it could be a trailing button
+    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (first), it could be a trailing button
     GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
     GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
     GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
@@ -786,7 +798,10 @@ typedef enum {
     SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
     SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
     SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
-    SHADER_LOC_MAP_BRDF             // Shader location: sampler2d texture: brdf
+    SHADER_LOC_MAP_BRDF,            // Shader location: sampler2d texture: brdf
+    SHADER_LOC_VERTEX_BONEIDS,      // Shader location: vertex attribute: boneIds
+    SHADER_LOC_VERTEX_BONEWEIGHTS,  // Shader location: vertex attribute: boneWeights
+    SHADER_LOC_BONE_MATRICES        // Shader location: array of matrices uniform: boneMatrices
 } ShaderLocationIndex;
 
 #define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
@@ -868,8 +883,7 @@ typedef enum {
     CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
     CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
     CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
-    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE,     // Layout is defined by a 4x3 cross with cubemap faces
-    CUBEMAP_LAYOUT_PANORAMA                 // Layout is defined by a panorama image (equirrectangular map)
+    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE     // Layout is defined by a 4x3 cross with cubemap faces
 } CubemapLayout;
 
 // Font type, defines generation method
@@ -909,11 +923,11 @@ typedef enum {
 
 // Camera system modes
 typedef enum {
-    CAMERA_CUSTOM = 0,              // Custom camera
-    CAMERA_FREE,                    // Free camera
-    CAMERA_ORBITAL,                 // Orbital camera
-    CAMERA_FIRST_PERSON,            // First person camera
-    CAMERA_THIRD_PERSON             // Third person camera
+    CAMERA_CUSTOM = 0,              // Camera custom, controlled by user (UpdateCamera() does nothing)
+    CAMERA_FREE,                    // Camera free mode
+    CAMERA_ORBITAL,                 // Camera orbital, around target, zoom supported
+    CAMERA_FIRST_PERSON,            // Camera first person
+    CAMERA_THIRD_PERSON             // Camera third person
 } CameraMode;
 
 // Camera projection
@@ -930,7 +944,7 @@ typedef enum {
 } NPatchLayout;
 
 // Callbacks to hook some internal functions
-// WARNING: These callbacks are intended for advance users
+// WARNING: These callbacks are intended for advanced users
 typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
 typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
 typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
@@ -956,36 +970,36 @@ RLAPI void CloseWindow(void);                                     // Close windo
 RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
 RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
 RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
-RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden (only PLATFORM_DESKTOP)
-RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized (only PLATFORM_DESKTOP)
-RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized (only PLATFORM_DESKTOP)
-RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused (only PLATFORM_DESKTOP)
+RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden
+RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized
+RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized
+RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused
 RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
 RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
-RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags (only PLATFORM_DESKTOP)
+RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags
 RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
-RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed (only PLATFORM_DESKTOP)
-RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed (only PLATFORM_DESKTOP)
-RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable (only PLATFORM_DESKTOP)
-RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable (only PLATFORM_DESKTOP)
-RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized (only PLATFORM_DESKTOP)
-RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit, only PLATFORM_DESKTOP)
-RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit, only PLATFORM_DESKTOP)
-RLAPI void SetWindowTitle(const char *title);                     // Set title for window (only PLATFORM_DESKTOP and PLATFORM_WEB)
-RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen (only PLATFORM_DESKTOP)
+RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
+RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed, resizes window to match monitor resolution
+RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable
+RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable
+RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized
+RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit)
+RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit)
+RLAPI void SetWindowTitle(const char *title);                     // Set title for window
+RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen
 RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
 RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
 RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
 RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
-RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f] (only PLATFORM_DESKTOP)
-RLAPI void SetWindowFocused(void);                                // Set window focused (only PLATFORM_DESKTOP)
+RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f]
+RLAPI void SetWindowFocused(void);                                // Set window focused
 RLAPI void *GetWindowHandle(void);                                // Get native window handle
 RLAPI int GetScreenWidth(void);                                   // Get current screen width
 RLAPI int GetScreenHeight(void);                                  // Get current screen height
 RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
 RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
 RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
-RLAPI int GetCurrentMonitor(void);                                // Get current connected monitor
+RLAPI int GetCurrentMonitor(void);                                // Get current monitor where window is placed
 RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
 RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
 RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
@@ -997,6 +1011,7 @@ RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window
 RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
 RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
 RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
+RLAPI Image GetClipboardImage(void);                              // Get clipboard image content
 RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
 RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
 
@@ -1035,7 +1050,7 @@ RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR s
 // NOTE: Shader functionality is not available on OpenGL 1.1
 RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
 RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
-RLAPI bool IsShaderReady(Shader shader);                                   // Check if a shader is ready
+RLAPI bool IsShaderValid(Shader shader);                                   // Check if a shader is valid (loaded on GPU)
 RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
 RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
 RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
@@ -1045,13 +1060,15 @@ RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture)
 RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
 
 // Screen-space-related functions
-RLAPI Ray GetMouseRay(Vector2 mousePosition, Camera camera);      // Get a ray trace from mouse position
-RLAPI Matrix GetCameraMatrix(Camera camera);                      // Get camera transform matrix (view matrix)
-RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                  // Get camera 2d transform matrix
-RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);  // Get the screen space position for a 3d world space position
-RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera); // Get the world space position for a 2d camera screen space position
+#define GetMouseRay GetScreenToWorldRay     // Compatibility hack for previous raylib versions
+RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera);         // Get a ray trace from screen position (i.e mouse)
+RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
+RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);        // Get the screen space position for a 3d world space position
 RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
-RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera); // Get the screen space position for a 2d camera world space position
+RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera);    // Get the screen space position for a 2d camera world space position
+RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera);    // Get the world space position for a 2d camera screen space position
+RLAPI Matrix GetCameraMatrix(Camera camera);                            // Get camera transform matrix (view matrix)
+RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                        // Get camera 2d transform matrix
 
 // Timing-related functions
 RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
@@ -1060,7 +1077,7 @@ RLAPI double GetTime(void);                                       // Get elapsed
 RLAPI int GetFPS(void);                                           // Get current FPS
 
 // Custom frame control functions
-// NOTE: Those functions are intended for advance users that want full control over the frame processing
+// NOTE: Those functions are intended for advanced users that want full control over the frame processing
 // By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
 // To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
 RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
@@ -1087,7 +1104,7 @@ RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal me
 RLAPI void MemFree(void *ptr);                                    // Internal memory free
 
 // Set custom callbacks
-// WARNING: Callbacks setup is intended for advance users
+// WARNING: Callbacks setup is intended for advanced users
 RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
 RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
 RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
@@ -1116,10 +1133,12 @@ RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full pa
 RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
 RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
 RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
+RLAPI int MakeDirectory(const char *dirPath);                     // Create directories (including full path requested), returns 0 on success
 RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
 RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
+RLAPI bool IsFileNameValid(const char *fileName);                 // Check if fileName is valid for the platform/OS
 RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
-RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan
+RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
 RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
 RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
 RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
@@ -1131,10 +1150,14 @@ RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *
 RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
 RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
 RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
+RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize);     // Compute CRC32 hash code
+RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize);      // Compute MD5 hash code, returns static int[4] (16 bytes)
+RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize);     // Compute SHA1 hash code, returns static int[5] (20 bytes)
+
 
 // Automation events functionality
 RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
-RLAPI void UnloadAutomationEventList(AutomationEventList *list);                        // Unload automation events list from file
+RLAPI void UnloadAutomationEventList(AutomationEventList list);                         // Unload automation events list from file
 RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
 RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
 RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
@@ -1148,7 +1171,7 @@ RLAPI void PlayAutomationEvent(AutomationEvent event);
 
 // Input-related functions: keyboard
 RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
-RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again (Only PLATFORM_DESKTOP)
+RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again
 RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
 RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
 RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
@@ -1157,16 +1180,17 @@ RLAPI int GetCharPressed(void);                               // Get char presse
 RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
 
 // Input-related functions: gamepads
-RLAPI bool IsGamepadAvailable(int gamepad);                   // Check if a gamepad is available
-RLAPI const char *GetGamepadName(int gamepad);                // Get gamepad internal name id
-RLAPI bool IsGamepadButtonPressed(int gamepad, int button);   // Check if a gamepad button has been pressed once
-RLAPI bool IsGamepadButtonDown(int gamepad, int button);      // Check if a gamepad button is being pressed
-RLAPI bool IsGamepadButtonReleased(int gamepad, int button);  // Check if a gamepad button has been released once
-RLAPI bool IsGamepadButtonUp(int gamepad, int button);        // Check if a gamepad button is NOT being pressed
-RLAPI int GetGamepadButtonPressed(void);                      // Get the last gamepad button pressed
-RLAPI int GetGamepadAxisCount(int gamepad);                   // Get gamepad axis count for a gamepad
-RLAPI float GetGamepadAxisMovement(int gamepad, int axis);    // Get axis movement value for a gamepad axis
-RLAPI int SetGamepadMappings(const char *mappings);           // Set internal gamepad mappings (SDL_GameControllerDB)
+RLAPI bool IsGamepadAvailable(int gamepad);                                        // Check if a gamepad is available
+RLAPI const char *GetGamepadName(int gamepad);                                     // Get gamepad internal name id
+RLAPI bool IsGamepadButtonPressed(int gamepad, int button);                        // Check if a gamepad button has been pressed once
+RLAPI bool IsGamepadButtonDown(int gamepad, int button);                           // Check if a gamepad button is being pressed
+RLAPI bool IsGamepadButtonReleased(int gamepad, int button);                       // Check if a gamepad button has been released once
+RLAPI bool IsGamepadButtonUp(int gamepad, int button);                             // Check if a gamepad button is NOT being pressed
+RLAPI int GetGamepadButtonPressed(void);                                           // Get the last gamepad button pressed
+RLAPI int GetGamepadAxisCount(int gamepad);                                        // Get gamepad axis count for a gamepad
+RLAPI float GetGamepadAxisMovement(int gamepad, int axis);                         // Get axis movement value for a gamepad axis
+RLAPI int SetGamepadMappings(const char *mappings);                                // Set internal gamepad mappings (SDL_GameControllerDB)
+RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
 
 // Input-related functions: mouse
 RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
@@ -1197,7 +1221,7 @@ RLAPI int GetTouchPointCount(void);                           // Get number of t
 RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
 RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
 RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
-RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in milliseconds
+RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in seconds
 RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
 RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
 RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
@@ -1216,19 +1240,21 @@ RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, f
 // NOTE: It can be useful when using basic shapes and one single font,
 // defining a font char white rectangle would allow drawing everything in a single draw call
 RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
+RLAPI Texture2D GetShapesTexture(void);                                 // Get texture that is used for shapes drawing
+RLAPI Rectangle GetShapesTextureRectangle(void);                        // Get texture source rectangle that is used for shapes drawing
 
 // Basic shapes drawing functions
-RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel
-RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel (Vector version)
+RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel using geometry [Can be slow, use with care]
+RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
 RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
 RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
 RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
-RLAPI void DrawLineStrip(Vector2 *points, int pointCount, Color color);                                  // Draw lines sequence (using gl lines)
+RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color);                            // Draw lines sequence (using gl lines)
 RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
 RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
 RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
 RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
-RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color color1, Color color2);       // Draw a gradient-filled circle
+RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer);         // Draw a gradient-filled circle
 RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
 RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
 RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
@@ -1240,27 +1266,28 @@ RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color)
 RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
 RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
 RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
-RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a vertical-gradient-filled rectangle
-RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a horizontal-gradient-filled rectangle
-RLAPI void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4);       // Draw a gradient-filled rectangle with custom vertex colors
+RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom);   // Draw a vertical-gradient-filled rectangle
+RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right);   // Draw a horizontal-gradient-filled rectangle
+RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
 RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
 RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
 RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
-RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
+RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color);         // Draw rectangle lines with rounded edges
+RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
 RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
 RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleFan(Vector2 *points, int pointCount, Color color);                                // Draw a triangle fan defined by points (first vertex is the center)
-RLAPI void DrawTriangleStrip(Vector2 *points, int pointCount, Color color);                              // Draw a triangle strip defined by points
+RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color);                          // Draw a triangle fan defined by points (first vertex is the center)
+RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color);                        // Draw a triangle strip defined by points
 RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
 RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
 RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
 
 // Splines drawing functions
-RLAPI void DrawSplineLinear(Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
-RLAPI void DrawSplineBasis(Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
-RLAPI void DrawSplineCatmullRom(Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
-RLAPI void DrawSplineBezierQuadratic(Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
-RLAPI void DrawSplineBezierCubic(Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
+RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
+RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
+RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
+RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
+RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
 RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
 RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
 RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
@@ -1278,12 +1305,13 @@ RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vect
 RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
 RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
 RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
+RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2);               // Check if circle collides with a line created betweeen two points [p1] and [p2]
 RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
 RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
 RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
-RLAPI bool CheckCollisionPointPoly(Vector2 point, Vector2 *points, int pointCount);                      // Check if point is within a polygon described by array of vertices
-RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
 RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
+RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount);                // Check if point is within a polygon described by array of vertices
+RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
 RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
 
 //------------------------------------------------------------------------------------
@@ -1294,12 +1322,12 @@ RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);
 // NOTE: These functions do not require GPU access
 RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
 RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
-RLAPI Image LoadImageSvg(const char *fileNameOrString, int width, int height);                           // Load image from SVG file data or string with specified size
 RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
+RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
 RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
 RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
 RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
-RLAPI bool IsImageReady(Image image);                                                                    // Check if an image is ready
+RLAPI bool IsImageValid(Image image);                                                                    // Check if an image is valid (data and parameters)
 RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
 RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
 RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
@@ -1319,6 +1347,7 @@ RLAPI Image GenImageText(int width, int height, const char *text);
 // Image manipulation functions
 RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
 RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
+RLAPI Image ImageFromChannel(Image image, int selectedChannel);                                          // Create an image from a selected channel of another image (GRAYSCALE)
 RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
 RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
 RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
@@ -1329,9 +1358,10 @@ RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);
 RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
 RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
 RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
+RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize);                    // Apply custom square convolution kernel to image
 RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
 RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
-RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill);  // Resize canvas and fill with color
+RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
 RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
 RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
 RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
@@ -1359,6 +1389,7 @@ RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);
 RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
 RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
 RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
+RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color);              // Draw a line defining thickness within an image
 RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
 RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
 RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
@@ -1367,6 +1398,11 @@ RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int hei
 RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
 RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
 RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
+RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);               // Draw triangle within an image
+RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
+RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);          // Draw triangle outline within an image
+RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color);               // Draw a triangle fan defined by points within an image (first vertex is the center)
+RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color);             // Draw a triangle strip defined by points within an image
 RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
 RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
 RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
@@ -1377,9 +1413,9 @@ RLAPI Texture2D LoadTexture(const char *fileName);
 RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
 RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
 RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
-RLAPI bool IsTextureReady(Texture2D texture);                                                            // Check if a texture is ready
+RLAPI bool IsTextureValid(Texture2D texture);                                                            // Check if a texture is valid (loaded in GPU)
 RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
-RLAPI bool IsRenderTextureReady(RenderTexture2D target);                                                 // Check if a render texture is ready
+RLAPI bool IsRenderTextureValid(RenderTexture2D target);                                                 // Check if a render texture is valid (loaded in GPU)
 RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
 RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
 RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
@@ -1398,8 +1434,9 @@ RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, V
 RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
 
 // Color/pixel related functions
+RLAPI bool ColorIsEqual(Color col1, Color col2);                            // Check if two colors are equal
 RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color
+RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color (0xRRGGBBAA)
 RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
 RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
 RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
@@ -1409,6 +1446,7 @@ RLAPI Color ColorBrightness(Color color, float factor);                     // G
 RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
 RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
 RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
+RLAPI Color ColorLerp(Color color1, Color color2, float factor);            // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
 RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
 RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
 RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
@@ -1421,10 +1459,10 @@ RLAPI int GetPixelDataSize(int width, int height, int format);              // G
 // Font loading/unloading functions
 RLAPI Font GetFontDefault(void);                                                            // Get the default Font
 RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
-RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount);  // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set
+RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
 RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
 RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
-RLAPI bool IsFontReady(Font font);                                                          // Check if a font is ready
+RLAPI bool IsFontValid(Font font);                                                          // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
 RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
 RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
 RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
@@ -1465,7 +1503,7 @@ RLAPI bool TextIsEqual(const char *text1, const char *text2);
 RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
 RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
 RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
-RLAPI char *TextReplace(char *text, const char *replace, const char *by);                   // Replace text string (WARNING: memory must be freed!)
+RLAPI char *TextReplace(const char *text, const char *replace, const char *by);             // Replace text string (WARNING: memory must be freed!)
 RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
 RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
 RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
@@ -1474,7 +1512,11 @@ RLAPI int TextFindIndex(const char *text, const char *find);
 RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
 RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
 RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
+RLAPI const char *TextToSnake(const char *text);                      // Get Snake case notation version of provided string
+RLAPI const char *TextToCamel(const char *text);                      // Get Camel case notation version of provided string
+
 RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
+RLAPI float TextToFloat(const char *text);                            // Get float value from text (negative values not supported)
 
 //------------------------------------------------------------------------------------
 // Basic 3d Shapes Drawing Functions (Module: models)
@@ -1485,7 +1527,7 @@ RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);
 RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
 RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
 RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleStrip3D(Vector3 *points, int pointCount, Color color);                            // Draw a triangle strip defined by points
+RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color);                      // Draw a triangle strip defined by points
 RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
 RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
 RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
@@ -1510,7 +1552,7 @@ RLAPI void DrawGrid(int slices, float spacing);
 // Model management functions
 RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
 RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
-RLAPI bool IsModelReady(Model model);                                                       // Check if a model is ready
+RLAPI bool IsModelValid(Model model);                                                       // Check if a model is valid (loaded in GPU, VAO/VBOs)
 RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
 RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
 
@@ -1519,8 +1561,10 @@ RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);
 RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
 RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
 RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
+RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
+RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
 RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
-RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float size, Color tint);   // Draw a billboard texture
+RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint);   // Draw a billboard texture
 RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
 RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
 
@@ -1530,9 +1574,10 @@ RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize
 RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
 RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
 RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
-RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
 RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
 RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
+RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
+RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName);                               // Export mesh as code file (.h) defining multiple arrays of vertex attributes
 
 // Mesh generation functions
 RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
@@ -1550,14 +1595,15 @@ RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);
 // Material loading/unloading functions
 RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
 RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
-RLAPI bool IsMaterialReady(Material material);                                              // Check if a material is ready
+RLAPI bool IsMaterialValid(Material material);                                              // Check if a material is valid (shader assigned, map textures loaded in GPU)
 RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
 RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
 RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
 
 // Model animations loading/unloading functions
 RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
-RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose
+RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose (CPU)
+RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame);          // Update model animation mesh bone matrices (GPU skinning)
 RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
 RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
 RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
@@ -1587,11 +1633,11 @@ RLAPI float GetMasterVolume(void);                                    // Get mas
 // Wave/Sound loading/unloading functions
 RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
 RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
-RLAPI bool IsWaveReady(Wave wave);                                    // Checks if wave data is ready
+RLAPI bool IsWaveValid(Wave wave);                                    // Checks if wave data is valid (data loaded and parameters)
 RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
 RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
 RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
-RLAPI bool IsSoundReady(Sound sound);                                 // Checks if a sound is ready
+RLAPI bool IsSoundValid(Sound sound);                                 // Checks if a sound is valid (data loaded and buffers initialized)
 RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
 RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
 RLAPI void UnloadSound(Sound sound);                                  // Unload sound
@@ -1609,7 +1655,7 @@ RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set vol
 RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
 RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
 RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
-RLAPI void WaveCrop(Wave *wave, int initSample, int finalSample);     // Crop a wave to defined samples range
+RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame);       // Crop a wave to defined frames range
 RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
 RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
 RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
@@ -1617,7 +1663,7 @@ RLAPI void UnloadWaveSamples(float *samples);                         // Unload
 // Music management functions
 RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
 RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
-RLAPI bool IsMusicReady(Music music);                                 // Checks if a music stream is ready
+RLAPI bool IsMusicValid(Music music);                                 // Checks if a music stream is valid (context and buffers initialized)
 RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
 RLAPI void PlayMusicStream(Music music);                              // Start music playing
 RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
@@ -1634,7 +1680,7 @@ RLAPI float GetMusicTimePlayed(Music music);                          // Get cur
 
 // AudioStream management functions
 RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
-RLAPI bool IsAudioStreamReady(AudioStream stream);                    // Checks if an audio stream is ready
+RLAPI bool IsAudioStreamValid(AudioStream stream);                    // Checks if an audio stream is valid (buffers initialized)
 RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
 RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
 RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
@@ -1649,10 +1695,10 @@ RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan
 RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
 RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
 
-RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as <float>s
+RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
 RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
 
-RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as <float>s
+RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
 RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
 
 #if defined(__cplusplus)
diff --git a/third_party/raylib/include/raymath.h b/third_party/raylib/include/raymath.h
index ff60170390..5b5e4c74ff 100644
--- a/third_party/raylib/include/raymath.h
+++ b/third_party/raylib/include/raymath.h
@@ -1,6 +1,6 @@
 /**********************************************************************************************
 *
-*   raymath v1.5 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
+*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
 *
 *   CONVENTIONS:
 *     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
@@ -12,7 +12,7 @@
 *     - Functions are always self-contained, no function use another raymath function inside,
 *       required code is directly re-implemented inside
 *     - Functions input parameters are always received by value (2 unavoidable exceptions)
-*     - Functions use always a "result" variable for return
+*     - Functions use always a "result" variable for return (except C++ operators)
 *     - Functions are always defined inline
 *     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
 *     - No compound literals used to make sure libray is compatible with C++
@@ -27,10 +27,12 @@
 *           Define static inline functions code, so #include header suffices for use.
 *           This may use up lots of memory.
 *
+*       #define RAYMATH_DISABLE_CPP_OPERATORS
+*           Disables C++ operator overloads for raymath types.
 *
 *   LICENSE: zlib/libpng
 *
-*   Copyright (c) 2015-2023 Ramon Santamaria (@raysan5)
+*   Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
 *
 *   This software is provided "as-is", without any express or implied warranty. In no event
 *   will the authors be held liable for any damages arising from the use of this software.
@@ -59,7 +61,9 @@
 // Function specifiers definition
 #if defined(RAYMATH_IMPLEMENTATION)
     #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
+        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
+    #elif defined(BUILD_LIBTYPE_SHARED)
+        #define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
     #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
         #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
     #else
@@ -75,6 +79,7 @@
     #endif
 #endif
 
+
 //----------------------------------------------------------------------------------
 // Defines and Macros
 //----------------------------------------------------------------------------------
@@ -163,7 +168,7 @@ typedef struct float16 {
     float v[16];
 } float16;
 
-#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabs()
+#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
 
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Utils math
@@ -299,6 +304,14 @@ RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
     return result;
 }
 
+// Calculate two vectors cross product
+RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
+{
+    float result = (v1.x*v2.y - v1.y*v2.x);
+
+    return result;
+}
+
 // Calculate distance between two vectors
 RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
 {
@@ -429,6 +442,28 @@ RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
     return result;
 }
 
+// Get min value for each pair of components
+RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { 0 };
+
+    result.x = fminf(v1.x, v2.x);
+    result.y = fminf(v1.y, v2.y);
+
+    return result;
+}
+
+// Get max value for each pair of components
+RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { 0 };
+
+    result.x = fmaxf(v1.x, v2.x);
+    result.y = fmaxf(v1.y, v2.y);
+
+    return result;
+}
+
 // Rotate vector by angle
 RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
 {
@@ -492,18 +527,18 @@ RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
     {
         length = sqrtf(length);
 
+        float scale = 1;    // By default, 1 as the neutral element.
         if (length < min)
         {
-            float scale = min/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
+            scale = min/length;
         }
         else if (length > max)
         {
-            float scale = max/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
+            scale = max/length;
         }
+
+        result.x = v.x*scale;
+        result.y = v.y*scale;
     }
 
     return result;
@@ -522,6 +557,31 @@ RMAPI int Vector2Equals(Vector2 p, Vector2 q)
     return result;
 }
 
+// Compute the direction of a refracted ray
+// v: normalized direction of the incoming ray
+// n: normalized normal vector of the interface of two optical media
+// r: ratio of the refractive index of the medium from where the ray comes
+//    to the refractive index of the medium on the other side of the surface
+RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
+{
+    Vector2 result = { 0 };
+
+    float dot = v.x*n.x + v.y*n.y;
+    float d = 1.0f - r*r*(1.0f - dot*dot);
+
+    if (d >= 0.0f)
+    {
+        d = sqrtf(d);
+        v.x = r*v.x - (r*dot + d)*n.x;
+        v.y = r*v.y - (r*dot + d)*n.y;
+
+        result = v;
+    }
+
+    return result;
+}
+
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Vector3 math
 //----------------------------------------------------------------------------------
@@ -603,12 +663,12 @@ RMAPI Vector3 Vector3Perpendicular(Vector3 v)
 {
     Vector3 result = { 0 };
 
-    float min = (float) fabs(v.x);
+    float min = fabsf(v.x);
     Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
 
     if (fabsf(v.y) < min)
     {
-        min = (float) fabs(v.y);
+        min = fabsf(v.y);
         Vector3 tmp = {0.0f, 1.0f, 0.0f};
         cardinalAxis = tmp;
     }
@@ -728,7 +788,7 @@ RMAPI Vector3 Vector3Normalize(Vector3 v)
 RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
 {
     Vector3 result = { 0 };
-    
+
     float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
     float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
 
@@ -745,7 +805,7 @@ RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
 RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
 {
     Vector3 result = { 0 };
-    
+
     float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
     float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
 
@@ -832,7 +892,7 @@ RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
     // Vector3Normalize(axis);
     float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
     if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f / length;
+    float ilength = 1.0f/length;
     axis.x *= ilength;
     axis.y *= ilength;
     axis.z *= ilength;
@@ -873,6 +933,27 @@ RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
     return result;
 }
 
+// Move Vector towards target
+RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
+{
+    Vector3 result = { 0 };
+
+    float dx = target.x - v.x;
+    float dy = target.y - v.y;
+    float dz = target.z - v.z;
+    float value = (dx*dx) + (dy*dy) + (dz*dz);
+
+    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+
+    float dist = sqrtf(value);
+
+    result.x = v.x + dx/dist*maxDistance;
+    result.y = v.y + dy/dist*maxDistance;
+    result.z = v.z + dz/dist*maxDistance;
+
+    return result;
+}
+
 // Calculate linear interpolation between two vectors
 RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
 {
@@ -885,6 +966,22 @@ RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
     return result;
 }
 
+// Calculate cubic hermite interpolation between two vectors and their tangents
+// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
+RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
+{
+    Vector3 result = { 0 };
+
+    float amountPow2 = amount*amount;
+    float amountPow3 = amount*amount*amount;
+
+    result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
+    result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
+    result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
+
+    return result;
+}
+
 // Calculate reflected vector to normal
 RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
 {
@@ -1078,20 +1175,19 @@ RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
     {
         length = sqrtf(length);
 
+        float scale = 1;    // By default, 1 as the neutral element.
         if (length < min)
         {
-            float scale = min/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
-            result.z = v.z*scale;
+            scale = min/length;
         }
         else if (length > max)
         {
-            float scale = max/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
-            result.z = v.z*scale;
+            scale = max/length;
         }
+
+        result.x = v.x*scale;
+        result.y = v.y*scale;
+        result.z = v.z*scale;
     }
 
     return result;
@@ -1136,6 +1232,233 @@ RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
     return result;
 }
 
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector4 math
+//----------------------------------------------------------------------------------
+
+RMAPI Vector4 Vector4Zero(void)
+{
+    Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
+    return result;
+}
+
+RMAPI Vector4 Vector4One(void)
+{
+    Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
+    return result;
+}
+
+RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = {
+        v1.x + v2.x,
+        v1.y + v2.y,
+        v1.z + v2.z,
+        v1.w + v2.w
+    };
+    return result;
+}
+
+RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
+{
+    Vector4 result = {
+        v.x + add,
+        v.y + add,
+        v.z + add,
+        v.w + add
+    };
+    return result;
+}
+
+RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = {
+        v1.x - v2.x,
+        v1.y - v2.y,
+        v1.z - v2.z,
+        v1.w - v2.w
+    };
+    return result;
+}
+
+RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
+{
+    Vector4 result = {
+        v.x - add,
+        v.y - add,
+        v.z - add,
+        v.w - add
+    };
+    return result;
+}
+
+RMAPI float Vector4Length(Vector4 v)
+{
+    float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
+    return result;
+}
+
+RMAPI float Vector4LengthSqr(Vector4 v)
+{
+    float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
+    return result;
+}
+
+RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
+{
+    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
+    return result;
+}
+
+// Calculate distance between two vectors
+RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
+{
+    float result = sqrtf(
+        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
+        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
+    return result;
+}
+
+// Calculate square distance between two vectors
+RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
+{
+    float result =
+        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
+        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
+
+    return result;
+}
+
+RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
+{
+    Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
+    return result;
+}
+
+// Multiply vector by vector
+RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
+    return result;
+}
+
+// Negate vector
+RMAPI Vector4 Vector4Negate(Vector4 v)
+{
+    Vector4 result = { -v.x, -v.y, -v.z, -v.w };
+    return result;
+}
+
+// Divide vector by vector
+RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
+    return result;
+}
+
+// Normalize provided vector
+RMAPI Vector4 Vector4Normalize(Vector4 v)
+{
+    Vector4 result = { 0 };
+    float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
+
+    if (length > 0)
+    {
+        float ilength = 1.0f/length;
+        result.x = v.x*ilength;
+        result.y = v.y*ilength;
+        result.z = v.z*ilength;
+        result.w = v.w*ilength;
+    }
+
+    return result;
+}
+
+// Get min value for each pair of components
+RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { 0 };
+
+    result.x = fminf(v1.x, v2.x);
+    result.y = fminf(v1.y, v2.y);
+    result.z = fminf(v1.z, v2.z);
+    result.w = fminf(v1.w, v2.w);
+
+    return result;
+}
+
+// Get max value for each pair of components
+RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { 0 };
+
+    result.x = fmaxf(v1.x, v2.x);
+    result.y = fmaxf(v1.y, v2.y);
+    result.z = fmaxf(v1.z, v2.z);
+    result.w = fmaxf(v1.w, v2.w);
+
+    return result;
+}
+
+// Calculate linear interpolation between two vectors
+RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
+{
+    Vector4 result = { 0 };
+
+    result.x = v1.x + amount*(v2.x - v1.x);
+    result.y = v1.y + amount*(v2.y - v1.y);
+    result.z = v1.z + amount*(v2.z - v1.z);
+    result.w = v1.w + amount*(v2.w - v1.w);
+
+    return result;
+}
+
+// Move Vector towards target
+RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
+{
+    Vector4 result = { 0 };
+
+    float dx = target.x - v.x;
+    float dy = target.y - v.y;
+    float dz = target.z - v.z;
+    float dw = target.w - v.w;
+    float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
+
+    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+
+    float dist = sqrtf(value);
+
+    result.x = v.x + dx/dist*maxDistance;
+    result.y = v.y + dy/dist*maxDistance;
+    result.z = v.z + dz/dist*maxDistance;
+    result.w = v.w + dw/dist*maxDistance;
+
+    return result;
+}
+
+// Invert the given vector
+RMAPI Vector4 Vector4Invert(Vector4 v)
+{
+    Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
+    return result;
+}
+
+// Check whether two given vectors are almost equal
+RMAPI int Vector4Equals(Vector4 p, Vector4 q)
+{
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
+    return result;
+}
+
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Matrix math
 //----------------------------------------------------------------------------------
@@ -1524,32 +1847,32 @@ RMAPI Matrix MatrixScale(float x, float y, float z)
 }
 
 // Get perspective projection matrix
-RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
+RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
 {
     Matrix result = { 0 };
 
     float rl = (float)(right - left);
     float tb = (float)(top - bottom);
-    float fn = (float)(far - near);
+    float fn = (float)(farPlane - nearPlane);
 
-    result.m0 = ((float)near*2.0f)/rl;
+    result.m0 = ((float)nearPlane*2.0f)/rl;
     result.m1 = 0.0f;
     result.m2 = 0.0f;
     result.m3 = 0.0f;
 
     result.m4 = 0.0f;
-    result.m5 = ((float)near*2.0f)/tb;
+    result.m5 = ((float)nearPlane*2.0f)/tb;
     result.m6 = 0.0f;
     result.m7 = 0.0f;
 
     result.m8 = ((float)right + (float)left)/rl;
     result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)far + (float)near)/fn;
+    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
     result.m11 = -1.0f;
 
     result.m12 = 0.0f;
     result.m13 = 0.0f;
-    result.m14 = -((float)far*(float)near*2.0f)/fn;
+    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
     result.m15 = 0.0f;
 
     return result;
@@ -1901,6 +2224,32 @@ RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
     return result;
 }
 
+// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
+// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
+RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
+{
+    float t2 = t*t;
+    float t3 = t2*t;
+    float h00 = 2*t3 - 3*t2 + 1;
+    float h10 = t3 - 2*t2 + t;
+    float h01 = -2*t3 + 3*t2;
+    float h11 = t3 - t2;
+
+    Quaternion p0 = QuaternionScale(q1, h00);
+    Quaternion m0 = QuaternionScale(outTangent1, h10);
+    Quaternion p1 = QuaternionScale(q2, h01);
+    Quaternion m1 = QuaternionScale(inTangent2, h11);
+
+    Quaternion result = { 0 };
+
+    result = QuaternionAdd(p0, m0);
+    result = QuaternionAdd(result, p1);
+    result = QuaternionAdd(result, m1);
+    result = QuaternionNormalize(result);
+
+    return result;
+}
+
 // Calculate quaternion based on the rotation from one vector to another
 RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
 {
@@ -1960,7 +2309,7 @@ RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
     }
 
     float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
-    float mult = 0.25f / biggestVal;
+    float mult = 0.25f/biggestVal;
 
     switch (biggestIndex)
     {
@@ -2042,8 +2391,7 @@ RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
         float ilength = 0.0f;
 
         // Vector3Normalize(axis)
-        Vector3 v = axis;
-        length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+        length = axisLength;
         if (length == 0.0f) length = 1.0f;
         ilength = 1.0f/length;
         axis.x *= ilength;
@@ -2187,4 +2535,415 @@ RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
     return result;
 }
 
+// Decompose a transformation matrix into its rotational, translational and scaling components
+RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
+{
+    // Extract translation.
+    translation->x = mat.m12;
+    translation->y = mat.m13;
+    translation->z = mat.m14;
+
+    // Extract upper-left for determinant computation
+    const float a = mat.m0;
+    const float b = mat.m4;
+    const float c = mat.m8;
+    const float d = mat.m1;
+    const float e = mat.m5;
+    const float f = mat.m9;
+    const float g = mat.m2;
+    const float h = mat.m6;
+    const float i = mat.m10;
+    const float A = e*i - f*h;
+    const float B = f*g - d*i;
+    const float C = d*h - e*g;
+
+    // Extract scale
+    const float det = a*A + b*B + c*C;
+    Vector3 abc = { a, b, c };
+    Vector3 def = { d, e, f };
+    Vector3 ghi = { g, h, i };
+
+    float scalex = Vector3Length(abc);
+    float scaley = Vector3Length(def);
+    float scalez = Vector3Length(ghi);
+    Vector3 s = { scalex, scaley, scalez };
+
+    if (det < 0) s = Vector3Negate(s);
+
+    *scale = s;
+
+    // Remove scale from the matrix if it is not close to zero
+    Matrix clone = mat;
+    if (!FloatEquals(det, 0))
+    {
+        clone.m0 /= s.x;
+        clone.m4 /= s.x;
+        clone.m8 /= s.x;
+        clone.m1 /= s.y;
+        clone.m5 /= s.y;
+        clone.m9 /= s.y;
+        clone.m2 /= s.z;
+        clone.m6 /= s.z;
+        clone.m10 /= s.z;
+
+        // Extract rotation
+        *rotation = QuaternionFromMatrix(clone);
+    }
+    else
+    {
+        // Set to identity if close to zero
+        *rotation = QuaternionIdentity();
+    }
+}
+
+#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
+
+// Optional C++ math operators
+//-------------------------------------------------------------------------------
+
+// Vector2 operators
+static constexpr Vector2 Vector2Zeros = { 0, 0 };
+static constexpr Vector2 Vector2Ones = { 1, 1 };
+static constexpr Vector2 Vector2UnitX = { 1, 0 };
+static constexpr Vector2 Vector2UnitY = { 0, 1 };
+
+inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Add(lhs, rhs);
+}
+
+inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Add(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Subtract(lhs, rhs);
+}
+
+inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Subtract(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator * (const Vector2& lhs, const float& rhs)
+{
+    return Vector2Scale(lhs, rhs);
+}
+
+inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
+{
+    lhs = Vector2Scale(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Multiply(lhs, rhs);
+}
+
+inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Multiply(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
+{
+    return Vector2Transform(lhs, rhs);
+}
+
+inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
+{
+    lhs = Vector2Transform(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator / (const Vector2& lhs, const float& rhs)
+{
+    return Vector2Scale(lhs, 1.0f / rhs);
+}
+
+inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
+{
+    lhs = Vector2Scale(lhs, 1.0f / rhs);
+    return lhs;
+}
+
+inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Divide(lhs, rhs);
+}
+
+inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Divide(lhs, rhs);
+    return lhs;
+}
+
+inline bool operator == (const Vector2& lhs, const Vector2& rhs)
+{
+    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
+}
+
+inline bool operator != (const Vector2& lhs, const Vector2& rhs)
+{
+    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
+}
+
+// Vector3 operators
+static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
+static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
+static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
+static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
+static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
+
+inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Add(lhs, rhs);
+}
+
+inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Add(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Subtract(lhs, rhs);
+}
+
+inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Subtract(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator * (const Vector3& lhs, const float& rhs)
+{
+    return Vector3Scale(lhs, rhs);
+}
+
+inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
+{
+    lhs = Vector3Scale(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Multiply(lhs, rhs);
+}
+
+inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Multiply(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
+{
+    return Vector3Transform(lhs, rhs);
+}
+
+inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
+{
+    lhs = Vector3Transform(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator / (const Vector3& lhs, const float& rhs)
+{
+    return Vector3Scale(lhs, 1.0f / rhs);
+}
+
+inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
+{
+    lhs = Vector3Scale(lhs, 1.0f / rhs);
+    return lhs;
+}
+
+inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Divide(lhs, rhs);
+}
+
+inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Divide(lhs, rhs);
+    return lhs;
+}
+
+inline bool operator == (const Vector3& lhs, const Vector3& rhs)
+{
+    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
+}
+
+inline bool operator != (const Vector3& lhs, const Vector3& rhs)
+{
+    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
+}
+
+// Vector4 operators
+static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
+static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
+static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
+static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
+static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
+static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
+
+inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Add(lhs, rhs);
+}
+
+inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Add(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Subtract(lhs, rhs);
+}
+
+inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Subtract(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator * (const Vector4& lhs, const float& rhs)
+{
+    return Vector4Scale(lhs, rhs);
+}
+
+inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
+{
+    lhs = Vector4Scale(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Multiply(lhs, rhs);
+}
+
+inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Multiply(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator / (const Vector4& lhs, const float& rhs)
+{
+    return Vector4Scale(lhs, 1.0f / rhs);
+}
+
+inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
+{
+    lhs = Vector4Scale(lhs, 1.0f / rhs);
+    return lhs;
+}
+
+inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Divide(lhs, rhs);
+}
+
+inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Divide(lhs, rhs);
+    return lhs;
+}
+
+inline bool operator == (const Vector4& lhs, const Vector4& rhs)
+{
+    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
+}
+
+inline bool operator != (const Vector4& lhs, const Vector4& rhs)
+{
+    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
+}
+
+// Quaternion operators
+static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
+static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
+static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
+
+inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
+{
+    return QuaternionAddValue(lhs, rhs);
+}
+
+inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
+{
+    lhs = QuaternionAddValue(lhs, rhs);
+    return lhs;
+}
+
+inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
+{
+    return QuaternionSubtractValue(lhs, rhs);
+}
+
+inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
+{
+    lhs = QuaternionSubtractValue(lhs, rhs);
+    return lhs;
+}
+
+inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
+{
+    return QuaternionTransform(lhs, rhs);
+}
+
+inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
+{
+    lhs = QuaternionTransform(lhs, rhs);
+    return lhs;
+}
+
+// Matrix operators
+inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
+{
+    return MatrixAdd(lhs, rhs);
+}
+
+inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
+{
+    lhs = MatrixAdd(lhs, rhs);
+    return lhs;
+}
+
+inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
+{
+    return MatrixSubtract(lhs, rhs);
+}
+
+inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
+{
+    lhs = MatrixSubtract(lhs, rhs);
+    return lhs;
+}
+
+inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
+{
+    return MatrixMultiply(lhs, rhs);
+}
+
+inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
+{
+    lhs = MatrixMultiply(lhs, rhs);
+    return lhs;
+}
+//-------------------------------------------------------------------------------
+#endif  // C++ operators
+
 #endif  // RAYMATH_H
diff --git a/third_party/raylib/include/rlgl.h b/third_party/raylib/include/rlgl.h
index 6cf9c7e99d..92971df627 100644
--- a/third_party/raylib/include/rlgl.h
+++ b/third_party/raylib/include/rlgl.h
@@ -1,24 +1,24 @@
 /**********************************************************************************************
 *
-*   rlgl v4.5 - A multi-OpenGL abstraction layer with an immediate-mode style API
+*   rlgl v5.0 - A multi-OpenGL abstraction layer with an immediate-mode style API
 *
 *   DESCRIPTION:
-*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0)
+*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0, ES 3.0)
 *       that provides a pseudo-OpenGL 1.1 immediate-mode style API (rlVertex, rlTranslate, rlRotate...)
 *
 *   ADDITIONAL NOTES:
 *       When choosing an OpenGL backend different than OpenGL 1.1, some internal buffer are
-*       initialized on rlglInit() to accumulate vertex data.
+*       initialized on rlglInit() to accumulate vertex data
 *
 *       When an internal state change is required all the stored vertex data is renderer in batch,
-*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch.
+*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch
 *
 *       Some resources are also loaded for convenience, here the complete list:
 *          - Default batch (RLGL.defaultBatch): RenderBatch system to accumulate vertex data
 *          - Default texture (RLGL.defaultTextureId): 1x1 white pixel R8G8B8A8
 *          - Default shader (RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs)
 *
-*       Internal buffer (and resources) must be manually unloaded calling rlglClose().
+*       Internal buffer (and resources) must be manually unloaded calling rlglClose()
 *
 *   CONFIGURATION:
 *       #define GRAPHICS_API_OPENGL_11
@@ -32,9 +32,9 @@
 *           required by any other module, use rlGetVersion() to check it
 *
 *       #define RLGL_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
+*           Generates the implementation of the library into the included file
 *           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
+*           or source files without problems. But only ONE file should hold the implementation
 *
 *       #define RLGL_RENDER_TEXTURES_HINT
 *           Enable framebuffer objects (fbo) support (enabled by default)
@@ -62,18 +62,21 @@
 *       When loading a shader, the following vertex attributes and uniform
 *       location names are tried to be set automatically:
 *
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: 0
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: 1
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: 2
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: 3
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: 4
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: 5
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
+*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
 *       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
 *       #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
 *       #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
 *       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView)))
 *       #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
+*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
 *       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
 *       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
 *       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
@@ -85,7 +88,7 @@
 *
 *   LICENSE: zlib/libpng
 *
-*   Copyright (c) 2014-2023 Ramon Santamaria (@raysan5)
+*   Copyright (c) 2014-2024 Ramon Santamaria (@raysan5)
 *
 *   This software is provided "as-is", without any express or implied warranty. In no event
 *   will the authors be held liable for any damages arising from the use of this software.
@@ -107,16 +110,17 @@
 #ifndef RLGL_H
 #define RLGL_H
 
-#define RLGL_VERSION  "4.5"
+#define RLGL_VERSION  "5.0"
 
-// Function specifiers in case library is build/used as a shared library (Windows)
+// Function specifiers in case library is build/used as a shared library
 // NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-#if defined(_WIN32)
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
+// NOTE: visibility(default) attribute makes symbols "visible" when compiled with -fvisibility=hidden
+#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
+    #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
+#elif defined(BUILD_LIBTYPE_SHARED)
+    #define RLAPI __attribute__((visibility("default"))) // We are building the library as a Unix shared library (.so/.dylib)
+#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
+    #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
 #endif
 
 // Function specifiers definition
@@ -318,6 +322,39 @@
 #define RL_BLEND_SRC_ALPHA                      0x80CB      // GL_BLEND_SRC_ALPHA
 #define RL_BLEND_COLOR                          0x8005      // GL_BLEND_COLOR
 
+#define RL_READ_FRAMEBUFFER                     0x8CA8      // GL_READ_FRAMEBUFFER
+#define RL_DRAW_FRAMEBUFFER                     0x8CA9      // GL_DRAW_FRAMEBUFFER
+
+// Default shader vertex attribute locations
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION    0
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD    1
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL      2
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR       3
+#endif
+    #ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
+#define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT         4
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2   5
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES     6
+#endif
+#ifdef RL_SUPPORT_MESH_GPU_SKINNING
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS     7
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
+    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS 8
+#endif
+#endif
 
 //----------------------------------------------------------------------------------
 // Types and Structures Definition
@@ -346,6 +383,7 @@ typedef struct rlVertexBuffer {
 
     float *vertices;            // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
     float *texcoords;           // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
+    float *normals;             // Vertex normal (XYZ - 3 components per vertex) (shader-location = 2)
     unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
 #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
     unsigned int *indices;      // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
@@ -354,7 +392,7 @@ typedef struct rlVertexBuffer {
     unsigned short *indices;    // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
 #endif
     unsigned int vaoId;         // OpenGL Vertex Array Object id
-    unsigned int vboId[4];      // OpenGL Vertex Buffer Objects id (4 types of vertex data)
+    unsigned int vboId[5];      // OpenGL Vertex Buffer Objects id (5 types of vertex data)
 } rlVertexBuffer;
 
 // Draw call type
@@ -503,6 +541,10 @@ typedef enum {
     RL_SHADER_UNIFORM_IVEC2,            // Shader uniform type: ivec2 (2 int)
     RL_SHADER_UNIFORM_IVEC3,            // Shader uniform type: ivec3 (3 int)
     RL_SHADER_UNIFORM_IVEC4,            // Shader uniform type: ivec4 (4 int)
+    RL_SHADER_UNIFORM_UINT,             // Shader uniform type: unsigned int
+    RL_SHADER_UNIFORM_UIVEC2,           // Shader uniform type: uivec2 (2 unsigned int)
+    RL_SHADER_UNIFORM_UIVEC3,           // Shader uniform type: uivec3 (3 unsigned int)
+    RL_SHADER_UNIFORM_UIVEC4,           // Shader uniform type: uivec4 (4 unsigned int)
     RL_SHADER_UNIFORM_SAMPLER2D         // Shader uniform type: sampler2d
 } rlShaderUniformDataType;
 
@@ -555,30 +597,33 @@ typedef enum {
 extern "C" {            // Prevents name mangling of functions
 #endif
 
-RLAPI void rlMatrixMode(int mode);                    // Choose the current matrix to be transformed
-RLAPI void rlPushMatrix(void);                        // Push the current matrix to stack
-RLAPI void rlPopMatrix(void);                         // Pop latest inserted matrix from stack
-RLAPI void rlLoadIdentity(void);                      // Reset current matrix to identity matrix
-RLAPI void rlTranslatef(float x, float y, float z);   // Multiply the current matrix by a translation matrix
-RLAPI void rlRotatef(float angle, float x, float y, float z);  // Multiply the current matrix by a rotation matrix
-RLAPI void rlScalef(float x, float y, float z);       // Multiply the current matrix by a scaling matrix
-RLAPI void rlMultMatrixf(const float *matf);                // Multiply the current matrix by another matrix
+RLAPI void rlMatrixMode(int mode);                      // Choose the current matrix to be transformed
+RLAPI void rlPushMatrix(void);                          // Push the current matrix to stack
+RLAPI void rlPopMatrix(void);                           // Pop latest inserted matrix from stack
+RLAPI void rlLoadIdentity(void);                        // Reset current matrix to identity matrix
+RLAPI void rlTranslatef(float x, float y, float z);     // Multiply the current matrix by a translation matrix
+RLAPI void rlRotatef(float angle, float x, float y, float z); // Multiply the current matrix by a rotation matrix
+RLAPI void rlScalef(float x, float y, float z);         // Multiply the current matrix by a scaling matrix
+RLAPI void rlMultMatrixf(const float *matf);            // Multiply the current matrix by another matrix
 RLAPI void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar);
 RLAPI void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar);
 RLAPI void rlViewport(int x, int y, int width, int height); // Set the viewport area
+RLAPI void rlSetClipPlanes(double nearPlane, double farPlane);    // Set clip planes distances
+RLAPI double rlGetCullDistanceNear(void);               // Get cull plane distance near
+RLAPI double rlGetCullDistanceFar(void);                // Get cull plane distance far
 
 //------------------------------------------------------------------------------------
 // Functions Declaration - Vertex level operations
 //------------------------------------------------------------------------------------
-RLAPI void rlBegin(int mode);                         // Initialize drawing mode (how to organize vertex)
-RLAPI void rlEnd(void);                               // Finish vertex providing
-RLAPI void rlVertex2i(int x, int y);                  // Define one vertex (position) - 2 int
-RLAPI void rlVertex2f(float x, float y);              // Define one vertex (position) - 2 float
-RLAPI void rlVertex3f(float x, float y, float z);     // Define one vertex (position) - 3 float
-RLAPI void rlTexCoord2f(float x, float y);            // Define one vertex (texture coordinate) - 2 float
-RLAPI void rlNormal3f(float x, float y, float z);     // Define one vertex (normal) - 3 float
-RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a);  // Define one vertex (color) - 4 byte
-RLAPI void rlColor3f(float x, float y, float z);          // Define one vertex (color) - 3 float
+RLAPI void rlBegin(int mode);                           // Initialize drawing mode (how to organize vertex)
+RLAPI void rlEnd(void);                                 // Finish vertex providing
+RLAPI void rlVertex2i(int x, int y);                    // Define one vertex (position) - 2 int
+RLAPI void rlVertex2f(float x, float y);                // Define one vertex (position) - 2 float
+RLAPI void rlVertex3f(float x, float y, float z);       // Define one vertex (position) - 3 float
+RLAPI void rlTexCoord2f(float x, float y);              // Define one vertex (texture coordinate) - 2 float
+RLAPI void rlNormal3f(float x, float y, float z);       // Define one vertex (normal) - 3 float
+RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Define one vertex (color) - 4 byte
+RLAPI void rlColor3f(float x, float y, float z);        // Define one vertex (color) - 3 float
 RLAPI void rlColor4f(float x, float y, float z, float w); // Define one vertex (color) - 4 float
 
 //------------------------------------------------------------------------------------
@@ -592,13 +637,13 @@ RLAPI bool rlEnableVertexArray(unsigned int vaoId);     // Enable vertex array (
 RLAPI void rlDisableVertexArray(void);                  // Disable vertex array (VAO, if supported)
 RLAPI void rlEnableVertexBuffer(unsigned int id);       // Enable vertex buffer (VBO)
 RLAPI void rlDisableVertexBuffer(void);                 // Disable vertex buffer (VBO)
-RLAPI void rlEnableVertexBufferElement(unsigned int id);// Enable vertex buffer element (VBO element)
+RLAPI void rlEnableVertexBufferElement(unsigned int id); // Enable vertex buffer element (VBO element)
 RLAPI void rlDisableVertexBufferElement(void);          // Disable vertex buffer element (VBO element)
 RLAPI void rlEnableVertexAttribute(unsigned int index); // Enable vertex attribute index
-RLAPI void rlDisableVertexAttribute(unsigned int index);// Disable vertex attribute index
+RLAPI void rlDisableVertexAttribute(unsigned int index); // Disable vertex attribute index
 #if defined(GRAPHICS_API_OPENGL_11)
-RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer);    // Enable attribute state pointer
-RLAPI void rlDisableStatePointer(int vertexAttribType);                 // Disable attribute state pointer
+RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer); // Enable attribute state pointer
+RLAPI void rlDisableStatePointer(int vertexAttribType); // Disable attribute state pointer
 #endif
 
 // Textures state
@@ -617,11 +662,13 @@ RLAPI void rlDisableShader(void);                       // Disable shader progra
 // Framebuffer state
 RLAPI void rlEnableFramebuffer(unsigned int id);        // Enable render texture (fbo)
 RLAPI void rlDisableFramebuffer(void);                  // Disable render texture (fbo), return to default framebuffer
+RLAPI unsigned int rlGetActiveFramebuffer(void);        // Get the currently active render texture (fbo), 0 for default framebuffer
 RLAPI void rlActiveDrawBuffers(int count);              // Activate multiple draw color buffers
 RLAPI void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask); // Blit active framebuffer to main framebuffer
+RLAPI void rlBindFramebuffer(unsigned int target, unsigned int framebuffer); // Bind framebuffer (FBO)
 
 // General render state
-RLAPI void rlEnableColorBlend(void);                     // Enable color blending
+RLAPI void rlEnableColorBlend(void);                    // Enable color blending
 RLAPI void rlDisableColorBlend(void);                   // Disable color blending
 RLAPI void rlEnableDepthTest(void);                     // Enable depth test
 RLAPI void rlDisableDepthTest(void);                    // Disable depth test
@@ -629,13 +676,14 @@ RLAPI void rlEnableDepthMask(void);                     // Enable depth write
 RLAPI void rlDisableDepthMask(void);                    // Disable depth write
 RLAPI void rlEnableBackfaceCulling(void);               // Enable backface culling
 RLAPI void rlDisableBackfaceCulling(void);              // Disable backface culling
+RLAPI void rlColorMask(bool r, bool g, bool b, bool a); // Color mask control
 RLAPI void rlSetCullFace(int mode);                     // Set face culling mode
 RLAPI void rlEnableScissorTest(void);                   // Enable scissor test
 RLAPI void rlDisableScissorTest(void);                  // Disable scissor test
 RLAPI void rlScissor(int x, int y, int width, int height); // Scissor test
 RLAPI void rlEnableWireMode(void);                      // Enable wire mode
-RLAPI void rlEnablePointMode(void);                     //  Enable point mode
-RLAPI void rlDisableWireMode(void);                     // Disable wire mode ( and point ) maybe rename
+RLAPI void rlEnablePointMode(void);                     // Enable point mode
+RLAPI void rlDisableWireMode(void);                     // Disable wire (and point) mode
 RLAPI void rlSetLineWidth(float width);                 // Set the line drawing width
 RLAPI float rlGetLineWidth(void);                       // Get the line drawing width
 RLAPI void rlEnableSmoothLines(void);                   // Enable line aliasing
@@ -671,48 +719,48 @@ RLAPI int *rlGetShaderLocsDefault(void);                // Get default shader lo
 // Render batch management
 // NOTE: rlgl provides a default render batch to behave like OpenGL 1.1 immediate mode
 // but this render batch API is exposed in case of custom batches are required
-RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements);  // Load a render batch system
-RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);                        // Unload render batch system
-RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);                         // Draw render batch data (Update->Draw->Reset)
-RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch);                    // Set the active render batch for rlgl (NULL for default internal)
-RLAPI void rlDrawRenderBatchActive(void);                                   // Update and draw internal render batch
-RLAPI bool rlCheckRenderBatchLimit(int vCount);                             // Check internal buffer overflow for a given number of vertex
+RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements); // Load a render batch system
+RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);    // Unload render batch system
+RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);     // Draw render batch data (Update->Draw->Reset)
+RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch); // Set the active render batch for rlgl (NULL for default internal)
+RLAPI void rlDrawRenderBatchActive(void);               // Update and draw internal render batch
+RLAPI bool rlCheckRenderBatchLimit(int vCount);         // Check internal buffer overflow for a given number of vertex
 
 RLAPI void rlSetTexture(unsigned int id);               // Set current texture for render batch and check buffers limits
 
 //------------------------------------------------------------------------------------------------------------------------
 
 // Vertex buffers management
-RLAPI unsigned int rlLoadVertexArray(void);                               // Load vertex array (vao) if supported
-RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic);            // Load a vertex buffer attribute
-RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic);     // Load a new attributes element buffer
-RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset);     // Update GPU buffer with new data
-RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset);   // Update vertex buffer elements with new data
-RLAPI void rlUnloadVertexArray(unsigned int vaoId);
-RLAPI void rlUnloadVertexBuffer(unsigned int vboId);
-RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, const void *pointer);
-RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor);
-RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value
-RLAPI void rlDrawVertexArray(int offset, int count);
-RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer);
-RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances);
-RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances);
+RLAPI unsigned int rlLoadVertexArray(void);             // Load vertex array (vao) if supported
+RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic); // Load a vertex buffer object
+RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic); // Load vertex buffer elements object
+RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset); // Update vertex buffer object data on GPU buffer
+RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset); // Update vertex buffer elements data on GPU buffer
+RLAPI void rlUnloadVertexArray(unsigned int vaoId);     // Unload vertex array (vao)
+RLAPI void rlUnloadVertexBuffer(unsigned int vboId);    // Unload vertex buffer object
+RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset); // Set vertex attribute data configuration
+RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor); // Set vertex attribute data divisor
+RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value, when attribute to provided
+RLAPI void rlDrawVertexArray(int offset, int count);    // Draw vertex array (currently active vao)
+RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer); // Draw vertex array elements
+RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances); // Draw vertex array (currently active vao) with instancing
+RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances); // Draw vertex array elements with instancing
 
 // Textures management
-RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture in GPU
-RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer);               // Load depth texture/renderbuffer (to be attached to fbo)
-RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format);                        // Load texture cubemap
-RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data);  // Update GPU texture with new data
-RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType);  // Get OpenGL internal formats
+RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture data
+RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer); // Load depth texture/renderbuffer (to be attached to fbo)
+RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount); // Load texture cubemap data
+RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data); // Update texture with new data on GPU
+RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType); // Get OpenGL internal formats
 RLAPI const char *rlGetPixelFormatName(unsigned int format);              // Get name string for pixel format
 RLAPI void rlUnloadTexture(unsigned int id);                              // Unload texture from GPU memory
 RLAPI void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps); // Generate mipmap data for selected texture
-RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format);              // Read texture pixel data
+RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format); // Read texture pixel data
 RLAPI unsigned char *rlReadScreenPixels(int width, int height);           // Read screen pixel data (color buffer)
 
 // Framebuffer management (fbo)
-RLAPI unsigned int rlLoadFramebuffer(int width, int height);              // Load an empty framebuffer
-RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel);  // Attach texture/renderbuffer to a framebuffer
+RLAPI unsigned int rlLoadFramebuffer(void);                               // Load an empty framebuffer
+RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel); // Attach texture/renderbuffer to a framebuffer
 RLAPI bool rlFramebufferComplete(unsigned int id);                        // Verify framebuffer is complete
 RLAPI void rlUnloadFramebuffer(unsigned int id);                          // Delete framebuffer from GPU
 
@@ -723,14 +771,15 @@ RLAPI unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fSha
 RLAPI void rlUnloadShaderProgram(unsigned int id);                              // Unload shader program
 RLAPI int rlGetLocationUniform(unsigned int shaderId, const char *uniformName); // Get shader location uniform
 RLAPI int rlGetLocationAttrib(unsigned int shaderId, const char *attribName);   // Get shader location attribute
-RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count);   // Set shader value uniform
+RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count); // Set shader value uniform
 RLAPI void rlSetUniformMatrix(int locIndex, Matrix mat);                        // Set shader value matrix
+RLAPI void rlSetUniformMatrices(int locIndex, const Matrix *mat, int count);    // Set shader value matrices
 RLAPI void rlSetUniformSampler(int locIndex, unsigned int textureId);           // Set shader value sampler
 RLAPI void rlSetShader(unsigned int id, int *locs);                             // Set shader currently active (id and locations)
 
 // Compute shader management
 RLAPI unsigned int rlLoadComputeShaderProgram(unsigned int shaderId);           // Load compute shader program
-RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ);  // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
+RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ); // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
 
 // Shader buffer storage object management (ssbo)
 RLAPI unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint); // Load shader storage buffer object (SSBO)
@@ -773,6 +822,12 @@ RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
 
 #if defined(RLGL_IMPLEMENTATION)
 
+// Expose OpenGL functions from glad in raylib
+#if defined(BUILD_LIBTYPE_SHARED)
+    #define GLAD_API_CALL_EXPORT
+    #define GLAD_API_CALL_EXPORT_BUILD
+#endif
+
 #if defined(GRAPHICS_API_OPENGL_11)
     #if defined(__APPLE__)
         #include <OpenGL/gl.h>          // OpenGL 1.1 library for OSX
@@ -808,9 +863,9 @@ RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
     #define GL_GLEXT_PROTOTYPES
     #include <GLES2/gl2ext.h>           // OpenGL ES 2.0 extensions library
 #elif defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 can be enabled on PLATFORM_DESKTOP,
+    // NOTE: OpenGL ES 2.0 can be enabled on Desktop platforms,
     // in that case, functions are loaded from a custom glad for OpenGL ES 2.0
-    #if defined(PLATFORM_DESKTOP) || defined(PLATFORM_DESKTOP_SDL)
+    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
         #define GLAD_GLES2_IMPLEMENTATION
         #include "external/glad_gles2.h"
     #else
@@ -891,6 +946,14 @@ RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
     #define GL_TEXTURE_MAX_ANISOTROPY_EXT       0x84FE
 #endif
 
+#ifndef GL_PROGRAM_POINT_SIZE
+    #define GL_PROGRAM_POINT_SIZE               0x8642
+#endif
+
+#ifndef GL_LINE_WIDTH
+    #define GL_LINE_WIDTH                       0x0B21
+#endif
+
 #if defined(GRAPHICS_API_OPENGL_11)
     #define GL_UNSIGNED_SHORT_5_6_5             0x8363
     #define GL_UNSIGNED_SHORT_5_5_5_1           0x8034
@@ -912,22 +975,28 @@ RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
 
 // Default shader vertex attribute names to set location points
 #ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: 0
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
 #endif
 #ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: 1
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
 #endif
 #ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: 2
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
 #endif
 #ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: 3
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
 #endif
 #ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: 4
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
 #endif
 #ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: 5
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
+#endif
+#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
+    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
 #endif
 
 #ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MVP
@@ -948,6 +1017,9 @@ RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
 #ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR
     #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
 #endif
+#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES
+    #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
+#endif
 #ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0
     #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
 #endif
@@ -1042,6 +1114,9 @@ typedef void *(*rlglLoadProc)(const char *name);   // OpenGL extension functions
 //----------------------------------------------------------------------------------
 // Global Variables Definition
 //----------------------------------------------------------------------------------
+static double rlCullDistanceNear = RL_CULL_DISTANCE_NEAR;
+static double rlCullDistanceFar = RL_CULL_DISTANCE_FAR;
+
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
 static rlglData RLGL = { 0 };
 #endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
@@ -1072,8 +1147,15 @@ static const char *rlGetCompressedFormatName(int format); // Get compressed form
 static int rlGetPixelDataSize(int width, int height, int format);   // Get pixel data size in bytes (image or texture)
 
 // Auxiliar matrix math functions
+typedef struct rl_float16 {
+    float v[16];
+} rl_float16;
+static rl_float16 rlMatrixToFloatV(Matrix mat);             // Get float array of matrix data
+#define rlMatrixToFloat(mat) (rlMatrixToFloatV(mat).v)      // Get float vector for Matrix
 static Matrix rlMatrixIdentity(void);                       // Get identity matrix
 static Matrix rlMatrixMultiply(Matrix left, Matrix right);  // Multiply two matrices
+static Matrix rlMatrixTranspose(Matrix mat);                // Transposes provided matrix
+static Matrix rlMatrixInvert(Matrix mat);                   // Invert provided matrix
 
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Matrix operations
@@ -1242,7 +1324,7 @@ void rlMultMatrixf(const float *matf)
                    matf[2], matf[6], matf[10], matf[14],
                    matf[3], matf[7], matf[11], matf[15] };
 
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, mat);
+    *RLGL.State.currentMatrix = rlMatrixMultiply(mat, *RLGL.State.currentMatrix);
 }
 
 // Multiply the current matrix by a perspective matrix generated by parameters
@@ -1316,6 +1398,25 @@ void rlViewport(int x, int y, int width, int height)
     glViewport(x, y, width, height);
 }
 
+// Set clip planes distances
+void rlSetClipPlanes(double nearPlane, double farPlane)
+{
+    rlCullDistanceNear = nearPlane;
+    rlCullDistanceFar = farPlane;
+}
+
+// Get cull plane distance near
+double rlGetCullDistanceNear(void)
+{
+    return rlCullDistanceNear;
+}
+
+// Get cull plane distance far
+double rlGetCullDistanceFar(void)
+{
+    return rlCullDistanceFar;
+}
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Vertex level operations
 //----------------------------------------------------------------------------------
@@ -1333,7 +1434,7 @@ void rlBegin(int mode)
     }
 }
 
-void rlEnd() { glEnd(); }
+void rlEnd(void) { glEnd(); }
 void rlVertex2i(int x, int y) { glVertex2i(x, y); }
 void rlVertex2f(float x, float y) { glVertex2f(x, y); }
 void rlVertex3f(float x, float y, float z) { glVertex3f(x, y, z); }
@@ -1402,8 +1503,8 @@ void rlVertex3f(float x, float y, float z)
         tz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z + RLGL.State.transform.m14;
     }
 
-    // WARNING: We can't break primitives when launching a new batch.
-    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices.
+    // WARNING: We can't break primitives when launching a new batch
+    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices
     // We must check current draw.mode when a new vertex is required and finish the batch only if the draw.mode draw.vertexCount is %2, %3 or %4
     if (RLGL.State.vertexCounter > (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4 - 4))
     {
@@ -1436,7 +1537,10 @@ void rlVertex3f(float x, float y, float z)
     RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter] = RLGL.State.texcoordx;
     RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter + 1] = RLGL.State.texcoordy;
 
-    // WARNING: By default rlVertexBuffer struct does not store normals
+    // Add current normal
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter] = RLGL.State.normalx;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 1] = RLGL.State.normaly;
+    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 2] = RLGL.State.normalz;
 
     // Add current color
     RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter] = RLGL.State.colorr;
@@ -1472,9 +1576,26 @@ void rlTexCoord2f(float x, float y)
 // NOTE: Normals limited to TRIANGLES only?
 void rlNormal3f(float x, float y, float z)
 {
-    RLGL.State.normalx = x;
-    RLGL.State.normaly = y;
-    RLGL.State.normalz = z;
+    float normalx = x;
+    float normaly = y;
+    float normalz = z;
+    if (RLGL.State.transformRequired)
+    {
+        normalx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z;
+        normaly = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z;
+        normalz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z;
+    }
+    float length = sqrtf(normalx*normalx + normaly*normaly + normalz*normalz);
+    if (length != 0.0f)
+    {
+        float ilength = 1.0f/length;
+        normalx *= ilength;
+        normaly *= ilength;
+        normalz *= ilength;
+    }
+    RLGL.State.normalx = normalx;
+    RLGL.State.normaly = normaly;
+    RLGL.State.normalz = normalz;
 }
 
 // Define one vertex (color)
@@ -1713,6 +1834,16 @@ void rlEnableFramebuffer(unsigned int id)
 #endif
 }
 
+// return the active render texture (fbo)
+unsigned int rlGetActiveFramebuffer(void)
+{
+    GLint fboId = 0;
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glGetIntegerv(GL_DRAW_FRAMEBUFFER_BINDING, &fboId);
+#endif
+    return fboId;
+}
+
 // Disable rendering to texture
 void rlDisableFramebuffer(void)
 {
@@ -1729,6 +1860,14 @@ void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX
 #endif
 }
 
+// Bind framebuffer object (fbo)
+void rlBindFramebuffer(unsigned int target, unsigned int framebuffer)
+{
+#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
+    glBindFramebuffer(target, framebuffer);
+#endif
+}
+
 // Activate multiple draw color buffers
 // NOTE: One color buffer is always active by default
 void rlActiveDrawBuffers(int count)
@@ -1805,6 +1944,9 @@ void rlEnableBackfaceCulling(void) { glEnable(GL_CULL_FACE); }
 // Disable backface culling
 void rlDisableBackfaceCulling(void) { glDisable(GL_CULL_FACE); }
 
+// Set color mask active for screen read/draw
+void rlColorMask(bool r, bool g, bool b, bool a) { glColorMask(r, g, b, a); }
+
 // Set face culling mode
 void rlSetCullFace(int mode)
 {
@@ -1834,6 +1976,7 @@ void rlEnableWireMode(void)
 #endif
 }
 
+// Enable point mode
 void rlEnablePointMode(void)
 {
 #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
@@ -1842,6 +1985,7 @@ void rlEnablePointMode(void)
     glEnable(GL_PROGRAM_POINT_SIZE);
 #endif
 }
+
 // Disable wire mode
 void rlDisableWireMode(void)
 {
@@ -1924,7 +2068,7 @@ void rlClearScreenBuffers(void)
 }
 
 // Check and log OpenGL error codes
-void rlCheckErrors()
+void rlCheckErrors(void)
 {
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
     int check = 1;
@@ -2122,7 +2266,10 @@ void rlglInit(int width, int height)
     RLGL.State.currentShaderLocs = RLGL.State.defaultShaderLocs;
 
     // Init default vertex arrays buffers
+    // Simulate that the default shader has the location RL_SHADER_LOC_VERTEX_NORMAL to bind the normal buffer for the default render batch
+    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL;
     RLGL.defaultBatch = rlLoadRenderBatch(RL_DEFAULT_BATCH_BUFFERS, RL_DEFAULT_BATCH_BUFFER_ELEMENTS);
+    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = -1;
     RLGL.currentBatch = &RLGL.defaultBatch;
 
     // Init stack matrices (emulating OpenGL 1.1)
@@ -2273,7 +2420,7 @@ void rlLoadExtensions(void *loader)
 
 #elif defined(GRAPHICS_API_OPENGL_ES2)
 
-    #if defined(PLATFORM_DESKTOP) || defined(PLATFORM_DESKTOP_SDL)
+    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
     // TODO: Support GLAD loader for OpenGL ES 3.0
     if (gladLoadGLES2((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL ES2.0 functions");
     else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL ES 2.0 loaded successfully");
@@ -2325,25 +2472,47 @@ void rlLoadExtensions(void *loader)
         }
 
         // Check instanced rendering support
-        if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)         // Web ANGLE
+        if (strstr(extList[i], (const char*)"instanced_arrays") != NULL)   // Broad check for instanced_arrays
         {
-            glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
-            glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
-            glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
+            // Specific check
+            if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)      // ANGLE
+            {
+                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
+                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
+                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
+            }
+            else if (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0)   // EXT
+            {
+                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
+                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
+                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
+            }
+            else if (strcmp(extList[i], (const char *)"GL_NV_instanced_arrays") == 0)    // NVIDIA GLES
+            {
+                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
+                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
+                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorNV");
+            }
 
+            // The feature will only be marked as supported if the elements from GL_XXX_instanced_arrays are present
             if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
         }
-        else
+        else if (strstr(extList[i], (const char *)"draw_instanced") != NULL)
         {
-            if ((strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0) &&     // Standard EXT
-                (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0))
+            // GL_ANGLE_draw_instanced doesn't exist
+            if (strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0)
             {
                 glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
                 glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
-
-                if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
             }
+            else if (strcmp(extList[i], (const char*)"GL_NV_draw_instanced") == 0)
+            {
+                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
+                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
+            }
+
+            // But the functions will at least be loaded if only GL_XX_EXT_draw_instanced exist
+            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
         }
 
         // Check NPOT textures support
@@ -2567,6 +2736,7 @@ rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
 
         batch.vertexBuffer[i].vertices = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
         batch.vertexBuffer[i].texcoords = (float *)RL_MALLOC(bufferElements*2*4*sizeof(float));       // 2 float by texcoord, 4 texcoord by quad
+        batch.vertexBuffer[i].normals = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
         batch.vertexBuffer[i].colors = (unsigned char *)RL_MALLOC(bufferElements*4*4*sizeof(unsigned char));   // 4 float by color, 4 colors by quad
 #if defined(GRAPHICS_API_OPENGL_33)
         batch.vertexBuffer[i].indices = (unsigned int *)RL_MALLOC(bufferElements*6*sizeof(unsigned int));      // 6 int by quad (indices)
@@ -2577,6 +2747,7 @@ rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
 
         for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].vertices[j] = 0.0f;
         for (int j = 0; j < (2*4*bufferElements); j++) batch.vertexBuffer[i].texcoords[j] = 0.0f;
+        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].normals[j] = 0.0f;
         for (int j = 0; j < (4*4*bufferElements); j++) batch.vertexBuffer[i].colors[j] = 0;
 
         int k = 0;
@@ -2626,16 +2797,23 @@ rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
         glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
         glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
 
-        // Vertex color buffer (shader-location = 3)
+        // Vertex normal buffer (shader-location = 2)
         glGenBuffers(1, &batch.vertexBuffer[i].vboId[2]);
         glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[2]);
+        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].normals, GL_DYNAMIC_DRAW);
+        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
+        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
+
+        // Vertex color buffer (shader-location = 3)
+        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
+        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
         glBufferData(GL_ARRAY_BUFFER, bufferElements*4*4*sizeof(unsigned char), batch.vertexBuffer[i].colors, GL_DYNAMIC_DRAW);
         glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
         glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
 
         // Fill index buffer
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
+        glGenBuffers(1, &batch.vertexBuffer[i].vboId[4]);
+        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[4]);
 #if defined(GRAPHICS_API_OPENGL_33)
         glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(int), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
 #endif
@@ -2690,10 +2868,10 @@ void rlUnloadRenderBatch(rlRenderBatch batch)
         if (RLGL.ExtSupported.vao)
         {
             glBindVertexArray(batch.vertexBuffer[i].vaoId);
-            glDisableVertexAttribArray(0);
-            glDisableVertexAttribArray(1);
-            glDisableVertexAttribArray(2);
-            glDisableVertexAttribArray(3);
+            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
+            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
+            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
+            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR);
             glBindVertexArray(0);
         }
 
@@ -2702,6 +2880,7 @@ void rlUnloadRenderBatch(rlRenderBatch batch)
         glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[1]);
         glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[2]);
         glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[3]);
+        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[4]);
 
         // Delete VAOs from GPU (VRAM)
         if (RLGL.ExtSupported.vao) glDeleteVertexArrays(1, &batch.vertexBuffer[i].vaoId);
@@ -2709,6 +2888,7 @@ void rlUnloadRenderBatch(rlRenderBatch batch)
         // Free vertex arrays memory from CPU (RAM)
         RL_FREE(batch.vertexBuffer[i].vertices);
         RL_FREE(batch.vertexBuffer[i].texcoords);
+        RL_FREE(batch.vertexBuffer[i].normals);
         RL_FREE(batch.vertexBuffer[i].colors);
         RL_FREE(batch.vertexBuffer[i].indices);
     }
@@ -2743,16 +2923,21 @@ void rlDrawRenderBatch(rlRenderBatch *batch)
         glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*2*sizeof(float), batch->vertexBuffer[batch->currentBuffer].texcoords);
         //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*2*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].texcoords, GL_DYNAMIC_DRAW); // Update all buffer
 
-        // Colors buffer
+        // Normals buffer
         glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
+        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].normals);
+        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].normals, GL_DYNAMIC_DRAW); // Update all buffer
+
+        // Colors buffer
+        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
         glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*4*sizeof(unsigned char), batch->vertexBuffer[batch->currentBuffer].colors);
         //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*4*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].colors, GL_DYNAMIC_DRAW);    // Update all buffer
 
-        // NOTE: glMapBuffer() causes sync issue.
-        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job.
-        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer().
+        // NOTE: glMapBuffer() causes sync issue
+        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job
+        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer()
         // If you do that, the previous data in PBO will be discarded and glMapBuffer() returns a new
-        // allocated pointer immediately even if GPU is still working with the previous data.
+        // allocated pointer immediately even if GPU is still working with the previous data
 
         // Another option: map the buffer object into client's memory
         // Probably this code could be moved somewhere else...
@@ -2797,13 +2982,30 @@ void rlDrawRenderBatch(rlRenderBatch *batch)
 
             // Create modelview-projection matrix and upload to shader
             Matrix matMVP = rlMatrixMultiply(RLGL.State.modelview, RLGL.State.projection);
-            float matMVPfloat[16] = {
-                matMVP.m0, matMVP.m1, matMVP.m2, matMVP.m3,
-                matMVP.m4, matMVP.m5, matMVP.m6, matMVP.m7,
-                matMVP.m8, matMVP.m9, matMVP.m10, matMVP.m11,
-                matMVP.m12, matMVP.m13, matMVP.m14, matMVP.m15
-            };
-            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, matMVPfloat);
+            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, rlMatrixToFloat(matMVP));
+
+            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION] != -1)
+            {
+                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION], 1, false, rlMatrixToFloat(RLGL.State.projection));
+            }
+
+            // WARNING: For the following setup of the view, model, and normal matrices, it is expected that
+            // transformations and rendering occur between rlPushMatrix() and rlPopMatrix()
+
+            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW] != -1)
+            {
+                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW], 1, false, rlMatrixToFloat(RLGL.State.modelview));
+            }
+
+            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL] != -1)
+            {
+                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL], 1, false, rlMatrixToFloat(RLGL.State.transform));
+            }
+
+            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL] != -1)
+            {
+                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL], 1, false, rlMatrixToFloat(rlMatrixTranspose(rlMatrixInvert(RLGL.State.transform))));
+            }
 
             if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
             else
@@ -2818,12 +3020,17 @@ void rlDrawRenderBatch(rlRenderBatch *batch)
                 glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
                 glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
 
-                // Bind vertex attrib: color (shader-location = 3)
+                // Bind vertex attrib: normal (shader-location = 2)
                 glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
+                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
+                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
+
+                // Bind vertex attrib: color (shader-location = 3)
+                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
                 glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
                 glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
 
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[4]);
             }
 
             // Setup some default shader values
@@ -2853,15 +3060,15 @@ void rlDrawRenderBatch(rlRenderBatch *batch)
                 if ((batch->draws[i].mode == RL_LINES) || (batch->draws[i].mode == RL_TRIANGLES)) glDrawArrays(batch->draws[i].mode, vertexOffset, batch->draws[i].vertexCount);
                 else
                 {
-#if defined(GRAPHICS_API_OPENGL_33)
+    #if defined(GRAPHICS_API_OPENGL_33)
                     // We need to define the number of indices to be processed: elementCount*6
                     // NOTE: The final parameter tells the GPU the offset in bytes from the
                     // start of the index buffer to the location of the first index to process
                     glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_INT, (GLvoid *)(vertexOffset/4*6*sizeof(GLuint)));
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
+    #endif
+    #if defined(GRAPHICS_API_OPENGL_ES2)
                     glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_SHORT, (GLvoid *)(vertexOffset/4*6*sizeof(GLushort)));
-#endif
+    #endif
                 }
 
                 vertexOffset += (batch->draws[i].vertexCount + batch->draws[i].vertexAlignment);
@@ -3179,11 +3386,17 @@ unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer)
 // Load texture cubemap
 // NOTE: Cubemap data is expected to be 6 images in a single data array (one after the other),
 // expected the following convention: +X, -X, +Y, -Y, +Z, -Z
-unsigned int rlLoadTextureCubemap(const void *data, int size, int format)
+unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount)
 {
     unsigned int id = 0;
 
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
+    int mipSize = size;
+
+    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
+    unsigned char *dataPtr = NULL;
+    if (data != NULL) dataPtr = (unsigned char *)data;
+
     unsigned int dataSize = rlGetPixelDataSize(size, size, format);
 
     glGenTextures(1, &id);
@@ -3194,24 +3407,28 @@ unsigned int rlLoadTextureCubemap(const void *data, int size, int format)
 
     if (glInternalFormat != 0)
     {
-        // Load cubemap faces
-        for (unsigned int i = 0; i < 6; i++)
+        // Load cubemap faces/mipmaps
+        for (int i = 0; i < 6*mipmapCount; i++)
         {
+            int mipmapLevel = i/6;
+            int face = i%6;
+
             if (data == NULL)
             {
                 if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
                 {
-                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) || (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32)
-                            || (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) || (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16))
-                        TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
-                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, size, size, 0, glFormat, glType, NULL);
+                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) ||
+                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32) ||
+                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) ||
+                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16)) TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
+                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, NULL);
                 }
                 else TRACELOG(RL_LOG_WARNING, "TEXTURES: Empty cubemap creation does not support compressed format");
             }
             else
             {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, size, size, 0, glFormat, glType, (unsigned char *)data + i*dataSize);
-                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, size, size, 0, dataSize, (unsigned char *)data + i*dataSize);
+                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, (unsigned char *)dataPtr + face*dataSize);
+                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, dataSize, (unsigned char *)dataPtr + face*dataSize);
             }
 
 #if defined(GRAPHICS_API_OPENGL_33)
@@ -3230,11 +3447,23 @@ unsigned int rlLoadTextureCubemap(const void *data, int size, int format)
                 glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
             }
 #endif
+            if (face == 5)
+            {
+                mipSize /= 2;
+                if (data != NULL) dataPtr += dataSize*6; // Increment data pointer to next mipmap
+
+                // Security check for NPOT textures
+                if (mipSize < 1) mipSize = 1;
+
+                dataSize = rlGetPixelDataSize(mipSize, mipSize, format);
+            }
         }
     }
 
     // Set cubemap texture sampling parameters
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    if (mipmapCount > 1) glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+    else glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+
     glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
     glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
     glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
@@ -3378,7 +3607,6 @@ void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int
 #endif
 }
 
-
 // Read texture pixel data
 void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
 {
@@ -3394,8 +3622,8 @@ void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
     //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &height);
     //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_INTERNAL_FORMAT, &format);
 
-    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding.
-    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting.
+    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding
+    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting
     // GL_PACK_ALIGNMENT affects operations that read from OpenGL memory (glReadPixels, glGetTexImage, etc.)
     // GL_UNPACK_ALIGNMENT affects operations that write to OpenGL memory (glTexImage, etc.)
     glPixelStorei(GL_PACK_ALIGNMENT, 1);
@@ -3416,13 +3644,13 @@ void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
 
 #if defined(GRAPHICS_API_OPENGL_ES2)
     // glGetTexImage() is not available on OpenGL ES 2.0
-    // Texture width and height are required on OpenGL ES 2.0. There is no way to get it from texture id.
+    // Texture width and height are required on OpenGL ES 2.0, there is no way to get it from texture id
     // Two possible Options:
     // 1 - Bind texture to color fbo attachment and glReadPixels()
     // 2 - Create an fbo, activate it, render quad with texture, glReadPixels()
     // We are using Option 1, just need to care for texture format on retrieval
     // NOTE: This behaviour could be conditioned by graphic driver...
-    unsigned int fboId = rlLoadFramebuffer(width, height);
+    unsigned int fboId = rlLoadFramebuffer();
 
     glBindFramebuffer(GL_FRAMEBUFFER, fboId);
     glBindTexture(GL_TEXTURE_2D, 0);
@@ -3476,7 +3704,7 @@ unsigned char *rlReadScreenPixels(int width, int height)
 //-----------------------------------------------------------------------------------------
 // Load a framebuffer to be used for rendering
 // NOTE: No textures attached
-unsigned int rlLoadFramebuffer(int width, int height)
+unsigned int rlLoadFramebuffer(void)
 {
     unsigned int fboId = 0;
 
@@ -3582,7 +3810,7 @@ void rlUnloadFramebuffer(unsigned int id)
     else if (depthType == GL_TEXTURE) glDeleteTextures(1, &depthIdU);
 
     // NOTE: If a texture object is deleted while its image is attached to the *currently bound* framebuffer,
-    // the texture image is automatically detached from the currently bound framebuffer.
+    // the texture image is automatically detached from the currently bound framebuffer
 
     glBindFramebuffer(GL_FRAMEBUFFER, 0);
     glDeleteFramebuffers(1, &id);
@@ -3784,10 +4012,16 @@ unsigned int rlLoadVertexArray(void)
 }
 
 // Set vertex attribute
-void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, const void *pointer)
+void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset)
 {
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glVertexAttribPointer(index, compSize, type, normalized, stride, pointer);
+    // NOTE: Data type could be: GL_BYTE, GL_UNSIGNED_BYTE, GL_SHORT, GL_UNSIGNED_SHORT, GL_INT, GL_UNSIGNED_INT
+    // Additional types (depends on OpenGL version or extensions):
+    //  - GL_HALF_FLOAT, GL_FLOAT, GL_DOUBLE, GL_FIXED,
+    //  - GL_INT_2_10_10_10_REV, GL_UNSIGNED_INT_2_10_10_10_REV, GL_UNSIGNED_INT_10F_11F_11F_REV
+
+    size_t offsetNative = offset;
+    glVertexAttribPointer(index, compSize, type, normalized, stride, (void *)offsetNative);
 #endif
 }
 
@@ -3834,18 +4068,18 @@ unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode)
     unsigned int fragmentShaderId = 0;
 
     // Compile vertex shader (if provided)
+    // NOTE: If not vertex shader is provided, use default one
     if (vsCode != NULL) vertexShaderId = rlCompileShader(vsCode, GL_VERTEX_SHADER);
-    // In case no vertex shader was provided or compilation failed, we use default vertex shader
-    if (vertexShaderId == 0) vertexShaderId = RLGL.State.defaultVShaderId;
+    else vertexShaderId = RLGL.State.defaultVShaderId;
 
     // Compile fragment shader (if provided)
+    // NOTE: If not vertex shader is provided, use default one
     if (fsCode != NULL) fragmentShaderId = rlCompileShader(fsCode, GL_FRAGMENT_SHADER);
-    // In case no fragment shader was provided or compilation failed, we use default fragment shader
-    if (fragmentShaderId == 0) fragmentShaderId = RLGL.State.defaultFShaderId;
+    else fragmentShaderId = RLGL.State.defaultFShaderId;
 
     // In case vertex and fragment shader are the default ones, no need to recompile, we can just assign the default shader program id
     if ((vertexShaderId == RLGL.State.defaultVShaderId) && (fragmentShaderId == RLGL.State.defaultFShaderId)) id = RLGL.State.defaultShaderId;
-    else
+    else if ((vertexShaderId > 0) && (fragmentShaderId > 0))
     {
         // One of or both shader are new, we need to compile a new shader program
         id = rlLoadShaderProgram(vertexShaderId, fragmentShaderId);
@@ -3923,6 +4157,8 @@ unsigned int rlCompileShader(const char *shaderCode, int type)
             //case GL_GEOMETRY_SHADER:
         #if defined(GRAPHICS_API_OPENGL_43)
             case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile compute shader code", shader); break;
+        #elif defined(GRAPHICS_API_OPENGL_33)
+            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
         #endif
             default: break;
         }
@@ -3938,6 +4174,8 @@ unsigned int rlCompileShader(const char *shaderCode, int type)
             TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Compile error: %s", shader, log);
             RL_FREE(log);
         }
+
+        shader = 0;
     }
     else
     {
@@ -3948,6 +4186,8 @@ unsigned int rlCompileShader(const char *shaderCode, int type)
             //case GL_GEOMETRY_SHADER:
         #if defined(GRAPHICS_API_OPENGL_43)
             case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader compiled successfully", shader); break;
+        #elif defined(GRAPHICS_API_OPENGL_33)
+            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
         #endif
             default: break;
         }
@@ -3970,12 +4210,17 @@ unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
     glAttachShader(program, fShaderId);
 
     // NOTE: Default attribute shader locations must be Bound before linking
-    glBindAttribLocation(program, 0, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-    glBindAttribLocation(program, 1, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-    glBindAttribLocation(program, 2, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
-    glBindAttribLocation(program, 3, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-    glBindAttribLocation(program, 4, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
-    glBindAttribLocation(program, 5, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
+
+#ifdef RL_SUPPORT_MESH_GPU_SKINNING
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS);
+    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS);
+#endif
 
     // NOTE: If some attrib name is no found on the shader, it locations becomes -1
 
@@ -4008,7 +4253,7 @@ unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
     else
     {
         // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero.
+        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
         //GLint binarySize = 0;
         //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
 
@@ -4068,8 +4313,16 @@ void rlSetUniform(int locIndex, const void *value, int uniformType, int count)
         case RL_SHADER_UNIFORM_IVEC2: glUniform2iv(locIndex, count, (int *)value); break;
         case RL_SHADER_UNIFORM_IVEC3: glUniform3iv(locIndex, count, (int *)value); break;
         case RL_SHADER_UNIFORM_IVEC4: glUniform4iv(locIndex, count, (int *)value); break;
+    #if !defined(GRAPHICS_API_OPENGL_ES2)
+        case RL_SHADER_UNIFORM_UINT: glUniform1uiv(locIndex, count, (unsigned int *)value); break;
+        case RL_SHADER_UNIFORM_UIVEC2: glUniform2uiv(locIndex, count, (unsigned int *)value); break;
+        case RL_SHADER_UNIFORM_UIVEC3: glUniform3uiv(locIndex, count, (unsigned int *)value); break;
+        case RL_SHADER_UNIFORM_UIVEC4: glUniform4uiv(locIndex, count, (unsigned int *)value); break;
+    #endif
         case RL_SHADER_UNIFORM_SAMPLER2D: glUniform1iv(locIndex, count, (int *)value); break;
         default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set uniform value, data type not recognized");
+
+        // TODO: Support glUniform1uiv(), glUniform2uiv(), glUniform3uiv(), glUniform4uiv()
     }
 #endif
 }
@@ -4103,12 +4356,31 @@ void rlSetUniformMatrix(int locIndex, Matrix mat)
 #endif
 }
 
+// Set shader value uniform matrix
+void rlSetUniformMatrices(int locIndex, const Matrix *matrices, int count)
+{
+#if defined(GRAPHICS_API_OPENGL_33)
+    glUniformMatrix4fv(locIndex, count, true, (const float *)matrices);
+#elif defined(GRAPHICS_API_OPENGL_ES2)
+    // WARNING: WebGL does not support Matrix transpose ("true" parameter)
+    // REF: https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/uniformMatrix
+    glUniformMatrix4fv(locIndex, count, false, (const float *)matrices);
+#endif
+}
+
 // Set shader value uniform sampler
 void rlSetUniformSampler(int locIndex, unsigned int textureId)
 {
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
     // Check if texture is already active
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) if (RLGL.State.activeTextureId[i] == textureId) return;
+    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
+    {
+        if (RLGL.State.activeTextureId[i] == textureId)
+        {
+            glUniform1i(locIndex, 1 + i);
+            return;
+        }
+    }
 
     // Register a new active texture for the internal batch system
     // NOTE: Default texture is always activated as GL_TEXTURE0
@@ -4175,12 +4447,14 @@ unsigned int rlLoadComputeShaderProgram(unsigned int shaderId)
     else
     {
         // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero.
+        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
         //GLint binarySize = 0;
         //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
 
         TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader program loaded successfully", program);
     }
+#else
+    TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43");
 #endif
 
     return program;
@@ -4205,6 +4479,8 @@ unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHi
     glBufferData(GL_SHADER_STORAGE_BUFFER, size, data, usageHint? usageHint : RL_STREAM_COPY);
     if (data == NULL) glClearBufferData(GL_SHADER_STORAGE_BUFFER, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE, NULL);    // Clear buffer data to 0
     glBindBuffer(GL_SHADER_STORAGE_BUFFER, 0);
+#else
+    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
 #endif
 
     return ssbo;
@@ -4215,7 +4491,10 @@ void rlUnloadShaderBuffer(unsigned int ssboId)
 {
 #if defined(GRAPHICS_API_OPENGL_43)
     glDeleteBuffers(1, &ssboId);
+#else
+    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
 #endif
+
 }
 
 // Update SSBO buffer data
@@ -4230,14 +4509,14 @@ void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSi
 // Get SSBO buffer size
 unsigned int rlGetShaderBufferSize(unsigned int id)
 {
-    long long size = 0;
-
 #if defined(GRAPHICS_API_OPENGL_43)
+    GLint64 size = 0;
     glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetInteger64v(GL_SHADER_STORAGE_BUFFER_SIZE, &size);
-#endif
-
+    glGetBufferParameteri64v(GL_SHADER_STORAGE_BUFFER, GL_BUFFER_SIZE, &size);
     return (size > 0)? (unsigned int)size : 0;
+#else
+    return 0;
+#endif
 }
 
 // Read SSBO buffer data (GPU->CPU)
@@ -4275,6 +4554,8 @@ void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool re
 
     rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
     glBindImageTexture(index, id, 0, 0, 0, readonly? GL_READ_ONLY : GL_READ_WRITE, glInternalFormat);
+#else
+    TRACELOG(RL_LOG_WARNING, "TEXTURE: Image texture binding not enabled. Define GRAPHICS_API_OPENGL_43");
 #endif
 }
 
@@ -4353,7 +4634,7 @@ Matrix rlGetMatrixTransform(void)
 }
 
 // Get internal projection matrix for stereo render (selected eye)
-RLAPI Matrix rlGetMatrixProjectionStereo(int eye)
+Matrix rlGetMatrixProjectionStereo(int eye)
 {
     Matrix mat = rlMatrixIdentity();
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
@@ -4363,7 +4644,7 @@ RLAPI Matrix rlGetMatrixProjectionStereo(int eye)
 }
 
 // Get internal view offset matrix for stereo render (selected eye)
-RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye)
+Matrix rlGetMatrixViewOffsetStereo(int eye)
 {
     Matrix mat = rlMatrixIdentity();
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
@@ -4431,10 +4712,10 @@ void rlLoadDrawQuad(void)
     glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), &vertices, GL_STATIC_DRAW);
 
     // Bind vertex attributes (position, texcoords)
-    glEnableVertexAttribArray(0);
-    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(1);
-    glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
+    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
+    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
+    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
+    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
 
     // Draw quad
     glBindVertexArray(quadVAO);
@@ -4505,12 +4786,12 @@ void rlLoadDrawCube(void)
 
     // Bind vertex attributes (position, normals, texcoords)
     glBindVertexArray(cubeVAO);
-    glEnableVertexAttribArray(0);
-    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(1);
-    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
-    glEnableVertexAttribArray(2);
-    glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
+    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
+    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
+    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
+    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
+    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
+    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
     glBindBuffer(GL_ARRAY_BUFFER, 0);
     glBindVertexArray(0);
 
@@ -4589,7 +4870,16 @@ static void rlLoadShaderDefault(void)
     "out vec2 fragTexCoord;             \n"
     "out vec4 fragColor;                \n"
 #endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
+
+#if defined(GRAPHICS_API_OPENGL_ES3)
+    "#version 300 es                    \n"
+    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2) (on some browsers)
+    "in vec3 vertexPosition;            \n"
+    "in vec2 vertexTexCoord;            \n"
+    "in vec4 vertexColor;               \n"
+    "out vec2 fragTexCoord;             \n"
+    "out vec4 fragColor;                \n"
+#elif defined(GRAPHICS_API_OPENGL_ES2)
     "#version 100                       \n"
     "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL) (on some browsers)
     "attribute vec3 vertexPosition;     \n"
@@ -4598,6 +4888,7 @@ static void rlLoadShaderDefault(void)
     "varying vec2 fragTexCoord;         \n"
     "varying vec4 fragColor;            \n"
 #endif
+
     "uniform mat4 mvp;                  \n"
     "void main()                        \n"
     "{                                  \n"
@@ -4632,7 +4923,21 @@ static void rlLoadShaderDefault(void)
     "    finalColor = texelColor*colDiffuse*fragColor;        \n"
     "}                                  \n";
 #endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
+
+#if defined(GRAPHICS_API_OPENGL_ES3)
+    "#version 300 es                    \n"
+    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2)
+    "in vec2 fragTexCoord;              \n"
+    "in vec4 fragColor;                 \n"
+    "out vec4 finalColor;               \n"
+    "uniform sampler2D texture0;        \n"
+    "uniform vec4 colDiffuse;           \n"
+    "void main()                        \n"
+    "{                                  \n"
+    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
+    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
+    "}                                  \n";
+#elif defined(GRAPHICS_API_OPENGL_ES2)
     "#version 100                       \n"
     "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL)
     "varying vec2 fragTexCoord;         \n"
@@ -4658,14 +4963,14 @@ static void rlLoadShaderDefault(void)
         TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader loaded successfully", RLGL.State.defaultShaderId);
 
         // Set default shader locations: attributes locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, "vertexPosition");
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, "vertexTexCoord");
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, "vertexColor");
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
 
         // Set default shader locations: uniform locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP]  = glGetUniformLocation(RLGL.State.defaultShaderId, "mvp");
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, "colDiffuse");
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, "texture0");
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_MVP);
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR);
+        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0);
     }
     else TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to load default shader", RLGL.State.defaultShaderId);
 }
@@ -4802,7 +5107,8 @@ static int rlGetPixelDataSize(int width, int height, int format)
         default: break;
     }
 
-    dataSize = width*height*bpp/8;  // Total data size in bytes
+    double bytesPerPixel = (double)bpp/8.0;
+    dataSize = (int)(bytesPerPixel*width*height); // Total data size in bytes
 
     // Most compressed formats works on 4x4 blocks,
     // if texture is smaller, minimum dataSize is 8 or 16
@@ -4817,6 +5123,31 @@ static int rlGetPixelDataSize(int width, int height, int format)
 
 // Auxiliar math functions
 
+// Get float array of matrix data
+static rl_float16 rlMatrixToFloatV(Matrix mat)
+{
+    rl_float16 result = { 0 };
+
+    result.v[0] = mat.m0;
+    result.v[1] = mat.m1;
+    result.v[2] = mat.m2;
+    result.v[3] = mat.m3;
+    result.v[4] = mat.m4;
+    result.v[5] = mat.m5;
+    result.v[6] = mat.m6;
+    result.v[7] = mat.m7;
+    result.v[8] = mat.m8;
+    result.v[9] = mat.m9;
+    result.v[10] = mat.m10;
+    result.v[11] = mat.m11;
+    result.v[12] = mat.m12;
+    result.v[13] = mat.m13;
+    result.v[14] = mat.m14;
+    result.v[15] = mat.m15;
+
+    return result;
+}
+
 // Get identity matrix
 static Matrix rlMatrixIdentity(void)
 {
@@ -4856,4 +5187,76 @@ static Matrix rlMatrixMultiply(Matrix left, Matrix right)
     return result;
 }
 
+// Transposes provided matrix
+static Matrix rlMatrixTranspose(Matrix mat)
+{
+    Matrix result = { 0 };
+
+    result.m0 = mat.m0;
+    result.m1 = mat.m4;
+    result.m2 = mat.m8;
+    result.m3 = mat.m12;
+    result.m4 = mat.m1;
+    result.m5 = mat.m5;
+    result.m6 = mat.m9;
+    result.m7 = mat.m13;
+    result.m8 = mat.m2;
+    result.m9 = mat.m6;
+    result.m10 = mat.m10;
+    result.m11 = mat.m14;
+    result.m12 = mat.m3;
+    result.m13 = mat.m7;
+    result.m14 = mat.m11;
+    result.m15 = mat.m15;
+
+    return result;
+}
+
+// Invert provided matrix
+static Matrix rlMatrixInvert(Matrix mat)
+{
+    Matrix result = { 0 };
+
+    // Cache the matrix values (speed optimization)
+    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+
+    float b00 = a00*a11 - a01*a10;
+    float b01 = a00*a12 - a02*a10;
+    float b02 = a00*a13 - a03*a10;
+    float b03 = a01*a12 - a02*a11;
+    float b04 = a01*a13 - a03*a11;
+    float b05 = a02*a13 - a03*a12;
+    float b06 = a20*a31 - a21*a30;
+    float b07 = a20*a32 - a22*a30;
+    float b08 = a20*a33 - a23*a30;
+    float b09 = a21*a32 - a22*a31;
+    float b10 = a21*a33 - a23*a31;
+    float b11 = a22*a33 - a23*a32;
+
+    // Calculate the invert determinant (inlined to avoid double-caching)
+    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
+
+    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
+    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
+    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
+    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
+    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
+    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
+    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
+    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
+    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
+    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
+    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
+    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
+    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
+    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
+    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
+    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
+
+    return result;
+}
+
 #endif  // RLGL_IMPLEMENTATION
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
index 2bb6f985d9..b4eb7f2f51 100644
--- a/third_party/raylib/larch64/libraylib.a
+++ b/third_party/raylib/larch64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fac99ffbab698b99a47019ff02ff839f7536c32996b5e7aa827ef4820b288212
-size 10630538
+oid sha256:d0df8ec252a3eff108ef773ba3c95b9de8bec016ebb49f99f237d8432e79e054
+size 3133756
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
index 3e51185743..e54ed6482f 100755
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -4,33 +4,38 @@ set -e
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR
 
+RAYLIB_PLATFORM="PLATFORM_DESKTOP"
+
 ARCHNAME=$(uname -m)
 if [ -f /TICI ]; then
   ARCHNAME="larch64"
+  RAYLIB_PLATFORM="PLATFORM_COMMA"
 fi
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
   ARCHNAME="Darwin"
 fi
 
+INSTALL_DIR="$DIR/$ARCHNAME"
+rm -rf $INSTALL_DIR
+mkdir -p $INSTALL_DIR
+
+INSTALL_H_DIR="$DIR/include"
+rm -rf $INSTALL_H_DIR
+mkdir -p $INSTALL_H_DIR
+
 if [ ! -d raylib_repo ]; then
-  git clone https://github.com/raysan5/raylib.git raylib_repo
+  git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
 fi
 
 cd raylib_repo
-git fetch --tags origin 5.0
-git checkout 5.0
 
+COMMIT="591b3be34d84b8c924fcc8648cce9b496580a2e8"
+git fetch origin $COMMIT
+git reset --hard $COMMIT
 git clean -xdff .
-mkdir build
-cd build
-cmake ..
-make -j$(nproc)
 
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
+cd src
 
-rm -rf $DIR/include
-cp $DIR/raylib_repo/build/raylib/libraylib.a $INSTALL_DIR/
-cp -r $DIR/raylib_repo/build/raylib/include $DIR
+make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM
+sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
index 28aa5b21de..b7994b4fe9 100644
--- a/third_party/raylib/x86_64/libraylib.a
+++ b/third_party/raylib/x86_64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0c07c718e411baefd74fd761d18f18fcc681ccd606d477118acff96732d21791
-size 10233524
+oid sha256:76697e9a248b8af45e798137038fa5ec5d9e36c9b4565fa448aefbcd0d2ab113
+size 2769636

From adc347d12bba07f24b6dc30bb35ee4a9056e5c27 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 29 Nov 2024 10:25:42 -0500
Subject: [PATCH 1067/1243] ui: fix prime spacing (#34127)

fix prime spacing
---
 selfdrive/ui/qt/home.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 9f179e0a38..f8aa3423d2 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -124,6 +124,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     // left: PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
     QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    left_prime_layout->setContentsMargins(0, 0, 0, 0);
     QWidget *prime_user = new PrimeUserWidget();
     prime_user->setStyleSheet(R"(
     border-radius: 10px;

From 049f6c1dd52e5da77e79c05606efd6034e44e87e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 3 Dec 2024 01:55:30 +0800
Subject: [PATCH 1068/1243] cabana: introduce `OneShotHttpRequest` to prevent
 concurrent HTTP requests (#34136)

add OneShotHttpRequest class for single-use HTTP requests
---
 tools/cabana/streams/routes.cc | 32 ++++++++++++++++++++------------
 tools/cabana/streams/routes.h  |  6 +++---
 2 files changed, 23 insertions(+), 15 deletions(-)

diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
index c805e7d60d..613c0b7092 100644
--- a/tools/cabana/streams/routes.cc
+++ b/tools/cabana/streams/routes.cc
@@ -9,7 +9,19 @@
 #include <QMessageBox>
 #include <QPainter>
 
-#include "system/hardware/hw.h"
+class OneShotHttpRequest : public HttpRequest {
+public:
+  OneShotHttpRequest(QObject *parent) : HttpRequest(parent, false) {}
+  void send(const QString &url) {
+    if (reply) {
+      reply->disconnect();
+      reply->abort();
+      reply->deleteLater();
+      reply = nullptr;
+    }
+    sendRequest(url);
+  }
+};
 
 // The RouteListWidget class extends QListWidget to display a custom message when empty
 class RouteListWidget : public QListWidget {
@@ -29,7 +41,7 @@ public:
   QString empty_text_ = tr("No items");
 };
 
-RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(new OneShotHttpRequest(this)) {
   setWindowTitle(tr("Remote routes"));
 
   QFormLayout *layout = new QFormLayout(this);
@@ -47,6 +59,7 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   period_selector_->addItem(tr("Last 6 months"), 180);
 
   // Connect signals and slots
+  QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
   connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
@@ -54,7 +67,7 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
 
   // Send request to fetch devices
-  HttpRequest *http = new HttpRequest(this, !Hardware::PC());
+  HttpRequest *http = new HttpRequest(this, false);
   QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
   http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
 }
@@ -82,9 +95,6 @@ void RoutesDialog::fetchRoutes() {
   route_list_->clear();
   route_list_->setEmptyText(tr("Loading..."));
 
-  HttpRequest *http = new HttpRequest(this, !Hardware::PC());
-  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
-
   // Construct URL with selected device and date range
   auto dongle_id = device_list_->currentData().toString();
   QDateTime current = QDateTime::currentDateTime();
@@ -92,7 +102,7 @@ void RoutesDialog::fetchRoutes() {
                     .arg(CommaApi::BASE_URL).arg(dongle_id)
                     .arg(current.addDays(-(period_selector_->currentData().toInt())).toMSecsSinceEpoch())
                     .arg(current.toMSecsSinceEpoch());
-  http->sendRequest(url);
+  route_requester_->sendRequest(url);
 }
 
 void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
@@ -115,9 +125,7 @@ void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkRep
   sender()->deleteLater();
 }
 
-void RoutesDialog::accept() {
-  if (auto current_item = route_list_->currentItem()) {
-    route_ = current_item->data(Qt::UserRole).toString();
-  }
-  QDialog::accept();
+QString RoutesDialog::route() {
+  auto current_item = route_list_->currentItem();
+  return current_item ? current_item->data(Qt::UserRole).toString() : "";
 }
diff --git a/tools/cabana/streams/routes.h b/tools/cabana/streams/routes.h
index 31e42fb075..ee50712212 100644
--- a/tools/cabana/streams/routes.h
+++ b/tools/cabana/streams/routes.h
@@ -6,15 +6,15 @@
 #include "selfdrive/ui/qt/api.h"
 
 class RouteListWidget;
+class OneShotHttpRequest;
 
 class RoutesDialog : public QDialog {
   Q_OBJECT
 public:
   RoutesDialog(QWidget *parent);
-  QString route() const { return route_; }
+  QString route();
 
 protected:
-  void accept() override;
   void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
   void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
   void fetchRoutes();
@@ -22,5 +22,5 @@ protected:
   QComboBox *device_list_;
   QComboBox *period_selector_;
   RouteListWidget *route_list_;
-  QString route_;
+  OneShotHttpRequest *route_requester_;
 };

From e02a6e09fe9bbeebccd909d98951cae2b52cd153 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 3 Dec 2024 01:55:44 +0800
Subject: [PATCH 1069/1243] cabana: fix UI highlight for inactive items and
 crash in saveHeaderState() on closeEvent (#34135)

* Adjust the highlight color for inactive items to enhance visibility

* Resolve the crash occurring in messages_widget->saveHeaderState()
---
 tools/cabana/mainwin.cc        |  4 +++-
 tools/cabana/messageswidget.cc | 16 ++++++++++++----
 2 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 189f8ac18f..d3f868cd47 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -558,7 +558,9 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   if (can && !can->liveStreaming()) {
     settings.video_splitter_state = video_splitter->saveState();
   }
-  settings.message_header_state = messages_widget->saveHeaderState();
+  if (messages_widget) {
+    settings.message_header_state = messages_widget->saveHeaderState();
+  }
 
   QWidget::closeEvent(event);
 }
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 5c0c2eaba6..ecb739a733 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -201,7 +201,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     }
   };
 
-  const static QString NA =  QStringLiteral("N/A");
+  const static QString NA = QStringLiteral("N/A");
   const auto &item = items_[index.row()];
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
@@ -217,8 +217,6 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors));
   } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
     return QVariant::fromValue((void*)(&can->lastMessage(item.id).dat));
-  } else if (role == Qt::ForegroundRole && !isMessageActive(item.id)) {
-    return QApplication::palette().color(QPalette::Disabled, QPalette::Text);
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
@@ -379,7 +377,17 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
 // MessageView
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  QTreeView::drawRow(painter, option, index);
+   const auto &item = ((MessageListModel*)model())->items_[index.row()];
+  if (!isMessageActive(item.id)) {
+    QStyleOptionViewItem custom_option = option;
+    custom_option.palette.setBrush(QPalette::Text, custom_option.palette.color(QPalette::Disabled, QPalette::Text));
+    auto color = QApplication::palette().color(QPalette::HighlightedText);
+    color.setAlpha(100);
+    custom_option.palette.setBrush(QPalette::HighlightedText, color);
+    QTreeView::drawRow(painter, custom_option, index);
+  } else {
+    QTreeView::drawRow(painter, option, index);
+  }
 
   QPen oldPen = painter->pen();
   const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);

From 8f559d4f03d1e47c34aa39785a421f19c5d37aa7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 2 Dec 2024 13:06:17 -0800
Subject: [PATCH 1070/1243] fix repo maintenance

---
 .github/workflows/repo-maintenance.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index c724c00c5e..ab0f3c1bee 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -28,7 +28,7 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        scons -j$(nproc) --minimal opendbc
+        scons -j$(nproc) --minimal opendbc_repo
         PYTHONPATH=. python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request

From 24dfa0e1bfe2563a4fa9120dfcfd3ba36967c636 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 2 Dec 2024 15:09:11 -0600
Subject: [PATCH 1071/1243] bump opendbc (#34139)

* bump

* bump

* update docs

* Update ref_commit
---
 docs/CARS.md                             | 4 ++--
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 6861f411d2..2e2a614a38 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -167,7 +167,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
@@ -188,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/opendbc_repo b/opendbc_repo
index 8e349c3955..78df311372 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8e349c395545b7d4ba59dcf317ef55baa591510c
+Subproject commit 78df311372bd961aec66b933141f513d319b7906
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 6c92ba25d5..592bb4f676 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4bf2792e5997c0d916fa9be4442fd4c4901f597a
+6b43f700377cc3aea5ab01c642dde36947a1d382

From 556060f793412979a52aaaa8eb2b010517ffc6e4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 2 Dec 2024 15:58:51 -0800
Subject: [PATCH 1072/1243] camerad: full buffer size for IFE processing
 (#34141)

* camerad: full buffer size for IFE processing

* assert

* revert

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.cc | 21 ++++----
 system/camerad/cameras/camera_common.h  |  2 +-
 system/camerad/cameras/spectra.cc       | 67 +++++++++++++------------
 system/camerad/cameras/spectra.h        | 13 ++---
 4 files changed, 55 insertions(+), 48 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index ff02fe4364..b0193cf5df 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -65,16 +65,19 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   const SensorInfo *sensor = cam->sensor.get();
 
   is_raw = cam->is_raw;
-  camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
   frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
-  // RAW + final frames from ISP
-  const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
-  for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs_raw[i].allocate(raw_frame_size);
-    camera_bufs_raw[i].init_cl(device_id, context);
+  // RAW frames from ISP
+  if (is_raw) {
+    camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
+
+    const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
+    for (int i = 0; i < frame_buf_count; i++) {
+      camera_bufs_raw[i].allocate(raw_frame_size);
+      camera_bufs_raw[i].init_cl(device_id, context);
+    }
+    LOGD("allocated %d CL buffers", frame_buf_count);
   }
-  LOGD("allocated %d CL buffers", frame_buf_count);
 
   out_img_width = sensor->frame_width;
   out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
@@ -83,8 +86,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
-  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, cam->stride, cam->y_height);
+  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
 
   imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index e4cdb27e71..768626737a 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -8,7 +8,7 @@
 #include "common/util.h"
 
 
-const int YUV_BUFFER_COUNT = 20;
+const int VIPC_BUFFER_COUNT = 18;
 
 typedef struct FrameMetadata {
   uint32_t frame_id;
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index b262ddba9a..178dd9ae17 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -242,6 +242,9 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config,
     cc(config),
     is_raw(raw) {
   mm.init(m->video0_fd);
+
+  ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT;
+  assert(ife_buf_depth < MAX_IFE_BUFS);
 }
 
 SpectraCamera::~SpectraCamera() {
@@ -288,14 +291,15 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   linkDevices();
 
   LOGD("camera init %d", cc.camera_num);
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
+  buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
+  enqueue_req_multi(1, ife_buf_depth, 0);
 }
 
 void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
   for (uint64_t i = start; i < start + n; ++i) {
-    request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
-    enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
+    request_ids[(i - 1) % ife_buf_depth] = i;
+    enqueue_buffer((i - 1) % ife_buf_depth, dp);
   }
 }
 
@@ -670,7 +674,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   int ret;
   uint64_t request_id = request_ids[i];
 
-  if (buf_handle_raw[i] && sync_objs[i]) {
+  if (sync_objs[i]) {
     // wait
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
@@ -733,31 +737,31 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
 
 void SpectraCamera::camera_map_bufs() {
   int ret;
-  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+  for (int i = 0; i < ife_buf_depth; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
+    mem_mgr_map_cmd.num_hdl = 1;
     //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
     //mem_mgr_map_cmd.num_hdl = 2;
-    mem_mgr_map_cmd.num_hdl = 1;
-    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
 
-    // RAW bayer images
-    mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
-    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    assert(ret == 0);
-    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
-
-    // TODO: this needs to match camera bufs length
-    // final processed images
-    VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
-    mem_mgr_map_cmd.fd = vb->fd;
-    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
+    if (is_raw) {
+      // RAW bayer images
+      mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
+      ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+      assert(ret == 0);
+      LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+      buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
+    } else {
+      // final processed images
+      VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
+      mem_mgr_map_cmd.fd = vb->fd;
+      ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+      LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
+      buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
+    }
   }
-  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
 bool SpectraCamera::openSensor() {
@@ -870,7 +874,7 @@ void SpectraCamera::configISP() {
   // allocate IFE memory, then configure it
   ife_cmd.init(m, 67984, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-               m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
+               m->device_iommu, m->cdm_iommu, ife_buf_depth);
   if (!is_raw) {
     ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
                        CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
@@ -925,7 +929,7 @@ void SpectraCamera::configICP() {
 
   // BPS CMD buffer
   unsigned char striping_out[] = "\x00";
-  bps_cmd.init(m, FRAME_BUF_COUNT*ALIGNED_SIZE(464, 0x20), 0x20,
+  bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
                m->icp_device_iommu);
 
@@ -1046,9 +1050,8 @@ void SpectraCamera::camera_close() {
     ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
     LOGD("release csiphy: %d", ret);
 
-    for (int i = 0; i < FRAME_BUF_COUNT; i++) {
-      release(m->video0_fd, buf_handle_yuv[i]);
-      release(m->video0_fd, buf_handle_raw[i]);
+    for (int i = 0; i < ife_buf_depth; i++) {
+      release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]);
     }
     LOGD("released buffers");
   }
@@ -1071,13 +1074,13 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
 
   if (real_id != 0) { // next ready
     if (real_id == 1) {idx_offset = main_id;}
-    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
+    int buf_idx = (real_id - 1) % ife_buf_depth;
 
     // check for skipped frames
     if (main_id > frame_id_last + 1 && !skipped) {
       LOGE("camera %d realign", cc.camera_num);
       clear_req_queue();
-      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
+      enqueue_req_multi(real_id + 1, ife_buf_depth - 1, 0);
       skipped = true;
     } else if (main_id == frame_id_last + 1) {
       skipped = false;
@@ -1086,7 +1089,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     // check for dropped requests
     if (real_id > request_id_last + 1) {
       LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
-      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
+      enqueue_req_multi(request_id_last + 1 + ife_buf_depth, real_id - (request_id_last + 1), 0);
     }
 
     // metas
@@ -1099,12 +1102,12 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback
 
     // dispatch
-    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
+    enqueue_req_multi(real_id + ife_buf_depth, 1, 1);
   } else { // not ready
     if (main_id > frame_id_last + 10) {
       LOGE("camera %d reset after half second of no response", cc.camera_num);
       clear_req_queue();
-      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
+      enqueue_req_multi(request_id_last + 1, ife_buf_depth, 0);
       frame_id_last = main_id;
       skipped = true;
     }
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index ea5c563167..476722b664 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -12,7 +12,7 @@
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"
 
-#define FRAME_BUF_COUNT 4
+#define MAX_IFE_BUFS 20
 
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
@@ -116,6 +116,7 @@ public:
 
   // *** state ***
 
+  int ife_buf_depth = -1;
   bool open = false;
   bool enabled = true;
   CameraConfig cc;
@@ -151,11 +152,11 @@ public:
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
 
-  int buf_handle_yuv[FRAME_BUF_COUNT] = {};
-  int buf_handle_raw[FRAME_BUF_COUNT] = {};
-  int sync_objs[FRAME_BUF_COUNT] = {};
-  int sync_objs_bps_out[FRAME_BUF_COUNT] = {};
-  uint64_t request_ids[FRAME_BUF_COUNT] = {};
+  int buf_handle_yuv[MAX_IFE_BUFS] = {};
+  int buf_handle_raw[MAX_IFE_BUFS] = {};
+  int sync_objs[MAX_IFE_BUFS] = {};
+  int sync_objs_bps_out[MAX_IFE_BUFS] = {};
+  uint64_t request_ids[MAX_IFE_BUFS] = {};
   uint64_t request_id_last = 0;
   uint64_t frame_id_last = 0;
   uint64_t idx_offset = 0;

From 1bc1d2e020f8c49c5352ca2470c7d8cd6c26936e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 2 Dec 2024 16:01:14 -0800
Subject: [PATCH 1073/1243] jenkins: only run pigeon and encoder tests on path
 diffs (#34142)

---
 Jenkinsfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 5e4323d3cb..7867985fc1 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -207,8 +207,8 @@ node {
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },

From 685dc5a80c1d0667c00861a34eaaaaa92741e86a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 3 Dec 2024 12:17:02 +0800
Subject: [PATCH 1074/1243] selfdrive/debug: fix broken
 check_can_parser_performance.py (#34143)

fix broken check_can_parser_performance.py
---
 selfdrive/debug/check_can_parser_performance.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index 7a0db1926b..61aff0244f 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -29,7 +29,7 @@ if __name__ == '__main__':
     start_t = time.process_time_ns()
     for msg in msgs:
       can_list = can_capnp_to_list([msg])
-      for cp in tm.CI.can_parsers:
+      for cp in tm.CI.can_parsers.values():
         if cp is not None:
           cp.update_strings(can_list)
     ets.append((time.process_time_ns() - start_t) * 1e-6)

From 43807746ff6d7ebd8d1a219c0f6438a2607b7290 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 3 Dec 2024 13:30:54 +0800
Subject: [PATCH 1075/1243] athenad: fix memory leak by closing Response
 objects (#34101)

* fix memory leak by closing Response

* use with
---
 system/athena/athenad.py            | 12 ++++++------
 system/athena/tests/test_athenad.py |  2 +-
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 909e99fa71..78285f018e 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -258,13 +258,13 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, partial(cb, sm, item, tid, end_event))
 
-        if response.status_code not in (200, 201, 401, 403, 412):
-          cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
-          retry_upload(tid, end_event)
-        else:
-          cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
+        with _do_upload(item, partial(cb, sm, item, tid, end_event)) as response:
+          if response.status_code not in (200, 201, 401, 403, 412):
+            cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
+            retry_upload(tid, end_event)
+          else:
+            cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
 
         UploadQueueCache.cache(upload_queue)
       except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError):
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index a4dcbef67a..a6bfc68930 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -240,7 +240,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('requests.put')
-    mock_put.return_value.status_code = status
+    mock_put.return_value.__enter__.return_value.status_code = status
     fn = self._create_file('qlog.zst')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 

From b33441213a04f04a6f760336de7eb66ebdf10e5c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 2 Dec 2024 21:56:18 -0800
Subject: [PATCH 1076/1243] tools/op: add switch command (#34112)

* tools/op: add switch command

* fix

* .

* usage

* fix

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 tools/op.sh | 28 +++++++++++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 62d390c9b5..f01863e1b1 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -94,7 +94,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
     echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
@@ -312,6 +312,30 @@ function op_sim() {
   op_run_command exec tools/sim/launch_openpilot.sh
 }
 
+function op_switch() {
+  op_before_cmd
+
+  REMOTE="origin"
+  if [ "$#" -gt 1 ]; then
+    REMOTE="$1"
+    shift
+  fi
+
+  if [ -z "$1" ]; then
+    echo -e "${BOLD}${UNDERLINE}Usage:${NC} op switch [REMOTE] <BRANCH>"
+    return 1
+  fi
+  BRANCH="$1"
+
+  git fetch "$REMOTE" "$BRANCH":"$BRANCH"
+  git checkout -f --recurse-submodules "$BRANCH"
+  git reset --hard "$BRANCH"
+  git clean -df
+  git submodule update --init --recursive
+  git submodule foreach git reset --hard
+  git submodule foreach git clean -df
+}
+
 function op_default() {
   echo "An openpilot helper"
   echo ""
@@ -333,6 +357,7 @@ function op_default() {
   echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
   echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
+  echo -e "  ${BOLD}switch${NC}       Switch to a different git branch with a clean slate (nukes any changes)"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
   echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
@@ -388,6 +413,7 @@ function _op() {
     replay )        shift 1; op_replay "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
     install )       shift 1; op_install "$@" ;;
+    switch )        shift 1; op_switch "$@" ;;
     post-commit )   shift 1; op_install_post_commit "$@" ;;
     * ) op_default "$@" ;;
   esac

From 5160bee5437e58ab0ace59c6db1c6d7b416c4025 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Mon, 2 Dec 2024 23:44:21 -0800
Subject: [PATCH 1077/1243] =?UTF-8?q?PlayStation=C2=AE=20model=20(#34133)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* e2a90efd-8986-4c97-8f55-22725cdee8b9/400

* bea47b6f-c2f9-460f-9658-73f202756294/400

* 7e8efd49-f1a4-4355-912e-610633e0e7f9/390

* 7e8efd49-f1a4-4355-912e-610633e0e7f9/400

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 06b7875362..fe3532b89e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
+oid sha256:66f3fa03aa1f61ed2ff84a954d3eca5d5fe9ef95bb484edc4044b63ff5b6e2ab
 size 50320584

From 7aeabc37d0502c34b8a3fe009d29ef32f36f602d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 4 Dec 2024 05:00:22 +0800
Subject: [PATCH 1078/1243] cabana: add support to fetch preserved routes
 (#34146)

add support to fetch preserved routes
---
 tools/cabana/streams/routes.cc | 37 ++++++++++++++++++++--------------
 1 file changed, 22 insertions(+), 15 deletions(-)

diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
index 613c0b7092..5915c98065 100644
--- a/tools/cabana/streams/routes.cc
+++ b/tools/cabana/streams/routes.cc
@@ -46,7 +46,7 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(
 
   QFormLayout *layout = new QFormLayout(this);
   layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
-  layout->addRow(tr("Duration"), period_selector_ = new QComboBox(this));
+  layout->addRow(period_selector_ = new QComboBox(this));
   layout->addRow(route_list_ = new RouteListWidget(this));
   auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   layout->addRow(button_box);
@@ -57,6 +57,7 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(
   period_selector_->addItem(tr("Last 2 weeks"), 14);
   period_selector_->addItem(tr("Last month"), 30);
   period_selector_->addItem(tr("Last 6 months"), 180);
+  period_selector_->addItem(tr("Preserved"), -1);
 
   // Connect signals and slots
   QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
@@ -94,35 +95,41 @@ void RoutesDialog::fetchRoutes() {
 
   route_list_->clear();
   route_list_->setEmptyText(tr("Loading..."));
-
   // Construct URL with selected device and date range
-  auto dongle_id = device_list_->currentData().toString();
-  QDateTime current = QDateTime::currentDateTime();
-  QString url = QString("%1/v1/devices/%2/routes_segments?start=%3&end=%4")
-                    .arg(CommaApi::BASE_URL).arg(dongle_id)
-                    .arg(current.addDays(-(period_selector_->currentData().toInt())).toMSecsSinceEpoch())
-                    .arg(current.toMSecsSinceEpoch());
-  route_requester_->sendRequest(url);
+  QString url = QString("%1/v1/devices/%2").arg(CommaApi::BASE_URL, device_list_->currentText());
+  int period = period_selector_->currentData().toInt();
+  if (period == -1) {
+    url += "/routes/preserved";
+  } else {
+    QDateTime now = QDateTime::currentDateTime();
+    url += QString("/routes_segments?start=%1&end=%2")
+               .arg(now.addDays(-period).toMSecsSinceEpoch())
+               .arg(now.toMSecsSinceEpoch());
+  }
+  route_requester_->send(url);
 }
 
 void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
   if (success) {
     for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
-      uint64_t start_time = route["start_time_utc_millis"].toDouble();
-      uint64_t end_time = route["end_time_utc_millis"].toDouble();
-      auto datetime = QDateTime::fromMSecsSinceEpoch(start_time);
-      auto item = new QListWidgetItem(QString("%1    %2min").arg(datetime.toString()).arg((end_time - start_time) / (1000 * 60)));
+      QDateTime from, to;
+      if (period_selector_->currentData().toInt() == -1) {
+        from = QDateTime::fromString(route["start_time"].toString(), Qt::ISODateWithMs);
+        to = QDateTime::fromString(route["end_time"].toString(), Qt::ISODateWithMs);
+      } else {
+        from = QDateTime::fromMSecsSinceEpoch(route["start_time_utc_millis"].toDouble());
+        to = QDateTime::fromMSecsSinceEpoch(route["end_time_utc_millis"].toDouble());
+      }
+      auto item = new QListWidgetItem(QString("%1    %2min").arg(from.toString()).arg(from.secsTo(to) / 60));
       item->setData(Qt::UserRole, route["fullname"].toString());
       route_list_->addItem(item);
     }
-    // Select first route if available
     if (route_list_->count() > 0) route_list_->setCurrentRow(0);
   } else {
     QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
     reject();
   }
   route_list_->setEmptyText(tr("No items"));
-  sender()->deleteLater();
 }
 
 QString RoutesDialog::route() {

From c4edfa8b25b17baca384be2ee80ba5e6ad0474d3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 3 Dec 2024 14:16:28 -0800
Subject: [PATCH 1079/1243] camerad: fix running AR0231 in single road cam mode
 (#34148)

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_qcom2.cc | 4 ++--
 system/camerad/cameras/spectra.cc      | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index ef5a03085b..4f9f52a22d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -69,10 +69,10 @@ public:
 };
 
 void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  if (!camera.enabled) return;
-
   camera.camera_open(v, device_id, ctx);
 
+  if (!camera.enabled) return;
+
   fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
   set_exposure_rect();
 
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 178dd9ae17..adaa5d5cc9 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -264,12 +264,12 @@ int SpectraCamera::clear_req_queue() {
 }
 
 void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  if (!enabled) return;
-
   if (!openSensor()) {
     return;
   }
 
+  if (!enabled) return;
+
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
   stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);

From 1ec2c56b4ec282f2923c62ff29f874be55623e1a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 3 Dec 2024 14:59:15 -0800
Subject: [PATCH 1080/1243] gc old DM init param

---
 common/params.cc                      | 1 -
 selfdrive/modeld/dmonitoringmodeld.py | 2 --
 2 files changed, 3 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 9e62ed582c..2011b52131 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -112,7 +112,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisablePowerDown", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
-    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 31440c1295..7f04939c65 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -12,7 +12,6 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
@@ -126,7 +125,6 @@ def main():
   cl_context = CLContext()
   model = ModelState(cl_context)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
-  Params().put_bool("DmModelInitialized", True)
 
   cloudlog.warning("connecting to driver stream")
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)

From 3d54c383abe20466e756020033cdb241445be641 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Wed, 4 Dec 2024 08:31:22 +0900
Subject: [PATCH 1081/1243] manager: garbage collect old process (#34149)

---
 system/manager/process_config.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index f5f983700e..d26fc19afe 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -89,7 +89,6 @@ procs = [
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),

From a22d6cd0d31b19b0d218812008b0a18011f286bf Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 3 Dec 2024 19:58:00 -0800
Subject: [PATCH 1082/1243] raylib: disable build on ubuntu focal (#34150)

build
---
 system/ui/SConscript | 29 +++++++++++++++++------------
 1 file changed, 17 insertions(+), 12 deletions(-)

diff --git a/system/ui/SConscript b/system/ui/SConscript
index 0e164efb92..e97282b54e 100644
--- a/system/ui/SConscript
+++ b/system/ui/SConscript
@@ -1,18 +1,23 @@
+import subprocess
+
 Import('env', 'arch', 'common')
 
 renv = env.Clone()
 
-rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
-linked_libs = ['raylib', rayutil, common]
-renv['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+
+if not UBUNTU_FOCAL:
+  rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
+  linked_libs = ['raylib', rayutil, common]
+  renv['LIBPATH'] += [f'#third_party/raylib/{arch}/']
 
-mac_frameworks = []
-if arch == "Darwin":
-  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
-elif arch == 'larch64':
-  linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
-else:
-  linked_libs += ['OpenCL', 'dl', 'pthread']
+  mac_frameworks = []
+  if arch == "Darwin":
+    mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
+  elif arch == 'larch64':
+    linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
+  else:
+    linked_libs += ['OpenCL', 'dl', 'pthread']
 
-if arch != 'aarch64':
-  renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
+  if arch != 'aarch64':
+    renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)

From 75bf7568938da87233ae2f496e0baa1b23df199a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 3 Dec 2024 21:54:41 -0800
Subject: [PATCH 1083/1243] raylib: add touch support (#34151)

bump raylib
---
 third_party/raylib/larch64/libraylib.a | 4 ++--
 third_party/raylib/setup.sh            | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
index b4eb7f2f51..ccf80f1108 100644
--- a/third_party/raylib/larch64/libraylib.a
+++ b/third_party/raylib/larch64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d0df8ec252a3eff108ef773ba3c95b9de8bec016ebb49f99f237d8432e79e054
-size 3133756
+oid sha256:2682a70d41ec1894e060fb1bc6795dd93bf51aeee1ad779b4b0f6e82f1ff6efc
+size 3140268
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
index e54ed6482f..c5f4e325ea 100755
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -30,7 +30,7 @@ fi
 
 cd raylib_repo
 
-COMMIT="591b3be34d84b8c924fcc8648cce9b496580a2e8"
+COMMIT="5b56f44b1f1014300fbf03b636571f2bbdfc0d05"
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .

From 8f7bbe4ee3d0671d9a31145150c1de648b5055e4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 4 Dec 2024 19:51:09 +0100
Subject: [PATCH 1084/1243] macos: use /tmp instead of /dev/shm (#34097)

* No /dev/shm on MacOS so we go to tmp instead given that the /dev/shm makes tests not really work fine on mac

* Cleanups

Fix cereal messaging tests

* keep msgq stock

More shm updates for macos

* typo

* fix return

* Semicolon...
---
 cereal/messaging/tests/test_services.py         | 2 +-
 common/prefix.h                                 | 2 +-
 common/prefix.py                                | 2 +-
 common/watchdog.cc                              | 3 ++-
 selfdrive/test/process_replay/process_replay.py | 5 ++---
 system/hardware/hw.h                            | 8 ++++++++
 system/hardware/hw.py                           | 7 +++++++
 system/manager/manager.py                       | 6 +++---
 system/manager/process.py                       | 3 ++-
 9 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
index 01e859a5a3..8bfd2ea978 100644
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -17,5 +17,5 @@ class TestServices:
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
       assert ret == 0, "generated services header is not valid C"
diff --git a/common/prefix.h b/common/prefix.h
index 11d0bc1066..2612c05d4f 100644
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -13,7 +13,7 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = "/dev/shm/" + prefix;
+    msgq_path = Path::shm_path() + "/" + prefix;
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
diff --git a/common/prefix.py b/common/prefix.py
index 3292acae86..762ae70fb4 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 class OpenpilotPrefix:
   def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache
 
diff --git a/common/watchdog.cc b/common/watchdog.cc
index 3483ad21c2..44e8c83e6d 100644
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@@ -2,8 +2,9 @@
 
 #include "common/watchdog.h"
 #include "common/util.h"
+#include "system/hardware/hw.h"
 
-const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
+const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
 
 bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 448dc6896d..45210f1648 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -5,13 +5,13 @@ import copy
 import json
 import heapq
 import signal
-import platform
 from collections import Counter, OrderedDict
 from dataclasses import dataclass, field
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
 import capnp
+from openpilot.system.hardware.hw import Paths
 
 import cereal.messaging as messaging
 from cereal import car
@@ -780,8 +780,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
 
 def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> dict[str, Any]:
   environ_dict = {}
-  if platform.system() != "Darwin":
-    environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
+  environ_dict["PARAMS_ROOT"] = f"{Paths.shm_path()}/params"
   if log_dir is not None:
     environ_dict["LOG_ROOT"] = log_dir
 
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index 394807ccb5..d2083a5985 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -47,4 +47,12 @@ namespace Path {
     }
     return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
   }
+
+ inline std::string shm_path() {
+    #ifdef __APPLE__
+     return"/tmp";
+    #else
+     return "/dev/shm";
+    #endif
+ }
 }  // namespace Path
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 694299d72e..dc36dc0474 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -1,4 +1,5 @@
 import os
+import platform
 from pathlib import Path
 
 from openpilot.system.hardware import PC
@@ -56,3 +57,9 @@ class Paths:
       return Paths.comma_home()
     else:
       return "/tmp/.comma"
+
+  @staticmethod
+  def shm_path() -> str:
+    if PC and platform.system() == "Darwin":
+      return "/tmp"  # This is not really shared memory on macOS, but it's the closest we can get
+    return "/dev/shm"
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 9ebbdf422d..4a5da353e9 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -17,7 +17,7 @@ from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
-
+from openpilot.system.hardware.hw import Paths
 
 
 def manager_init() -> None:
@@ -52,11 +52,11 @@ def manager_init() -> None:
 
   # Create folders needed for msgq
   try:
-    os.mkdir("/dev/shm")
+    os.mkdir(Paths.shm_path())
   except FileExistsError:
     pass
   except PermissionError:
-    print("WARNING: failed to make /dev/shm")
+    print(f"WARNING: failed to make {Paths.shm_path()}")
 
   # set version params
   params.put("Version", build_metadata.openpilot.version)
diff --git a/system/manager/process.py b/system/manager/process.py
index 10c8f74f9d..0e9c9b9804 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -16,8 +16,9 @@ import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 
-WATCHDOG_FN = "/dev/shm/wd_"
+WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
 

From c6e4241bad175cc2767af5fa096752c2a4d71746 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Wed, 4 Dec 2024 15:34:54 -0800
Subject: [PATCH 1085/1243] [bot] Update Python packages (#34140)

* Update Python packages

* pin

* fstring

* this too

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 msgq_repo                                 |    2 +-
 panda                                     |    2 +-
 pyproject.toml                            |    4 +
 scripts/code_stats.py                     |   10 +-
 scripts/waste.py                          |    4 +-
 selfdrive/debug/can_printer.py            |    2 +-
 selfdrive/debug/fingerprint_from_route.py |    2 +-
 selfdrive/debug/get_fingerprint.py        |    2 +-
 selfdrive/selfdrived/tests/test_alerts.py |    2 +-
 system/hardware/pc/hardware.py            |    2 +-
 system/hardware/tici/hardware.py          |    4 +-
 system/qcomgpsd/qcomgpsd.py               |    4 +-
 system/qcomgpsd/structs.py                |    2 +-
 system/ubloxd/tests/print_gps_stats.py    |    2 +-
 tools/camerastream/compressed_vipc.py     |    6 +-
 tools/latencylogger/latency_logger.py     |    4 +-
 tools/scripts/fetch_image_from_route.py   |    4 +-
 tools/sim/lib/manual_ctrl.py              |    4 +-
 uv.lock                                   | 2076 +++++++++++----------
 19 files changed, 1113 insertions(+), 1025 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index e621ce0763..434ed2312c 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit e621ce0763803ea821f9b41a20b0b77d83ab6c97
+Subproject commit 434ed2312c980b5504a4a75001d04c3ecbddf93f
diff --git a/panda b/panda
index 2fbf0c5ff8..c7cc2deaf0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2fbf0c5ff86f2e94021d7c937b9f8eb6839af484
+Subproject commit c7cc2deaf046403899b5bcc964b9f48bfd508534
diff --git a/pyproject.toml b/pyproject.toml
index c27ebcdb4f..2bfcc19650 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -31,6 +31,9 @@ dependencies = [
   # body / webrtcd
   "aiohttp",
   "aiortc",
+  # aiortc does not put an upper bound on pyopenssl and is now incompatible
+  # with the latest release
+  "pyopenssl < 24.3.0",
   "pyaudio",
 
   # panda
@@ -239,6 +242,7 @@ exclude = [
   "cereal",
   "panda",
   "opendbc",
+  "opendbc_repo",
   "rednose_repo",
   "tinygrad_repo",
   "teleoprtc",
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
index 3189cd7cc1..1ffc8901bd 100755
--- a/scripts/code_stats.py
+++ b/scripts/code_stats.py
@@ -37,7 +37,7 @@ for f in sorted(pyf):
   lns = len(src.split("\n"))
   tree = ast.parse(src)
   Analyzer().visit(tree)
-  print("%5d %s %s" % (lns, f, xbit))
+  print(f"{lns:5d} {f} {xbit}")
   if 'test' in f:
     testlns += lns
   elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
@@ -47,8 +47,8 @@ for f in sorted(pyf):
   else:
     tlns += lns
 
-print("%d lines of openpilot python" % tlns)
-print("%d lines of car ports" % carlns)
-print("%d lines of tools/scripts/debug" % scriptlns)
-print("%d lines of tests" % testlns)
+print(f"{tlns} lines of openpilot python")
+print(f"{carlns} lines of car ports")
+print(f"{scriptlns} lines of tools/scripts/debug")
+print(f"{testlns} lines of tests")
 #print(sorted(list(imps)))
diff --git a/scripts/waste.py b/scripts/waste.py
index 0764ff77c3..bdee09d3f6 100755
--- a/scripts/waste.py
+++ b/scripts/waste.py
@@ -16,9 +16,9 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setproctitle(f"{core:3d}: {i:8d}")
       lt = time.monotonic()
-      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
+      print(f"{core:3d}: {i:8d} {lt-st:f}  {j:.2f}")
       st = lt
     i += 1
     j = np.sum(np.matmul(m1, m2))
diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py
index b93e48ba73..f2ed6730d3 100755
--- a/selfdrive/debug/can_printer.py
+++ b/selfdrive/debug/can_printer.py
@@ -28,7 +28,7 @@ def can_printer(bus, max_msg, addr, ascii_decode):
         x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
         freq = len(msgs[_addr]) / (time.monotonic() - start)
         if max_msg is None or _addr < max_msg:
-          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
+          dd += f"{_addr:04X}({_addr:4d})({len(msgs[_addr]):6d})({freq:3}dHz) {x.ljust(20)} {a}\n"
       print(dd)
       lp = time.monotonic()
 
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 9da388999b..179ff4c838 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -22,7 +22,7 @@ def get_fingerprint(lr):
           msgs[c.address] = len(c.dat)
 
   # show CAN fingerprint
-  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
   print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
   print(fingerprint)
 
diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py
index 14f6c0e33c..75c3d5579f 100755
--- a/selfdrive/debug/get_fingerprint.py
+++ b/selfdrive/debug/get_fingerprint.py
@@ -25,7 +25,7 @@ while True:
     if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
       msgs[c.address] = len(c.dat)
 
-  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
 
   print(f"number of messages {len(msgs)}:")
   print(f"fingerprint {fingerprint}")
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index f6a0e365fc..55bb8f019d 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -42,7 +42,7 @@ class TestAlerts:
 
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):
-        fail_msg = "%s @%d not in EVENTS" % (name, e)
+        fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 
   # ensure alert text doesn't exceed allowed width
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index a2cbafeae8..c778f6429b 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -21,7 +21,7 @@ class Pc(HardwareBase):
     print("uninstall")
 
   def get_imei(self, slot):
-    return "%015d" % random.randint(0, 1 << 32)
+    return f"{random.randint(0, 1 << 32):015d}"
 
   def get_serial(self):
     return "cccccccc"
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 2692fc128a..c53ef586a3 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -323,8 +323,8 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
-                              ["cpu%d-gold-usr" % i for i in range(4)], 1000),
+    return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
+                              [f"cpu{i}-gold-usr" for i in range(4)], 1000),
                          gpu=(("gpu0-usr", "gpu1-usr"), 1000),
                          mem=("ddr-usr", 1000),
                          bat=(None, 1),
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 43ddb89939..e768ec32e9 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -273,7 +273,7 @@ def main() -> NoReturn:
 
     (pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
     if pending_msgs > 0:
-      cloudlog.debug("have %d pending messages" % pending_msgs)
+      cloudlog.debug(f"have {pending_msgs} pending messages")
     assert log_outer_length == len(inner_log_packet)
 
     (log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
@@ -283,7 +283,7 @@ def main() -> NoReturn:
       continue
 
     if DEBUG:
-      print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
+      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)
diff --git a/system/qcomgpsd/structs.py b/system/qcomgpsd/structs.py
index f97704bbee..497493a0bf 100644
--- a/system/qcomgpsd/structs.py
+++ b/system/qcomgpsd/structs.py
@@ -322,7 +322,7 @@ def parse_struct(ss):
       cnt = int(nam.split("[")[1].split("]")[0])
       st += st[-1]*(cnt-1)
       for i in range(cnt):
-        nams.append("%s[%d]" % (nam.split("[")[0], i))
+        nams.append(f'{nam.split("[")[0]}[{i}]')
     else:
       nams.append(nam)
   return st, nams
diff --git a/system/ubloxd/tests/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py
index edf94c060a..8d190f9ec1 100755
--- a/system/ubloxd/tests/print_gps_stats.py
+++ b/system/ubloxd/tests/print_gps_stats.py
@@ -13,7 +13,7 @@ if __name__ == "__main__":
       cnos = []
       for m in ug.measurementReport.measurements:
         cnos.append(m.cno)
-      print("Sats: %d   Accuracy: %.2f m   cnos" % (ug.measurementReport.numMeas, gle.horizontalAccuracy), sorted(cnos))
+      print(f"Sats: {ug.measurementReport.numMeas}   Accuracy: {gle.horizontalAccuracy:.2f} m   cnos", sorted(cnos))
     except Exception:
       pass
     sm.update()
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index cbea060920..8c773f9dfe 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -101,9 +101,9 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
       pc_latency = (time.monotonic()-time_q[0])*1000
       time_q = time_q[1:]
       if debug:
-        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
-              % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
-                 process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+        print(f"{len(msgs):2d} {evta.idx.encodeId:4d} {evt.logMonoTime/1e9:.3f} {evta.idx.timestampEof/1e6:.3f} \
+            roll {frame_latency:6.2f} ms latency {process_latency:6.2f} ms + {network_latency:6.2f} ms + {pc_latency:6.2f} ms \
+            = {process_latency+network_latency+pc_latency:6.2f} ms", len(evta.data), sock_name)
 
 
 class CompressedVipc:
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 32df0da4b5..65cb6e6c2c 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -168,9 +168,9 @@ def print_timestamps(timestamps, durations, start_times, relative):
       print("  "+service)
       events = timestamps[frame_id][service]
       for event, time in sorted(events, key = lambda x: x[1]):
-        print("    "+'%-53s%-53s' %(event, str((time-t0)/1e6)))
+        print("    "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
       for event, time in durations[frame_id][service]:
-        print("    "+'%-53s%-53s' %(event, str(time*1000)))
+        print("    "+f'{event:<53s}{str(time*1000):<53s}')
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
   plt.rcParams.update({'font.size': 18})
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index b59e7c895e..521f1597ec 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -31,11 +31,11 @@ print("got api response")
 
 segments = r.json()[camera]
 if segment >= len(segments):
-  raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))
+  raise Exception(f"segment {segment} not found, got {len(segments)} segments")
 
 fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
-  raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
+  raise Exception("frame {frame} not found, got {fr.frame_count} frames")
 
 im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
 fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py
index 972f7023bb..c2be0d0458 100755
--- a/tools/sim/lib/manual_ctrl.py
+++ b/tools/sim/lib/manual_ctrl.py
@@ -133,8 +133,8 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
     button_name_list.append(btn_name)
     button_states[btn_name] = 0
 
-  print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
-  print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
+  print(f'{num_axes} axes found: {", ".join(axis_name_list)}')
+  print(f'{num_buttons} buttons found: {", ".join(button_name_list)}')
 
   # Enable FF
   import evdev
diff --git a/uv.lock b/uv.lock
index b21add8e9c..4ae1288bed 100644
--- a/uv.lock
+++ b/uv.lock
@@ -11,16 +11,16 @@ resolution-markers = [
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.4.3"
+version = "2.4.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/bc/69/2f6d5a019bd02e920a3417689a89887b39ad1e350b562f9955693d900c40/aiohappyeyeballs-2.4.3.tar.gz", hash = "sha256:75cf88a15106a5002a8eb1dab212525c00d1f4c0fa96e551c9fbe6f09a621586", size = 21809 }
+sdist = { url = "https://files.pythonhosted.org/packages/7f/55/e4373e888fdacb15563ef6fa9fa8c8252476ea071e96fb46defac9f18bf2/aiohappyeyeballs-2.4.4.tar.gz", hash = "sha256:5fdd7d87889c63183afc18ce9271f9b0a7d32c2303e394468dd45d514a757745", size = 21977 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f7/d8/120cd0fe3e8530df0539e71ba9683eade12cae103dd7543e50d15f737917/aiohappyeyeballs-2.4.3-py3-none-any.whl", hash = "sha256:8a7a83727b2756f394ab2895ea0765a0a8c475e3c71e98d43d76f22b4b435572", size = 14742 },
+    { url = "https://files.pythonhosted.org/packages/b9/74/fbb6559de3607b3300b9be3cc64e97548d55678e44623db17820dbd20002/aiohappyeyeballs-2.4.4-py3-none-any.whl", hash = "sha256:a980909d50efcd44795c4afeca523296716d50cd756ddca6af8c65b996e27de8", size = 14756 },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.11.2"
+version = "3.11.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -31,38 +31,38 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/55/68/97e4fab2add44bbd4b0107379d6900e80556c9a5d8ff548385690807b3f6/aiohttp-3.11.2.tar.gz", hash = "sha256:68d1f46f9387db3785508f5225d3acbc5825ca13d9c29f2b5cce203d5863eb79", size = 7658216 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5c/0b/19fd7fca18e288edf050c39504504dd58f836e43df70a05322276fe65d46/aiohttp-3.11.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:50e0aee4adc9abcd2109c618a8d1b2c93b85ac277b24a003ab147d91e068b06d", size = 706493 },
-    { url = "https://files.pythonhosted.org/packages/59/82/be16718d07bb9bbdf12b06c248019e254bdf5f55d8565f0e015754cb924c/aiohttp-3.11.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:9aa4e68f1e4f303971ec42976fb170204fb5092de199034b57199a1747e78a2d", size = 466353 },
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 [[package]]

From 34d62836fe4892aab9ffa07897be55d7fcbfc7e0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 4 Dec 2024 19:24:21 -0800
Subject: [PATCH 1086/1243] hw: add fan intake and exhaust temps (#34156)

* hw: add fan intake and exhaust temps

* remove bat

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 cereal/log.capnp                 | 2 ++
 system/hardware/base.py          | 2 +-
 system/hardware/hardwared.py     | 2 ++
 system/hardware/pc/hardware.py   | 2 +-
 system/hardware/tici/hardware.py | 9 +++++++--
 5 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 142d4afcb9..b6ccf2f55f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -486,6 +486,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
+  intakeTempC @46 :Float32;
+  exhaustTempC @47 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
diff --git a/system/hardware/base.py b/system/hardware/base.py
index fafdbb41dc..0f8b7d8680 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -3,7 +3,7 @@ from collections import namedtuple
 
 from cereal import log
 
-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic'])
+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'pmic', 'intake', 'exhaust'])
 NetworkType = log.DeviceState.NetworkType
 
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index beb9b4a3a0..15b144ec4e 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -83,6 +83,8 @@ def read_thermal(thermal_config):
   dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
   dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
   dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
+  dat.deviceState.intakeTempC = read_tz(thermal_config.intake[0]) / thermal_config.intake[1]
+  dat.deviceState.exhaustTempC = read_tz(thermal_config.exhaust[0]) / thermal_config.exhaust[1]
   return dat
 
 
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index c778f6429b..a2386b92d2 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -54,7 +54,7 @@ class Pc(HardwareBase):
     print("SHUTDOWN!")
 
   def get_thermal_config(self):
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1))
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), pmic=((None,), 1), intake=(None, 1), exhaust=(None, 1))
 
   def set_screen_brightness(self, percentage):
     pass
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index c53ef586a3..8950329841 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -323,12 +323,17 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
+    intake, exhaust = (None, 1), (None, 1)
+    if self.get_device_type() == "mici":
+      intake = ("intake", 1000)
+      exhaust = ("exhaust", 1000)
     return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
                               [f"cpu{i}-gold-usr" for i in range(4)], 1000),
                          gpu=(("gpu0-usr", "gpu1-usr"), 1000),
                          mem=("ddr-usr", 1000),
-                         bat=(None, 1),
-                         pmic=(("pm8998_tz", "pm8005_tz"), 1000))
+                         pmic=(("pm8998_tz", "pm8005_tz"), 1000),
+                         intake=intake,
+                         exhaust=exhaust)
 
   def set_screen_brightness(self, percentage):
     try:

From 1f3c365f1aa7b49854b1e0bb9288e8e9426f38d6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 4 Dec 2024 22:10:36 -0800
Subject: [PATCH 1087/1243] ci: make openpilot-base image smaller (#34154)

* big

* here

* why

* pocl

* remove this

* more debug

* see this

* more

* more

* diff

* cleanup

* cleanup

* check

* NO DC???

This reverts commit 137cde5fc98ec39497e85f335e2f636cf9a5e5ea.
---
 Dockerfile.openpilot_base | 50 ++++-----------------------------------
 1 file changed, 5 insertions(+), 45 deletions(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 6dbd249c23..aa5230fa6d 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot pocl-opencl-icd && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
@@ -18,43 +18,6 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX 1
@@ -68,17 +31,14 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml uv.lock /tmp/
-COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
 
 ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /tmp && \
+RUN cd /home/$USER && \
     tools/install_python_dependencies.sh && \
-    mkdir -p $VIRTUAL_ENV && \
-    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
-    rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache
+    rm -rf tools/ pyproject.toml uv.lock .cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot

From 6c02d5c3f7fe44d60707fbc3e647b982300d0c0f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 5 Dec 2024 12:07:12 -0800
Subject: [PATCH 1088/1243] agnos 11.3 (#34087)

---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 38 ++++++++++++++++-----------------
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 781f40fc7e..3d2900650b 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.2"
+  export AGNOS_VERSION="11.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 3aa712a6b0..430f86bfed 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
-    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "size": 16414720,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
+    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "size": 16418816,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
-    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
-    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
+    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
     "size": 4404019200,
     "sparse": false,
     "full_check": false,
@@ -21,9 +21,9 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz",
-    "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
-    "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
+    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz",
-    "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
-    "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
+    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
     "size": 98124,
     "sparse": false,
     "full_check": true,
@@ -51,9 +51,9 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz",
-    "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
-    "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
+    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
     "size": 40336,
     "sparse": false,
     "full_check": true,
@@ -61,9 +61,9 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4.img.xz",
-    "hash": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
-    "hash_raw": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
+    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
     "size": 184364,
     "sparse": false,
     "full_check": true,

From 8f73bcffe4305bbd49103d4adfe82f5a3d3c88e9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 5 Dec 2024 13:35:44 -0800
Subject: [PATCH 1089/1243] micd: fix fake lagging warnings (#34158)

* micd: fix fake lagging warnings

* fix it properly

* simple
---
 common/realtime.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/common/realtime.py b/common/realtime.py
index dd97ea3d78..854c3ca592 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -48,13 +48,13 @@ class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
-    self._next_frame_time = time.monotonic() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = time.monotonic()
+    self._last_monitor_time = -1.
+    self._next_frame_time = -1.
 
   @property
   def frame(self) -> int:
@@ -79,6 +79,10 @@ class Ratekeeper:
 
   # Monitors the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    if self._last_monitor_time < 0:
+      self._next_frame_time = time.monotonic() + self._interval
+      self._last_monitor_time = time.monotonic()
+
     prev = self._last_monitor_time
     self._last_monitor_time = time.monotonic()
     self._dts.append(self._last_monitor_time - prev)

From fe24462949a78a4e6bf0f30ac506688222570de9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 5 Dec 2024 14:01:08 -0800
Subject: [PATCH 1090/1243] ci: revert pocl (#34160)

* slow runner

* test this

* revert
---
 Dockerfile.openpilot_base | 39 ++++++++++++++++++++++++++++++++++++++-
 1 file changed, 38 insertions(+), 1 deletion(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index aa5230fa6d..ae0cda374d 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot pocl-opencl-icd && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
@@ -18,6 +18,43 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX 1

From e19ecbf75cf22c61bf8bcf8a19740b83eb66549d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 6 Dec 2024 07:28:11 +0800
Subject: [PATCH 1091/1243] CommaApi: use context manager for response handling
 (#34118)

use context manager for response handling
---
 tools/lib/api.py | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/tools/lib/api.py b/tools/lib/api.py
index 92a75d2a3b..c2e1b1a8cd 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -10,16 +10,16 @@ class CommaApi:
       self.session.headers['Authorization'] = 'JWT ' + token
 
   def request(self, method, endpoint, **kwargs):
-    resp = self.session.request(method, API_HOST + '/' + endpoint, **kwargs)
-    resp_json = resp.json()
-    if isinstance(resp_json, dict) and resp_json.get('error'):
-      if resp.status_code in [401, 403]:
-        raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+    with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
+      resp_json = resp.json()
+      if isinstance(resp_json, dict) and resp_json.get('error'):
+        if resp.status_code in [401, 403]:
+          raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
 
-      e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
-      e.status_code = resp.status_code
-      raise e
-    return resp_json
+        e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
+        e.status_code = resp.status_code
+        raise e
+      return resp_json
 
   def get(self, endpoint, **kwargs):
     return self.request('GET', endpoint, **kwargs)

From 070b1e68d15ceced35555b54bc16d5a03567de6d Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Thu, 5 Dec 2024 15:30:43 -0800
Subject: [PATCH 1092/1243] [bot] Update Python packages (#34159)

* Update Python packages

* Update ref_commit

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 opendbc_repo                             |   2 +-
 selfdrive/test/process_replay/ref_commit |   2 +-
 uv.lock                                  | 266 +++++++++++------------
 3 files changed, 135 insertions(+), 135 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 78df311372..b9daff809a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 78df311372bd961aec66b933141f513d319b7906
+Subproject commit b9daff809a5b8efdb7d9b69dff27235fbf5cef58
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 592bb4f676..a225c1caa4 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6b43f700377cc3aea5ab01c642dde36947a1d382
+8a9e9bb6ac3f47d6f3a5efbe595c4b4690ac6856
diff --git a/uv.lock b/uv.lock
index 4ae1288bed..e5508cb972 100644
--- a/uv.lock
+++ b/uv.lock
@@ -80,7 +80,7 @@ wheels = [
 
 [[package]]
 name = "aiortc"
-version = "1.7.0"
+version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aioice" },
@@ -92,15 +92,15 @@ dependencies = [
     { name = "pylibsrtp" },
     { name = "pyopenssl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/35/85/6716217e91790f08d382fcf48eea83ace2874732ab5872a649623ebcfd93/aiortc-1.7.0.tar.gz", hash = "sha256:4fd900797b419a9189443b7c95a2ce4bf5aa0d9542d8d19edfabf30aa5fbc296", size = 1167708 }
+sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/00/f3/8b51c79e6296bd76b3154a0a977472f2416e5d806dc210604416e3548b0b/aiortc-1.7.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:aba47eac61ee7fb7e89876f40e4132aa66a13ed2a730dff003342e57219f34c0", size = 1219242 },
-    { url = "https://files.pythonhosted.org/packages/52/5d/628f937106e66f4b40f861c1167924ab45ec19063cf5bcceb2dc0740c8e9/aiortc-1.7.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:169abaaa0c11a1695942b3eeea9d9032ea4992c6e84958c1b31c6ba22fcf4b0e", size = 895380 },
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+    { url = "https://files.pythonhosted.org/packages/eb/10/cd2fd77d4a4e7f03c29351be0f53278a393186b540b99df68beb5304fddd/ruff-0.8.2-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:81c148825277e737493242b44c5388a300584d73d5774defa9245aaef55448b0", size = 10771884 },
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+    { url = "https://files.pythonhosted.org/packages/f8/d4/ba1c7ab72aba37a2b71fe48ab95b80546dbad7a7f35ea28cf66fc5cea5f6/ruff-0.8.2-py3-none-win_amd64.whl", hash = "sha256:2aae99ec70abf43372612a838d97bfe77d45146254568d94926e8ed5bbb409ea", size = 9594729 },
+    { url = "https://files.pythonhosted.org/packages/23/34/db20e12d3db11b8a2a8874258f0f6d96a9a4d631659d54575840557164c8/ruff-0.8.2-py3-none-win_arm64.whl", hash = "sha256:fb88e2a506b70cfbc2de6fae6681c4f944f7dd5f2fe87233a7233d888bad73e8", size = 9035131 },
 ]
 
 [[package]]
@@ -4887,15 +4887,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.19.0"
+version = "2.19.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/a2/0e/cc0e60f0e0cfd5a9e42622ff5a227301c6475a56bcfa82e8e893bc209f20/sentry_sdk-2.19.0.tar.gz", hash = "sha256:ee4a4d2ae8bfe3cac012dcf3e4607975904c137e1738116549fc3dbbb6ff0e36", size = 298045 }
+sdist = { url = "https://files.pythonhosted.org/packages/2b/23/643a9958d1d14f5ba1f0204396d5953f926624b3f95b77af7904fb406d03/sentry_sdk-2.19.1.tar.gz", hash = "sha256:6ad8507457a379b72f832aca55787b21e7391751892faef1fd8bace350aa5e17", size = 298915 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c6/6b/191ca63f05d3ecc7600b5b3abd493a4c1b8468289c9737a7735ade1fedca/sentry_sdk-2.19.0-py2.py3-none-any.whl", hash = "sha256:7b0b3b709dee051337244a09a30dbf6e95afe0d34a1f8b430d45e0982a7c125b", size = 322158 },
+    { url = "https://files.pythonhosted.org/packages/9c/b1/b03f54c8b379d493bd19f9dca241efdd17f77a8f7a34b80c2d4417dfc7b7/sentry_sdk-2.19.1-py2.py3-none-any.whl", hash = "sha256:b056e04b766f805fdf0aa620482cafe2ff000c8fcb51cb266cdb90873e93837b", size = 322816 },
 ]
 
 [[package]]
@@ -4944,7 +4944,7 @@ name = "shapely"
 version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4a/89/0d20bac88016be35ff7d3c0c2ae64b477908f1b1dfa540c5d69ac7af07fe/shapely-2.0.6.tar.gz", hash = "sha256:997f6159b1484059ec239cacaa53467fd8b5564dabe186cd84ac2944663b0bf6", size = 282361 }
 wheels = [
@@ -4984,11 +4984,11 @@ wheels = [
 
 [[package]]
 name = "six"
-version = "1.16.0"
+version = "1.17.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/71/39/171f1c67cd00715f190ba0b100d606d440a28c93c7714febeca8b79af85e/six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926", size = 34041 }
+sdist = { url = "https://files.pythonhosted.org/packages/94/e7/b2c673351809dca68a0e064b6af791aa332cf192da575fd474ed7d6f16a2/six-1.17.0.tar.gz", hash = "sha256:ff70335d468e7eb6ec65b95b99d3a2836546063f63acc5171de367e834932a81", size = 34031 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d9/5a/e7c31adbe875f2abbb91bd84cf2dc52d792b5a01506781dbcf25c91daf11/six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254", size = 11053 },
+    { url = "https://files.pythonhosted.org/packages/b7/ce/149a00dd41f10bc29e5921b496af8b574d8413afcd5e30dfa0ed46c2cc5e/six-1.17.0-py2.py3-none-any.whl", hash = "sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274", size = 11050 },
 ]
 
 [[package]]
@@ -5169,7 +5169,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From e9246df02e4a70cf9790e1c000e1437fd1e7f647 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 5 Dec 2024 16:41:38 -0800
Subject: [PATCH 1093/1243] ci: faster unit tests (#34161)

* fast

* lint

* try

* clean

* this

* try even more

* more

* maybe

* what

* maybe?

* maybe

* try this

* fix

* fast?

* now cache?

* debug

* again...

* maybe

* NOW!

* revert, this is already enough (for now?)
---
 selfdrive/locationd/test/test_locationd_scenarios.py | 3 ---
 tools/lib/url_file.py                                | 4 ++--
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index e0ff96a362..bf5e571f27 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -1,4 +1,3 @@
-import pytest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -87,8 +86,6 @@ def run_scenarios(scenario, logs):
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
 
 
-@pytest.mark.xdist_group("test_locationd_scenarios")
-@pytest.mark.shared_download_cache
 class TestLocationdScenarios:
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 2d3d14ce8a..fe8bd3ea84 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -82,7 +82,7 @@ class URLFile:
 
     self._length = self.get_length_online()
     if not self._force_download and self._length != -1:
-      with atomic_write_in_dir(file_length_path, mode="w") as file_length:
+      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
         file_length.write(str(self._length))
     return self._length
 
@@ -105,7 +105,7 @@ class URLFile:
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
         data = self.read_aux(ll=CHUNK_SIZE)
-        with atomic_write_in_dir(full_path, mode="wb") as new_cached_file:
+        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
       else:
         with open(full_path, "rb") as cached_file:

From 3dc80057f222cb949b9a5e47a8c683911d282091 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 5 Dec 2024 16:42:09 -0800
Subject: [PATCH 1094/1243] ci: try namespace separate docker cache (#34157)

* expe

* fix

* Revert "fix"

This reverts commit e4592788e7d1d411bc665c961ea4b8e99906984c.

* run

* back

* also

* try without

* ||
---
 .github/workflows/selfdrive_tests.yaml | 48 +++++++++++++-------------
 1 file changed, 24 insertions(+), 24 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index ec40660f15..601aa8e311 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -32,9 +32,9 @@ env:
 jobs:
   build_release:
     name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -81,9 +81,9 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
-                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
-                   'ubuntu-latest'}}
+    runs-on:
+     - ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') || ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-latest'}}
+     - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate') }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -142,9 +142,9 @@ jobs:
 
   static_analysis:
     name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     env:
       PYTHONWARNINGS: default
     steps:
@@ -158,9 +158,9 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -185,9 +185,9 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -238,9 +238,9 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     strategy:
       fail-fast: false
       matrix:
@@ -330,9 +330,9 @@ jobs:
 
   simulator_driving:
     name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -351,9 +351,9 @@ jobs:
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
     steps:
       - uses: actions/checkout@v4
         with:

From f3c4770f916de12b5cbe18956f37f4397b9d0885 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 6 Dec 2024 10:53:02 -0800
Subject: [PATCH 1095/1243] debug: migrate old logs

---
 selfdrive/debug/count_events.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 4095ae3fc1..76e02d414e 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -8,6 +8,7 @@ from typing import cast
 
 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
 
 if __name__ == "__main__":
   cnt_events: Counter = Counter()
@@ -20,7 +21,7 @@ if __name__ == "__main__":
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
-  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+  for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
     t = (msg.logMonoTime - start_time) / 1e9
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)

From 84fdbb0eb4a8526432ac8ad5ae75dd79767ba507 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 6 Dec 2024 13:33:13 -0800
Subject: [PATCH 1096/1243] ci: fix multi-labels for runners (#34164)

* -

* ,

* try

* try

* fix

* try this

* fix

* cleanup
---
 .github/workflows/selfdrive_tests.yaml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 601aa8e311..a3d1773ba4 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -34,7 +34,7 @@ jobs:
     name: build release
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -83,7 +83,7 @@ jobs:
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on:
      - ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') || ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-latest'}}
-     - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate') }}
+     - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04') }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -144,7 +144,7 @@ jobs:
     name: static analysis
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       PYTHONWARNINGS: default
     steps:
@@ -160,7 +160,7 @@ jobs:
     name: unit tests
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -187,7 +187,7 @@ jobs:
     name: process replay
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -240,7 +240,7 @@ jobs:
     name: cars
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     strategy:
       fail-fast: false
       matrix:
@@ -332,7 +332,7 @@ jobs:
     name: simulator driving
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -353,7 +353,7 @@ jobs:
     name: Create UI Report
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:

From d7d9c40242642d3405fa5e1941bca829e88bcbf3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 6 Dec 2024 13:54:23 -0800
Subject: [PATCH 1097/1243] ci: fix more multi-labels (#34166)

* more

* try

* clean
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a3d1773ba4..d4a7d93058 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -82,7 +82,7 @@ jobs:
               ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on:
-     - ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') || ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-latest'}}
+     - ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') || ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-24.04'}}
      - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04') }}
     steps:
     - uses: actions/checkout@v4

From c7889a16beb95eed868d51b1c5fd2e365b97d747 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 6 Dec 2024 17:06:48 -0800
Subject: [PATCH 1098/1243] ci: remove the old `phone_only` test marker
 (#34168)

* std

* ruff
---
 selfdrive/pandad/tests/test_pandad_loopback.py | 3 +--
 selfdrive/pandad/tests/test_pandad_spi.py      | 3 +--
 selfdrive/test/helpers.py                      | 9 ---------
 system/camerad/test/test_exposure.py           | 5 +++--
 4 files changed, 5 insertions(+), 15 deletions(-)

diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 0f41201ece..bf1c557128 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -14,7 +14,7 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.system.hardware import TICI
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 
 
 @retry(attempts=3)
@@ -72,7 +72,6 @@ class TestBoarddLoopback:
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
 
-  @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
     num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 9c5990cd3f..9f7cc3b029 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -7,7 +7,7 @@ import random
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@@ -23,7 +23,6 @@ class TestBoarddSpi:
     if not JUNGLE_SPAM:
       os.environ['BOARDD_LOOPBACK'] = '1'
 
-  @phone_only
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
     setup_pandad(1)
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index b7f5bb183b..81635aa31f 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -10,7 +10,6 @@ from functools import wraps
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
 
 
@@ -29,14 +28,6 @@ def set_params_enabled():
   msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
   params.put("CalibrationParams", msg.to_bytes())
 
-def phone_only(f):
-  @wraps(f)
-  def wrap(self, *args, **kwargs):
-    if PC:
-      pytest.skip("This test is not meant to run on PC")
-    return f(self, *args, **kwargs)
-  return wrap
-
 def release_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
index dbe6f3d880..97f03ed182 100644
--- a/system/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -1,12 +1,14 @@
 import time
 import numpy as np
+import pytest
 
-from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.camerad.snapshot.snapshot import get_snapshots
 
 TEST_TIME = 45
 REPEAT = 5
 
+@pytest.mark.tici
 class TestCamerad:
   @classmethod
   def setup_class(cls):
@@ -28,7 +30,6 @@ class TestCamerad:
     print([i_median, i_mean])
     return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
 
-  @phone_only
   @with_processes(['camerad'])
   def test_camera_operation(self):
     passed = 0

From 0902527e27a048418c456c7706c27eaa52574d8e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 6 Dec 2024 19:29:32 -0800
Subject: [PATCH 1099/1243] ci: fix retry in test_camerad (#34167)

* flaky was flaky

* delay
---
 pyproject.toml                      |   1 -
 system/camerad/test/test_camerad.py |  70 +++++++++---------
 uv.lock                             | 107 +++++++++++++---------------
 3 files changed, 84 insertions(+), 94 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 2bfcc19650..41b0e3aca5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -101,7 +101,6 @@ dev = [
   "azure-identity",
   "azure-storage-blob",
   "dictdiffer",
-  "flaky",
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 07a68e0020..c259fe788d 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,12 +1,12 @@
 import pytest
 import time
 import numpy as np
-from flaky import flaky
 from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
+from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes
 
 TEST_TIMESPAN = 10
@@ -17,44 +17,46 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
-# TODO: this shouldn't be needed
-@flaky(max_runs=3)
-@pytest.mark.tici
-class TestCamerad:
-  @classmethod
-  def setup_class(cls):
-    # run camerad and record logs
-    managed_processes['camerad'].start()
-    time.sleep(3)
-    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+@retry(attempts=3, delay=5.0)
+def setup_camerad(cls):
+  # run camerad and record logs
+  managed_processes['camerad'].start()
+  time.sleep(3)
+  socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+
+  cls.logs = defaultdict(list)
+  start_time = time.monotonic()
+  while time.monotonic()- start_time < TEST_TIMESPAN:
+    for cam, s in socks.items():
+      cls.logs[cam] += messaging.drain_sock(s)
+    time.sleep(0.2)
+  managed_processes['camerad'].stop()
 
-    cls.logs = defaultdict(list)
-    start_time = time.monotonic()
-    while time.monotonic()- start_time < TEST_TIMESPAN:
-      for cam, s in socks.items():
-        cls.logs[cam] += messaging.drain_sock(s)
-      time.sleep(0.2)
-    managed_processes['camerad'].stop()
+  cls.log_by_frame_id = defaultdict(list)
+  cls.sensor_type = None
+  for cam, msgs in cls.logs.items():
+    if cls.sensor_type is None:
+      cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
-    cls.log_by_frame_id = defaultdict(list)
-    cls.sensor_type = None
-    for cam, msgs in cls.logs.items():
-      if cls.sensor_type is None:
-        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
-      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
+    dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
+    assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+    for m in msgs:
+      cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
 
-      for m in msgs:
-        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+  # strip beginning and end
+  for _ in range(3):
+    mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+    del cls.log_by_frame_id[mn]
+    del cls.log_by_frame_id[mx]
 
-    # strip beginning and end
-    for _ in range(3):
-      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
-      del cls.log_by_frame_id[mn]
-      del cls.log_by_frame_id[mx]
+@pytest.mark.tici
+class TestCamerad:
+  @classmethod
+  def setup_class(cls):
+    setup_camerad(cls)
 
   def test_frame_skips(self):
     skips = {}
diff --git a/uv.lock b/uv.lock
index e5508cb972..085fdf369e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -338,7 +338,7 @@ name = "coloredlogs"
 version = "15.0.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "humanfriendly" },
+    { name = "humanfriendly", marker = "platform_system != 'Darwin'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/c7/eed8f27100517e8c0e6b923d5f0845d0cb99763da6fdee00478f91db7325/coloredlogs-15.0.1.tar.gz", hash = "sha256:7c991aa71a4577af2f82600d8f8f3a89f936baeaf9b50a9c197da014e5bf16b0", size = 278520 }
 wheels = [
@@ -535,15 +535,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b9/f8/feced7779d755758a52d1f6635d990b8d98dc0a29fa568bbe0625f18fdf3/filelock-3.16.1-py3-none-any.whl", hash = "sha256:2082e5703d51fbf98ea75855d9d5527e33d8ff23099bec374a134febee6946b0", size = 16163 },
 ]
 
-[[package]]
-name = "flaky"
-version = "3.8.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5b/c5/ef69119a01427204ff2db5fc8f98001087bcce719bbb94749dcd7b191365/flaky-3.8.1.tar.gz", hash = "sha256:47204a81ec905f3d5acfbd61daeabcada8f9d4031616d9bcb0618461729699f5", size = 25248 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/7f/b8/b830fc43663246c3f3dd1ae7dca4847b96ed992537e85311e27fa41ac40e/flaky-3.8.1-py2.py3-none-any.whl", hash = "sha256:194ccf4f0d3a22b2de7130f4b62e45e977ac1b5ccad74d4d48f3005dcc38815e", size = 19139 },
-]
-
 [[package]]
 name = "flatbuffers"
 version = "24.3.25"
@@ -661,10 +652,10 @@ name = "gymnasium"
 version = "1.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle" },
-    { name = "farama-notifications" },
-    { name = "numpy" },
-    { name = "typing-extensions" },
+    { name = "cloudpickle", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "farama-notifications", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4e/12/1047b8fdbfcdce74022048d916e844ad7e6e1114d81d26a7aed657e3a76d/gymnasium-1.0.0.tar.gz", hash = "sha256:9d2b66f30c1b34fe3c2ce7fae65ecf365d0e9982d2b3d860235e773328a3b403", size = 821389 }
 wheels = [
@@ -676,7 +667,7 @@ name = "humanfriendly"
 version = "10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyreadline3", marker = "sys_platform == 'win32'" },
+    { name = "pyreadline3", marker = "platform_system != 'Darwin' and sys_platform == 'win32'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/3f/2c29224acb2e2df4d2046e4c73ee2662023c58ff5b113c4c1adac0886c43/humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc", size = 360702 }
 wheels = [
@@ -971,22 +962,22 @@ name = "metadrive-simulator"
 version = "0.4.2.3"
 source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl" }
 dependencies = [
-    { name = "filelock" },
-    { name = "gymnasium" },
-    { name = "lxml" },
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
-    { name = "pillow" },
-    { name = "progressbar" },
-    { name = "psutil" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
+    { name = "filelock", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "gymnasium", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "lxml", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "matplotlib", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pillow", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "progressbar", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "psutil", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pygments", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "requests", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "shapely", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "tqdm", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "yapf", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 wheels = [
     { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl", hash = "sha256:6242d4e37e6c592d5eb1cadf497637540d3b754b89813a88c50a93c7fc88b02d" },
@@ -1235,12 +1226,12 @@ name = "onnxruntime"
 version = "1.20.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "coloredlogs" },
-    { name = "flatbuffers" },
-    { name = "numpy" },
-    { name = "packaging" },
-    { name = "protobuf" },
-    { name = "sympy" },
+    { name = "coloredlogs", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "flatbuffers", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "numpy", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "packaging", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "protobuf", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "sympy", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/a5/da/c44bf9bd66cd6d9018a921f053f28d819445c4d84b4dd4777271b0fe52a2/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f6243e34d74423bdd1edf0ae9596dd61023b260f546ee17d701723915f06a9f7", size = 11955227 },
@@ -1254,12 +1245,12 @@ name = "onnxruntime-gpu"
 version = "1.20.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "coloredlogs" },
-    { name = "flatbuffers" },
-    { name = "numpy" },
-    { name = "packaging" },
-    { name = "protobuf" },
-    { name = "sympy" },
+    { name = "coloredlogs", marker = "(platform_machine != 'aarch64' and platform_system != 'Darwin') or (platform_system != 'Darwin' and platform_system != 'Linux')" },
+    { name = "flatbuffers", marker = "(platform_machine != 'aarch64' and platform_system != 'Darwin') or (platform_system != 'Darwin' and platform_system != 'Linux')" },
+    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_system != 'Darwin') or (platform_system != 'Darwin' and platform_system != 'Linux')" },
+    { name = "packaging", marker = "(platform_machine != 'aarch64' and platform_system != 'Darwin') or (platform_system != 'Darwin' and platform_system != 'Linux')" },
+    { name = "protobuf", marker = "(platform_machine != 'aarch64' and platform_system != 'Darwin') or (platform_system != 'Darwin' and platform_system != 'Linux')" },
+    { name = "sympy", marker = "(platform_machine != 'aarch64' and platform_system != 'Darwin') or (platform_system != 'Darwin' and platform_system != 'Linux')" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/e0/a5/5c2287d61f359c7342e9d59d1e3dd728a982dea85f846c7af305a801c3ca/onnxruntime_gpu-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1795e8bc6f9a1488a4d51d242edc4232a5ae60ec44ab4d4b0a7c65b3d17fcbff", size = 291519550 },
@@ -1271,7 +1262,7 @@ name = "opencv-python-headless"
 version = "4.10.0.84"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
 wheels = [
@@ -1330,7 +1321,6 @@ dev = [
     { name = "azure-identity" },
     { name = "azure-storage-blob" },
     { name = "dictdiffer" },
-    { name = "flaky" },
     { name = "lru-dict" },
     { name = "matplotlib" },
     { name = "parameterized" },
@@ -1386,7 +1376,6 @@ requires-dist = [
     { name = "crcmod" },
     { name = "cython" },
     { name = "dictdiffer", marker = "extra == 'dev'" },
-    { name = "flaky", marker = "extra == 'dev'" },
     { name = "future-fstrings" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },
@@ -1480,8 +1469,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 }
 wheels = [
@@ -1493,8 +1482,8 @@ name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 }
 wheels = [
@@ -4365,9 +4354,9 @@ name = "pyopencl"
 version = "2024.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
-    { name = "platformdirs" },
-    { name = "pytools" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pytools", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ec/28/4679ea08b84532a67fd2d270c8f87aec64dab9ab99e618927b6a26ea063e/pyopencl-2024.3.tar.gz", hash = "sha256:d5d08de9b0a6d85695caba1769aceae4e7661f06951c507bd1ce8fb7a89e2413", size = 422604 }
 wheels = [
@@ -4421,7 +4410,7 @@ name = "pyqt5"
 version = "5.15.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyqt5-sip" },
+    { name = "pyqt5-sip", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/6c/640e3f5c734c296a7193079a86842a789edb7988dca39eab44579088a1d1/PyQt5-5.15.2.tar.gz", hash = "sha256:372b08dc9321d1201e4690182697c5e7ffb2e0770e6b4a45519025134b12e4fc", size = 3265445 }
 wheels = [
@@ -4639,9 +4628,9 @@ name = "pytools"
 version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs" },
-    { name = "siphash24" },
-    { name = "typing-extensions" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "siphash24", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
@@ -4944,7 +4933,7 @@ name = "shapely"
 version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4a/89/0d20bac88016be35ff7d3c0c2ae64b477908f1b1dfa540c5d69ac7af07fe/shapely-2.0.6.tar.gz", hash = "sha256:997f6159b1484059ec239cacaa53467fd8b5564dabe186cd84ac2944663b0bf6", size = 282361 }
 wheels = [
@@ -5169,7 +5158,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From c48600efbdbc358efc40230e6ec395f50087fe44 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 6 Dec 2024 20:08:35 -0800
Subject: [PATCH 1100/1243] Toyota: error correct on future acceleration
 (#34169)

* bump opendbc

* Update ref_commit
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index b9daff809a..a0b0b06ed7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b9daff809a5b8efdb7d9b69dff27235fbf5cef58
+Subproject commit a0b0b06ed77d539ec26e88fd4f5673b4e1b73fa0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a225c1caa4..ac3d518dae 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8a9e9bb6ac3f47d6f3a5efbe595c4b4690ac6856
+caa64db0dd518ba413da54af63971c5a3fcbc857

From 7c101a40c831266dcb58a46eaa3c2917d086eea9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 7 Dec 2024 12:14:12 +0800
Subject: [PATCH 1101/1243] athenad: fix thread safety issues in upload handing
 (#34084)

* fix thread safety issues in upload handing

* remove cancelled_uploads
---
 system/athena/athenad.py            | 45 ++++++++++++++++-------------
 system/athena/tests/test_athenad.py |  8 ++---
 2 files changed, 27 insertions(+), 26 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 78285f018e..55b9476986 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -99,9 +99,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
+cur_upload_items_lock = threading.Lock()
 
 
 def strip_zst_extension(fn: str) -> str:
@@ -129,8 +129,9 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      queue: list[UploadItem | None] = list(upload_queue.queue)
-      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
+      with upload_queue.mutex:
+        items = [asdict(item) for item in upload_queue.queue]
+
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -200,7 +201,8 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
     upload_queue.put_nowait(item)
     UploadQueueCache.cache(upload_queue)
 
-    cur_upload_items[tid] = None
+    with cur_upload_items_lock:
+      cur_upload_items[tid] = None
 
     for _ in range(RETRY_DELAY):
       time.sleep(1)
@@ -219,7 +221,8 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   if end_event.is_set():
     raise AbortTransferException
 
-  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  with cur_upload_items_lock:
+    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
 def upload_handler(end_event: threading.Event) -> None:
@@ -227,14 +230,10 @@ def upload_handler(end_event: threading.Event) -> None:
   tid = threading.get_ident()
 
   while not end_event.is_set():
-    cur_upload_items[tid] = None
-
     try:
-      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
-
-      if item.id in cancelled_uploads:
-        cancelled_uploads.remove(item.id)
-        continue
+      with cur_upload_items_lock:
+        cur_upload_items[tid] = None
+        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
 
       # Remove item if too old
       age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -413,8 +412,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
 @dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  with upload_queue.mutex:
+    items = list(upload_queue.queue)
+
+  with cur_upload_items_lock:
+    items += list(cur_upload_items.values())
+
+  return [asdict(item) for item in items]
 
 
 @dispatcher.add_method
@@ -422,13 +426,14 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
-  uploading_ids = {item.id for item in list(upload_queue.queue)}
-  cancelled_ids = uploading_ids.intersection(upload_id)
-  if len(cancelled_ids) == 0:
-    return {"success": 0, "error": "not found"}
+  with upload_queue.mutex:
+    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
+    if len(remaining_items) == len(upload_queue.queue):
+      return {"success": 0, "error": "not found"}
 
-  cancelled_uploads.update(cancelled_ids)
-  return {"success": 1}
+    upload_queue.queue.clear()
+    upload_queue.queue.extend(remaining_items)
+    return {"success": 1}
 
 @dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index a6bfc68930..cee37064b9 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,7 +78,6 @@ class TestAthenadMethods:
 
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
-    athenad.cancelled_uploads.clear()
 
     for i in os.listdir(Paths.log_root()):
       p = os.path.join(Paths.log_root(), i)
@@ -282,13 +281,10 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
-    assert item.id in athenad.cancelled_uploads
-
     self._wait_for_upload()
     time.sleep(0.1)
 
     assert athenad.upload_queue.qsize() == 0
-    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
   def test_cancel_expiry(self):
@@ -331,7 +327,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
-    athenad.cancelled_uploads.add(item.id)
+    dispatcher["cancelUpload"](item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
 
@@ -343,7 +339,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
-    athenad.cancelled_uploads.add(item2.id)
+    dispatcher["cancelUpload"](item2.id)
 
     # serialize item
     athenad.UploadQueueCache.cache(athenad.upload_queue)

From 7a4169379df03040e3958e5626d6097503f2d542 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 6 Dec 2024 23:56:53 -0800
Subject: [PATCH 1102/1243] =?UTF-8?q?Revert=20"PlayStation=C2=AE=20model?=
 =?UTF-8?q?=20(#34133)"=20(#34170)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

This reverts commit 5160bee5437e58ab0ace59c6db1c6d7b416c4025.
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index fe3532b89e..06b7875362 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:66f3fa03aa1f61ed2ff84a954d3eca5d5fe9ef95bb484edc4044b63ff5b6e2ab
+oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
 size 50320584

From facaee8b100f43490dd9aad907b7083f5ca1d20d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 7 Dec 2024 01:35:50 -0800
Subject: [PATCH 1103/1243] raylib: fix symbols redefinition (#34172)

colors
---
 scripts/lint/check_raylib_includes.sh |  10 +++
 scripts/lint/lint.sh                  |   1 +
 system/ui/raylib/raylib.h             |   5 ++
 system/ui/raylib/spinner.cc           |  13 ++-
 system/ui/raylib/util.h               |   2 +-
 third_party/raylib/include/raylib.h   | 112 +++++++++++++++++++-------
 third_party/raylib/setup.sh           |   2 +-
 7 files changed, 109 insertions(+), 36 deletions(-)
 create mode 100755 scripts/lint/check_raylib_includes.sh
 create mode 100644 system/ui/raylib/raylib.h

diff --git a/scripts/lint/check_raylib_includes.sh b/scripts/lint/check_raylib_includes.sh
new file mode 100755
index 0000000000..e3be73a489
--- /dev/null
+++ b/scripts/lint/check_raylib_includes.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 578c63cd18..d4660facef 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -53,6 +53,7 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
diff --git a/system/ui/raylib/raylib.h b/system/ui/raylib/raylib.h
new file mode 100644
index 0000000000..bdd07a3312
--- /dev/null
+++ b/system/ui/raylib/raylib.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#define OPENPILOT_RAYLIB
+
+#include "third_party/raylib/include/raylib.h"
diff --git a/system/ui/raylib/spinner.cc b/system/ui/raylib/spinner.cc
index cf96ccb117..891d34b2d5 100644
--- a/system/ui/raylib/spinner.cc
+++ b/system/ui/raylib/spinner.cc
@@ -3,7 +3,6 @@
 #include <iostream>
 
 #include "system/ui/raylib/util.h"
-#include "third_party/raylib/include/raylib.h"
 
 constexpr int kProgressBarWidth = 1000;
 constexpr int kProgressBarHeight = 20;
@@ -27,7 +26,7 @@ int main(int argc, char *argv[]) {
 
   while (!WindowShouldClose()) {
     BeginDrawing();
-    ClearBackground(BLACK);
+    ClearBackground(RAYLIB_BLACK);
 
     rotation = fmod(rotation + kRotationRate, 360.0f);
     Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
@@ -37,8 +36,8 @@ int main(int argc, char *argv[]) {
     // Draw rotating spinner and static comma logo
     DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
                    {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
-                   spinnerOrigin, rotation, WHITE);
-    DrawTextureV(commaTexture, commaPosition, WHITE);
+                   spinnerOrigin, rotation, RAYLIB_WHITE);
+    DrawTextureV(commaTexture, commaPosition, RAYLIB_WHITE);
 
     // Check for user input
     if (std::cin.rdbuf()->in_avail() > 0) {
@@ -50,14 +49,14 @@ int main(int argc, char *argv[]) {
       float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
       if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
         Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
-        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_GRAY);
 
         int progress = std::clamp(std::stoi(userInput), 0, 100);
         bar.width *= progress / 100.0f;
-        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_RAYWHITE);
       } else {
         Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
-        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
       }
     }
 
diff --git a/system/ui/raylib/util.h b/system/ui/raylib/util.h
index da2ec7118b..1e2662fb90 100644
--- a/system/ui/raylib/util.h
+++ b/system/ui/raylib/util.h
@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include "third_party/raylib/include/raylib.h"
+#include "system/ui/raylib/raylib.h"
 
 enum class FontWeight {
   Normal,
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
index 56abfa7a55..ea973ff1ba 100644
--- a/third_party/raylib/include/raylib.h
+++ b/third_party/raylib/include/raylib.h
@@ -172,33 +172,91 @@
 
 // Some Basic Colors
 // NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
-
-#define WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
+#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
+#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
+#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
+#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
+#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
+#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
+#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
+#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
+#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
+#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
+#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
+#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
+#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
+#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
+#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
+#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
+#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
+#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
+#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
+#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
+
+#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
+#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
+#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
+#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
+#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+
+#ifndef OPENPILOT_RAYLIB
+  #define LIGHTGRAY  _rl_LIGHTGRAY
+  #define GRAY       _rl_GRAY
+  #define DARKGRAY   _rl_DARKGRAY
+  #define YELLOW     _rl_YELLOW
+  #define GOLD       _rl_GOLD
+  #define ORANGE     _rl_ORANGE
+  #define PINK       _rl_PINK
+  #define RED        _rl_RED
+  #define MAROON     _rl_MAROON
+  #define GREEN      _rl_GREEN
+  #define LIME       _rl_LIME
+  #define DARKGREEN  _rl_DARKGREEN
+  #define SKYBLUE    _rl_SKYBLUE
+  #define BLUE       _rl_BLUE
+  #define DARKBLUE   _rl_DARKBLUE
+  #define PURPLE     _rl_PURPLE
+  #define VIOLET     _rl_VIOLET
+  #define DARKPURPLE _rl_DARKBLUE
+  #define BEIGE      _rl_BEIGE
+  #define BROWN      _rl_BROWN
+  #define DARKBROWN  _rl_DARKBROWN
+
+  #define WHITE      _rl_WHITE
+  #define BLACK      _rl_BLACK
+  #define BLANK      _rl_BLANK
+  #define MAGENTA    _rl_MAGENTA
+  #define RAYWHITE   _rl_RAYWHITE
+#else
+  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
+  #define RAYLIB_GRAY       _rl_GRAY
+  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
+  #define RAYLIB_YELLOW     _rl_YELLOW
+  #define RAYLIB_GOLD       _rl_GOLD
+  #define RAYLIB_ORANGE     _rl_ORANGE
+  #define RAYLIB_PINK       _rl_PINK
+  #define RAYLIB_RED        _rl_RED
+  #define RAYLIB_MAROON     _rl_MAROON
+  #define RAYLIB_GREEN      _rl_GREEN
+  #define RAYLIB_LIME       _rl_LIME
+  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
+  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
+  #define RAYLIB_BLUE       _rl_BLUE
+  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
+  #define RAYLIB_PURPLE     _rl_PURPLE
+  #define RAYLIB_VIOLET     _rl_VIOLET
+  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
+  #define RAYLIB_BEIGE      _rl_BEIGE
+  #define RAYLIB_BROWN      _rl_BROWN
+  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
+
+  #define RAYLIB_WHITE      _rl_WHITE
+  #define RAYLIB_BLACK      _rl_BLACK
+  #define RAYLIB_BLANK      _rl_BLANK
+  #define RAYLIB_MAGENTA    _rl_MAGENTA
+  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
+#endif
 
 //----------------------------------------------------------------------------------
 // Structures Definition
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
index c5f4e325ea..4f26847706 100755
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -30,7 +30,7 @@ fi
 
 cd raylib_repo
 
-COMMIT="5b56f44b1f1014300fbf03b636571f2bbdfc0d05"
+COMMIT="f5b0a7237c6e45f0e8a6ff68322d19b49298d798"
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .

From be67d5a1d9b5b958180d0467dc15533a355f0d18 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 7 Dec 2024 04:59:35 -0600
Subject: [PATCH 1104/1243] Toyota: fix future aEgo calculation (#34173)

* bump

* Update ref_commit
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index a0b0b06ed7..cc30feb6fb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a0b0b06ed77d539ec26e88fd4f5673b4e1b73fa0
+Subproject commit cc30feb6fbb86b0601a1838f0325f389e78c423d
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ac3d518dae..8453675507 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-caa64db0dd518ba413da54af63971c5a3fcbc857
+255ceb08c75bc85379da5ec247e612be3716fb43

From 2e9540d2b1b1bcc34f56b437e175ea88b2b553b5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Dec 2024 15:03:30 -0800
Subject: [PATCH 1105/1243] system/hardware: refactor thermal config (#34177)

* system/hardware: refactor thermal config

* fix

* fixup

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 cereal/log.capnp                 |  1 +
 system/hardware/base.py          | 50 +++++++++++++++++++++++++++++---
 system/hardware/hardwared.py     | 38 ++----------------------
 system/hardware/pc/hardware.py   |  5 +---
 system/hardware/tici/hardware.py | 22 +++++++-------
 5 files changed, 62 insertions(+), 54 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index b6ccf2f55f..70508f36e2 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -488,6 +488,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
+  caseTempC @48 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0f8b7d8680..c7c765f20a 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -1,11 +1,54 @@
+import os
 from abc import abstractmethod, ABC
-from collections import namedtuple
+from dataclasses import dataclass, fields
 
 from cereal import log
 
-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'pmic', 'intake', 'exhaust'])
 NetworkType = log.DeviceState.NetworkType
 
+@dataclass
+class ThermalZone:
+  # a zone from /sys/class/thermal/thermal_zone*
+  name: str             # a.k.a type
+  scale: float = 1000.  # scale to get degrees in C
+  zone_number = -1
+
+  def read(self) -> float:
+    if self.zone_number < 0:
+      for n in os.listdir("/sys/devices/virtual/thermal"):
+        if not n.startswith("thermal_zone"):
+          continue
+        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
+          if f.read().strip() == self.name:
+            self.zone_number = int(n.removeprefix("thermal_zone"))
+            break
+
+    try:
+      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
+        return int(f.read()) / self.scale
+    except FileNotFoundError:
+      return 0
+
+@dataclass
+class ThermalConfig:
+  cpu: list[ThermalZone] | None = None
+  gpu: list[ThermalZone] | None = None
+  pmic: list[ThermalZone] | None = None
+  memory: ThermalZone | None = None
+  intake: ThermalZone | None = None
+  exhaust: ThermalZone | None = None
+  case: ThermalZone | None = None
+
+  def get_msg(self):
+    ret = {}
+    for f in fields(ThermalConfig):
+      v = getattr(self, f.name)
+      if v is not None:
+        if isinstance(v, list):
+          ret[f.name + "TempC"] = [x.read() for x in v]
+        else:
+          ret[f.name + "TempC"] = v.read()
+    return ret
 
 class HardwareBase(ABC):
   @staticmethod
@@ -84,9 +127,8 @@ class HardwareBase(ABC):
   def shutdown(self):
     pass
 
-  @abstractmethod
   def get_thermal_config(self):
-    pass
+    return ThermalConfig()
 
   @abstractmethod
   def set_screen_brightness(self, percentage):
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 15b144ec4e..e9b645691c 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -51,41 +51,6 @@ OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
-tz_by_type: dict[str, int] | None = None
-def populate_tz_by_type():
-  global tz_by_type
-  tz_by_type = {}
-  for n in os.listdir("/sys/devices/virtual/thermal"):
-    if not n.startswith("thermal_zone"):
-      continue
-    with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
-
-def read_tz(x):
-  if x is None:
-    return 0
-
-  if isinstance(x, str):
-    if tz_by_type is None:
-      populate_tz_by_type()
-    x = tz_by_type[x]
-
-  try:
-    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
-      return int(f.read())
-  except FileNotFoundError:
-    return 0
-
-
-def read_thermal(thermal_config):
-  dat = messaging.new_message('deviceState', valid=True)
-  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
-  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
-  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
-  dat.deviceState.intakeTempC = read_tz(thermal_config.intake[0]) / thermal_config.intake[1]
-  dat.deviceState.exhaustTempC = read_tz(thermal_config.exhaust[0]) / thermal_config.exhaust[1]
-  return dat
 
 
 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
@@ -234,7 +199,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
-    msg = read_thermal(thermal_config)
+    msg = messaging.new_message('deviceState', valid=True)
+    msg.deviceState = thermal_config.get_msg()
     msg.deviceState.deviceType = HARDWARE.get_device_type()
 
     try:
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index a2386b92d2..017a449c90 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -53,9 +53,6 @@ class Pc(HardwareBase):
   def shutdown(self):
     print("SHUTDOWN!")
 
-  def get_thermal_config(self):
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), pmic=((None,), 1), intake=(None, 1), exhaust=(None, 1))
-
   def set_screen_brightness(self, percentage):
     pass
 
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 8950329841..b69de4dd96 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -10,7 +10,7 @@ from pathlib import Path
 
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -323,17 +323,19 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    intake, exhaust = (None, 1), (None, 1)
+    intake, exhaust, case = None, None, None
     if self.get_device_type() == "mici":
-      intake = ("intake", 1000)
-      exhaust = ("exhaust", 1000)
-    return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
-                              [f"cpu{i}-gold-usr" for i in range(4)], 1000),
-                         gpu=(("gpu0-usr", "gpu1-usr"), 1000),
-                         mem=("ddr-usr", 1000),
-                         pmic=(("pm8998_tz", "pm8005_tz"), 1000),
+      case = ThermalZone("case")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                          intake=intake,
-                         exhaust=exhaust)
+                         exhaust=exhaust,
+                         case=case)
 
   def set_screen_brightness(self, percentage):
     try:

From ed222d04c925aef938923ebb6f8d3d633db6f3c4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Dec 2024 15:10:16 -0800
Subject: [PATCH 1106/1243] tici: reduce AT commands on startup

---
 system/hardware/tici/hardware.py | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index b69de4dd96..def8267f40 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -487,14 +487,16 @@ class Tici(HardwareBase):
         'AT$QCNETDEVCTL=3,1',
       ]
     else:
-      cmds += [
-        # SIM sleep disable
-        'AT$QCSIMSLEEP=0',
-        'AT$QCSIMCFG=SimPowerSave,0',
+      # this modem gets upset with too many AT commands
+      if sim_id is None or len(sim_id) == 0:
+        cmds += [
+          # SIM sleep disable
+          'AT$QCSIMSLEEP=0',
+          'AT$QCSIMCFG=SimPowerSave,0',
 
-        # ethernet config
-        'AT$QCPCFG=usbNet,1',
-      ]
+          # ethernet config
+          'AT$QCPCFG=usbNet,1',
+        ]
 
     for cmd in cmds:
       try:
@@ -593,3 +595,4 @@ if __name__ == "__main__":
   t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
+  print(t.get_sim_info())

From d3063e9a0a42fc4ed967ada68757ceaeb011b1d5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Dec 2024 15:15:49 -0800
Subject: [PATCH 1107/1243] hardwared: allow empty temp fields

---
 system/hardware/hardwared.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index e9b645691c..48c916b146 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -230,13 +230,13 @@ def hardware_thread(end_event, hw_queue) -> None:
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
-      max(msg.deviceState.cpuTempC),
-      max(msg.deviceState.gpuTempC),
+      max(msg.deviceState.cpuTempC, default=0.),
+      max(msg.deviceState.gpuTempC, default=0.),
     ]
     offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))
 
     # this drives the thermal status while onroad
-    temp_sources.append(max(msg.deviceState.pmicTempC))
+    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 

From bbf0e11f71cb46b0bcdc5d8f44a3e45364ef4522 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 7 Dec 2024 17:10:27 -0800
Subject: [PATCH 1108/1243] ci: remove aarch64 build (#34178)

remove
---
 .github/workflows/selfdrive_tests.yaml | 27 ++------------------------
 1 file changed, 2 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d4a7d93058..1d6c5af34c 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -75,14 +75,8 @@ jobs:
         ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
-    strategy:
-      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on:
-     - ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') || ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-24.04'}}
+     - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-24.04'}}
      - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04') }}
     steps:
     - uses: actions/checkout@v4
@@ -92,7 +86,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=x86_64" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
     - uses: ./.github/workflows/compile-openpilot
@@ -123,23 +117,6 @@ jobs:
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
   static_analysis:
     name: static analysis
     runs-on:

From ae1e476431680f1db59ba240f82f37d6cc4d33b7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 7 Dec 2024 17:18:02 -0800
Subject: [PATCH 1109/1243] ci: fix x86 build (#34179)

* more

* more
---
 .github/workflows/selfdrive_tests.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 1d6c5af34c..dac6ee2cec 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -76,8 +76,8 @@ jobs:
 
   build:
     runs-on:
-     - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || 'ubuntu-24.04'}}
-     - ${{ ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04') }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:

From e23b61f0b633a433eb93722365962478c741335f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Dec 2024 18:46:18 -0800
Subject: [PATCH 1110/1243] op: fix branch switching after force pushes

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index f01863e1b1..849fd0bff6 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -327,7 +327,7 @@ function op_switch() {
   fi
   BRANCH="$1"
 
-  git fetch "$REMOTE" "$BRANCH":"$BRANCH"
+  git fetch "$REMOTE" "$BRANCH"
   git checkout -f --recurse-submodules "$BRANCH"
   git reset --hard "$BRANCH"
   git clean -df

From 9eccd9ad1e6e7330b57a82f78fddfe8bb8f18566 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 7 Dec 2024 18:47:55 -0800
Subject: [PATCH 1111/1243] op: also fix resetting

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 849fd0bff6..0166b0d854 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -329,7 +329,7 @@ function op_switch() {
 
   git fetch "$REMOTE" "$BRANCH"
   git checkout -f --recurse-submodules "$BRANCH"
-  git reset --hard "$BRANCH"
+  git reset --hard "${REMOTE}/${BRANCH}"
   git clean -df
   git submodule update --init --recursive
   git submodule foreach git reset --hard

From dfe283765f1fe6ea543d5991458c344dc9a52e70 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 7 Dec 2024 19:12:56 -0800
Subject: [PATCH 1112/1243] ci: push the `openpilot-base` image (#34180)

image
---
 .github/workflows/selfdrive_tests.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index dac6ee2cec..ad6f17acfc 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -86,7 +86,6 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=x86_64" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
     - uses: ./.github/workflows/compile-openpilot

From b94946eaabffb4615da469f847b0d9fd174c41e9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 7 Dec 2024 20:09:42 -0800
Subject: [PATCH 1113/1243] update ubuntu 20.04 comment (#34182)

24
---
 tools/install_ubuntu_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index be5c479c36..bb41587c5b 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -101,7 +101,7 @@ if [ -f "/etc/os-release" ]; then
       install_ubuntu_focal_requirements
       ;;
     *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
+      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
       read -p "Would you like to attempt installation anyway? " -n 1 -r
       echo ""
       if [[ ! $REPLY =~ ^[Yy]$ ]]; then

From 7558108221e4ac245980806212bccc0af32e3067 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 7 Dec 2024 20:39:30 -0800
Subject: [PATCH 1114/1243] delete devcontainer (#34181)

* remove

* Update tools/README.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 .devcontainer/.gitignore               |  3 --
 .devcontainer/Dockerfile               | 18 ---------
 .devcontainer/container_post_create.sh | 38 ------------------
 .devcontainer/container_post_start.sh  | 15 -------
 .devcontainer/devcontainer.json        | 53 -------------------------
 .devcontainer/host_setup               | 47 ----------------------
 .devcontainer/host_setup.cmd           | 10 -----
 .github/workflows/tools_tests.yaml     | 54 --------------------------
 release/release_files.py               |  1 -
 tools/README.md                        | 12 +-----
 10 files changed, 1 insertion(+), 250 deletions(-)
 delete mode 100644 .devcontainer/.gitignore
 delete mode 100644 .devcontainer/Dockerfile
 delete mode 100755 .devcontainer/container_post_create.sh
 delete mode 100755 .devcontainer/container_post_start.sh
 delete mode 100644 .devcontainer/devcontainer.json
 delete mode 100755 .devcontainer/host_setup
 delete mode 100644 .devcontainer/host_setup.cmd
 delete mode 100644 .github/workflows/tools_tests.yaml

diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore
deleted file mode 100644
index 5682fe1190..0000000000
--- a/.devcontainer/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-.Xauthority
-.env
-.host/
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
deleted file mode 100644
index 53a06f6f31..0000000000
--- a/.devcontainer/Dockerfile
+++ /dev/null
@@ -1,18 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN python3 -m ensurepip --upgrade
-RUN pip3 install ipython jupyter jupyterlab
-
-RUN cd /tmp && \
-    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
-    dpkg -i virtualgl.deb
-
-RUN usermod -aG video batman
-
-USER batman
-
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh
deleted file mode 100755
index dee1c61101..0000000000
--- a/.devcontainer/container_post_create.sh
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-
-TARGET_USER=batman
-source .devcontainer/.host/.env
-
-# override display flag for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up DISPLAY override for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-source .devcontainer/.host/.env
-if [ -n "\$HOST_DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
-  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
-fi
-EOF
-fi
-
-# setup virtualgl for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up virtualgl for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$HOST_DISPLAY" ]; then
-  export VGL_PORT=10000
-  export VGL_CLIENT=host.docker.internal
-  export VGL_COMPRESS=rgb
-  export VGL_DISPLAY=:99
-  export VGL_FPS=60
-  # prevent vglrun from running exec
-  alias exec=:; source vglrun :; unalias exec
-fi
-EOF
-fi
-
-# These lines are temporary, to remain backwards compatible with old devcontainers
-# that were running as root and therefore had their caches written as root
-sudo chown -R $TARGET_USER: /tmp/scons_cache
-sudo chown -R $TARGET_USER: /tmp/comma_download_cache
-sudo chown -R $TARGET_USER: /home/batman/.comma
diff --git a/.devcontainer/container_post_start.sh b/.devcontainer/container_post_start.sh
deleted file mode 100755
index 1521b9c3fb..0000000000
--- a/.devcontainer/container_post_start.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-source .devcontainer/.host/.env
-
-# setup safe directories for submodules
-SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
-for DIR in $SUBMODULE_DIRS; do 
-  git config --global --add safe.directory "$PWD/$DIR"
-done
-
-# virtual display for virtualgl
-if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
-  echo "Starting virtual display at :99 ..."
-  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
-fi
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
deleted file mode 100644
index 3f5b38d12e..0000000000
--- a/.devcontainer/devcontainer.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  "name": "openpilot devcontainer",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "postCreateCommand": ".devcontainer/container_post_create.sh",
-  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": [".devcontainer/host_setup"],
-  "privileged": true,
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "PYTHONPATH": "${containerWorkspaceFolder}",
-    "TERM": "xterm-256color",
-    "force_color_prompt": "1"
-  },
-  "runArgs": [
-    "--volume=/dev:/dev",
-    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
-    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
-    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
-    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
-  ],
-  "features": {
-    "ghcr.io/devcontainers/features/common-utils:2": {
-      "installZsh": false,
-      "installOhMyZsh": false,
-      "upgradePackages": false,
-      "username": "batman"
-    },
-    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
-    "ghcr.io/devcontainers/features/azure-cli:1": {}
-  },
-  "containerUser": "batman",
-  "remoteUser": "batman",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-toolsai.jupyter",
-        "guyskk.language-cython",
-        "lharri73.dbc"
-      ]
-    }
-  },
-  "mounts": [
-    "type=volume,source=scons_cache,target=/tmp/scons_cache"
-  ]
-}
diff --git a/.devcontainer/host_setup b/.devcontainer/host_setup
deleted file mode 100755
index 8ff81ebe42..0000000000
--- a/.devcontainer/host_setup
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env bash
-
-# pull base image
-if [[ -z $USE_LOCAL_IMAGE ]]; then
-  echo "Updating openpilot_base image if needed..."
-  docker pull ghcr.io/commaai/openpilot-base:latest
-fi
-
-# setup .host dir
-mkdir -p .devcontainer/.host
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-  if ! [[ -f $HOME/.Xauthority ]]; then
-    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-  else
-    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-  fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
-
-# setup host env file
-HOST_INFO_FILE=".devcontainer/.host/.env"
-SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
-echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
-echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
-
-# run virtualgl if macos
-if [[ $SYSTEM == "darwin" ]]; then
-  echo
-  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
-    echo "Starting VirtualGL client at port 10000..."
-    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
-    mkdir -p "$(dirname $VGL_LOG_FILE)"
-    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
-  else
-    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
-    echo
-    echo "  brew install --cask virtualgl"
-    echo
-  fi
-fi
diff --git a/.devcontainer/host_setup.cmd b/.devcontainer/host_setup.cmd
deleted file mode 100644
index 885bd27f25..0000000000
--- a/.devcontainer/host_setup.cmd
+++ /dev/null
@@ -1,10 +0,0 @@
-:: pull base image
-IF NOT DEFINED USE_LOCAL_IMAGE ^
-echo "Updating openpilot_base image if needed..." && ^
-docker pull ghcr.io/commaai/openpilot-base:latest
-
-:: setup .host dir
-mkdir .devcontainer\.host
-
-:: setup host env file
-echo "" > .devcontainer\.host\.env
\ No newline at end of file
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
deleted file mode 100644
index 493671051f..0000000000
--- a/.github/workflows/tools_tests.yaml
+++ /dev/null
@@ -1,54 +0,0 @@
-name: tools
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-
-jobs:
-  devcontainer:
-    name: devcontainer
-    runs-on: ubuntu-latest
-    if: false  # we can re-enable once this is faster
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Use local image for testing devcontainer with latest base image
-      run: |
-        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
-    - name: Setup Dev Container CLI
-      run: npm install -g @devcontainers/cli
-    - name: Build dev container image
-      run: ./scripts/retry.sh devcontainer build --workspace-folder .
-    - name: Run dev container
-      run: |
-        mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
-        devcontainer up --workspace-folder .
-    - name: Test environment
-      run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip3 install pip-install-test
-        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
-        devcontainer exec --workspace-folder . sudo touch /root/test.txt
diff --git a/release/release_files.py b/release/release_files.py
index afd0d468b6..52974ba711 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -32,7 +32,6 @@ blacklist = [
 
   ".git/",
   ".github/",
-  ".devcontainer/",
   "Darwin/",
   ".vscode",
 
diff --git a/tools/README.md b/tools/README.md
index 7f5c6b4d06..ce710d5032 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -4,7 +4,7 @@
 
 openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
-Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
+Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.
 
 ## Native setup on Ubuntu 24.04
 
@@ -48,16 +48,6 @@ source .venv/bin/activate
 scons -u -j$(nproc)
 ```
 
-## Dev Container on any Linux or macOS
-
-openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
-
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
-
-#### X11 forwarding on macOS
-
-GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
-
 ## WSL on Windows
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.

From 6e339f331524776137243658ddd3b7ee348ae21a Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 9 Dec 2024 10:34:30 -0800
Subject: [PATCH 1115/1243] [bot] Update Python packages (#34191)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 uv.lock | 248 ++++++++++++++++++++++++++++----------------------------
 1 file changed, 124 insertions(+), 124 deletions(-)

diff --git a/uv.lock b/uv.lock
index 085fdf369e..de8b67cee0 100644
--- a/uv.lock
+++ b/uv.lock
@@ -20,7 +20,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.11.9"
+version = "3.11.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -31,38 +31,38 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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@@ -4628,9 +4628,9 @@ name = "pytools"
 version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "siphash24", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs" },
+    { name = "siphash24" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
@@ -4876,15 +4876,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.19.1"
+version = "2.19.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/2b/23/643a9958d1d14f5ba1f0204396d5953f926624b3f95b77af7904fb406d03/sentry_sdk-2.19.1.tar.gz", hash = "sha256:6ad8507457a379b72f832aca55787b21e7391751892faef1fd8bace350aa5e17", size = 298915 }
+sdist = { url = "https://files.pythonhosted.org/packages/36/4a/eccdcb8c2649d53440ae1902447b86e2e2ad1bc84207c80af9696fa07614/sentry_sdk-2.19.2.tar.gz", hash = "sha256:467df6e126ba242d39952375dd816fbee0f217d119bf454a8ce74cf1e7909e8d", size = 299047 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/b1/b03f54c8b379d493bd19f9dca241efdd17f77a8f7a34b80c2d4417dfc7b7/sentry_sdk-2.19.1-py2.py3-none-any.whl", hash = "sha256:b056e04b766f805fdf0aa620482cafe2ff000c8fcb51cb266cdb90873e93837b", size = 322816 },
+    { url = "https://files.pythonhosted.org/packages/31/4d/74597bb6bcc23abc774b8901277652c61331a9d4d0a8d1bdb20679b9bbcb/sentry_sdk-2.19.2-py2.py3-none-any.whl", hash = "sha256:ebdc08228b4d131128e568d696c210d846e5b9d70aa0327dec6b1272d9d40b84", size = 322942 },
 ]
 
 [[package]]
@@ -4933,7 +4933,7 @@ name = "shapely"
 version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4a/89/0d20bac88016be35ff7d3c0c2ae64b477908f1b1dfa540c5d69ac7af07fe/shapely-2.0.6.tar.gz", hash = "sha256:997f6159b1484059ec239cacaa53467fd8b5564dabe186cd84ac2944663b0bf6", size = 282361 }
 wheels = [
@@ -5095,11 +5095,11 @@ wheels = [
 
 [[package]]
 name = "types-tabulate"
-version = "0.9.0.20240106"
+version = "0.9.0.20241207"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cf/9d/65b82ce032fd1cc4df752461175a800c1cfc336461f07ceff10c6a5913eb/types-tabulate-0.9.0.20240106.tar.gz", hash = "sha256:c9b6db10dd7fcf55bd1712dd3537f86ddce72a08fd62bb1af4338c7096ce947e", size = 3442 }
+sdist = { url = "https://files.pythonhosted.org/packages/3f/43/16030404a327e4ff8c692f2273854019ed36718667b2993609dc37d14dd4/types_tabulate-0.9.0.20241207.tar.gz", hash = "sha256:ac1ac174750c0a385dfd248edc6279fa328aaf4ea317915ab879a2ec47833230", size = 8195 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f0/17/d53c0bb370100313df6800e9096bdfc27b32b8e4a9390bfb35bc4b17db78/types_tabulate-0.9.0.20240106-py3-none-any.whl", hash = "sha256:0378b7b6fe0ccb4986299496d027a6d4c218298ecad67199bbd0e2d7e9d335a1", size = 3350 },
+    { url = "https://files.pythonhosted.org/packages/5e/86/a9ebfd509cbe74471106dffed320e208c72537f9aeb0a55eaa6b1b5e4d17/types_tabulate-0.9.0.20241207-py3-none-any.whl", hash = "sha256:b8dad1343c2a8ba5861c5441370c3e35908edd234ff036d4298708a1d4cf8a85", size = 8307 },
 ]
 
 [[package]]
@@ -5158,7 +5158,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From 310a5b174c795572d02d1208917f82553da92347 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 10 Dec 2024 02:54:53 +0800
Subject: [PATCH 1116/1243] remove unused img_driver_face_static.png (#34193)

---
 selfdrive/assets/img_driver_face_static.png | 3 ---
 1 file changed, 3 deletions(-)
 delete mode 100644 selfdrive/assets/img_driver_face_static.png

diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png
deleted file mode 100644
index 5d5ebf6795..0000000000
--- a/selfdrive/assets/img_driver_face_static.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f7565541b4e6213221174839b9b2b67397ced0b9807ea56413989fd37325b3b6
-size 4908

From 6234fbfd40b856e97893f5dd9a2efbfca64b5a2c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 9 Dec 2024 11:38:28 -0800
Subject: [PATCH 1117/1243] ci: fix weekly GA run (#34194)

fix
---
 .github/workflows/ci_weekly_run.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
index c3ce8c42da..d8bf91116d 100644
--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -15,7 +15,3 @@ jobs:
     uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}
-  tools_tests:
-    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}

From 7ec6a47c1ec39b5948c308ce230cab9d24b65d72 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 10 Dec 2024 04:14:45 +0800
Subject: [PATCH 1118/1243] athenad: optimize network state check in upload
 callback (#34185)

optimize network state check in upload callback
---
 system/athena/athenad.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 55b9476986..ce989b9049 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -54,6 +54,7 @@ RETRY_DELAY = 10  # seconds
 MAX_RETRY_COUNT = 30  # Try for at most 5 minutes if upload fails immediately
 MAX_AGE = 31 * 24 * 3600  # seconds
 WS_FRAME_SIZE = 4096
+DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -213,10 +214,11 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
 def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   # Abort transfer if connection changed to metered after starting upload
   # or if athenad is shutting down to re-connect the websocket
-  sm.update(0)
-  metered = sm['deviceState'].networkMetered
-  if metered and (not item.allow_cellular):
-    raise AbortTransferException
+  if not item.allow_cellular:
+    if (time.monotonic() - sm.recv_time['deviceState']) > DEVICE_STATE_UPDATE_INTERVAL:
+      sm.update(0)
+      if sm['deviceState'].networkMetered:
+        raise AbortTransferException
 
   if end_event.is_set():
     raise AbortTransferException

From 57fc4f79d16c132d526a66d603fd9100804569d1 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Mon, 9 Dec 2024 13:13:01 -0800
Subject: [PATCH 1119/1243] Postal Service Model (#34183)

0d68d465-9938-4327-a015-0cef58bc9f3a/400
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 06b7875362..a57e5dd225 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
+oid sha256:9dc64f5d1e7d6b67f1d4659a3483f03b4324b4c7b969a5ba90c4e37e62bf6fce
 size 50320584

From 015aadd48cf5a7d0ef498b5f60283742f8186649 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 9 Dec 2024 19:22:28 -0600
Subject: [PATCH 1120/1243] Revert "athenad: fix thread safety issues in upload
 handing" (#34198)

Revert "athenad: fix thread safety issues in upload handing (#34084)"

This reverts commit 7c101a40c831266dcb58a46eaa3c2917d086eea9.
---
 system/athena/athenad.py            | 45 +++++++++++++----------------
 system/athena/tests/test_athenad.py |  8 +++--
 2 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index ce989b9049..2f455981cc 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -100,9 +100,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
+cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
-cur_upload_items_lock = threading.Lock()
 
 
 def strip_zst_extension(fn: str) -> str:
@@ -130,9 +130,8 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      with upload_queue.mutex:
-        items = [asdict(item) for item in upload_queue.queue]
-
+      queue: list[UploadItem | None] = list(upload_queue.queue)
+      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -202,8 +201,7 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
     upload_queue.put_nowait(item)
     UploadQueueCache.cache(upload_queue)
 
-    with cur_upload_items_lock:
-      cur_upload_items[tid] = None
+    cur_upload_items[tid] = None
 
     for _ in range(RETRY_DELAY):
       time.sleep(1)
@@ -223,8 +221,7 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   if end_event.is_set():
     raise AbortTransferException
 
-  with cur_upload_items_lock:
-    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
 def upload_handler(end_event: threading.Event) -> None:
@@ -232,10 +229,14 @@ def upload_handler(end_event: threading.Event) -> None:
   tid = threading.get_ident()
 
   while not end_event.is_set():
+    cur_upload_items[tid] = None
+
     try:
-      with cur_upload_items_lock:
-        cur_upload_items[tid] = None
-        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
+      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
+
+      if item.id in cancelled_uploads:
+        cancelled_uploads.remove(item.id)
+        continue
 
       # Remove item if too old
       age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -414,13 +415,8 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
 @dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  with upload_queue.mutex:
-    items = list(upload_queue.queue)
-
-  with cur_upload_items_lock:
-    items += list(cur_upload_items.values())
-
-  return [asdict(item) for item in items]
+  items = list(upload_queue.queue) + list(cur_upload_items.values())
+  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
 
 
 @dispatcher.add_method
@@ -428,14 +424,13 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
-  with upload_queue.mutex:
-    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
-    if len(remaining_items) == len(upload_queue.queue):
-      return {"success": 0, "error": "not found"}
+  uploading_ids = {item.id for item in list(upload_queue.queue)}
+  cancelled_ids = uploading_ids.intersection(upload_id)
+  if len(cancelled_ids) == 0:
+    return {"success": 0, "error": "not found"}
 
-    upload_queue.queue.clear()
-    upload_queue.queue.extend(remaining_items)
-    return {"success": 1}
+  cancelled_uploads.update(cancelled_ids)
+  return {"success": 1}
 
 @dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index cee37064b9..a6bfc68930 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,6 +78,7 @@ class TestAthenadMethods:
 
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
+    athenad.cancelled_uploads.clear()
 
     for i in os.listdir(Paths.log_root()):
       p = os.path.join(Paths.log_root(), i)
@@ -281,10 +282,13 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
+    assert item.id in athenad.cancelled_uploads
+
     self._wait_for_upload()
     time.sleep(0.1)
 
     assert athenad.upload_queue.qsize() == 0
+    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
   def test_cancel_expiry(self):
@@ -327,7 +331,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
-    dispatcher["cancelUpload"](item.id)
+    athenad.cancelled_uploads.add(item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
 
@@ -339,7 +343,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
-    dispatcher["cancelUpload"](item2.id)
+    athenad.cancelled_uploads.add(item2.id)
 
     # serialize item
     athenad.UploadQueueCache.cache(athenad.upload_queue)

From dcb3113c4ba505c7512090d505fc8042244b6d68 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 10 Dec 2024 17:18:43 +0800
Subject: [PATCH 1121/1243] athenad: fix thread safety issues in upload handing
 (#34199)

* fix thread safety issues in upload handing

* remove cancelled_uploads

* remove None from current upload items & atomic updates
---
 system/athena/athenad.py            | 47 +++++++++++++++--------------
 system/athena/tests/test_athenad.py |  8 ++---
 2 files changed, 27 insertions(+), 28 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 2f455981cc..2d9ad110aa 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -100,9 +100,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
+cur_upload_items_lock = threading.Lock()
 
 
 def strip_zst_extension(fn: str) -> str:
@@ -130,8 +130,9 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      queue: list[UploadItem | None] = list(upload_queue.queue)
-      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
+      with upload_queue.mutex:
+        items = [asdict(item) for item in upload_queue.queue]
+
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -198,10 +199,12 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
       progress=0,
       current=False
     )
-    upload_queue.put_nowait(item)
-    UploadQueueCache.cache(upload_queue)
 
-    cur_upload_items[tid] = None
+    with cur_upload_items_lock:
+      upload_queue.put_nowait(item)
+      cur_upload_items[tid] = None
+
+    UploadQueueCache.cache(upload_queue)
 
     for _ in range(RETRY_DELAY):
       time.sleep(1)
@@ -221,7 +224,8 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   if end_event.is_set():
     raise AbortTransferException
 
-  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  with cur_upload_items_lock:
+    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
 def upload_handler(end_event: threading.Event) -> None:
@@ -229,14 +233,10 @@ def upload_handler(end_event: threading.Event) -> None:
   tid = threading.get_ident()
 
   while not end_event.is_set():
-    cur_upload_items[tid] = None
-
     try:
-      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
-
-      if item.id in cancelled_uploads:
-        cancelled_uploads.remove(item.id)
-        continue
+      with cur_upload_items_lock:
+        cur_upload_items[tid] = None
+        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
 
       # Remove item if too old
       age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -415,8 +415,10 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
 @dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  with cur_upload_items_lock, upload_queue.mutex:
+    items = list(upload_queue.queue) + [item for item in cur_upload_items.values() if item is not None]
+
+  return [asdict(item) for item in items]
 
 
 @dispatcher.add_method
@@ -424,13 +426,14 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
-  uploading_ids = {item.id for item in list(upload_queue.queue)}
-  cancelled_ids = uploading_ids.intersection(upload_id)
-  if len(cancelled_ids) == 0:
-    return {"success": 0, "error": "not found"}
+  with upload_queue.mutex:
+    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
+    if len(remaining_items) == len(upload_queue.queue):
+      return {"success": 0, "error": "not found"}
 
-  cancelled_uploads.update(cancelled_ids)
-  return {"success": 1}
+    upload_queue.queue.clear()
+    upload_queue.queue.extend(remaining_items)
+    return {"success": 1}
 
 @dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index a6bfc68930..cee37064b9 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,7 +78,6 @@ class TestAthenadMethods:
 
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
-    athenad.cancelled_uploads.clear()
 
     for i in os.listdir(Paths.log_root()):
       p = os.path.join(Paths.log_root(), i)
@@ -282,13 +281,10 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
-    assert item.id in athenad.cancelled_uploads
-
     self._wait_for_upload()
     time.sleep(0.1)
 
     assert athenad.upload_queue.qsize() == 0
-    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
   def test_cancel_expiry(self):
@@ -331,7 +327,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
-    athenad.cancelled_uploads.add(item.id)
+    dispatcher["cancelUpload"](item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
 
@@ -343,7 +339,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
-    athenad.cancelled_uploads.add(item2.id)
+    dispatcher["cancelUpload"](item2.id)
 
     # serialize item
     athenad.UploadQueueCache.cache(athenad.upload_queue)

From 334e06c04fcc2af486132586e5e30cbc690bf344 Mon Sep 17 00:00:00 2001
From: elkoled <elkoled@gmail.com>
Date: Tue, 10 Dec 2024 20:01:49 +0100
Subject: [PATCH 1122/1243] fix docs.py path references (#34200)

---
 .github/PULL_REQUEST_TEMPLATE/car_port.md | 2 +-
 .github/pull_request_template.md          | 2 +-
 selfdrive/car/tests/test_docs.py          | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
index c1581d2055..c7aa2b96c2 100644
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index 9e0c54218e..2b4a5ed48f 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index a203b2feff..43c30eb64d 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -17,7 +17,7 @@ class TestCarDocs:
     with open(CARS_MD_OUT) as f:
       current_cars_md = f.read()
 
-    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
+    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")

From 41b5065499a1e3ca48948008302c67e1665c8c1c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 10 Dec 2024 11:04:32 -0800
Subject: [PATCH 1123/1243] ci: block Jenkins replay (#34196)

* test

* not replay

* up

* text

* text

* fix

* no

* commit

* clean
---
 Jenkinsfile | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Jenkinsfile b/Jenkinsfile
index 7867985fc1..656f1055eb 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -79,6 +79,10 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
         return
     }
 
+    if (isReplay()) {
+      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
+    }
+
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
     def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
@@ -123,6 +127,11 @@ def hasPathChanged(String gitDiff, List<String> paths) {
   return false
 }
 
+def isReplay() {
+  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
+  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
+}
+
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),

From 03cd00719c4c98946dd618ff00cb7e2ff112f36c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 10 Dec 2024 22:05:09 -0500
Subject: [PATCH 1124/1243] Tools: Update setup command for macOS native setup
 (#34202)

---
 tools/README.md | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/tools/README.md b/tools/README.md
index ce710d5032..26bd2a8d5c 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -6,7 +6,7 @@ openpilot is developed and tested on **Ubuntu 24.04**, which is the primary deve
 
 Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.
 
-## Native setup on Ubuntu 24.04
+## Native setup on Ubuntu 24.04 and macOS
 
 **1. Clone openpilot**
 
@@ -24,11 +24,18 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 **2. Run the setup script**
 
+Ubuntu 24.04:
 ``` bash
 cd openpilot
 tools/ubuntu_setup.sh
 ```
 
+macOS:
+``` bash
+cd openpilot
+tools/mac_setup.sh
+```
+
 **3. Git LFS**
 
 ``` bash

From 02976db4729207a8600e77f0d9dd6a0fd7b245c2 Mon Sep 17 00:00:00 2001
From: Mike Busuttil <31480000+MikeBusuttil@users.noreply.github.com>
Date: Wed, 11 Dec 2024 00:29:27 -0500
Subject: [PATCH 1125/1243] Tools: simplified setup documentation (#34204)

platform agnostic setup script
---
 tools/README.md | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/tools/README.md b/tools/README.md
index 26bd2a8d5c..69b0e025e8 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -24,16 +24,9 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 **2. Run the setup script**
 
-Ubuntu 24.04:
 ``` bash
 cd openpilot
-tools/ubuntu_setup.sh
-```
-
-macOS:
-``` bash
-cd openpilot
-tools/mac_setup.sh
+tools/op.sh setup
 ```
 
 **3. Git LFS**

From 1dcdf573958bf5e835f7934ad6fba12d7de45635 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 11 Dec 2024 15:05:39 -0600
Subject: [PATCH 1126/1243] Toyota: raise max acceleration for TSS2 (#34201)

* bump

* Update ref_commit
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index cc30feb6fb..b89fe79950 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit cc30feb6fbb86b0601a1838f0325f389e78c423d
+Subproject commit b89fe79950121ca93d8a1f0d3fd17df31703be2a
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8453675507..d4892b51f2 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-255ceb08c75bc85379da5ec247e612be3716fb43
+7a1b6253e715cec2a254c3e7b6839d6f2bd06fb1

From 216ebcaa50fb132630126a4071f5ba4cbee0e47b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 11 Dec 2024 13:27:39 -0800
Subject: [PATCH 1127/1243] Fix model runtime on PC (#34210)

exhaustive
---
 selfdrive/modeld/runners/onnxmodel.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index 2b17422740..2a870392d5 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -49,7 +49,7 @@ def create_ort_session(path, fp16_to_fp32):
     provider = 'OpenVINOExecutionProvider'
   elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
     options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
   else:
     options.intra_op_num_threads = 2
     options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL

From 7202c5acb8ed5cc1b7aee5217a9f7a8953a5448c Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 11 Dec 2024 17:03:40 -0500
Subject: [PATCH 1128/1243] Webcam fixes (#34211)

* follow VIPC API change, add logging

* use full path for video devices
---
 tools/webcam/camerad.py       | 7 ++++---
 tools/webcam/start_camerad.sh | 6 +++---
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index 47dddfce98..778fefb834 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -12,8 +12,8 @@ from openpilot.common.realtime import Ratekeeper
 DUAL_CAM = os.getenv("DUAL_CAMERA")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
 ]
 if DUAL_CAM:
   CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
@@ -25,9 +25,10 @@ class Camerad:
 
     self.cameras = []
     for c in CAMERAS:
+      print(f"opening {c.msg_name} at {c.cam_id}")
       cam = Camera(c.msg_name, c.stream_type, c.cam_id)
       self.cameras.append(cam)
-      self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
+      self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
 
     self.vipc_server.start_listener()
 
diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh
index d4828b3e25..aefc4c062a 100755
--- a/tools/webcam/start_camerad.sh
+++ b/tools/webcam/start_camerad.sh
@@ -5,9 +5,9 @@ export BLOCK="${BLOCK},camerad"
 export USE_WEBCAM="1"
 
 # Change camera index according to your setting
-export CAMERA_ROAD_ID="0"
-export CAMERA_DRIVER_ID="1"
-export DUAL_CAMERA="2" # camera index for wide road camera
+export CAMERA_ROAD_ID="/dev/video0"
+export CAMERA_DRIVER_ID="/dev/video1"
+#export DUAL_CAMERA="/dev/video2" # optional, camera index for wide road camera
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 

From 3a6db78601e1d068f5d29ea23767f0a3f6f97179 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 12 Dec 2024 06:09:37 +0800
Subject: [PATCH 1129/1243] camerad: pass std::vector by const reference
 (#34206)

pass std::vector by const reference
---
 system/camerad/cameras/cdm.cc | 4 ++--
 system/camerad/cameras/cdm.h  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
index 8b319bc70c..d4ef20c48c 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -14,7 +14,7 @@ int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr,
   return sizeof(struct cdm_dmi_cmd);
 }
 
-int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals) {
   struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
   cmd->cmd = CAM_CDM_CMD_REG_CONT;
   cmd->count = vals.size();
@@ -31,7 +31,7 @@ int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
   return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
 }
 
-int write_random(uint8_t *dst, std::vector<uint32_t> vals) {
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals) {
   struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst;
   cmd->cmd = CAM_CDM_CMD_REG_RANDOM;
   cmd->count = vals.size() / 2;
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index bd7a50e0ec..adda600400 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -7,8 +7,8 @@
 #include <memory>
 
 // our helpers
-int write_random(uint8_t *dst, std::vector<uint32_t> vals);
-int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
 int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
 
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}

From 3328845be18536e52b0032408646377071f15b02 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Dec 2024 19:27:35 -0800
Subject: [PATCH 1130/1243] op/switch: fix ambiguous remote on checkout

---
 tools/op.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 0166b0d854..4d352af5d1 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -328,7 +328,7 @@ function op_switch() {
   BRANCH="$1"
 
   git fetch "$REMOTE" "$BRANCH"
-  git checkout -f --recurse-submodules "$BRANCH"
+  git checkout -f --recurse-submodules --track "$REMOTE"/"$BRANCH"
   git reset --hard "${REMOTE}/${BRANCH}"
   git clean -df
   git submodule update --init --recursive

From 7a2af788460ccaa2c1b22645b0ddb12c300ec838 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Dec 2024 20:04:40 -0800
Subject: [PATCH 1131/1243] camerad: re-enable ISP debayer (#34212)

camerad: re-enable ISP debayer

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_qcom2.cc        |  2 +-
 system/camerad/cameras/spectra.cc             | 15 +++++++++------
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 4f9f52a22d..72dfa5e2c3 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index adaa5d5cc9..83b331cf4a 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -51,12 +51,12 @@ int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
   };
   int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));
 
-  int32_t ioctl_result = (int32_t)arg.result;
+  int32_t ioctl_result = static_cast<int32_t>(arg.result);
   if (ret < 0) {
     LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
     return ret;
   }
-  if (ioctl_result < 0) {
+  if (ioctl_result != 0) {
     LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
     return ioctl_result;
   }
@@ -675,18 +675,21 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   uint64_t request_id = request_ids[i];
 
   if (sync_objs[i]) {
-    // wait
+    // SOF has come in, wait until readout is complete
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
-    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
+    sync_wait.timeout_ms = 100;
     ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     if (ret != 0) {
-      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
       // TODO: handle frame drop cleanly
+      // when this happens, it messes up future frames
+      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
     }
     buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
     buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
-    if (dp) buf.queue(i);
+    if (dp) {
+      buf.queue(i);
+    }
 
     // destroy old output fence
     for (auto so : {sync_objs, sync_objs_bps_out}) {
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 0ef34549b5..8598b2faa2 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -31,7 +31,7 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),

From 0cf04af227f0965af80e841dc8042f400e193f15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 11 Dec 2024 20:42:45 -0800
Subject: [PATCH 1132/1243] timed: gate time setting on GPS fix (#34217)

---
 system/timed.py | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/system/timed.py b/system/timed.py
index 31d0d06588..3eb84353ad 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -5,7 +5,7 @@ import time
 from typing import NoReturn
 
 import cereal.messaging as messaging
-from openpilot.common.time import system_time_valid
+from openpilot.common.time import min_date, system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.gps import get_gps_location_service
@@ -26,10 +26,10 @@ def set_time(new_time):
 
 def main() -> NoReturn:
   """
-    timed has one responsibility:
-    - getting the current time
+    timed has two responsibilities:
+    - getting the current time from GPS
+    - publishing the time in the logs
 
-    GPS directly gives time.
     AGNOS will also use NTP to update the time.
   """
 
@@ -47,14 +47,15 @@ def main() -> NoReturn:
     pm.send('clocks', msg)
 
     gps = sm[gps_location_service]
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
     if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
       continue
+    if not gps.hasFix:
+      continue
+    if gps_time < min_date():
+      continue
 
-    # set time
-    # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
-    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
     set_time(gps_time)
-
     time.sleep(10)
 
 if __name__ == "__main__":

From 7b5a4fbb03afbb12caac5be91231fe600e21d0d5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 11 Dec 2024 23:15:20 -0800
Subject: [PATCH 1133/1243] Tinygrad runner (#34171)

* squash

* bump tg

* bump tg

* debump tinygrad

* bump tinygrad

* bump tg

* Skip init iteration

* fixes

* cleanups

* skip first test sample

* typos

* linter unhappy

* update cpu usage

* OPENCL just zeros for now

* imports

* Try printing

* Runs again, but slower

* unused import

* Allow more buffer with tg and all on gpu

* bump tinygrad

* seems ok

* stricter timings for driving looser for dm

* try llvm

* check nvidia

* More timeout for now

* make test pass

* Revert "try llvm"

This reverts commit ef136e478320101fea262bae3579e558da991902.

* small fixes

* whitespace

* revert test timeout

* No model runners

* Always CPU always fast

* No onnx runtime GPU

* more cores

* cleanup

* Is this faster

* Is this faster

* at least runs

* FP32 is faster than 16

* fix deps

* whitespace

* comment

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 pyproject.toml                               |   3 +-
 release/release_files.py                     |   2 +-
 selfdrive/modeld/SConscript                  |  43 +---
 selfdrive/modeld/dmonitoringmodeld           |   6 -
 selfdrive/modeld/dmonitoringmodeld.py        |  48 ++--
 selfdrive/modeld/modeld.py                   |  76 ++++--
 selfdrive/modeld/models/commonmodel.cc       |  29 ++-
 selfdrive/modeld/models/commonmodel.h        |   7 +-
 selfdrive/modeld/models/commonmodel.pxd      |   3 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx  |  26 +-
 selfdrive/modeld/runners/__init__.py         |  27 --
 selfdrive/modeld/runners/onnxmodel.py        |  98 -------
 selfdrive/modeld/runners/ort_helpers.py      |  38 +++
 selfdrive/modeld/runners/run.h               |   4 -
 selfdrive/modeld/runners/runmodel.h          |  49 ----
 selfdrive/modeld/runners/runmodel.pxd        |  14 -
 selfdrive/modeld/runners/runmodel_pyx.pxd    |   6 -
 selfdrive/modeld/runners/runmodel_pyx.pyx    |  37 ---
 selfdrive/modeld/runners/snpemodel.cc        | 116 ---------
 selfdrive/modeld/runners/snpemodel.h         |  52 ----
 selfdrive/modeld/runners/snpemodel.pxd       |   9 -
 selfdrive/modeld/runners/snpemodel_pyx.pyx   |  17 --
 selfdrive/modeld/runners/thneedmodel.cc      |  58 -----
 selfdrive/modeld/runners/thneedmodel.h       |  17 --
 selfdrive/modeld/runners/thneedmodel.pxd     |   9 -
 selfdrive/modeld/runners/thneedmodel_pyx.pyx |  14 -
 selfdrive/modeld/runners/tinygrad_helpers.py |   8 +
 selfdrive/modeld/thneed/README               |   8 -
 selfdrive/modeld/thneed/__init__.py          |   0
 selfdrive/modeld/thneed/serialize.cc         | 154 -----------
 selfdrive/modeld/thneed/thneed.h             | 133 ----------
 selfdrive/modeld/thneed/thneed_common.cc     | 216 ----------------
 selfdrive/modeld/thneed/thneed_pc.cc         |  32 ---
 selfdrive/modeld/thneed/thneed_qcom2.cc      | 258 -------------------
 selfdrive/test/test_onroad.py                |  13 +-
 tinygrad_repo                                |   2 +-
 uv.lock                                      |  99 ++++---
 37 files changed, 226 insertions(+), 1505 deletions(-)
 delete mode 100644 selfdrive/modeld/runners/__init__.py
 delete mode 100644 selfdrive/modeld/runners/onnxmodel.py
 create mode 100644 selfdrive/modeld/runners/ort_helpers.py
 delete mode 100644 selfdrive/modeld/runners/run.h
 delete mode 100644 selfdrive/modeld/runners/runmodel.h
 delete mode 100644 selfdrive/modeld/runners/runmodel.pxd
 delete mode 100644 selfdrive/modeld/runners/runmodel_pyx.pxd
 delete mode 100644 selfdrive/modeld/runners/runmodel_pyx.pyx
 delete mode 100644 selfdrive/modeld/runners/snpemodel.cc
 delete mode 100644 selfdrive/modeld/runners/snpemodel.h
 delete mode 100644 selfdrive/modeld/runners/snpemodel.pxd
 delete mode 100644 selfdrive/modeld/runners/snpemodel_pyx.pyx
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.cc
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.h
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.pxd
 delete mode 100644 selfdrive/modeld/runners/thneedmodel_pyx.pyx
 create mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
 delete mode 100644 selfdrive/modeld/thneed/README
 delete mode 100644 selfdrive/modeld/thneed/__init__.py
 delete mode 100644 selfdrive/modeld/thneed/serialize.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed.h
 delete mode 100644 selfdrive/modeld/thneed/thneed_common.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed_pc.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed_qcom2.cc

diff --git a/pyproject.toml b/pyproject.toml
index 41b0e3aca5..ff5c1e2392 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -42,8 +42,7 @@ dependencies = [
 
   # modeld
   "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
-  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+  "onnxruntime >=1.16.3",
 
   # logging
   "pyzmq",
diff --git a/release/release_files.py b/release/release_files.py
index 52974ba711..0e1ed852a2 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -54,7 +54,7 @@ whitelist = [
   "tools/joystick/",
   "tools/longitudinal_maneuvers/",
 
-  "tinygrad_repo/openpilot/compile2.py",
+  "tinygrad_repo/examples/openpilot/compile3.py",
   "tinygrad_repo/extra/onnx.py",
   "tinygrad_repo/extra/onnx_ops.py",
   "tinygrad_repo/extra/thneed.py",
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index d472998416..2a965b8690 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -13,20 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-thneed_src_common = [
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
 
 # OpenCL is a framework on Mac
 if arch == "Darwin":
@@ -45,11 +31,7 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
 snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
 
 cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
@@ -59,20 +41,17 @@ fn = File("models/supercombo").abspath
 cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-# Build thneed model
-if arch == "larch64" or GetOption('pc_thneed'):
-  tinygrad_opts = []
-  if not GetOption('pc_thneed'):
-    # use FLOAT16 on device for speed + don't cache the CL kernels for space
-    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
+# Compile tinygrad model
+# TODO this is all super hacky
 
-  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+if arch == 'larch64':
+  device_string = 'QCOM=1'
+else:
+  device_string = 'CLANG=1 IMAGE=0'
 
-  fn_dm = File("models/dmonitoring_model").abspath
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
-  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
+for model_name in ['supercombo', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 80157e1751..90b43800fe 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -1,10 +1,4 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
 exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7f04939c65..0ac2d4675c 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,8 +1,15 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+## TODO this is hack
+if TICI:
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import gc
 import math
 import time
+import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
@@ -13,9 +20,9 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+from tinygrad.tensor import Tensor
 
 CALIB_LEN = 3
 MODEL_WIDTH = 1440
@@ -25,9 +32,8 @@ OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
+MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
@@ -58,33 +64,37 @@ class DMonitoringModelResult(ctypes.Structure):
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
-  model: ModelRunner
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {
-      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
-      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
+    self.numpy_inputs = {'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+                         'input_img': np.zeros((1,MODEL_HEIGHT * MODEL_WIDTH), dtype=np.uint8)}
+    self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
-    self.model.addInput("input_img", None)
-    self.model.addInput("calib", self.inputs['calib'])
+
+    if TICI:
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
   def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
-    self.inputs['calib'][:] = calib
+    self.numpy_inputs['calib'][0,:] = calib
 
+    t1 = time.perf_counter()
+    # TODO use opencl buffer directly to make tensor
     v_offset = buf.height - MODEL_HEIGHT
     h_offset = (buf.width - MODEL_WIDTH) // 2
     buf_data = buf.data.reshape(-1, buf.stride)
-    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
-    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
+    self.numpy_inputs['input_img'][:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH].reshape((1, -1))
+
+    if TICI:
+      output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
 
-    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
-    t1 = time.perf_counter()
-    self.model.execute()
     t2 = time.perf_counter()
-    return self.output, t2 - t1
+    return output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 4e91d32400..4b19d103b4 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,5 +1,14 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+## TODO this is hack
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
 import pickle
 import numpy as np
@@ -18,21 +27,21 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
+
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
+# TODO: should not hardcoded
+IMG_INPUT_SHAPE = (1, 12, 128, 256)
 
 class FrameMeta:
   frame_id: int = 0
@@ -49,7 +58,6 @@ class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
 
   def __init__(self, context: CLContext):
     self.frame = ModelFrame(context)
@@ -60,12 +68,12 @@ class ModelState:
     self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    self.numpy_inputs = {
+      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1,(ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
@@ -76,11 +84,12 @@ class ModelState:
     self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
   def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
@@ -97,18 +106,30 @@ class ModelState:
 
     self.desire_20Hz[:-1] = self.desire_20Hz[1:]
     self.desire_20Hz[-1] = new_desire
-    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
-
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
+
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+    input_imgs_cl = self.frame.prepare(buf, transform.flatten())
+    big_input_imgs_cl = self.wide_frame.prepare(wbuf, transform_wide.flatten())
+
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      if 'input_imgs' not in self.tensor_inputs:
+        self.tensor_inputs['input_imgs'] = qcom_tensor_from_opencl_address(input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
+        self.tensor_inputs['big_input_imgs'] = qcom_tensor_from_opencl_address(big_input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
+    else:
+      self.numpy_inputs['input_imgs'] = self.frame.buffer_from_cl(input_imgs_cl).reshape(IMG_INPUT_SHAPE)
+      self.numpy_inputs['big_input_imgs'] = self.wide_frame.buffer_from_cl(big_input_imgs_cl).reshape(IMG_INPUT_SHAPE)
 
     if prepare_only:
       return None
 
-    self.model.execute()
+    if TICI:
+      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
@@ -118,9 +139,9 @@ class ModelState:
     self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
 
     idxs = np.arange(-4,-100,-4)[::-1]
-    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
     # TODO model only uses last value now, once that changes we need to input strided action history buffer
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
+    self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -291,7 +312,6 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
-
     last_vipc_frame_id = meta_main.frame_id
 
 
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index e8a5a7ed52..ef730e01aa 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -8,6 +8,7 @@
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
+  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
 
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
@@ -22,7 +23,7 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+cl_mem* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) {
   transform_queue(&this->transform, q,
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
@@ -31,19 +32,19 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-  if (output == NULL) {
-    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
-    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
-
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
+
+  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
+  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
+
+  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+  clFinish(q);
+  return &input_frames_cl;
+}
+
+uint8_t* ModelFrame::buffer_from_cl(cl_mem *in_frames) {
+  CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, MODEL_FRAME_SIZE * 2 * sizeof(uint8_t), &input_frames[0], 0, nullptr, nullptr));
+  clFinish(q);
+  return &input_frames[0];
 }
 
 ModelFrame::~ModelFrame() {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 1c7360f159..91cbbcddd3 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -20,7 +20,8 @@ class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  cl_mem* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform);
+  uint8_t* buffer_from_cl(cl_mem *in_frames);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -32,7 +33,7 @@ private:
   Transform transform;
   LoadYUVState loadyuv;
   cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl, input_frames_cl;
   cl_buffer_region region;
   std::unique_ptr<uint8_t[]> input_frames;
-};
\ No newline at end of file
+};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 3348af3f17..676defe15c 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -15,4 +15,5 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
-    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
+    unsigned char * buffer_from_cl(cl_mem*);
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 99f9c5dc17..e6ae349e00 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,6 +4,7 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -23,6 +24,13 @@ cdef class CLMem:
     mem.mem = <cl_mem*> cmem
     return mem
 
+  @property
+  def mem_address(self):
+    return <uintptr_t>(self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+  return CLMem.create(<void*>&buf.buf.buf_cl)
+
 cdef class ModelFrame:
   cdef cppModelFrame * frame
 
@@ -32,14 +40,14 @@ cdef class ModelFrame:
   def __dealloc__(self):
     del self.frame
 
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+  def prepare(self, VisionBuf buf, float[:] projection):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef unsigned char * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
+    cdef cl_mem * data
+    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
+    return CLMem.create(data)
+
+  def buffer_from_cl(self, CLMem in_frames):
+    cdef unsigned char * data2
+    data2 = self.frame.buffer_from_cl(in_frames.mem)
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data2)
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
deleted file mode 100644
index 4c29bf3f1c..0000000000
--- a/selfdrive/modeld/runners/__init__.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  SNPE = 'SNPE'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
-    elif ModelRunner.ONNX in paths:
-      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
deleted file mode 100644
index 2a870392d5..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import onnx
-import itertools
-import os
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/selfdrive/modeld/runners/ort_helpers.py b/selfdrive/modeld/runners/ort_helpers.py
new file mode 100644
index 0000000000..ad6efed397
--- /dev/null
+++ b/selfdrive/modeld/runners/ort_helpers.py
@@ -0,0 +1,38 @@
+import onnx
+import onnxruntime as ort
+import numpy as np
+import itertools
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(onnx_path):
+  model = onnx.load(onnx_path)
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+
+def make_onnx_cpu_runner(model_path):
+  options = ort.SessionOptions()
+  options.intra_op_num_threads = 4
+  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+  model_data = convert_fp16_to_fp32(model_path)
+  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
+
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
deleted file mode 100644
index 36ad262a5b..0000000000
--- a/selfdrive/modeld/runners/run.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/runners/snpemodel.h"
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7..0000000000
--- a/selfdrive/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd
deleted file mode 100644
index 01b2a9cf2c..0000000000
--- a/selfdrive/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "selfdrive/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37..0000000000
--- a/selfdrive/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index 12b8ec10ff..0000000000
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
deleted file mode 100644
index 15c1db0086..0000000000
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "selfdrive/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
deleted file mode 100644
index 86b2c86084..0000000000
--- a/selfdrive/modeld/runners/snpemodel.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};
diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd
deleted file mode 100644
index a911b43584..0000000000
--- a/selfdrive/modeld/runners/snpemodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
deleted file mode 100644
index f83b7c8cff..0000000000
--- a/selfdrive/modeld/runners/snpemodel_pyx.pyx
+++ /dev/null
@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
deleted file mode 100644
index a16d8b42aa..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "selfdrive/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
deleted file mode 100644
index 6ed479c081..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index 79e24dbdd6..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index 6f8fdd255f..0000000000
--- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
new file mode 100644
index 0000000000..776381341c
--- /dev/null
+++ b/selfdrive/modeld/runners/tinygrad_helpers.py
@@ -0,0 +1,8 @@
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import to_mv
+
+def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
+  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
+  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
+  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/thneed/README b/selfdrive/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc..0000000000
--- a/selfdrive/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/selfdrive/modeld/thneed/__init__.py b/selfdrive/modeld/thneed/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
deleted file mode 100644
index 3dc2bef414..0000000000
--- a/selfdrive/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3..0000000000
--- a/selfdrive/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc
deleted file mode 100644
index ecdf1237e3..0000000000
--- a/selfdrive/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 8d0037628e..0000000000
--- a/selfdrive/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index 21de15d17c..0000000000
--- a/selfdrive/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 09f15069ea..c3c2461790 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 265.  # total for all 8 cores
+MAX_TOTAL_CPU = 275.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -50,8 +50,8 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 17.0,
-  "selfdrive.modeld.dmonitoringmodeld": 11.0,
+  "selfdrive.modeld.modeld": 22.0,
+  "selfdrive.modeld.dmonitoringmodeld": 21.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -371,13 +371,14 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "----------------- Model Timing -----------------\n"
     result += "------------------------------------------------\n"
-    # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
-      ("modelV2", 0.050, 0.036),
-      ("driverStateV2", 0.050, 0.026),
+      ("modelV2", 0.045, 0.035),
+      ("driverStateV2", 0.045, 0.035),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
+      # TODO some tinygrad init happens in first iteration
+      ts = ts[1:]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
diff --git a/tinygrad_repo b/tinygrad_repo
index 9dda6d260d..bfd980da7d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
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+Subproject commit bfd980da7d2c2bab5b073127442c361922032ba1
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From c1ae9eabf10838fcc7c4b92ea8eb7cf68712a1ff Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 12 Dec 2024 11:17:50 -0800
Subject: [PATCH 1134/1243] ci: skip simulator for external PRs (#34221)

* try

* try

* try

* try...

* skip

* cleanup
---
 .github/workflows/selfdrive_tests.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index ad6f17acfc..86fad1fca8 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -309,6 +309,7 @@ jobs:
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
     steps:
     - uses: actions/checkout@v4
       with:

From cd6d9fee3fed1706773d46c21e5f39fd04981ece Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Dec 2024 15:32:36 -0600
Subject: [PATCH 1135/1243] Revert "athenad: fix thread safety issues in upload
 handing" (#34224)

Revert "athenad: fix thread safety issues in upload handing (#34199)"

This reverts commit dcb3113c4ba505c7512090d505fc8042244b6d68.
---
 system/athena/athenad.py            | 47 ++++++++++++++---------------
 system/athena/tests/test_athenad.py |  8 +++--
 2 files changed, 28 insertions(+), 27 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 2d9ad110aa..2f455981cc 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -100,9 +100,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
+cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
-cur_upload_items_lock = threading.Lock()
 
 
 def strip_zst_extension(fn: str) -> str:
@@ -130,9 +130,8 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      with upload_queue.mutex:
-        items = [asdict(item) for item in upload_queue.queue]
-
+      queue: list[UploadItem | None] = list(upload_queue.queue)
+      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -199,13 +198,11 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
       progress=0,
       current=False
     )
-
-    with cur_upload_items_lock:
-      upload_queue.put_nowait(item)
-      cur_upload_items[tid] = None
-
+    upload_queue.put_nowait(item)
     UploadQueueCache.cache(upload_queue)
 
+    cur_upload_items[tid] = None
+
     for _ in range(RETRY_DELAY):
       time.sleep(1)
       if end_event.is_set():
@@ -224,8 +221,7 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   if end_event.is_set():
     raise AbortTransferException
 
-  with cur_upload_items_lock:
-    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
 def upload_handler(end_event: threading.Event) -> None:
@@ -233,10 +229,14 @@ def upload_handler(end_event: threading.Event) -> None:
   tid = threading.get_ident()
 
   while not end_event.is_set():
+    cur_upload_items[tid] = None
+
     try:
-      with cur_upload_items_lock:
-        cur_upload_items[tid] = None
-        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
+      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
+
+      if item.id in cancelled_uploads:
+        cancelled_uploads.remove(item.id)
+        continue
 
       # Remove item if too old
       age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -415,10 +415,8 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
 @dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  with cur_upload_items_lock, upload_queue.mutex:
-    items = list(upload_queue.queue) + [item for item in cur_upload_items.values() if item is not None]
-
-  return [asdict(item) for item in items]
+  items = list(upload_queue.queue) + list(cur_upload_items.values())
+  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
 
 
 @dispatcher.add_method
@@ -426,14 +424,13 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
-  with upload_queue.mutex:
-    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
-    if len(remaining_items) == len(upload_queue.queue):
-      return {"success": 0, "error": "not found"}
+  uploading_ids = {item.id for item in list(upload_queue.queue)}
+  cancelled_ids = uploading_ids.intersection(upload_id)
+  if len(cancelled_ids) == 0:
+    return {"success": 0, "error": "not found"}
 
-    upload_queue.queue.clear()
-    upload_queue.queue.extend(remaining_items)
-    return {"success": 1}
+  cancelled_uploads.update(cancelled_ids)
+  return {"success": 1}
 
 @dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index cee37064b9..a6bfc68930 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,6 +78,7 @@ class TestAthenadMethods:
 
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
+    athenad.cancelled_uploads.clear()
 
     for i in os.listdir(Paths.log_root()):
       p = os.path.join(Paths.log_root(), i)
@@ -281,10 +282,13 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
+    assert item.id in athenad.cancelled_uploads
+
     self._wait_for_upload()
     time.sleep(0.1)
 
     assert athenad.upload_queue.qsize() == 0
+    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
   def test_cancel_expiry(self):
@@ -327,7 +331,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
-    dispatcher["cancelUpload"](item.id)
+    athenad.cancelled_uploads.add(item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
 
@@ -339,7 +343,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
-    dispatcher["cancelUpload"](item2.id)
+    athenad.cancelled_uploads.add(item2.id)
 
     # serialize item
     athenad.UploadQueueCache.cache(athenad.upload_queue)

From 44f58ff758c40250ec36adc4f924f0568779e07a Mon Sep 17 00:00:00 2001
From: mitchellgoffpc <mitchellgoffpc@gmail.com>
Date: Thu, 12 Dec 2024 14:12:45 -0800
Subject: [PATCH 1136/1243] bump tinygrad

---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index bfd980da7d..a6703e5cf5 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit bfd980da7d2c2bab5b073127442c361922032ba1
+Subproject commit a6703e5cf55cb341649a6b8def49b5d8c48c3293

From 31606a7d15e401899724bd2cd6d39727a338fcc7 Mon Sep 17 00:00:00 2001
From: mitchellgoffpc <mitchellgoffpc@gmail.com>
Date: Thu, 12 Dec 2024 15:04:54 -0800
Subject: [PATCH 1137/1243] load model before calling convert_fp16_to_fp32

---
 selfdrive/modeld/runners/ort_helpers.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/runners/ort_helpers.py b/selfdrive/modeld/runners/ort_helpers.py
index ad6efed397..6c12b9fe19 100644
--- a/selfdrive/modeld/runners/ort_helpers.py
+++ b/selfdrive/modeld/runners/ort_helpers.py
@@ -10,8 +10,7 @@ def attributeproto_fp16_to_fp32(attr):
   attr.data_type = 1
   attr.raw_data = float32_list.astype(np.float32).tobytes()
 
-def convert_fp16_to_fp32(onnx_path):
-  model = onnx.load(onnx_path)
+def convert_fp16_to_fp32(model):
   for i in model.graph.initializer:
     if i.data_type == 10:
       attributeproto_fp16_to_fp32(i)
@@ -33,6 +32,6 @@ def make_onnx_cpu_runner(model_path):
   options.intra_op_num_threads = 4
   options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
   options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(model_path)
+  model_data = convert_fp16_to_fp32(onnx.load(model_path))
   return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
 

From d574513879f3c7890965f4b14d4aa9131e671768 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 13 Dec 2024 15:33:37 -0600
Subject: [PATCH 1138/1243] bump opendbc (#34227)

* bump

* update docs
---
 docs/CARS.md | 2 +-
 opendbc_repo | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2e2a614a38..c0b0f1706e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -103,7 +103,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/opendbc_repo b/opendbc_repo
index b89fe79950..8614cb8b4c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b89fe79950121ca93d8a1f0d3fd17df31703be2a
+Subproject commit 8614cb8b4c9612416bc13e1b2c9fbbde4dcb0b61

From da2c70e097d4e39e7109a76ddbd998b44f3e48ea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 13 Dec 2024 17:11:30 -0600
Subject: [PATCH 1139/1243] Revert "LogReader: fix issue when your dns resolves
 all requests" (#34229)

Revert "LogReader: fix issue when your dns resolves all requests (#34089)"

This reverts commit 7fc5040ed9aef2154755dff720a81cb6a99cfd48.
---
 tools/lib/filereader.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 6773d5a599..8206ad2228 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -5,15 +5,12 @@ from urllib.parse import urlparse
 from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
-LOCAL_IPS = ["10.", "192.168.", *[f"172.{i}" for i in range(16, 32)]]
 
 
 def internal_source_available(url=DATA_ENDPOINT):
   try:
     hostname = urlparse(url).hostname
     port = urlparse(url).port or 80
-    if not socket.gethostbyname(hostname).startswith(LOCAL_IPS):
-      return False
     with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
       s.settimeout(0.5)
       s.connect((hostname, port))

From 64db514d41eea2ffbed01998708596b7429f1fa5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 13 Dec 2024 16:50:34 -0800
Subject: [PATCH 1140/1243] hardwared: log touch events (#34225)

* touch

* touch

* touch

* touch

* this

* valid

* better
---
 cereal/log.capnp             | 11 +++++++++++
 cereal/services.py           |  1 +
 system/hardware/hardwared.py | 30 ++++++++++++++++++++++++++++++
 3 files changed, 42 insertions(+)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 70508f36e2..68ea3099b8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2440,6 +2440,14 @@ struct Microphone {
   filteredSoundPressureWeightedDb @2 :Float32;
 }
 
+struct Touch {
+  sec @0 :Int64;
+  usec @1 :Int64;
+  type @2 :UInt8;
+  code @3 :Int32;
+  value @4 :Int32;
+}
+
 struct Event {
   logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
@@ -2520,6 +2528,9 @@ struct Event {
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
+    # touch frame
+    touch @135 :List(Touch);
+
     # navigation
     navInstruction @82 :NavInstruction;
     navRoute @83 :NavRoute;
diff --git a/cereal/services.py b/cereal/services.py
index 771338f507..b8728fefdd 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -22,6 +22,7 @@ _services: dict[str, tuple] = {
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
+  "touch": (True, 20.),
   "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "selfdriveState": (True, 100., 10),
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 48c916b146..49eb1e0fda 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -2,6 +2,7 @@
 import os
 import json
 import queue
+import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
@@ -59,6 +60,32 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
   prev_offroad_states[offroad_alert] = (show_alert, extra_text)
   set_offroad_alert(offroad_alert, show_alert, extra_text)
 
+def touch_thread(end_event):
+  pm = messaging.PubMaster(["touch"])
+
+  event_format = "llHHi"
+  event_size = struct.calcsize(event_format)
+  event_frame = []
+
+  with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
+    while not end_event.is_set():
+      event = event_file.read(event_size)
+      if event:
+        (sec, usec, etype, code, value) = struct.unpack(event_format, event)
+        if etype != 0 or code != 0 or value != 0:
+          touch = log.Touch.new_message()
+          touch.sec = sec
+          touch.usec = usec
+          touch.type = etype
+          touch.code = code
+          touch.value = value
+          event_frame.append(touch)
+        else: # end of frame, push new log
+          msg = messaging.new_message('touch', len(event_frame), valid=True)
+          msg.touch = event_frame
+          pm.send('touch', msg)
+          event_frame = []
+
 
 def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
@@ -420,6 +447,9 @@ def main():
     threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
   ]
 
+  if TICI:
+    threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
+
   for t in threads:
     t.start()
 

From e04ac10509ae0cc668f119db9fcb6806e0b6fe9e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 13 Dec 2024 17:20:28 -0800
Subject: [PATCH 1141/1243] ci: fix cache key for test_models (#34230)

* fix this

* please rerun this my good ci friend

* thank you very much
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 86fad1fca8..09fb52b9c2 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -231,7 +231,7 @@ jobs:
       uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models

From 8743bc4fe231ebf8ee3273b6868d1f78c432ac73 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 13 Dec 2024 19:14:21 -0800
Subject: [PATCH 1142/1243] Null Pointer Model (#34111)

* e8cb7f27-e448-4c15-90c2-ac440cd5a042/400

* 0078ad07-4d46-4086-820f-23d61c90e07f/400

* 4bd74082-70af-47da-8156-e84ebf4d4812/400

* 2a074022-5c2c-4628-97f9-f54849a936a6/400

* 0660aa81-93c5-41b7-9cc2-dc8816a512cd/400

* Clip curvature to reasonable limits

* Better curvature and speed clips

* typo

* typo

* 31aa62c3-b373-4878-8f2e-5107305de187/400

* 384690ca-9b8a-41fe-9bcd-389b20fc6aa4/400

* ref commit

---------

Co-authored-by: Yassine <yassine.y10@gmail.com>
---
 selfdrive/controls/lib/drive_helpers.py  |  3 +++
 selfdrive/modeld/fill_model_msg.py       | 24 +++++++++++++++++++-----
 selfdrive/modeld/modeld.py               |  3 ++-
 selfdrive/modeld/models/supercombo.onnx  |  2 +-
 selfdrive/test/process_replay/ref_commit |  2 +-
 5 files changed, 26 insertions(+), 8 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 64cbf473d6..66b92319ca 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -5,12 +5,15 @@ from openpilot.common.realtime import DT_CTRL
 MIN_SPEED = 1.0
 CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
+# This is a turn radius smaller than most cars can achieve
+MAX_CURVATURE = 0.2
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
+  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature = clip(new_curvature,
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 115ec94f88..a13d632aa6 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,11 +3,22 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
+
 class PublishState:
   def __init__(self):
     self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -55,14 +66,17 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
-                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
+                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
+                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
+                   valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
+  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
+
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -71,7 +85,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -106,7 +120,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curv
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 4b19d103b4..f406039951 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -295,7 +295,8 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index a57e5dd225..1588d4d576 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9dc64f5d1e7d6b67f1d4659a3483f03b4324b4c7b969a5ba90c4e37e62bf6fce
+oid sha256:dfe3ee4516187abac1198fda50d5961d6329b07e61e9d295be01a0ef2303f536
 size 50320584
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d4892b51f2..c746ad22d5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7a1b6253e715cec2a254c3e7b6839d6f2bd06fb1
+cae12bc0a2960de17104a9e22fafe33d797fbcee

From 93a8d87b3485a3d1b3c803fbc418ad859012f198 Mon Sep 17 00:00:00 2001
From: Louis Velez <lvp1992@gmail.com>
Date: Fri, 13 Dec 2024 23:28:01 -0500
Subject: [PATCH 1143/1243] docs: glossary infra (#34231)

* feat: glossary infra

* fix static analysis error

* fix ruff linter error.

* updates docs.yaml to use ubuntu-24.04

* code review fixes
---
 .github/workflows/docs.yaml |  2 +-
 docs/css/tooltip.css        | 44 ++++++++++++++++++++++++
 docs/glossary.toml          |  0
 docs/hooks/glossary.py      | 68 +++++++++++++++++++++++++++++++++++++
 mkdocs.yml                  |  4 +++
 5 files changed, 117 insertions(+), 1 deletion(-)
 create mode 100644 docs/css/tooltip.css
 create mode 100644 docs/glossary.toml
 create mode 100644 docs/hooks/glossary.py

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 6ede255a00..92c311829c 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -18,7 +18,7 @@ concurrency:
 jobs:
   docs:
     name: build docs
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
     - uses: commaai/timeout@v1
 
diff --git a/docs/css/tooltip.css b/docs/css/tooltip.css
new file mode 100644
index 0000000000..b9a54f793f
--- /dev/null
+++ b/docs/css/tooltip.css
@@ -0,0 +1,44 @@
+[data-tooltip] {
+  position: relative;
+  display: inline-block;
+  border-bottom: 1px dotted black;
+}
+
+[data-tooltip] .tooltip-content {
+  width: max-content;
+  max-width: 25em;
+  position: absolute;
+  top: 100%;
+  left: 50%;
+  transform: translateX(-50%);
+  background-color: white;
+  color: #404040;
+  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
+  padding: 10px;
+  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
+  text-decoration: none;
+  opacity: 0;
+  visibility: hidden;
+  transition: opacity 0.1s, visibility 0s;
+  z-index: 1000;
+  pointer-events: none; /* Prevent accidental interaction */
+}
+
+[data-tooltip]:hover .tooltip-content {
+  opacity: 1;
+  visibility: visible;
+  pointer-events: auto; /* Allow interaction when visible */
+}
+
+.tooltip-content .tooltip-glossary-link {
+  display: inline-block;
+  margin-top: 8px;
+  font-size: 12px;
+  color: #007bff;
+  text-decoration: none;
+}
+
+.tooltip-content .tooltip-glossary-link:hover {
+  color: #0056b3;
+  text-decoration: underline;
+}
diff --git a/docs/glossary.toml b/docs/glossary.toml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/docs/hooks/glossary.py b/docs/hooks/glossary.py
new file mode 100644
index 0000000000..e2fa3d51e0
--- /dev/null
+++ b/docs/hooks/glossary.py
@@ -0,0 +1,68 @@
+import re
+import tomllib
+
+def load_glossary(file_path="docs/glossary.toml"):
+  with open(file_path, "rb") as f:
+    glossary_data = tomllib.load(f)
+  return glossary_data.get("glossary", {})
+
+def generate_anchor_id(name):
+  return name.replace(" ", "-").replace("_", "-").lower()
+
+def format_markdown_term(name, definition):
+  anchor_id = generate_anchor_id(name)
+  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
+  if definition.get("abbreviation"):
+    markdown += f" *({definition['abbreviation']})*"
+  if definition.get("description"):
+    markdown += f": {definition['description']}\n"
+  return markdown
+
+def glossary_markdown(vocabulary):
+  markdown = ""
+  for category, terms in vocabulary.items():
+    markdown += f"## {category.replace('_', ' ').title()}\n\n"
+    for name, definition in terms.items():
+      markdown += format_markdown_term(name, definition)
+  return markdown
+
+def format_tooltip_html(term_key, definition, html):
+  display_term = term_key.replace("_", " ").title()
+  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
+  glossary_link = (
+    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
+  )
+  return re.sub(
+    re.escape(display_term),
+    lambda
+    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
+    html,
+    flags=re.IGNORECASE,
+  )
+
+def apply_tooltip(_term_key, _definition, pattern, html):
+  return re.sub(
+    pattern,
+    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
+    html,
+    flags=re.IGNORECASE,
+  )
+
+def tooltip_html(vocabulary, html):
+  for _category, terms in vocabulary.items():
+    for term_key, definition in terms.items():
+      if definition.get("description"):
+        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
+        html = apply_tooltip(term_key, definition, pattern, html)
+  return html
+
+# Page Hooks
+def on_page_markdown(markdown, **kwargs):
+  glossary = load_glossary()
+  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
+
+def on_page_content(html, **kwargs):
+  if kwargs.get("page").title == "Glossary":
+    return html
+  glossary = load_glossary()
+  return tooltip_html(glossary, html)
diff --git a/mkdocs.yml b/mkdocs.yml
index 58527ea7ee..a66d1c76d4 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -8,6 +8,10 @@ strict: true
 docs_dir: docs
 site_dir: docs_site/
 
+hooks:
+  - docs/hooks/glossary.py
+extra_css:
+  - css/tooltip.css
 theme:
   name: readthedocs
   navigation_depth: 3

From b3ad7ef24ba7251289ea4253247201d8c8df6bb4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 13 Dec 2024 21:22:43 -0800
Subject: [PATCH 1144/1243] add touch events to qlogs (#34236)

deci
---
 cereal/services.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal/services.py b/cereal/services.py
index b8728fefdd..87fdca77b7 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -22,7 +22,7 @@ _services: dict[str, tuple] = {
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "touch": (True, 20.),
+  "touch": (True, 20., 1),
   "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "selfdriveState": (True, 100., 10),

From 684b0b9d4dea5b5b4002824ea15285376f3eb60c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Sat, 14 Dec 2024 00:44:15 -0800
Subject: [PATCH 1145/1243] dmonitoringmodeld: use cl transform (#34235)

* needs cleanup

* only if tici

* bump tinygrad

* check width

* base modelframe

* .

* need to be args

* more cleanup

* no _frame in base

* tici only

* its DrivingModelFrame

* .6 is fair

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 common/transformations/model.py               |  9 ++-
 selfdrive/modeld/dmonitoringmodeld.py         | 41 +++++++----
 selfdrive/modeld/modeld.py                    | 10 +--
 selfdrive/modeld/models/commonmodel.cc        | 50 +++++++------
 selfdrive/modeld/models/commonmodel.h         | 73 +++++++++++++++++--
 selfdrive/modeld/models/commonmodel.pxd       | 11 ++-
 selfdrive/modeld/models/commonmodel_pyx.pyx   | 29 ++++++--
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 tinygrad_repo                                 |  2 +-
 9 files changed, 165 insertions(+), 62 deletions(-)

diff --git a/common/transformations/model.py b/common/transformations/model.py
index aaa12d776a..ea1dff30e8 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,7 +1,7 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -39,6 +39,13 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
+DM_INPUT_SIZE = (1440, 960)
+dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
+dmonitoringmodel_intrinsics = np.array([
+  [dmonitoringmodel_fl,  0.0, DM_INPUT_SIZE[0]/2],
+  [0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
+  [0.0,  0.0, 1.0]])
+
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 0ac2d4675c..fbf2e424ac 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -3,6 +3,9 @@ import os
 from openpilot.system.hardware import TICI
 ## TODO this is hack
 if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
   from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
@@ -20,13 +23,13 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-from tinygrad.tensor import Tensor
 
+MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
-MODEL_WIDTH = 1440
-MODEL_HEIGHT = 960
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN
 
@@ -67,26 +70,31 @@ class ModelState:
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.numpy_inputs = {'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
-                         'input_img': np.zeros((1,MODEL_HEIGHT * MODEL_WIDTH), dtype=np.uint8)}
-    self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
 
+    self.frame = MonitoringModelFrame(cl_ctx)
+    self.numpy_inputs = {
+      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+    }
 
     if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
       with open(MODEL_PKL_PATH, "rb") as f:
         self.model_run = pickle.load(f)
     else:
       self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
-  def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
-    # TODO use opencl buffer directly to make tensor
-    v_offset = buf.height - MODEL_HEIGHT
-    h_offset = (buf.width - MODEL_WIDTH) // 2
-    buf_data = buf.data.reshape(-1, buf.stride)
-    self.numpy_inputs['input_img'][:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH].reshape((1, -1))
+
+    input_img_cl = self.frame.prepare(buf, transform.flatten())
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      if 'input_img' not in self.tensor_inputs:
+        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
+    else:
+      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
 
     if TICI:
       output = self.model_run(**self.tensor_inputs).numpy().flatten()
@@ -147,18 +155,23 @@ def main():
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  model_transform = None
 
   while True:
     buf = vipc_client.recv()
     if buf is None:
       continue
 
+    if model_transform is None:
+      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
+      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
+
     sm.update(0)
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
     t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib)
+    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index f406039951..8fe351b7b7 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -30,7 +30,7 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -53,15 +53,15 @@ class FrameMeta:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 class ModelState:
-  frame: ModelFrame
-  wide_frame: ModelFrame
+  frame: DrivingModelFrame
+  wide_frame: DrivingModelFrame
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
+    self.frame = DrivingModelFrame(context)
+    self.wide_frame = DrivingModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index ef730e01aa..ad2620c7b4 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,32 +1,24 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
-#include <cassert>
 #include <cmath>
 #include <cstring>
 
 #include "common/clutil.h"
 
-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
   region.origin = 4 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
-  transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-cl_mem* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) {
-  transform_queue(&this->transform, q,
-                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
   for (int i = 0; i < 4; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
@@ -41,19 +33,29 @@ cl_mem* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, in
   return &input_frames_cl;
 }
 
-uint8_t* ModelFrame::buffer_from_cl(cl_mem *in_frames) {
-  CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, MODEL_FRAME_SIZE * 2 * sizeof(uint8_t), &input_frames[0], 0, nullptr, nullptr));
-  clFinish(q);
-  return &input_frames[0];
-}
-
-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
+DrivingModelFrame::~DrivingModelFrame() {
+  deinit_transform();
   loadyuv_destroy(&loadyuv);
   CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
   CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
   CL_CHECK(clReleaseCommandQueue(q));
-}
\ No newline at end of file
+}
+
+
+MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+  clFinish(q);
+  return &y_cl;
+}
+
+MonitoringModelFrame::~MonitoringModelFrame() {
+  deinit_transform();
+  CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 91cbbcddd3..14409943e4 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -2,6 +2,7 @@
 
 #include <cfloat>
 #include <cstdlib>
+#include <cassert>
 
 #include <memory>
 
@@ -18,10 +19,54 @@
 
 class ModelFrame {
 public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform);
-  uint8_t* buffer_from_cl(cl_mem *in_frames);
+  ModelFrame(cl_device_id device_id, cl_context context) {
+    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  }
+  virtual ~ModelFrame() {}
+  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
+  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
+    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  }
+
+  int MODEL_WIDTH;
+  int MODEL_HEIGHT;
+  int MODEL_FRAME_SIZE;
+  int buf_size;
+
+protected:
+  cl_mem y_cl, u_cl, v_cl;
+  Transform transform;
+  cl_command_queue q;
+  std::unique_ptr<uint8_t[]> input_frames;
+
+  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
+    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
+    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    transform_init(&transform, context, device_id);
+  }
+
+  void deinit_transform() {
+    transform_destroy(&transform);
+    CL_CHECK(clReleaseMemObject(v_cl));
+    CL_CHECK(clReleaseMemObject(u_cl));
+    CL_CHECK(clReleaseMemObject(y_cl));
+  }
+
+  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+    transform_queue(&transform, q,
+        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+        y_cl, u_cl, v_cl, model_width, model_height, projection);
+  }
+};
+
+class DrivingModelFrame : public ModelFrame {
+public:
+  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  ~DrivingModelFrame();
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -30,10 +75,22 @@ public:
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
 private:
-  Transform transform;
   LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl, input_frames_cl;
+  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
   cl_buffer_region region;
-  std::unique_ptr<uint8_t[]> input_frames;
+};
+
+class MonitoringModelFrame : public ModelFrame {
+public:
+  MonitoringModelFrame(cl_device_id device_id, cl_context context);
+  ~MonitoringModelFrame();
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
+
+  const int MODEL_WIDTH = 1440;
+  const int MODEL_HEIGHT = 960;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
+  const int buf_size = MODEL_FRAME_SIZE;
+
+private:
+  cl_mem input_frame_cl;
 };
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 676defe15c..d2a8fb4dcd 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -14,6 +14,13 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
-    ModelFrame(cl_device_id, cl_context)
+    unsigned char * buffer_from_cl(cl_mem*, int);
     cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-    unsigned char * buffer_from_cl(cl_mem*);
+
+  cppclass DrivingModelFrame:
+    int buf_size
+    DrivingModelFrame(cl_device_id, cl_context)
+
+  cppclass MonitoringModelFrame:
+    int buf_size
+    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index e6ae349e00..b754086544 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -9,7 +9,7 @@ from libc.stdint cimport uintptr_t
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
 
 
 cdef class CLContext(BaseCLContext):
@@ -31,11 +31,10 @@ cdef class CLMem:
 def cl_from_visionbuf(VisionBuf buf):
   return CLMem.create(<void*>&buf.buf.buf_cl)
 
+
 cdef class ModelFrame:
   cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
+  cdef int buf_size
 
   def __dealloc__(self):
     del self.frame
@@ -49,5 +48,23 @@ cdef class ModelFrame:
 
   def buffer_from_cl(self, CLMem in_frames):
     cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem)
-    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data2)
+    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+
+
+cdef class DrivingModelFrame(ModelFrame):
+  cdef cppDrivingModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
+cdef class MonitoringModelFrame(ModelFrame):
+  cdef cppMonitoringModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 8598b2faa2..e1b9845c4c 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -33,7 +33,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/tinygrad_repo b/tinygrad_repo
index a6703e5cf5..270bbd36a9 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit a6703e5cf55cb341649a6b8def49b5d8c48c3293
+Subproject commit 270bbd36a925d9c612f1eeb7ea0ea4ad83fec41e

From 4c27878f679ea948ceda9b35e97bd9a9260a4032 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Dec 2024 11:50:49 -0800
Subject: [PATCH 1146/1243] camerad: prep for the BPS (#34244)

prep

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/spectra.cc | 32 ++++++++++++++++---------------
 system/camerad/cameras/spectra.h  |  5 +++--
 system/camerad/test/debug.sh      |  6 +++---
 system/camerad/test/icp_debug.sh  | 13 +++++++++++++
 4 files changed, 36 insertions(+), 20 deletions(-)
 create mode 100755 system/camerad/test/icp_debug.sh

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 83b331cf4a..3f41683901 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -196,9 +196,9 @@ void SpectraMaster::init() {
   assert(isp_fd >= 0);
   LOGD("opened isp");
 
-  //icp_fd = open_v4l_by_name_and_index("cam-icp");
-  //assert(icp_fd >= 0);
-  //LOGD("opened icp");
+  icp_fd = open_v4l_by_name_and_index("cam-icp");
+  assert(icp_fd >= 0);
+  LOGD("opened icp");
 
   // query ISP for MMU handles
   LOG("-- Query for MMU handles");
@@ -215,7 +215,6 @@ void SpectraMaster::init() {
   cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
 
   // query ICP for MMU handles
-  /*
   struct cam_icp_query_cap_cmd icp_query_cap_cmd = {0};
   query_cap_cmd.caps_handle = (uint64_t)&icp_query_cap_cmd;
   query_cap_cmd.size = sizeof(icp_query_cap_cmd);
@@ -223,7 +222,6 @@ void SpectraMaster::init() {
   assert(ret == 0);
   LOGD("using ICP MMU handle: %x", icp_query_cap_cmd.dev_iommu_handle.non_secure);
   icp_device_iommu = icp_query_cap_cmd.dev_iommu_handle.non_secure;
-  */
 
   // subscribe
   LOG("-- Subscribing");
@@ -712,13 +710,13 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   }
   sync_objs[i] = sync_create.sync_obj;
 
-  /*
-  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
-  if (ret != 0) {
-    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+  if (icp_dev_handle > 0) {
+    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+    if (ret != 0) {
+      LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+    }
+    sync_objs_bps_out[i] = sync_create.sync_obj;
   }
-  sync_objs_bps_out[i] = sync_create.sync_obj;
-  */
 
   // schedule request with camera request manager
   struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
@@ -746,8 +744,10 @@ void SpectraCamera::camera_map_bufs() {
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
-    //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
-    //mem_mgr_map_cmd.num_hdl = 2;
+    if (icp_dev_handle > 0) {
+      mem_mgr_map_cmd.num_hdl = 2;
+      mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
+    }
 
     if (is_raw) {
       // RAW bayer images
@@ -899,8 +899,6 @@ void SpectraCamera::configISP() {
 }
 
 void SpectraCamera::configICP() {
-  if (!enabled) return;
-
   /*
     Configures both the ICP and BPS.
   */
@@ -1048,6 +1046,10 @@ void SpectraCamera::camera_close() {
 
     // release devices
     LOGD("-- Release devices");
+    if (icp_dev_handle > 0) {
+      ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
+      LOGD("release icp: %d", ret);
+    }
     ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
     LOGD("release isp: %d", ret);
     ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 476722b664..689fcb9cc3 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -22,8 +22,9 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 // CSLDeviceType/CSLPacketOpcodesIFE from camx
 // cam_packet_header.op_code = (device << 24) | (opcode);
-#define CSLDeviceTypeImageSensor (0x1 << 24)
-#define CSLDeviceTypeIFE         (0xF << 24)
+#define CSLDeviceTypeImageSensor (0x01 << 24)
+#define CSLDeviceTypeIFE         (0x0F << 24)
+#define CSLDeviceTypeBPS         (0x10 << 24)
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
index 44ff0ffa89..8bd8d9d4f0 100755
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 sudo dmesg -C
 scons -u -j8 --minimal .
 export DEBUG_FRAMES=1
-#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-export DISABLE_DRIVER=1
-#export LOGPRINT=debug
+export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+#export DISABLE_DRIVER=1
+export LOGPRINT=debug
 ./camerad
diff --git a/system/camerad/test/icp_debug.sh b/system/camerad/test/icp_debug.sh
new file mode 100755
index 0000000000..ebeef9bf8f
--- /dev/null
+++ b/system/camerad/test/icp_debug.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+#echo Y > /sys/kernel/debug/camera_icp/a5_debug_q
+echo 0x1 > /sys/kernel/debug/camera_icp/a5_debug_type
+echo 1 > /sys/kernel/debug/tracing/events/camera/enable
+echo 0xffffffff > /sys/kernel/debug/camera_icp/a5_debug_lvl
+echo 1 > /sys/kernel/debug/tracing/events/camera/cam_icp_fw_dbg/enable
+
+cat /sys/kernel/debug/tracing/trace_pipe

From f6885dcbeca554fde8c72a1e2163f4cc8c8ba106 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sat, 14 Dec 2024 12:15:36 -0800
Subject: [PATCH 1147/1243] Revert Tinygrad (#34243)

* Revert "dmonitoringmodeld: use cl transform (#34235)"

This reverts commit 684b0b9d4dea5b5b4002824ea15285376f3eb60c.

* Revert "load model before calling convert_fp16_to_fp32"

This reverts commit 31606a7d15e401899724bd2cd6d39727a338fcc7.

* Revert "bump tinygrad"

This reverts commit 44f58ff758c40250ec36adc4f924f0568779e07a.

* Revert "Tinygrad runner (#34171)"

This reverts commit 7b5a4fbb03afbb12caac5be91231fe600e21d0d5.

* Allow init buffer

* typo
---
 common/transformations/model.py               |   9 +-
 pyproject.toml                                |   3 +-
 release/release_files.py                      |   2 +-
 selfdrive/modeld/SConscript                   |  43 ++-
 selfdrive/modeld/dmonitoringmodeld            |   6 +
 selfdrive/modeld/dmonitoringmodeld.py         |  75 ++---
 selfdrive/modeld/modeld.py                    |  86 +++---
 selfdrive/modeld/models/commonmodel.cc        |  65 +++--
 selfdrive/modeld/models/commonmodel.h         |  74 +----
 selfdrive/modeld/models/commonmodel.pxd       |  12 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx   |  51 +---
 selfdrive/modeld/runners/__init__.py          |  27 ++
 selfdrive/modeld/runners/onnxmodel.py         |  98 +++++++
 selfdrive/modeld/runners/ort_helpers.py       |  37 ---
 selfdrive/modeld/runners/run.h                |   4 +
 selfdrive/modeld/runners/runmodel.h           |  49 ++++
 selfdrive/modeld/runners/runmodel.pxd         |  14 +
 selfdrive/modeld/runners/runmodel_pyx.pxd     |   6 +
 selfdrive/modeld/runners/runmodel_pyx.pyx     |  37 +++
 selfdrive/modeld/runners/snpemodel.cc         | 116 ++++++++
 selfdrive/modeld/runners/snpemodel.h          |  52 ++++
 selfdrive/modeld/runners/snpemodel.pxd        |   9 +
 selfdrive/modeld/runners/snpemodel_pyx.pyx    |  17 ++
 selfdrive/modeld/runners/thneedmodel.cc       |  58 ++++
 selfdrive/modeld/runners/thneedmodel.h        |  17 ++
 selfdrive/modeld/runners/thneedmodel.pxd      |   9 +
 selfdrive/modeld/runners/thneedmodel_pyx.pyx  |  14 +
 selfdrive/modeld/runners/tinygrad_helpers.py  |   8 -
 selfdrive/modeld/thneed/README                |   8 +
 selfdrive/modeld/thneed/__init__.py           |   0
 selfdrive/modeld/thneed/serialize.cc          | 154 +++++++++++
 selfdrive/modeld/thneed/thneed.h              | 133 +++++++++
 selfdrive/modeld/thneed/thneed_common.cc      | 216 +++++++++++++++
 selfdrive/modeld/thneed/thneed_pc.cc          |  32 +++
 selfdrive/modeld/thneed/thneed_qcom2.cc       | 258 ++++++++++++++++++
 selfdrive/test/test_onroad.py                 |  13 +-
 system/hardware/tici/tests/test_power_draw.py |   2 +-
 tinygrad_repo                                 |   2 +-
 uv.lock                                       |  99 ++++---
 39 files changed, 1547 insertions(+), 368 deletions(-)
 create mode 100644 selfdrive/modeld/runners/__init__.py
 create mode 100644 selfdrive/modeld/runners/onnxmodel.py
 delete mode 100644 selfdrive/modeld/runners/ort_helpers.py
 create mode 100644 selfdrive/modeld/runners/run.h
 create mode 100644 selfdrive/modeld/runners/runmodel.h
 create mode 100644 selfdrive/modeld/runners/runmodel.pxd
 create mode 100644 selfdrive/modeld/runners/runmodel_pyx.pxd
 create mode 100644 selfdrive/modeld/runners/runmodel_pyx.pyx
 create mode 100644 selfdrive/modeld/runners/snpemodel.cc
 create mode 100644 selfdrive/modeld/runners/snpemodel.h
 create mode 100644 selfdrive/modeld/runners/snpemodel.pxd
 create mode 100644 selfdrive/modeld/runners/snpemodel_pyx.pyx
 create mode 100644 selfdrive/modeld/runners/thneedmodel.cc
 create mode 100644 selfdrive/modeld/runners/thneedmodel.h
 create mode 100644 selfdrive/modeld/runners/thneedmodel.pxd
 create mode 100644 selfdrive/modeld/runners/thneedmodel_pyx.pyx
 delete mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
 create mode 100644 selfdrive/modeld/thneed/README
 create mode 100644 selfdrive/modeld/thneed/__init__.py
 create mode 100644 selfdrive/modeld/thneed/serialize.cc
 create mode 100644 selfdrive/modeld/thneed/thneed.h
 create mode 100644 selfdrive/modeld/thneed/thneed_common.cc
 create mode 100644 selfdrive/modeld/thneed/thneed_pc.cc
 create mode 100644 selfdrive/modeld/thneed/thneed_qcom2.cc

diff --git a/common/transformations/model.py b/common/transformations/model.py
index ea1dff30e8..aaa12d776a 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,7 +1,7 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -39,13 +39,6 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
-DM_INPUT_SIZE = (1440, 960)
-dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
-dmonitoringmodel_intrinsics = np.array([
-  [dmonitoringmodel_fl,  0.0, DM_INPUT_SIZE[0]/2],
-  [0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
-  [0.0,  0.0, 1.0]])
-
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
diff --git a/pyproject.toml b/pyproject.toml
index ff5c1e2392..41b0e3aca5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -42,7 +42,8 @@ dependencies = [
 
   # modeld
   "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3",
+  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
+  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
 
   # logging
   "pyzmq",
diff --git a/release/release_files.py b/release/release_files.py
index 0e1ed852a2..52974ba711 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -54,7 +54,7 @@ whitelist = [
   "tools/joystick/",
   "tools/longitudinal_maneuvers/",
 
-  "tinygrad_repo/examples/openpilot/compile3.py",
+  "tinygrad_repo/openpilot/compile2.py",
   "tinygrad_repo/extra/onnx.py",
   "tinygrad_repo/extra/onnx_ops.py",
   "tinygrad_repo/extra/thneed.py",
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 2a965b8690..d472998416 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -13,6 +13,20 @@ common_src = [
   "transforms/transform.cc",
 ]
 
+thneed_src_common = [
+  "thneed/thneed_common.cc",
+  "thneed/serialize.cc",
+]
+
+thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
+thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
+thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
+
+# SNPE except on Mac and ARM Linux
+snpe_lib = []
+if arch != "Darwin" and arch != "aarch64":
+  common_src += ['runners/snpemodel.cc']
+  snpe_lib += ['SNPE']
 
 # OpenCL is a framework on Mac
 if arch == "Darwin":
@@ -31,7 +45,11 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
 snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
 
 cython_libs = envCython["LIBS"] + libs
+snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
+
+lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
@@ -41,17 +59,20 @@ fn = File("models/supercombo").abspath
 cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-# Compile tinygrad model
-# TODO this is all super hacky
+# Build thneed model
+if arch == "larch64" or GetOption('pc_thneed'):
+  tinygrad_opts = []
+  if not GetOption('pc_thneed'):
+    # use FLOAT16 on device for speed + don't cache the CL kernels for space
+    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
 
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-else:
-  device_string = 'CLANG=1 IMAGE=0'
+  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
-for model_name in ['supercombo', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+  fn_dm = File("models/dmonitoring_model").abspath
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
+  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
 
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 90b43800fe..80157e1751 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -1,4 +1,10 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR/../../"
+
+if [ -f "$DIR/libthneed.so" ]; then
+  export LD_PRELOAD="$DIR/libthneed.so"
+fi
+
 exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index fbf2e424ac..7f04939c65 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,18 +1,8 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-## TODO this is hack
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import gc
 import math
 import time
-import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
@@ -23,20 +13,21 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
 
-MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
+MODEL_WIDTH = 1440
+MODEL_HEIGHT = 960
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
 
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
@@ -67,42 +58,33 @@ class DMonitoringModelResult(ctypes.Structure):
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
+  model: ModelRunner
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {
+      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
+      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
-    self.frame = MonitoringModelFrame(cl_ctx)
-    self.numpy_inputs = {
-      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
-    }
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
+    self.model.addInput("input_img", None)
+    self.model.addInput("calib", self.inputs['calib'])
 
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+  def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
+    self.inputs['calib'][:] = calib
 
-  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
-    self.numpy_inputs['calib'][0,:] = calib
+    v_offset = buf.height - MODEL_HEIGHT
+    h_offset = (buf.width - MODEL_WIDTH) // 2
+    buf_data = buf.data.reshape(-1, buf.stride)
+    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
+    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
 
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
     t1 = time.perf_counter()
-
-    input_img_cl = self.frame.prepare(buf, transform.flatten())
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_img' not in self.tensor_inputs:
-        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
-    else:
-      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
-
-    if TICI:
-      output = self.model_run(**self.tensor_inputs).numpy().flatten()
-    else:
-      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
-
+    self.model.execute()
     t2 = time.perf_counter()
-    return output, t2 - t1
+    return self.output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
@@ -155,23 +137,18 @@ def main():
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  model_transform = None
 
   while True:
     buf = vipc_client.recv()
     if buf is None:
       continue
 
-    if model_transform is None:
-      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
-      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
-
     sm.update(0)
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
     t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
+    model_output, gpu_execution_time = model.run(buf, calib)
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 8fe351b7b7..bdd6df3967 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,14 +1,5 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-## TODO this is hack
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
 import pickle
 import numpy as np
@@ -27,21 +18,21 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
-
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
+
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
-# TODO: should not hardcoded
-IMG_INPUT_SHAPE = (1, 12, 128, 256)
 
 class FrameMeta:
   frame_id: int = 0
@@ -53,27 +44,28 @@ class FrameMeta:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 class ModelState:
-  frame: DrivingModelFrame
-  wide_frame: DrivingModelFrame
+  frame: ModelFrame
+  wide_frame: ModelFrame
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  model: ModelRunner
 
   def __init__(self, context: CLContext):
-    self.frame = DrivingModelFrame(context)
-    self.wide_frame = DrivingModelFrame(context)
+    self.frame = ModelFrame(context)
+    self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
     self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1,(ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
@@ -84,12 +76,11 @@ class ModelState:
     self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
+    self.model.addInput("input_imgs", None)
+    self.model.addInput("big_input_imgs", None)
+    for k,v in self.inputs.items():
+      self.model.addInput(k, v)
 
   def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
@@ -106,30 +97,18 @@ class ModelState:
 
     self.desire_20Hz[:-1] = self.desire_20Hz[1:]
     self.desire_20Hz[-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
-
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    input_imgs_cl = self.frame.prepare(buf, transform.flatten())
-    big_input_imgs_cl = self.wide_frame.prepare(wbuf, transform_wide.flatten())
-
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_imgs' not in self.tensor_inputs:
-        self.tensor_inputs['input_imgs'] = qcom_tensor_from_opencl_address(input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
-        self.tensor_inputs['big_input_imgs'] = qcom_tensor_from_opencl_address(big_input_imgs_cl.mem_address, IMG_INPUT_SHAPE, dtype=dtypes.uint8)
-    else:
-      self.numpy_inputs['input_imgs'] = self.frame.buffer_from_cl(input_imgs_cl).reshape(IMG_INPUT_SHAPE)
-      self.numpy_inputs['big_input_imgs'] = self.wide_frame.buffer_from_cl(big_input_imgs_cl).reshape(IMG_INPUT_SHAPE)
+    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+
+    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+
+    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
+    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
 
     if prepare_only:
       return None
 
-    if TICI:
-      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
-    else:
-      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
-
+    self.model.execute()
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
@@ -139,9 +118,9 @@ class ModelState:
     self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
 
     idxs = np.arange(-4,-100,-4)[::-1]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
+    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
     # TODO model only uses last value now, once that changes we need to input strided action history buffer
-    self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -313,6 +292,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+
     last_vipc_frame_id = meta_main.frame_id
 
 
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index ad2620c7b4..e8a5a7ed52 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,61 +1,58 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
+#include <cassert>
 #include <cmath>
 #include <cstring>
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
+  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
   region.origin = 4 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
+  transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+  transform_queue(&this->transform, q,
+                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
   for (int i = 0; i < 4; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
+  if (output == NULL) {
+    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
 }
 
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
+ModelFrame::~ModelFrame() {
+  transform_destroy(&transform);
   loadyuv_destroy(&loadyuv);
   CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
   CL_CHECK(clReleaseMemObject(last_img_cl));
+  CL_CHECK(clReleaseMemObject(v_cl));
+  CL_CHECK(clReleaseMemObject(u_cl));
+  CL_CHECK(clReleaseMemObject(y_cl));
   CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseCommandQueue(q));
-}
+}
\ No newline at end of file
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 14409943e4..1c7360f159 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -2,7 +2,6 @@
 
 #include <cfloat>
 #include <cstdlib>
-#include <cassert>
 
 #include <memory>
 
@@ -19,54 +18,9 @@
 
 class ModelFrame {
 public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
+  ModelFrame(cl_device_id device_id, cl_context context);
+  ~ModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -75,22 +29,10 @@ public:
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
 private:
+  Transform transform;
   LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
+  cl_command_queue q;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
   cl_buffer_region region;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
+  std::unique_ptr<uint8_t[]> input_frames;
+};
\ No newline at end of file
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index d2a8fb4dcd..3348af3f17 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -14,13 +14,5 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
+    ModelFrame(cl_device_id, cl_context)
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index b754086544..99f9c5dc17 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,12 +4,11 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame
 
 
 cdef class CLContext(BaseCLContext):
@@ -24,47 +23,23 @@ cdef class CLMem:
     mem.mem = <cl_mem*> cmem
     return mem
 
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
 cdef class ModelFrame:
   cdef cppModelFrame * frame
-  cdef int buf_size
+
+  def __cinit__(self, CLContext context):
+    self.frame = new cppModelFrame(context.device_id, context.context)
 
   def __dealloc__(self):
     del self.frame
 
-  def prepare(self, VisionBuf buf, float[:] projection):
+  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
+    cdef unsigned char * data
+    if output is None:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
+    else:
+      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
+    if not data:
+      return None
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
new file mode 100644
index 0000000000..4c29bf3f1c
--- /dev/null
+++ b/selfdrive/modeld/runners/__init__.py
@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
new file mode 100644
index 0000000000..2a870392d5
--- /dev/null
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -0,0 +1,98 @@
+import onnx
+import itertools
+import os
+import sys
+import numpy as np
+from typing import Any
+
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(onnx_path_or_bytes):
+  if isinstance(onnx_path_or_bytes, bytes):
+    model = onnx.load_from_string(onnx_path_or_bytes)
+  elif isinstance(onnx_path_or_bytes, str):
+    model = onnx.load(onnx_path_or_bytes)
+
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+def create_ort_session(path, fp16_to_fp32):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: str | tuple[str, dict[Any, Any]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+
+    self.session = create_ort_session(path, fp16_to_fp32=True)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/selfdrive/modeld/runners/ort_helpers.py b/selfdrive/modeld/runners/ort_helpers.py
deleted file mode 100644
index 6c12b9fe19..0000000000
--- a/selfdrive/modeld/runners/ort_helpers.py
+++ /dev/null
@@ -1,37 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
-
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
new file mode 100644
index 0000000000..36ad262a5b
--- /dev/null
+++ b/selfdrive/modeld/runners/run.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/runners/snpemodel.h"
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
new file mode 100644
index 0000000000..18cc180cb7
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/swaglog.h"
+
+#define USE_CPU_RUNTIME 0
+#define USE_GPU_RUNTIME 1
+#define USE_DSP_RUNTIME 2
+
+struct ModelInput {
+  const std::string name;
+  float *buffer;
+  int size;
+
+  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
+  virtual void setBuffer(float *_buffer, int _size) {
+    assert(size == _size || size == 0);
+    buffer = _buffer;
+    size = _size;
+  }
+};
+
+class RunModel {
+public:
+  std::vector<std::unique_ptr<ModelInput>> inputs;
+
+  virtual ~RunModel() {}
+  virtual void execute() {}
+  virtual void* getCLBuffer(const std::string name) { return nullptr; }
+
+  virtual void addInput(const std::string name, float *buffer, int size) {
+    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
+  }
+  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
+    for (auto &input : inputs) {
+      if (name == input->name) {
+        input->setBuffer(buffer, size);
+        return;
+      }
+    }
+    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+};
diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd
new file mode 100644
index 0000000000..01b2a9cf2c
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel.pxd
@@ -0,0 +1,14 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+cdef extern from "selfdrive/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
+  cdef cppclass RunModel:
+    void addInput(string, float*, int)
+    void setInputBuffer(string, float*, int)
+    void * getCLBuffer(string)
+    void execute()
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd
new file mode 100644
index 0000000000..b6ede7cf37
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel_pyx.pxd
@@ -0,0 +1,6 @@
+# distutils: language = c++
+
+from .runmodel cimport RunModel as cppRunModel
+
+cdef class RunModel:
+  cdef cppRunModel * model
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
new file mode 100644
index 0000000000..12b8ec10ff
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -0,0 +1,37 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp.string cimport string
+
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
+from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
+
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
+cdef class RunModel:
+  def __dealloc__(self):
+    del self.model
+
+  def addInput(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.addInput(name, &buffer[0], len(buffer))
+    else:
+      self.model.addInput(name, NULL, 0)
+
+  def setInputBuffer(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.setInputBuffer(name, &buffer[0], len(buffer))
+    else:
+      self.model.setInputBuffer(name, NULL, 0)
+
+  def getCLBuffer(self, string name):
+    cdef void * cl_buf = self.model.getCLBuffer(name)
+    if not cl_buf:
+      return None
+    return CLMem.create(cl_buf)
+
+  def execute(self):
+    self.model.execute()
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
new file mode 100644
index 0000000000..15c1db0086
--- /dev/null
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -0,0 +1,116 @@
+#pragma clang diagnostic ignored "-Wexceptions"
+
+#include "selfdrive/modeld/runners/snpemodel.h"
+
+#include <cstring>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "common/timing.h"
+
+void PrintErrorStringAndExit() {
+  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  std::exit(EXIT_FAILURE);
+}
+
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
+#ifdef QCOM2
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
+  } else {
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
+  }
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
+#endif
+  model_data = util::read_file(path);
+  assert(model_data.size() > 0);
+
+  // load model
+  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
+  if (!container) { PrintErrorStringAndExit(); }
+  LOGW("loaded model with size: %lu", model_data.size());
+
+  // create model runner
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
+  while (!snpe) {
+#ifdef QCOM2
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#else
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
+#endif
+    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
+  }
+
+  // create output buffer
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
+  }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
+}
+
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
+
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
+
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
+
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
+}
+
+void SNPEModel::execute() {
+  if (!snpe->execute(input_map, output_map)) {
+    PrintErrorStringAndExit();
+  }
+}
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
new file mode 100644
index 0000000000..86b2c86084
--- /dev/null
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -0,0 +1,52 @@
+#pragma once
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include <DlContainer/IDlContainer.hpp>
+#include <DlSystem/DlError.hpp>
+#include <DlSystem/ITensor.hpp>
+#include <DlSystem/ITensorFactory.hpp>
+#include <DlSystem/IUserBuffer.hpp>
+#include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
+
+#include "selfdrive/modeld/runners/runmodel.h"
+
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
+class SNPEModel : public RunModel {
+public:
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
+  void execute();
+
+private:
+  std::string model_data;
+
+#ifdef QCOM2
+  zdl::DlSystem::Runtime_t snpe_runtime;
+#endif
+
+  // snpe model stuff
+  std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
+
+  bool use_tf8;
+  float *output;
+  size_t output_size;
+};
diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd
new file mode 100644
index 0000000000..a911b43584
--- /dev/null
+++ b/selfdrive/modeld/runners/snpemodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "selfdrive/modeld/runners/snpemodel.h":
+  cdef cppclass SNPEModel:
+    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
new file mode 100644
index 0000000000..f83b7c8cff
--- /dev/null
+++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx
@@ -0,0 +1,17 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import os
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .snpemodel cimport SNPEModel as cppSNPEModel
+from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
+from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
+from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
+cdef class SNPEModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
new file mode 100644
index 0000000000..a16d8b42aa
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -0,0 +1,58 @@
+#include "selfdrive/modeld/runners/thneedmodel.h"
+
+#include <string>
+
+#include "common/swaglog.h"
+
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
+  thneed = new Thneed(true, context);
+  thneed->load(path.c_str());
+  thneed->clexec();
+
+  recorded = false;
+  output = _output;
+}
+
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
+
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
+}
+
+void ThneedModel::execute() {
+  if (!recorded) {
+    thneed->record = true;
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+
+    thneed->copy_inputs(input_buffers);
+    thneed->clexec();
+    thneed->copy_output(output);
+    thneed->stop();
+
+    recorded = true;
+  } else {
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
+    }
+    thneed->execute(input_buffers, output);
+  }
+}
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
new file mode 100644
index 0000000000..6ed479c081
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <string>
+
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+
+class ThneedModel : public RunModel {
+public:
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
+  void execute();
+private:
+  Thneed *thneed = NULL;
+  bool recorded;
+  float *output;
+};
diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd
new file mode 100644
index 0000000000..79e24dbdd6
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from msgq.visionipc.visionipc cimport cl_context
+
+cdef extern from "selfdrive/modeld/runners/thneedmodel.h":
+  cdef cppclass ThneedModel:
+    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
new file mode 100644
index 0000000000..6f8fdd255f
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .thneedmodel cimport ThneedModel as cppThneedModel
+from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
+from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
+from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ThneedModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/selfdrive/modeld/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/thneed/README b/selfdrive/modeld/thneed/README
new file mode 100644
index 0000000000..f3bc66d8fc
--- /dev/null
+++ b/selfdrive/modeld/thneed/README
@@ -0,0 +1,8 @@
+thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
+
+It runs on the local device, and caches a single model run. Then it replays it, but fast.
+
+thneed slices through abstraction layers like a fish.
+
+You need a thneed.
+
diff --git a/selfdrive/modeld/thneed/__init__.py b/selfdrive/modeld/thneed/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
new file mode 100644
index 0000000000..3dc2bef414
--- /dev/null
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -0,0 +1,154 @@
+#include <cassert>
+#include <set>
+
+#include "third_party/json11/json11.hpp"
+#include "common/util.h"
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "selfdrive/modeld/thneed/thneed.h"
+using namespace json11;
+
+extern map<cl_program, string> g_program_source;
+
+void Thneed::load(const char *filename) {
+  LOGD("Thneed::load: loading from %s\n", filename);
+
+  string buf = util::read_file(filename);
+  int jsz = *(int *)buf.data();
+  string jsonerr;
+  string jj(buf.data() + sizeof(int), jsz);
+  Json jdat = Json::parse(jj, jsonerr);
+
+  map<cl_mem, cl_mem> real_mem;
+  real_mem[NULL] = NULL;
+
+  int ptr = sizeof(int)+jsz;
+  for (auto &obj : jdat["objects"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem clbuf = NULL;
+
+    if (mobj["buffer_id"].string_value().size() > 0) {
+      // image buffer must already be allocated
+      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+      assert(mobj["needs_load"].bool_value() == false);
+    } else {
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
+        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
+        ptr += sz;
+      } else {
+        // TODO: is there a faster way to init zeroed out buffers?
+        void *host_zeros = calloc(sz, 1);
+        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
+        free(host_zeros);
+      }
+    }
+    assert(clbuf != NULL);
+
+    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
+      cl_image_desc desc = {0};
+      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
+      desc.image_width = mobj["width"].int_value();
+      desc.image_height = mobj["height"].int_value();
+      desc.image_row_pitch = mobj["row_pitch"].int_value();
+      assert(sz == desc.image_height*desc.image_row_pitch);
+#ifdef QCOM2
+      desc.buffer = clbuf;
+#else
+      // TODO: we are creating unused buffers on PC
+      clReleaseMemObject(clbuf);
+#endif
+      cl_image_format format = {0};
+      format.image_channel_order = CL_RGBA;
+      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
+
+      cl_int errcode;
+
+#ifndef QCOM2
+      if (mobj["needs_load"].bool_value()) {
+        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
+      } else {
+        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+      }
+#else
+      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
+#endif
+      if (clbuf == NULL) {
+        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
+             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
+      }
+      assert(clbuf != NULL);
+    }
+
+    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
+  }
+
+  map<string, cl_program> g_programs;
+  for (const auto &[name, source] : jdat["programs"].object_items()) {
+    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
+    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
+  }
+
+  for (auto &obj : jdat["inputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    input_clmem.push_back(aa);
+    input_sizes.push_back(sz);
+    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
+
+    cl_int cl_err;
+    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
+    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
+    assert(cl_err == CL_SUCCESS);
+    inputs.push_back(ret);
+  }
+
+  for (auto &obj : jdat["outputs"].array_items()) {
+    auto mobj = obj.object_items();
+    int sz = mobj["size"].int_value();
+    LOGD("Thneed::save: adding output with size %d\n", sz);
+    // TODO: support multiple outputs
+    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
+    assert(output != NULL);
+  }
+
+  for (auto &obj : jdat["binaries"].array_items()) {
+    string name = obj["name"].string_value();
+    size_t length = obj["length"].int_value();
+    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
+    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
+    ptr += length;
+  }
+
+  for (auto &obj : jdat["kernels"].array_items()) {
+    auto gws = obj["global_work_size"];
+    auto lws = obj["local_work_size"];
+    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
+
+    kk->name = obj["name"].string_value();
+    kk->program = g_programs[kk->name];
+    kk->work_dim = obj["work_dim"].int_value();
+    for (int i = 0; i < kk->work_dim; i++) {
+      kk->global_work_size[i] = gws[i].int_value();
+      kk->local_work_size[i] = lws[i].int_value();
+    }
+    kk->num_args = obj["num_args"].int_value();
+    for (int i = 0; i < kk->num_args; i++) {
+      string arg = obj["args"].array_items()[i].string_value();
+      int arg_size = obj["args_size"].array_items()[i].int_value();
+      kk->args_size.push_back(arg_size);
+      if (arg_size == 8) {
+        cl_mem val = *(cl_mem*)(arg.data());
+        val = real_mem[val];
+        kk->args.push_back(string((char*)&val, sizeof(val)));
+      } else {
+        kk->args.push_back(arg);
+      }
+    }
+    kq.push_back(kk);
+  }
+
+  clFinish(command_queue);
+}
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
new file mode 100644
index 0000000000..47e18e0be3
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -0,0 +1,133 @@
+#pragma once
+
+#ifndef __user
+#define __user __attribute__(())
+#endif
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <CL/cl.h>
+
+#include "third_party/linux/include/msm_kgsl.h"
+
+using namespace std;
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
+
+namespace json11 {
+  class Json;
+}
+class Thneed;
+
+class GPUMalloc {
+  public:
+    GPUMalloc(int size, int fd);
+    ~GPUMalloc();
+    void *alloc(int size);
+  private:
+    uint64_t base;
+    int remaining;
+};
+
+class CLQueuedKernel {
+  public:
+    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
+    CLQueuedKernel(Thneed *lthneed,
+                   cl_kernel _kernel,
+                   cl_uint _work_dim,
+                   const size_t *_global_work_size,
+                   const size_t *_local_work_size);
+    cl_int exec();
+    void debug_print(bool verbose);
+    int get_arg_num(const char *search_arg_name);
+    cl_program program;
+    string name;
+    cl_uint num_args;
+    vector<string> arg_names;
+    vector<string> arg_types;
+    vector<string> args;
+    vector<int> args_size;
+    cl_kernel kernel = NULL;
+    json11::Json to_json() const;
+
+    cl_uint work_dim;
+    size_t global_work_size[3] = {0};
+    size_t local_work_size[3] = {0};
+  private:
+    Thneed *thneed;
+};
+
+class CachedIoctl {
+  public:
+    virtual void exec() {}
+};
+
+class CachedSync: public CachedIoctl {
+  public:
+    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
+    void exec();
+  private:
+    Thneed *thneed;
+    string data;
+};
+
+class CachedCommand: public CachedIoctl {
+  public:
+    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
+    void exec();
+  private:
+    void disassemble(int cmd_index);
+    struct kgsl_gpu_command cache;
+    unique_ptr<kgsl_command_object[]> cmds;
+    unique_ptr<kgsl_command_object[]> objs;
+    Thneed *thneed;
+    vector<shared_ptr<CLQueuedKernel> > kq;
+};
+
+class Thneed {
+  public:
+    Thneed(bool do_clinit=false, cl_context _context = NULL);
+    void stop();
+    void execute(float **finputs, float *foutput, bool slow=false);
+    void wait();
+
+    vector<cl_mem> input_clmem;
+    vector<void *> inputs;
+    vector<size_t> input_sizes;
+    cl_mem output = NULL;
+
+    cl_context context = NULL;
+    cl_command_queue command_queue;
+    cl_device_id device_id;
+    int context_id;
+
+    // protected?
+    bool record = false;
+    int debug;
+    int timestamp;
+
+#ifdef QCOM2
+    unique_ptr<GPUMalloc> ram;
+    vector<unique_ptr<CachedIoctl> > cmds;
+    int fd;
+#endif
+
+    // all CL kernels
+    void copy_inputs(float **finputs, bool internal=false);
+    void copy_output(float *foutput);
+    cl_int clexec();
+    vector<shared_ptr<CLQueuedKernel> > kq;
+
+    // pending CL kernels
+    vector<shared_ptr<CLQueuedKernel> > ckq;
+
+    // loading
+    void load(const char *filename);
+  private:
+    void clinit();
+};
+
diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc
new file mode 100644
index 0000000000..ecdf1237e3
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed_common.cc
@@ -0,0 +1,216 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <cassert>
+#include <cstring>
+#include <map>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+map<pair<cl_kernel, int>, string> g_args;
+map<pair<cl_kernel, int>, int> g_args_size;
+map<cl_program, string> g_program_source;
+
+void Thneed::stop() {
+  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
+  record = false;
+}
+
+void Thneed::clinit() {
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
+  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
+  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  printf("Thneed::clinit done\n");
+}
+
+cl_int Thneed::clexec() {
+  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
+  for (auto &k : kq) {
+    if (record) ckq.push_back(k);
+    cl_int ret = k->exec();
+    assert(ret == CL_SUCCESS);
+  }
+  return clFinish(command_queue);
+}
+
+void Thneed::copy_inputs(float **finputs, bool internal) {
+  for (int idx = 0; idx < inputs.size(); ++idx) {
+    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
+
+    if (internal) {
+      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
+      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+    } else {
+      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
+    }
+  }
+}
+
+void Thneed::copy_output(float *foutput) {
+  if (output != NULL) {
+    size_t sz;
+    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
+    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
+  } else {
+    printf("CAUTION: model output is NULL, does it have no outputs?\n");
+  }
+}
+
+// *********** CLQueuedKernel ***********
+
+CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
+                               cl_kernel _kernel,
+                               cl_uint _work_dim,
+                               const size_t *_global_work_size,
+                               const size_t *_local_work_size) {
+  thneed = lthneed;
+  kernel = _kernel;
+  work_dim = _work_dim;
+  assert(work_dim <= 3);
+  for (int i = 0; i < work_dim; i++) {
+    global_work_size[i] = _global_work_size[i];
+    local_work_size[i] = _local_work_size[i];
+  }
+
+  char _name[0x100];
+  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
+  name = string(_name);
+  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
+
+  // get args
+  for (int i = 0; i < num_args; i++) {
+    char arg_name[0x100] = {0};
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_names.push_back(string(arg_name));
+    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+    arg_types.push_back(string(arg_name));
+
+    args.push_back(g_args[make_pair(kernel, i)]);
+    args_size.push_back(g_args_size[make_pair(kernel, i)]);
+  }
+
+  // get program
+  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
+}
+
+int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
+  for (int i = 0; i < num_args; i++) {
+    if (arg_names[i] == search_arg_name) return i;
+  }
+  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
+  assert(false);
+}
+
+cl_int CLQueuedKernel::exec() {
+  if (kernel == NULL) {
+    kernel = clCreateKernel(program, name.c_str(), NULL);
+    arg_names.clear();
+    arg_types.clear();
+
+    for (int j = 0; j < num_args; j++) {
+      char arg_name[0x100] = {0};
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_names.push_back(string(arg_name));
+      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
+      arg_types.push_back(string(arg_name));
+
+      cl_int ret;
+      if (args[j].size() != 0) {
+        assert(args[j].size() == args_size[j]);
+        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
+      } else {
+        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
+      }
+      assert(ret == CL_SUCCESS);
+    }
+  }
+
+  if (thneed->debug >= 1) {
+    debug_print(thneed->debug >= 2);
+  }
+
+  return clEnqueueNDRangeKernel(thneed->command_queue,
+    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
+}
+
+void CLQueuedKernel::debug_print(bool verbose) {
+  printf("%p %56s -- ", kernel, name.c_str());
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf(" -- ");
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", local_work_size[i]);
+  }
+  printf("\n");
+
+  if (verbose) {
+    for (int i = 0; i < num_args; i++) {
+      string arg = args[i];
+      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
+      void *arg_value = (void*)arg.data();
+      int arg_size = arg.size();
+      if (arg_size == 0) {
+        printf(" (size) %d", args_size[i]);
+      } else if (arg_size == 1) {
+        printf(" = %d", *((char*)arg_value));
+      } else if (arg_size == 2) {
+        printf(" = %d", *((short*)arg_value));
+      } else if (arg_size == 4) {
+        if (arg_types[i] == "float") {
+          printf(" = %f", *((float*)arg_value));
+        } else {
+          printf(" = %d", *((int*)arg_value));
+        }
+      } else if (arg_size == 8) {
+        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
+        printf(" = %p", val);
+        if (val != NULL) {
+          cl_mem_object_type obj_type;
+          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
+          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
+            cl_image_format format;
+            size_t width, height, depth, array_size, row_pitch, slice_pitch;
+            cl_mem buf;
+            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
+            assert(format.image_channel_order == CL_RGBA);
+            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
+            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
+            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
+            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
+            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
+            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
+            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
+            assert(depth == 0);
+            assert(array_size == 0);
+            assert(slice_pitch == 0);
+
+            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
+            size_t sz = 0;
+            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
+          } else {
+            size_t sz;
+            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
+            printf(" buffer %zu", sz);
+          }
+        }
+      }
+      printf("\n");
+    }
+  }
+}
+
+cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
+  g_args_size[make_pair(kernel, arg_index)] = arg_size;
+  if (arg_value != NULL) {
+    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
+  } else {
+    g_args[make_pair(kernel, arg_index)] = string("");
+  }
+  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
+  return ret;
+}
diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc
new file mode 100644
index 0000000000..8d0037628e
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed_pc.cc
@@ -0,0 +1,32 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <cassert>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  context = _context;
+  if (do_clinit) clinit();
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs);
+
+  // ****** run commands
+  clexec();
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
new file mode 100644
index 0000000000..21de15d17c
--- /dev/null
+++ b/selfdrive/modeld/thneed/thneed_qcom2.cc
@@ -0,0 +1,258 @@
+#include "selfdrive/modeld/thneed/thneed.h"
+
+#include <dlfcn.h>
+#include <sys/mman.h>
+
+#include <cassert>
+#include <cerrno>
+#include <cstring>
+#include <map>
+#include <string>
+
+#include "common/clutil.h"
+#include "common/timing.h"
+
+Thneed *g_thneed = NULL;
+int g_fd = -1;
+
+void hexdump(uint8_t *d, int len) {
+  assert((len%4) == 0);
+  printf("  dumping %p len 0x%x\n", d, len);
+  for (int i = 0; i < len/4; i++) {
+    if (i != 0 && (i%0x10) == 0) printf("\n");
+    printf("%8x ", d[i]);
+  }
+  printf("\n");
+}
+
+// *********** ioctl interceptor ***********
+
+extern "C" {
+
+int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
+#undef ioctl
+int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
+  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
+  Thneed *thneed = g_thneed;
+
+  // save the fd
+  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
+
+  // note that this runs always, even without a thneed object
+  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
+    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
+    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
+  }
+
+  if (thneed != NULL) {
+    if (request == IOCTL_KGSL_GPU_COMMAND) {
+      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
+      if (thneed->record) {
+        thneed->timestamp = cmd->timestamp;
+        thneed->context_id = cmd->context_id;
+        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
+      }
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
+            thneed->cmds.size(),
+            cmd->flags,
+            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
+      }
+    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
+      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
+      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
+
+      if (thneed->debug >= 2) {
+        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
+        for (int i = 0; i < cmd->count; i++) {
+          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
+        }
+        printf("\n");
+      }
+
+      if (thneed->record) {
+        thneed->cmds.push_back(unique_ptr<CachedSync>(new
+              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
+      }
+    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
+      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
+      if (thneed->debug >= 1) {
+        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
+            cmd->context_id, cmd->timestamp, cmd->timeout);
+      }
+    } else if (request == IOCTL_KGSL_SETPROPERTY) {
+      if (thneed->debug >= 1) {
+        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
+        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
+        if (thneed->debug >= 2) {
+          hexdump((uint8_t *)prop->value, prop->sizebytes);
+          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
+            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
+            hexdump((uint8_t *)constraint->data, constraint->size);
+          }
+        }
+      }
+    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
+      // this happens
+    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
+      // this happens
+    } else {
+      if (thneed->debug >= 1) {
+        printf("other ioctl %lx\n", request);
+      }
+    }
+  }
+
+  int ret = my_ioctl(filedes, request, argp);
+  // NOTE: This error message goes into stdout and messes up pyenv
+  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  return ret;
+}
+
+}
+
+// *********** GPUMalloc ***********
+
+GPUMalloc::GPUMalloc(int size, int fd) {
+  struct kgsl_gpuobj_alloc alloc;
+  memset(&alloc, 0, sizeof(alloc));
+  alloc.size = size;
+  alloc.flags = 0x10000a00;
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
+  assert(addr != MAP_FAILED);
+
+  base = (uint64_t)addr;
+  remaining = size;
+}
+
+GPUMalloc::~GPUMalloc() {
+  // TODO: free the GPU malloced area
+}
+
+void *GPUMalloc::alloc(int size) {
+  void *ret = (void*)base;
+  size = (size+0xff) & (~0xFF);
+  assert(size <= remaining);
+  remaining -= size;
+  base += size;
+  return ret;
+}
+
+// *********** CachedSync, at the ioctl layer ***********
+
+void CachedSync::exec() {
+  struct kgsl_gpuobj_sync cmd;
+
+  cmd.objs = (uint64_t)data.data();
+  cmd.obj_len = data.length();
+  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
+
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
+  assert(ret == 0);
+}
+
+// *********** CachedCommand, at the ioctl layer ***********
+
+CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
+  thneed = lthneed;
+  assert(cmd->numsyncs == 0);
+
+  memcpy(&cache, cmd, sizeof(cache));
+
+  if (cmd->numcmds > 0) {
+    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
+    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
+    cache.cmdlist = (uint64_t)cmds.get();
+    for (int i = 0; i < cmd->numcmds; i++) {
+      void *nn = thneed->ram->alloc(cmds[i].size);
+      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
+      cmds[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  if (cmd->numobjs > 0) {
+    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
+    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
+    cache.objlist = (uint64_t)objs.get();
+    for (int i = 0; i < cmd->numobjs; i++) {
+      void *nn = thneed->ram->alloc(objs[i].size);
+      memset(nn, 0, objs[i].size);
+      objs[i].gpuaddr = (uint64_t)nn;
+    }
+  }
+
+  kq = thneed->ckq;
+  thneed->ckq.clear();
+}
+
+void CachedCommand::exec() {
+  cache.timestamp = ++thneed->timestamp;
+  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
+
+  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
+
+  if (thneed->debug >= 2) {
+    for (auto &it : kq) {
+      it->debug_print(false);
+    }
+  }
+
+  assert(ret == 0);
+}
+
+// *********** Thneed ***********
+
+Thneed::Thneed(bool do_clinit, cl_context _context) {
+  // TODO: QCOM2 actually requires a different context
+  //context = _context;
+  if (do_clinit) clinit();
+  assert(g_fd != -1);
+  fd = g_fd;
+  ram = make_unique<GPUMalloc>(0x80000, fd);
+  timestamp = -1;
+  g_thneed = this;
+  char *thneed_debug_env = getenv("THNEED_DEBUG");
+  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
+}
+
+void Thneed::wait() {
+  struct kgsl_device_waittimestamp_ctxtid wait;
+  wait.context_id = context_id;
+  wait.timestamp = timestamp;
+  wait.timeout = -1;
+
+  uint64_t tb = nanos_since_boot();
+  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
+  uint64_t te = nanos_since_boot();
+
+  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
+}
+
+void Thneed::execute(float **finputs, float *foutput, bool slow) {
+  uint64_t tb, te;
+  if (debug >= 1) tb = nanos_since_boot();
+
+  // ****** copy inputs
+  copy_inputs(finputs, true);
+
+  // ****** run commands
+  int i = 0;
+  for (auto &it : cmds) {
+    ++i;
+    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
+    it->exec();
+    if ((i == cmds.size()) || slow) wait();
+  }
+
+  // ****** copy outputs
+  copy_output(foutput);
+
+  if (debug >= 1) {
+    te = nanos_since_boot();
+    printf("model exec in %lu us\n", (te-tb)/1000);
+  }
+}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index c3c2461790..7b1519a3d3 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 275.  # total for all 8 cores
+MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -50,8 +50,8 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 21.0,
+  "selfdrive.modeld.modeld": 17.0,
+  "selfdrive.modeld.dmonitoringmodeld": 11.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -371,13 +371,14 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "----------------- Model Timing -----------------\n"
     result += "------------------------------------------------\n"
+    # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
-      ("modelV2", 0.045, 0.035),
-      ("driverStateV2", 0.045, 0.035),
+      ("modelV2", 0.050, 0.036),
+      ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some tinygrad init happens in first iteration
+      # TODO some init can happen in first iteration
       ts = ts[1:]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index e1b9845c4c..8598b2faa2 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -33,7 +33,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/tinygrad_repo b/tinygrad_repo
index 270bbd36a9..9dda6d260d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 270bbd36a925d9c612f1eeb7ea0ea4ad83fec41e
+Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1
diff --git a/uv.lock b/uv.lock
index 88c18ee8ab..de8b67cee0 100644
--- a/uv.lock
+++ b/uv.lock
@@ -652,10 +652,10 @@ name = "gymnasium"
 version = "1.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "farama-notifications", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "cloudpickle" },
+    { name = "farama-notifications" },
+    { name = "numpy" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4e/12/1047b8fdbfcdce74022048d916e844ad7e6e1114d81d26a7aed657e3a76d/gymnasium-1.0.0.tar.gz", hash = "sha256:9d2b66f30c1b34fe3c2ce7fae65ecf365d0e9982d2b3d860235e773328a3b403", size = 821389 }
 wheels = [
@@ -962,22 +962,22 @@ name = "metadrive-simulator"
 version = "0.4.2.3"
 source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl" }
 dependencies = [
-    { name = "filelock", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "gymnasium", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "lxml", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "matplotlib", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pillow", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "progressbar", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "psutil", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pygments", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "requests", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "shapely", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "tqdm", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "yapf", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "filelock" },
+    { name = "gymnasium" },
+    { name = "lxml" },
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "opencv-python-headless" },
+    { name = "panda3d" },
+    { name = "panda3d-gltf" },
+    { name = "pillow" },
+    { name = "progressbar" },
+    { name = "psutil" },
+    { name = "pygments" },
+    { name = "requests" },
+    { name = "shapely" },
+    { name = "tqdm" },
+    { name = "yapf" },
 ]
 wheels = [
     { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl", hash = "sha256:6242d4e37e6c592d5eb1cadf497637540d3b754b89813a88c50a93c7fc88b02d" },
@@ -1234,16 +1234,27 @@ dependencies = [
     { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/95/8d/2634e2959b34aa8a0037989f4229e9abcfa484e9c228f99633b3241768a6/onnxruntime-1.20.1-cp311-cp311-macosx_13_0_universal2.whl", hash = "sha256:06bfbf02ca9ab5f28946e0f912a562a5f005301d0c419283dc57b3ed7969bb7b", size = 30998725 },
     { url = "https://files.pythonhosted.org/packages/a5/da/c44bf9bd66cd6d9018a921f053f28d819445c4d84b4dd4777271b0fe52a2/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f6243e34d74423bdd1edf0ae9596dd61023b260f546ee17d701723915f06a9f7", size = 11955227 },
     { url = "https://files.pythonhosted.org/packages/11/ac/4120dfb74c8e45cce1c664fc7f7ce010edd587ba67ac41489f7432eb9381/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5eec64c0269dcdb8d9a9a53dc4d64f87b9e0c19801d9321246a53b7eb5a7d1bc", size = 13331703 },
-    { url = "https://files.pythonhosted.org/packages/12/f1/cefacac137f7bb7bfba57c50c478150fcd3c54aca72762ac2c05ce0532c1/onnxruntime-1.20.1-cp311-cp311-win32.whl", hash = "sha256:a19bc6e8c70e2485a1725b3d517a2319603acc14c1f1a017dda0afe6d4665b41", size = 9813977 },
-    { url = "https://files.pythonhosted.org/packages/2c/2d/2d4d202c0bcfb3a4cc2b171abb9328672d7f91d7af9ea52572722c6d8d96/onnxruntime-1.20.1-cp311-cp311-win_amd64.whl", hash = "sha256:8508887eb1c5f9537a4071768723ec7c30c28eb2518a00d0adcd32c89dea3221", size = 11329895 },
-    { url = "https://files.pythonhosted.org/packages/e5/39/9335e0874f68f7d27103cbffc0e235e32e26759202df6085716375c078bb/onnxruntime-1.20.1-cp312-cp312-macosx_13_0_universal2.whl", hash = "sha256:22b0655e2bf4f2161d52706e31f517a0e54939dc393e92577df51808a7edc8c9", size = 31007580 },
     { url = "https://files.pythonhosted.org/packages/c5/9d/a42a84e10f1744dd27c6f2f9280cc3fb98f869dd19b7cd042e391ee2ab61/onnxruntime-1.20.1-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f1f56e898815963d6dc4ee1c35fc6c36506466eff6d16f3cb9848cea4e8c8172", size = 11952833 },
     { url = "https://files.pythonhosted.org/packages/47/42/2f71f5680834688a9c81becbe5c5bb996fd33eaed5c66ae0606c3b1d6a02/onnxruntime-1.20.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:bb71a814f66517a65628c9e4a2bb530a6edd2cd5d87ffa0af0f6f773a027d99e", size = 13333903 },
-    { url = "https://files.pythonhosted.org/packages/c8/f1/aabfdf91d013320aa2fc46cf43c88ca0182860ff15df872b4552254a9680/onnxruntime-1.20.1-cp312-cp312-win32.whl", hash = "sha256:bd386cc9ee5f686ee8a75ba74037750aca55183085bf1941da8efcfe12d5b120", size = 9814562 },
-    { url = "https://files.pythonhosted.org/packages/dd/80/76979e0b744307d488c79e41051117634b956612cc731f1028eb17ee7294/onnxruntime-1.20.1-cp312-cp312-win_amd64.whl", hash = "sha256:19c2d843eb074f385e8bbb753a40df780511061a63f9def1b216bf53860223fb", size = 11331482 },
+]
+
+[[package]]
+name = "onnxruntime-gpu"
+version = "1.20.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "coloredlogs" },
+    { name = "flatbuffers" },
+    { name = "numpy" },
+    { name = "packaging" },
+    { name = "protobuf" },
+    { name = "sympy" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/e0/a5/5c2287d61f359c7342e9d59d1e3dd728a982dea85f846c7af305a801c3ca/onnxruntime_gpu-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1795e8bc6f9a1488a4d51d242edc4232a5ae60ec44ab4d4b0a7c65b3d17fcbff", size = 291519550 },
+    { url = "https://files.pythonhosted.org/packages/91/a8/6984a2fb070be372a866108e3e85c9eb6e8f0378a8567a66967d80befb75/onnxruntime_gpu-1.20.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1951f96cd534c6151721e552606d0d792ea6a4c3e57e2f10eed17cca8105e953", size = 291510989 },
 ]
 
 [[package]]
@@ -1251,7 +1262,7 @@ name = "opencv-python-headless"
 version = "4.10.0.84"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
 wheels = [
@@ -1280,7 +1291,8 @@ dependencies = [
     { name = "libusb1" },
     { name = "numpy" },
     { name = "onnx" },
-    { name = "onnxruntime" },
+    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
     { name = "psutil" },
     { name = "pyaudio" },
     { name = "pycapnp" },
@@ -1378,7 +1390,8 @@ requires-dist = [
     { name = "natsort", marker = "extra == 'docs'" },
     { name = "numpy", specifier = "<2.0.0" },
     { name = "onnx", specifier = ">=1.14.0" },
-    { name = "onnxruntime", specifier = ">=1.16.3" },
+    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
     { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8,<0.9" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
@@ -1456,8 +1469,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d" },
+    { name = "panda3d-simplepbr" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 }
 wheels = [
@@ -1469,8 +1482,8 @@ name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 }
 wheels = [
@@ -4341,9 +4354,9 @@ name = "pyopencl"
 version = "2024.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pytools", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy" },
+    { name = "platformdirs" },
+    { name = "pytools" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ec/28/4679ea08b84532a67fd2d270c8f87aec64dab9ab99e618927b6a26ea063e/pyopencl-2024.3.tar.gz", hash = "sha256:d5d08de9b0a6d85695caba1769aceae4e7661f06951c507bd1ce8fb7a89e2413", size = 422604 }
 wheels = [
@@ -4397,7 +4410,7 @@ name = "pyqt5"
 version = "5.15.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyqt5-sip", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyqt5-sip" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/6c/640e3f5c734c296a7193079a86842a789edb7988dca39eab44579088a1d1/PyQt5-5.15.2.tar.gz", hash = "sha256:372b08dc9321d1201e4690182697c5e7ffb2e0770e6b4a45519025134b12e4fc", size = 3265445 }
 wheels = [
@@ -4615,9 +4628,9 @@ name = "pytools"
 version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "siphash24", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs" },
+    { name = "siphash24" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
@@ -4806,7 +4819,6 @@ wheels = [
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     { url = "https://files.pythonhosted.org/packages/11/46/879763c619b5470820f0cd6ca97d134771e502776bc2b844d2adb6e37753/ruamel.yaml.clib-0.2.12-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:cf12567a7b565cbf65d438dec6cfbe2917d3c1bdddfce84a9930b7d35ea59642", size = 704352 },
     { url = "https://files.pythonhosted.org/packages/02/80/ece7e6034256a4186bbe50dee28cd032d816974941a6abf6a9d65e4228a7/ruamel.yaml.clib-0.2.12-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:7dd5adc8b930b12c8fc5b99e2d535a09889941aa0d0bd06f4749e9a9397c71d2", size = 737344 },
-    { url = "https://files.pythonhosted.org/packages/f0/ca/e4106ac7e80efbabdf4bf91d3d32fc424e41418458251712f5672eada9ce/ruamel.yaml.clib-0.2.12-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:1492a6051dab8d912fc2adeef0e8c72216b24d57bd896ea607cb90bb0c4981d3", size = 714498 },
     { url = "https://files.pythonhosted.org/packages/67/58/b1f60a1d591b771298ffa0428237afb092c7f29ae23bad93420b1eb10703/ruamel.yaml.clib-0.2.12-cp311-cp311-win32.whl", hash = "sha256:bd0a08f0bab19093c54e18a14a10b4322e1eacc5217056f3c063bd2f59853ce4", size = 100205 },
     { url = "https://files.pythonhosted.org/packages/b4/4f/b52f634c9548a9291a70dfce26ca7ebce388235c93588a1068028ea23fcc/ruamel.yaml.clib-0.2.12-cp311-cp311-win_amd64.whl", hash = "sha256:a274fb2cb086c7a3dea4322ec27f4cb5cc4b6298adb583ab0e211a4682f241eb", size = 118185 },
     { url = "https://files.pythonhosted.org/packages/48/41/e7a405afbdc26af961678474a55373e1b323605a4f5e2ddd4a80ea80f628/ruamel.yaml.clib-0.2.12-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:20b0f8dc160ba83b6dcc0e256846e1a02d044e13f7ea74a3d1d56ede4e48c632", size = 133433 },
@@ -4815,7 +4827,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/52/a9/d39f3c5ada0a3bb2870d7db41901125dbe2434fa4f12ca8c5b83a42d7c53/ruamel.yaml.clib-0.2.12-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:749c16fcc4a2b09f28843cda5a193e0283e47454b63ec4b81eaa2242f50e4ccd", size = 706497 },
     { url = "https://files.pythonhosted.org/packages/b0/fa/097e38135dadd9ac25aecf2a54be17ddf6e4c23e43d538492a90ab3d71c6/ruamel.yaml.clib-0.2.12-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:bf165fef1f223beae7333275156ab2022cffe255dcc51c27f066b4370da81e31", size = 698042 },
     { url = "https://files.pythonhosted.org/packages/ec/d5/a659ca6f503b9379b930f13bc6b130c9f176469b73b9834296822a83a132/ruamel.yaml.clib-0.2.12-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:32621c177bbf782ca5a18ba4d7af0f1082a3f6e517ac2a18b3974d4edf349680", size = 745831 },
-    { url = "https://files.pythonhosted.org/packages/db/5d/36619b61ffa2429eeaefaab4f3374666adf36ad8ac6330d855848d7d36fd/ruamel.yaml.clib-0.2.12-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:b82a7c94a498853aa0b272fd5bc67f29008da798d4f93a2f9f289feb8426a58d", size = 715692 },
     { url = "https://files.pythonhosted.org/packages/b1/82/85cb92f15a4231c89b95dfe08b09eb6adca929ef7df7e17ab59902b6f589/ruamel.yaml.clib-0.2.12-cp312-cp312-win32.whl", hash = "sha256:e8c4ebfcfd57177b572e2040777b8abc537cdef58a2120e830124946aa9b42c5", size = 98777 },
     { url = "https://files.pythonhosted.org/packages/d7/8f/c3654f6f1ddb75daf3922c3d8fc6005b1ab56671ad56ffb874d908bfa668/ruamel.yaml.clib-0.2.12-cp312-cp312-win_amd64.whl", hash = "sha256:0467c5965282c62203273b838ae77c0d29d7638c8a4e3a1c8bdd3602c10904e4", size = 115523 },
 ]
@@ -4922,7 +4933,7 @@ name = "shapely"
 version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4a/89/0d20bac88016be35ff7d3c0c2ae64b477908f1b1dfa540c5d69ac7af07fe/shapely-2.0.6.tar.gz", hash = "sha256:997f6159b1484059ec239cacaa53467fd8b5564dabe186cd84ac2944663b0bf6", size = 282361 }
 wheels = [
@@ -5147,7 +5158,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From 70fa0ab4c1fc5475b915cb9e45ca9b4e7e5e331a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 14 Dec 2024 13:09:59 -0800
Subject: [PATCH 1148/1243] debug: touch events plot (#34242)

* replay

* remove
---
 selfdrive/debug/touch_replay.py | 48 +++++++++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100755 selfdrive/debug/touch_replay.py

diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
new file mode 100755
index 0000000000..c397520918
--- /dev/null
+++ b/selfdrive/debug/touch_replay.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import argparse
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+from openpilot.tools.lib.logreader import LogReader
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--width', default=2160, type=int)
+  parser.add_argument('--height', default=1080, type=int)
+  parser.add_argument('--route', default='rlog', type=str)
+  args = parser.parse_args()
+
+  w = args.width
+  h = args.height
+  route = args.route
+
+  fingers = [[-1, -1]] * 5
+  touch_points = []
+  current_slot = 0
+
+  lr = list(LogReader(route))
+  for msg in lr:
+    if msg.which() == 'touch':
+      for event in msg.touch:
+        if event.type == 3 and event.code == 47:
+          current_slot = event.value
+        elif event.type == 3 and event.code == 57 and event.value == -1:
+          fingers[current_slot] = [-1, -1]
+        elif event.type == 3 and event.code == 53:
+          fingers[current_slot][1] = h - (h - event.value)
+          if fingers[current_slot][0] != -1:
+            touch_points.append(fingers[current_slot].copy())
+        elif event.type == 3 and event.code == 54:
+          fingers[current_slot][0] = w - event.value
+          if fingers[current_slot][1] != -1:
+            touch_points.append(fingers[current_slot].copy())
+
+  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
+
+  plt.figure(figsize=(10, 3))
+  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
+  plt.colorbar()
+  plt.title(f'Touches for {route}')
+  plt.grid(True)
+  plt.show()

From ba0e7c47193111747f18aa3b58102b9563ddfcca Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Dec 2024 13:50:25 -0800
Subject: [PATCH 1149/1243] hardware: add helper for setting IR power (#34245)

* hardware: add helper for setting IR power

* fix
---
 selfdrive/pandad/pandad.cc      |  1 +
 system/hardware/base.h          |  1 +
 system/hardware/tici/hardware.h | 23 +++++++++++++++++++++++
 3 files changed, 25 insertions(+)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index dd970dd16c..bf2a465d78 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -416,6 +416,7 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
 
     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
       panda->set_ir_pwr(ir_pwr);
+      Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }
diff --git a/system/hardware/base.h b/system/hardware/base.h
index ca24633a18..732f0f99e0 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -28,6 +28,7 @@ public:
   static void reboot() {}
   static void poweroff() {}
   static void set_brightness(int percent) {}
+  static void set_ir_power(int percentage) {}
   static void set_display_power(bool on) {}
 
   static bool get_ssh_enabled() { return false; }
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index f1d1f1e717..702785c9d9 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -4,6 +4,7 @@
 #include <fstream>
 #include <map>
 #include <string>
+#include <algorithm>  // for std::clamp
 
 #include "common/params.h"
 #include "common/util.h"
@@ -68,6 +69,28 @@ public:
     }
   }
 
+  static void set_ir_power(int percent) {
+    auto device = get_device_type();
+    if (device == cereal::InitData::DeviceType::TICI ||
+        device == cereal::InitData::DeviceType::TIZI) {
+      return;
+    }
+
+    percent = std::clamp(percent, 0, 100);
+
+    std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
+    if (torch_brightness.is_open()) {
+      torch_brightness << percent << "\n";
+      torch_brightness.close();
+    }
+
+    std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
+    if (switch_brightness.is_open()) {
+      switch_brightness << percent << "\n";
+      switch_brightness.close();
+    }
+  }
+
   static std::map<std::string, std::string> get_init_logs() {
     std::map<std::string, std::string> ret = {
       {"/BUILD", util::read_file("/BUILD")},

From b6233838eb6aa564c0fd13bf55bc3914ae7a7716 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Dec 2024 23:10:04 -0800
Subject: [PATCH 1150/1243] macOS: disable brew auto update (#34247)

---
 tools/mac_setup.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 062de6aabf..bfbdb0cc66 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -5,6 +5,9 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)
 
+# homebrew update is slow
+export HOMEBREW_NO_AUTO_UPDATE=1
+
 if [[ $SHELL == "/bin/zsh" ]]; then
   RC_FILE="$HOME/.zshrc"
 elif [[ $SHELL == "/bin/bash" ]]; then

From d735db6113396947fdb3884caf45023bf453f7fb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 14 Dec 2024 23:17:45 -0800
Subject: [PATCH 1151/1243] rm cppcheck (#34248)

---
 tools/install_ubuntu_dependencies.sh | 1 -
 tools/mac_setup.sh                   | 1 -
 2 files changed, 2 deletions(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index bb41587c5b..f224f01f95 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -23,7 +23,6 @@ function install_ubuntu_common_requirements() {
   $SUDO apt-get install -y --no-install-recommends \
     ca-certificates \
     clang \
-    cppcheck \
     build-essential \
     gcc-arm-none-eabi \
     liblzma-dev \
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index bfbdb0cc66..c626ec4561 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -31,7 +31,6 @@ if [[ $(command -v brew) == "" ]]; then
 fi
 
 brew bundle --file=- <<-EOS
-brew "cppcheck"
 brew "git-lfs"
 brew "zlib"
 brew "capnp"

From df2bf83846e0a3cda9c5be67c98f920b98d47b18 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 15 Dec 2024 09:39:23 -0800
Subject: [PATCH 1152/1243] op/switch: more robust switching

---
 tools/op.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/op.sh b/tools/op.sh
index 4d352af5d1..d56dadc76e 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -328,7 +328,8 @@ function op_switch() {
   BRANCH="$1"
 
   git fetch "$REMOTE" "$BRANCH"
-  git checkout -f --recurse-submodules --track "$REMOTE"/"$BRANCH"
+  git checkout -f FETCH_HEAD
+  git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH"
   git reset --hard "${REMOTE}/${BRANCH}"
   git clean -df
   git submodule update --init --recursive

From 8558928864d07615eaa58a7eb492c9a42cca1b50 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 15 Dec 2024 13:36:51 -0800
Subject: [PATCH 1153/1243] add branch guide to the readme

---
 README.md | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 38d32ec3b6..b0959eee5d 100644
--- a/README.md
+++ b/README.md
@@ -38,7 +38,8 @@ Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
   </tr>
 </table>
 
-To start using openpilot in a car
+
+Using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
@@ -49,6 +50,14 @@ To use openpilot in a car, you need four things:
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 
+### Branches
+| branch           | URL                                    | description                                                                         |
+|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
+| `release3`         | openilot.comma.ai                      | This is openpilot's release branch.                                                 |
+| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
+| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
+| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+
 To start developing openpilot
 ------
 

From 833a67b0198db574080ac635468f71f39348c4dd Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Sun, 15 Dec 2024 21:05:29 -0800
Subject: [PATCH 1154/1243] [bot] Update Python packages (#34251)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 202 ++++++++++++++++++++++++---------------------------
 3 files changed, 98 insertions(+), 108 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 8614cb8b4c..fd8471dc0d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8614cb8b4c9612416bc13e1b2c9fbbde4dcb0b61
+Subproject commit fd8471dc0d6fbd7ae009ab6d75036667c5b576a5
diff --git a/panda b/panda
index c7cc2deaf0..12ca145e4f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c7cc2deaf046403899b5bcc964b9f48bfd508534
+Subproject commit 12ca145e4f799c62b37a03cdea51e726ecf7a971
diff --git a/uv.lock b/uv.lock
index de8b67cee0..12aea8872c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -3,10 +3,10 @@ requires-python = ">=3.11, <=3.12"
 resolution-markers = [
     "python_full_version < '3.12' and platform_system == 'Darwin'",
     "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
     "python_full_version >= '3.12' and platform_system == 'Darwin'",
     "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]
 
 [[package]]
@@ -105,14 +105,14 @@ wheels = [
 
 [[package]]
 name = "aiosignal"
-version = "1.3.1"
+version = "1.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "frozenlist" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
+sdist = { url = "https://files.pythonhosted.org/packages/ba/b5/6d55e80f6d8a08ce22b982eafa278d823b541c925f11ee774b0b9c43473d/aiosignal-1.3.2.tar.gz", hash = "sha256:a8c255c66fafb1e499c9351d0bf32ff2d8a0321595ebac3b93713656d2436f54", size = 19424 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/76/ac/a7305707cb852b7e16ff80eaf5692309bde30e2b1100a1fcacdc8f731d97/aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17", size = 7617 },
+    { url = "https://files.pythonhosted.org/packages/ec/6a/bc7e17a3e87a2985d3e8f4da4cd0f481060eb78fb08596c42be62c90a4d9/aiosignal-1.3.2-py2.py3-none-any.whl", hash = "sha256:45cde58e409a301715980c2b01d0c28bdde3770d8290b5eb2173759d9acb31a5", size = 7597 },
 ]
 
 [[package]]
@@ -214,11 +214,11 @@ wheels = [
 
 [[package]]
 name = "certifi"
-version = "2024.8.30"
+version = "2024.12.14"
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 [[package]]

From cf4fae54642b8a8ac26b90776fdd4d5db1653069 Mon Sep 17 00:00:00 2001
From: Mike Busuttil <31480000+MikeBusuttil@users.noreply.github.com>
Date: Mon, 16 Dec 2024 12:37:29 -0500
Subject: [PATCH 1155/1243] CTF.md typo (#34257)

typo
---
 tools/CTF.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/CTF.md b/tools/CTF.md
index a14a41d55d..32891cd389 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -11,7 +11,7 @@ Welcome to the first part of the comma CTF!
 
 getting started
 ```bash
-# start the route reply
+# start the route replay
 cd tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam
 

From ea444ec3404139b714271e17179f76424505beb3 Mon Sep 17 00:00:00 2001
From: Edward Wang <edawordwang@gmail.com>
Date: Mon, 16 Dec 2024 12:47:32 -0500
Subject: [PATCH 1156/1243] Standardize ENV=* formatting in Dockerfiles
 (#34253)

fix ENV formatting
---
 Dockerfile.openpilot      |  6 +++---
 Dockerfile.openpilot_base | 14 +++++++-------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index e26a427eb1..f34caba81b 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,9 +1,9 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-ENV PYTHONUNBUFFERED 1
+ENV PYTHONUNBUFFERED=1
 
-ENV OPENPILOT_PATH /home/batman/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index ae0cda374d..cc73503f53 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,6 +1,6 @@
 FROM ubuntu:24.04
 
-ENV PYTHONUNBUFFERED 1
+ENV PYTHONUNBUFFERED=1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
@@ -8,9 +8,9 @@ RUN apt-get update && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN /tmp/tools/install_ubuntu_dependencies.sh && \
@@ -55,9 +55,9 @@ RUN mkdir -p /tmp/opencl-driver-intel && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
 

From 11fb0b95d278af3a77a0ad5e013e35e7a4f11bba Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 16 Dec 2024 10:28:17 -0800
Subject: [PATCH 1157/1243] [bot] Update Python packages (#34256)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 uv.lock | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/uv.lock b/uv.lock
index 12aea8872c..f9014cb800 100644
--- a/uv.lock
+++ b/uv.lock
@@ -117,11 +117,11 @@ wheels = [
 
 [[package]]
 name = "attrs"
-version = "24.2.0"
+version = "24.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fc/0f/aafca9af9315aee06a89ffde799a10a582fe8de76c563ee80bbcdc08b3fb/attrs-24.2.0.tar.gz", hash = "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346", size = 792678 }
+sdist = { url = "https://files.pythonhosted.org/packages/48/c8/6260f8ccc11f0917360fc0da435c5c9c7504e3db174d5a12a1494887b045/attrs-24.3.0.tar.gz", hash = "sha256:8f5c07333d543103541ba7be0e2ce16eeee8130cb0b3f9238ab904ce1e85baff", size = 805984 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/6a/21/5b6702a7f963e95456c0de2d495f67bf5fd62840ac655dc451586d23d39a/attrs-24.2.0-py3-none-any.whl", hash = "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2", size = 63001 },
+    { url = "https://files.pythonhosted.org/packages/89/aa/ab0f7891a01eeb2d2e338ae8fecbe57fcebea1a24dbb64d45801bfab481d/attrs-24.3.0-py3-none-any.whl", hash = "sha256:ac96cd038792094f438ad1f6ff80837353805ac950cd2aa0e0625ef19850c308", size = 63397 },
 ]
 
 [[package]]

From a98210aeec5f945635a9a83ba132782bcd537c1f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 16 Dec 2024 13:10:00 -0800
Subject: [PATCH 1158/1243] modeld: ort helpers (#34258)

* ort helpers

* import from ort helpers

* import that too

* linter

* linter

* linter
---
 selfdrive/modeld/runners/onnxmodel.py   | 33 +++--------------------
 selfdrive/modeld/runners/ort_helpers.py | 36 +++++++++++++++++++++++++
 2 files changed, 39 insertions(+), 30 deletions(-)
 create mode 100644 selfdrive/modeld/runners/ort_helpers.py

diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index 2a870392d5..b2827a8619 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -1,39 +1,12 @@
-import onnx
-import itertools
 import os
+import onnx
 import sys
 import numpy as np
 from typing import Any
 
 from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
+from openpilot.selfdrive.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES
 
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
 
 def create_ort_session(path, fp16_to_fp32):
   os.environ["OMP_NUM_THREADS"] = "4"
@@ -56,7 +29,7 @@ def create_ort_session(path, fp16_to_fp32):
     options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
     provider = 'CPUExecutionProvider'
 
-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
+  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
   print("Onnx selected provider: ", [provider], file=sys.stderr)
   ort_session = ort.InferenceSession(model_data, options, providers=[provider])
   print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
diff --git a/selfdrive/modeld/runners/ort_helpers.py b/selfdrive/modeld/runners/ort_helpers.py
new file mode 100644
index 0000000000..26afb03562
--- /dev/null
+++ b/selfdrive/modeld/runners/ort_helpers.py
@@ -0,0 +1,36 @@
+import onnx
+import onnxruntime as ort
+import numpy as np
+import itertools
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(model):
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+
+def make_onnx_cpu_runner(model_path):
+  options = ort.SessionOptions()
+  options.intra_op_num_threads = 4
+  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+  model_data = convert_fp16_to_fp32(onnx.load(model_path))
+  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])

From 5018cf75ffd64ff2f5f0e269a17e74517aedbc74 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 16 Dec 2024 14:17:31 -0800
Subject: [PATCH 1159/1243] North America Model (#34260)

* 0e1c9c12-0472-4a0c-8963-611ad240ec62/400

* rm outputs
---
 selfdrive/modeld/modeld.py              | 11 -----------
 selfdrive/modeld/models/supercombo.onnx |  4 ++--
 selfdrive/modeld/parse_model_outputs.py |  2 --
 3 files changed, 2 insertions(+), 15 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index bdd6df3967..c160f9888c 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -57,14 +57,11 @@ class ModelState:
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.inputs = {
       'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
@@ -100,7 +97,6 @@ class ModelState:
     self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
 
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
     self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
@@ -114,13 +110,8 @@ class ModelState:
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
     self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
 
-    self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
-    self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
-
     idxs = np.arange(-4,-100,-4)[::-1]
     self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
-    # TODO model only uses last value now, once that changes we need to input strided action history buffer
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -231,7 +222,6 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -262,7 +252,6 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
       }
 
     mt1 = time.perf_counter()
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 1588d4d576..384072f426 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dfe3ee4516187abac1198fda50d5961d6329b07e61e9d295be01a0ef2303f536
-size 50320584
+oid sha256:0c896681fd6851de3968433e12f37834429eba265e938cf383200be3e5835cec
+size 49096168
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 4367e9db8a..b699c5fd13 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,8 +96,6 @@ class Parser:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))

From b2930682fff34a51551e4fe4535c3aa12d8538b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Dec 2024 14:41:36 -0800
Subject: [PATCH 1160/1243] tici: only write eSIM connection once

---
 system/hardware/tici/hardware.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index def8267f40..3409888b9d 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -505,8 +505,8 @@ class Tici(HardwareBase):
         pass
 
     # eSIM prime
-    if sim_id.startswith('8985235'):
-      dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+    if sim_id.startswith('8985235') and not os.path.exists(dest):
       with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
         dat = f.read()
         dat = dat.replace("sim-id=", f"sim-id={sim_id}")

From a82116ac465a0059556034d3208542431296409e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Dec 2024 15:12:17 -0800
Subject: [PATCH 1161/1243] camerad: fix VisionBuf freeing (#34264)

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/camera_common.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index b0193cf5df..569496fbfa 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -93,8 +93,10 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 }
 
 CameraBuf::~CameraBuf() {
-  for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs_raw[i].free();
+  if (camera_bufs_raw != nullptr) {
+    for (int i = 0; i < frame_buf_count; i++) {
+      camera_bufs_raw[i].free();
+    }
   }
   if (imgproc) delete imgproc;
 }

From 35278ba63b7c96bbf37dabea9d4d7bab61087d70 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Dec 2024 19:25:46 -0500
Subject: [PATCH 1162/1243] ui: Allow Qt spinner/text/setup/reset/updater to
 build on macOS (#34265)

ui: Allow spinner/text/setup/reset/updater to build on macOS
---
 selfdrive/ui/SConscript | 50 ++++++++++++++++++++---------------------
 1 file changed, 25 insertions(+), 25 deletions(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 22bf4760bf..c851d7a969 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -67,14 +67,13 @@ if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
-if GetOption('extras') and arch != "Darwin":
+if GetOption('extras'):
   qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
   # spinner and text window
   qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
   qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
-
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
@@ -83,29 +82,30 @@ if GetOption('extras') and arch != "Darwin":
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
-  # build installers
-  senv = qt_env.Clone()
-  senv['LINKFLAGS'].append('-Wl,-strip-debug')
-
-  release = "release3"
-  installers = [
-    ("openpilot", release),
-    ("openpilot_test", f"{release}-staging"),
-    ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "nightly-dev"),
-  ]
-
-  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-                      "ld -r -b binary -o $TARGET $SOURCE")
-  for name, branch in installers:
-    d = {'BRANCH': f"'\"{branch}\"'"}
-    if "internal" in name:
-      d['INTERNAL'] = "1"
-
-    obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
-    # keep installers small
-    assert f[0].get_size() < 370*1e3
+  if arch != "Darwin":
+    # build installers
+    senv = qt_env.Clone()
+    senv['LINKFLAGS'].append('-Wl,-strip-debug')
+
+    release = "release3"
+    installers = [
+      ("openpilot", release),
+      ("openpilot_test", f"{release}-staging"),
+      ("openpilot_nightly", "nightly"),
+      ("openpilot_internal", "nightly-dev"),
+    ]
+
+    cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
+                        "ld -r -b binary -o $TARGET $SOURCE")
+    for name, branch in installers:
+      d = {'BRANCH': f"'\"{branch}\"'"}
+      if "internal" in name:
+        d['INTERNAL'] = "1"
+
+      obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+      f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
+      # keep installers small
+      assert f[0].get_size() < 370*1e3
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):

From 7352e612a26e17bee9cbb3caeda28aa017edd44c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 16 Dec 2024 16:29:06 -0800
Subject: [PATCH 1163/1243] dmonitoringmodeld: use cl transform without
 tinygrad (#34266)

* merge

* why

* self.buf_size

* 0.05 more than with tg due to copy

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 common/transformations/model.py               |  9 ++-
 selfdrive/modeld/dmonitoringmodeld.py         | 25 +++---
 selfdrive/modeld/modeld.py                    | 10 +--
 selfdrive/modeld/models/commonmodel.cc        | 47 +++++++-----
 selfdrive/modeld/models/commonmodel.h         | 76 +++++++++++++++++--
 selfdrive/modeld/models/commonmodel.pxd       | 10 ++-
 selfdrive/modeld/models/commonmodel_pyx.pyx   | 41 ++++++++--
 system/hardware/tici/tests/test_power_draw.py |  2 +-
 8 files changed, 169 insertions(+), 51 deletions(-)

diff --git a/common/transformations/model.py b/common/transformations/model.py
index aaa12d776a..ea1dff30e8 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,7 +1,7 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -39,6 +39,13 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
+DM_INPUT_SIZE = (1440, 960)
+dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
+dmonitoringmodel_intrinsics = np.array([
+  [dmonitoringmodel_fl,  0.0, DM_INPUT_SIZE[0]/2],
+  [0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
+  [0.0,  0.0, 1.0]])
+
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7f04939c65..a29dc081e1 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -13,13 +13,13 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
 
 CALIB_LEN = 3
-MODEL_WIDTH = 1440
-MODEL_HEIGHT = 960
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN
 
@@ -62,25 +62,21 @@ class ModelState:
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+
+    self.frame = MonitoringModelFrame(cl_ctx)
     self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
-      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
       'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
     self.model.addInput("input_img", None)
     self.model.addInput("calib", self.inputs['calib'])
 
-  def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
     self.inputs['calib'][:] = calib
 
-    v_offset = buf.height - MODEL_HEIGHT
-    h_offset = (buf.width - MODEL_WIDTH) // 2
-    buf_data = buf.data.reshape(-1, buf.stride)
-    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
-    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
+    self.model.setInputBuffer("input_img", self.frame.prepare(buf, transform.flatten(), None).view(np.float32))
 
-    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
     t1 = time.perf_counter()
     self.model.execute()
     t2 = time.perf_counter()
@@ -137,18 +133,23 @@ def main():
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  model_transform = None
 
   while True:
     buf = vipc_client.recv()
     if buf is None:
       continue
 
+    if model_transform is None:
+      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
+      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
+
     sm.update(0)
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
     t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib)
+    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index c160f9888c..e0f78c5aa0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -22,7 +22,7 @@ from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -44,16 +44,16 @@ class FrameMeta:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 class ModelState:
-  frame: ModelFrame
-  wide_frame: ModelFrame
+  frame: DrivingModelFrame
+  wide_frame: DrivingModelFrame
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
   model: ModelRunner
 
   def __init__(self, context: CLContext):
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
+    self.frame = DrivingModelFrame(context)
+    self.wide_frame = DrivingModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index e8a5a7ed52..cd77903680 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,36 +1,30 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
-#include <cassert>
 #include <cmath>
 #include <cstring>
 
 #include "common/clutil.h"
 
-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
   img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
   region.origin = 4 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
-  transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
-  transform_queue(&this->transform, q,
-                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
   for (int i = 0; i < 4; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
+
   if (output == NULL) {
     CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
     CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
@@ -46,13 +40,30 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
   }
 }
 
-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
+DrivingModelFrame::~DrivingModelFrame() {
+  deinit_transform();
   loadyuv_destroy(&loadyuv);
   CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
   CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
   CL_CHECK(clReleaseCommandQueue(q));
-}
\ No newline at end of file
+}
+
+
+MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+uint8_t* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), input_frames.get(), 0, nullptr, nullptr));
+  clFinish(q);
+  //return &y_cl;
+  return input_frames.get();
+}
+
+MonitoringModelFrame::~MonitoringModelFrame() {
+  deinit_transform();
+  CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 1c7360f159..e55f78e248 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -2,6 +2,7 @@
 
 #include <cfloat>
 #include <cstdlib>
+#include <cassert>
 
 #include <memory>
 
@@ -18,9 +19,56 @@
 
 class ModelFrame {
 public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  ModelFrame(cl_device_id device_id, cl_context context) {
+    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  }
+  virtual ~ModelFrame() {}
+  virtual uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
+  /*
+  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
+    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  }
+  */
+
+  int MODEL_WIDTH;
+  int MODEL_HEIGHT;
+  int MODEL_FRAME_SIZE;
+  int buf_size;
+
+protected:
+  cl_mem y_cl, u_cl, v_cl;
+  Transform transform;
+  cl_command_queue q;
+  std::unique_ptr<uint8_t[]> input_frames;
+
+  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
+    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
+    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+    transform_init(&transform, context, device_id);
+  }
+
+  void deinit_transform() {
+    transform_destroy(&transform);
+    CL_CHECK(clReleaseMemObject(v_cl));
+    CL_CHECK(clReleaseMemObject(u_cl));
+    CL_CHECK(clReleaseMemObject(y_cl));
+  }
+
+  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+    transform_queue(&transform, q,
+        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+        y_cl, u_cl, v_cl, model_width, model_height, projection);
+  }
+};
+
+class DrivingModelFrame : public ModelFrame {
+public:
+  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  ~DrivingModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -29,10 +77,22 @@ public:
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
 private:
-  Transform transform;
   LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
+  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
   cl_buffer_region region;
-  std::unique_ptr<uint8_t[]> input_frames;
-};
\ No newline at end of file
+};
+
+class MonitoringModelFrame : public ModelFrame {
+public:
+  MonitoringModelFrame(cl_device_id device_id, cl_context context);
+  ~MonitoringModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+
+  const int MODEL_WIDTH = 1440;
+  const int MODEL_HEIGHT = 960;
+  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
+  const int buf_size = MODEL_FRAME_SIZE;
+
+private:
+  // cl_mem input_frame_cl;
+};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 3348af3f17..61acb2bb2f 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -14,5 +14,13 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
-    ModelFrame(cl_device_id, cl_context)
+    # unsigned char * buffer_from_cl(cl_mem*, int);
     unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+
+  cppclass DrivingModelFrame:
+    int buf_size
+    DrivingModelFrame(cl_device_id, cl_context)
+
+  cppclass MonitoringModelFrame:
+    int buf_size
+    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 99f9c5dc17..c7ea5ecac2 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,11 +4,12 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
 
 
 cdef class CLContext(BaseCLContext):
@@ -23,11 +24,17 @@ cdef class CLMem:
     mem.mem = <cl_mem*> cmem
     return mem
 
+  @property
+  def mem_address(self):
+    return <uintptr_t>(self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+  return CLMem.create(<void*>&buf.buf.buf_cl)
+
+
 cdef class ModelFrame:
   cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
+  cdef int buf_size
 
   def __dealloc__(self):
     del self.frame
@@ -42,4 +49,28 @@ cdef class ModelFrame:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
     if not data:
       return None
-    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
+
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data)
+    # return CLMem.create(data)
+
+  # def buffer_from_cl(self, CLMem in_frames):
+  #   cdef unsigned char * data2
+  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+
+
+cdef class DrivingModelFrame(ModelFrame):
+  cdef cppDrivingModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
+
+cdef class MonitoringModelFrame(ModelFrame):
+  cdef cppMonitoringModelFrame * _frame
+
+  def __cinit__(self, CLContext context):
+    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
+    self.frame = <cppModelFrame*>(self._frame)
+    self.buf_size = self._frame.buf_size
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 8598b2faa2..22fd70e1a5 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -33,7 +33,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.65, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 

From bedbe6fd94dcf198d7f9feb310adf72c31e1bb9d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Dec 2024 16:46:03 -0800
Subject: [PATCH 1164/1243] agnos 11.4 (#34250)

---
 system/hardware/tici/agnos.json | 38 ++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 430f86bfed..d5002159d7 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
-    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
-    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
-    "size": 16418816,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50.img.xz",
+    "hash": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
+    "hash_raw": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
+    "size": 16422912,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
-    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
-    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c.img.xz",
+    "hash": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
+    "hash_raw": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
     "size": 4404019200,
     "sparse": false,
     "full_check": false,
@@ -21,9 +21,9 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
-    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
-    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
+    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
-    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
-    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
+    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
     "size": 98124,
     "sparse": false,
     "full_check": true,
@@ -51,9 +51,9 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
-    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
-    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
+    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
     "size": 40336,
     "sparse": false,
     "full_check": true,
@@ -61,9 +61,9 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
-    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
-    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
+    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
     "size": 184364,
     "sparse": false,
     "full_check": true,

From a984903298cc3f04ec11c5cc13d5dbdba36b8142 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Dec 2024 19:51:04 -0500
Subject: [PATCH 1165/1243] Hyundai: Allow controls with Sport and Manumatic
 Gears (#34113)

* Hyundai CAN: Explicitly parse gear shifter values for `EV, HEV, PHEV`

* for this pr

* more segments

* found 4.0!

* only print when spornt=4.0 is found

* new outputs

* bump opendbc

* Update selfdrive/car/car_specific.py

* delete notebook

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/car_specific.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 94afec50e2..9477b36bbb 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -148,7 +148,8 @@ class CarSpecificEvents:
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
       self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:

From 71b02f800161ff78efefb59ce8883c2f2c1071eb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 16 Dec 2024 17:10:47 -0800
Subject: [PATCH 1166/1243] hardwared: non blocking read for touch events
 (#34263)

* slow

* slow

* non blocking

* 10

* try

* simple

* int

* test

* get

* try

* clean

* read all

* nested

* simpler

* indent

* cleanup
---
 system/hardware/hardwared.py | 41 ++++++++++++++++++++++--------------
 1 file changed, 25 insertions(+), 16 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 49eb1e0fda..b6de91818e 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import fcntl
 import os
 import json
 import queue
@@ -61,6 +62,8 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
   set_offroad_alert(offroad_alert, show_alert, extra_text)
 
 def touch_thread(end_event):
+  count = 0
+
   pm = messaging.PubMaster(["touch"])
 
   event_format = "llHHi"
@@ -68,23 +71,29 @@ def touch_thread(end_event):
   event_frame = []
 
   with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
+    fcntl.fcntl(event_file, fcntl.F_SETFL, os.O_NONBLOCK)
     while not end_event.is_set():
-      event = event_file.read(event_size)
-      if event:
-        (sec, usec, etype, code, value) = struct.unpack(event_format, event)
-        if etype != 0 or code != 0 or value != 0:
-          touch = log.Touch.new_message()
-          touch.sec = sec
-          touch.usec = usec
-          touch.type = etype
-          touch.code = code
-          touch.value = value
-          event_frame.append(touch)
-        else: # end of frame, push new log
-          msg = messaging.new_message('touch', len(event_frame), valid=True)
-          msg.touch = event_frame
-          pm.send('touch', msg)
-          event_frame = []
+      if (count % int(1. / DT_HW)) == 0:
+        event = event_file.read(event_size)
+        if event:
+          (sec, usec, etype, code, value) = struct.unpack(event_format, event)
+          if etype != 0 or code != 0 or value != 0:
+            touch = log.Touch.new_message()
+            touch.sec = sec
+            touch.usec = usec
+            touch.type = etype
+            touch.code = code
+            touch.value = value
+            event_frame.append(touch)
+          else: # end of frame, push new log
+            msg = messaging.new_message('touch', len(event_frame), valid=True)
+            msg.touch = event_frame
+            pm.send('touch', msg)
+            event_frame = []
+          continue
+
+      count += 1
+      time.sleep(DT_HW)
 
 
 def hw_state_thread(end_event, hw_queue):

From 6c1314baf99aad12789df2ad8749ee73112c1cd8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Dec 2024 17:22:59 -0800
Subject: [PATCH 1167/1243] camerad: only build debayer kernel when necessary
 (#34267)

---
 system/camerad/cameras/camera_common.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 569496fbfa..366feae0b2 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -89,7 +89,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
 
-  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
+  if (is_raw) imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }
 
 CameraBuf::~CameraBuf() {

From 3da346e2e4453c73faaa6f2d638dec5aacef5842 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 16 Dec 2024 20:30:08 -0600
Subject: [PATCH 1168/1243] AGNOS: fix update loop (#34268)

fix update loop
---
 launch_env.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch_env.sh b/launch_env.sh
index 3d2900650b..5f67052e67 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.3"
+  export AGNOS_VERSION="11.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

From e31748520032cd7a4fc3650ebf37a10bb6cd9ce7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 Dec 2024 19:44:43 -0800
Subject: [PATCH 1169/1243] tici: fix device types (#34269)

---
 system/hardware/tici/hardware.h | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 702785c9d9..20ee88de80 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -26,7 +26,13 @@ public:
   }
 
   static cereal::InitData::DeviceType get_device_type() {
-    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI);
+    static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
+      {"tici", cereal::InitData::DeviceType::TICI},
+      {"tizi", cereal::InitData::DeviceType::TIZI},
+      {"mici", cereal::InitData::DeviceType::MICI}
+    };
+    auto it = device_map.find(get_name());
+    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
   }
 
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }

From 247ee2bda8327578c5edcb9ceeef916488127793 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 17 Dec 2024 11:18:41 -0800
Subject: [PATCH 1170/1243] bump panda for new USB VID

---
 panda                           | 2 +-
 selfdrive/pandad/panda_comms.cc | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/panda b/panda
index 12ca145e4f..dd76e663d2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 12ca145e4f799c62b37a03cdea51e726ecf7a971
+Subproject commit dd76e663d2786873e38e96eff3ed4b26db03ce78
diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc
index 59908f0cde..8a20f397d3 100644
--- a/selfdrive/pandad/panda_comms.cc
+++ b/selfdrive/pandad/panda_comms.cc
@@ -36,7 +36,7 @@ PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
   for (size_t i = 0; i < num_devices; ++i) {
     libusb_device_descriptor desc;
     libusb_get_device_descriptor(dev_list[i], &desc);
-    if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
       int ret = libusb_open(dev_list[i], &dev_handle);
       if (dev_handle == NULL || ret < 0) { goto fail; }
 
@@ -110,7 +110,7 @@ std::vector<std::string> PandaUsbHandle::list() {
     libusb_device *device = dev_list[i];
     libusb_device_descriptor desc;
     libusb_get_device_descriptor(device, &desc);
-    if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
       libusb_device_handle *handle = NULL;
       int ret = libusb_open(device, &handle);
       if (ret < 0) { goto finish; }

From f149083e4a7f51cc8e6c41ff0427060f92ed8dc4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 17 Dec 2024 16:25:31 -0600
Subject: [PATCH 1171/1243] ui: initialize tethering connection on startup
 (#34274)

* initialize hotspot connection on init

* better place

* fix
---
 selfdrive/ui/qt/network/wifi_manager.cc | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index fd9ee17078..c5a75672c3 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -330,6 +330,10 @@ void WifiManager::initConnections() {
       lteConnectionPath = path;
     }
   }
+
+  if (!isKnownConnection(tethering_ssid)) {
+    addTetheringConnection();
+  }
 }
 
 std::optional<QDBusPendingCall> WifiManager::activateWifiConnection(const QString &ssid) {
@@ -434,10 +438,7 @@ void WifiManager::addTetheringConnection() {
   connection["ipv4"]["route-metric"] = 1100;
   connection["ipv6"]["method"] = "ignore";
 
-  auto path = call<QDBusObjectPath>(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
-  if (!path.path().isEmpty()) {
-    knownConnections[path] = tethering_ssid;
-  }
+  asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
 }
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
@@ -453,10 +454,6 @@ void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
 
 void WifiManager::setTetheringEnabled(bool enabled) {
   if (enabled) {
-    if (!isKnownConnection(tethering_ssid)) {
-      addTetheringConnection();
-    }
-
     auto pending_call = activateWifiConnection(tethering_ssid);
 
     if (pending_call) {
@@ -478,9 +475,6 @@ bool WifiManager::isTetheringEnabled() {
 }
 
 QString WifiManager::getTetheringPassword() {
-  if (!isKnownConnection(tethering_ssid)) {
-    addTetheringConnection();
-  }
   const QDBusObjectPath &path = getConnectionPath(tethering_ssid);
   if (!path.path().isEmpty()) {
     QDBusReply<QMap<QString, QVariantMap>> response = call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "GetSecrets", "802-11-wireless-security");

From 857133635c377560618f02200f5a0f67c833d48b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 17 Dec 2024 16:35:43 -0600
Subject: [PATCH 1172/1243] ui: wait for lte connection to update before
 reactivating (#34275)

async
---
 selfdrive/ui/qt/network/wifi_manager.cc | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index c5a75672c3..e1939c465f 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -403,9 +403,13 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
     }
 
     if (changes) {
-      call(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings));  // update is temporary
-      deactivateConnection(lteConnectionPath);
-      activateModemConnection(lteConnectionPath);
+      QDBusPendingCall pending_call = asyncCall(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings));  // update is temporary
+      QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(pending_call);
+      QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, [this, watcher]() {
+        deactivateConnection(lteConnectionPath);
+        activateModemConnection(lteConnectionPath);
+        watcher->deleteLater();
+      });
     }
   }
 }

From d40fd1956d5f7ac1e42c40d7e5b1740a528747a2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 18 Dec 2024 06:48:08 +0800
Subject: [PATCH 1173/1243] wifimanager: use asyncCall to avoid timeout when
 adding connections (#34273)

* use asyncCall to avoid timeout when adding Wi-Fi connections

* use async call for addTetheringConnection

* only this change

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/network/wifi_manager.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index e1939c465f..1717210634 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -203,7 +203,7 @@ void WifiManager::connect(const Network &n, const bool is_hidden, const QString
   connection["ipv4"]["dns-priority"] = 600;
   connection["ipv6"]["method"] = "ignore";
 
-  call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
+  asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
 }
 
 void WifiManager::deactivateConnectionBySsid(const QString &ssid) {

From 155d842a3bcffe9a6a7dcffadb06912200241260 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 17 Dec 2024 15:10:13 -0800
Subject: [PATCH 1174/1243] set plot limits for touch events viz (#34277)

lim
---
 selfdrive/debug/touch_replay.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
index c397520918..1e1596d264 100755
--- a/selfdrive/debug/touch_replay.py
+++ b/selfdrive/debug/touch_replay.py
@@ -38,11 +38,17 @@ if __name__ == '__main__':
           if fingers[current_slot][1] != -1:
             touch_points.append(fingers[current_slot].copy())
 
+  if not touch_points:
+    print(f'No touch events found for {route}')
+    quit()
+
   unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
 
   plt.figure(figsize=(10, 3))
   plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
   plt.colorbar()
   plt.title(f'Touches for {route}')
+  plt.xlim(0, w)
+  plt.ylim(0, h)
   plt.grid(True)
   plt.show()

From 7ffad1935d47090fa91d0eb9e92808c296469d18 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 17 Dec 2024 17:43:51 -0600
Subject: [PATCH 1175/1243] bump msgq (#34278)

bump
---
 msgq_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/msgq_repo b/msgq_repo
index 434ed2312c..5bb86f8bc7 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 434ed2312c980b5504a4a75001d04c3ecbddf93f
+Subproject commit 5bb86f8bc7434048ab2d5ce0243a97d9848b34de

From 9c3aa2e2dccd34d035ca6b28b01ca5d293c4a57c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 17 Dec 2024 20:32:08 -0800
Subject: [PATCH 1176/1243] camerad: add os04+4.6mm lsc profile (#34280)

* draft

* ifdef in cl

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/process_raw.cl | 16 +++++++++++++++-
 system/camerad/sensors/ar0231_cl.h    |  5 +++--
 system/camerad/sensors/os04c10_cl.h   |  2 +-
 system/camerad/sensors/ox03c10_cl.h   |  3 ++-
 4 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/system/camerad/cameras/process_raw.cl b/system/camerad/cameras/process_raw.cl
index 6f6612fab0..ff6060d855 100644
--- a/system/camerad/cameras/process_raw.cl
+++ b/system/camerad/cameras/process_raw.cl
@@ -19,6 +19,17 @@
 #endif
 
 float get_vignetting_s(float r) {
+#if defined(VIGNETTE_PROFILE_4DT6MM)
+  if (r < 100000) {
+    return 1.0f + 0.0000013f*r;
+  } else if (r < 250000) {
+    return 1.02f + 0.0000011f*r;
+  } else if (r < 400000) {
+    return 0.92f + 0.0000015f*r;
+  } else {
+    return 0.44f + 0.0000027f*r;
+  }
+#elif defined(VIGNETTE_PROFILE_8DT0MM)
   if (r < 62500) {
     return (1.0f + 0.0000008f*r);
   } else if (r < 490000) {
@@ -28,6 +39,9 @@ float get_vignetting_s(float r) {
   } else {
     return (0.53503625f + 0.0000000000022f*r*r);
   }
+#else
+  return 1.0f;
+#endif
 }
 
 int4 parse_12bit(uchar8 pvs) {
@@ -65,7 +79,7 @@ __kernel void process_raw(const __global uchar * in, __global uchar * out, int e
   #if VIGNETTING
     int gx = (gid_x*2 - RGB_WIDTH/2);
     int gy = (gid_y*2 - RGB_HEIGHT/2);
-    const float vignette_factor = get_vignetting_s((gx*gx + gy*gy) / VIGNETTE_RSZ);
+    const float vignette_factor = get_vignetting_s(gx*gx + gy*gy);
   #else
     const float vignette_factor = 1.0;
   #endif
diff --git a/system/camerad/sensors/ar0231_cl.h b/system/camerad/sensors/ar0231_cl.h
index 8e96bbce5b..c79242543b 100644
--- a/system/camerad/sensors/ar0231_cl.h
+++ b/system/camerad/sensors/ar0231_cl.h
@@ -1,9 +1,10 @@
 #if SENSOR_ID == 1
 
+#define VIGNETTE_PROFILE_8DT0MM
+
 #define BIT_DEPTH 12
 #define PV_MAX 4096
 #define BLACK_LVL 168
-#define VIGNETTE_RSZ 1.0f
 
 float4 normalize_pv(int4 parsed, float vignette_factor) {
   float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
@@ -30,4 +31,4 @@ float3 apply_gamma(float3 rgb, int expo_time) {
     ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
index 3da3fab8df..3b5cf88839 100644
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -1,13 +1,13 @@
 #if SENSOR_ID == 3
 
 #define BGGR
+#define VIGNETTE_PROFILE_4DT6MM
 
 #define BIT_DEPTH 12
 #define PV_MAX10 1023
 #define PV_MAX12 4095
 #define PV_MAX16 65536 // gamma curve is calibrated to 16bit
 #define BLACK_LVL 48
-#define VIGNETTE_RSZ 2.2545f
 
 float combine_dual_pvs(float lv, float sv, int expo_time) {
   float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h
index f1fbd16ccb..c8cec7cf8a 100644
--- a/system/camerad/sensors/ox03c10_cl.h
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -1,8 +1,9 @@
 #if SENSOR_ID == 2
 
+#define VIGNETTE_PROFILE_8DT0MM
+
 #define BIT_DEPTH 12
 #define BLACK_LVL 64
-#define VIGNETTE_RSZ 1.0f
 
 float ox_lut_func(int x) {
   if (x < 512) {

From ff97a43c50d1376dd8ea4b7e38ed98b9b8c6cbfb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 17 Dec 2024 20:42:44 -0800
Subject: [PATCH 1177/1243] fix typo

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index b0959eee5d..77002481d3 100644
--- a/README.md
+++ b/README.md
@@ -53,7 +53,7 @@ We have detailed instructions for [how to install the harness and device in a ca
 ### Branches
 | branch           | URL                                    | description                                                                         |
 |------------------|----------------------------------------|-------------------------------------------------------------------------------------|
-| `release3`         | openilot.comma.ai                      | This is openpilot's release branch.                                                 |
+| `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
 | `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
 | `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
 | `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |

From 17ca6389e1d52be3d065af97d2733eea1fcb08e2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 18 Dec 2024 11:58:59 -0800
Subject: [PATCH 1178/1243] Tinygrad runner (#34261)

* squash

* dmonitoringmodeld: use cl transform (#34235)

* needs cleanup

* only if tici

* bump tinygrad

* check width

* base modelframe

* .

* need to be args

* more cleanup

* no _frame in base

* tici only

* its DrivingModelFrame

* .6 is fair

---------

Co-authored-by: Comma Device <device@comma.ai>

* Update tinygrad

* tg upstream

* bump tg

* bump tg

* debug

* attr

* misc cleanup

* whitespace

* remove

* Add TODOs to make python proc for modelrunners

* whitespace

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 pyproject.toml                                |   3 +-
 release/release_files.py                      |   2 +-
 selfdrive/modeld/SConscript                   |  46 +---
 selfdrive/modeld/dmonitoringmodeld            |   6 -
 selfdrive/modeld/dmonitoringmodeld.py         |  55 ++--
 selfdrive/modeld/modeld                       |   6 -
 selfdrive/modeld/modeld.py                    |  71 +++--
 selfdrive/modeld/models/commonmodel.cc        |  30 +-
 selfdrive/modeld/models/commonmodel.h         |  12 +-
 selfdrive/modeld/models/commonmodel.pxd       |   4 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx   |  24 +-
 selfdrive/modeld/runners/__init__.py          |  27 --
 selfdrive/modeld/runners/onnxmodel.py         |  71 -----
 selfdrive/modeld/runners/run.h                |   4 -
 selfdrive/modeld/runners/runmodel.h           |  49 ----
 selfdrive/modeld/runners/runmodel.pxd         |  14 -
 selfdrive/modeld/runners/runmodel_pyx.pxd     |   6 -
 selfdrive/modeld/runners/runmodel_pyx.pyx     |  37 ---
 selfdrive/modeld/runners/snpemodel.cc         | 116 --------
 selfdrive/modeld/runners/snpemodel.h          |  52 ----
 selfdrive/modeld/runners/snpemodel.pxd        |   9 -
 selfdrive/modeld/runners/snpemodel_pyx.pyx    |  17 --
 selfdrive/modeld/runners/thneedmodel.cc       |  58 ----
 selfdrive/modeld/runners/thneedmodel.h        |  17 --
 selfdrive/modeld/runners/thneedmodel.pxd      |   9 -
 selfdrive/modeld/runners/thneedmodel_pyx.pyx  |  14 -
 selfdrive/modeld/runners/tinygrad_helpers.py  |   8 +
 selfdrive/modeld/thneed/README                |   8 -
 selfdrive/modeld/thneed/__init__.py           |   0
 selfdrive/modeld/thneed/serialize.cc          | 154 -----------
 selfdrive/modeld/thneed/thneed.h              | 133 ---------
 selfdrive/modeld/thneed/thneed_common.cc      | 216 ---------------
 selfdrive/modeld/thneed/thneed_pc.cc          |  32 ---
 selfdrive/modeld/thneed/thneed_qcom2.cc       | 258 ------------------
 selfdrive/test/test_onroad.py                 |  11 +-
 system/hardware/tici/tests/test_power_draw.py |   2 +-
 system/manager/process_config.py              |   2 +
 tinygrad_repo                                 |   2 +-
 uv.lock                                       |  73 +++--
 39 files changed, 175 insertions(+), 1483 deletions(-)
 delete mode 100644 selfdrive/modeld/runners/__init__.py
 delete mode 100644 selfdrive/modeld/runners/onnxmodel.py
 delete mode 100644 selfdrive/modeld/runners/run.h
 delete mode 100644 selfdrive/modeld/runners/runmodel.h
 delete mode 100644 selfdrive/modeld/runners/runmodel.pxd
 delete mode 100644 selfdrive/modeld/runners/runmodel_pyx.pxd
 delete mode 100644 selfdrive/modeld/runners/runmodel_pyx.pyx
 delete mode 100644 selfdrive/modeld/runners/snpemodel.cc
 delete mode 100644 selfdrive/modeld/runners/snpemodel.h
 delete mode 100644 selfdrive/modeld/runners/snpemodel.pxd
 delete mode 100644 selfdrive/modeld/runners/snpemodel_pyx.pyx
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.cc
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.h
 delete mode 100644 selfdrive/modeld/runners/thneedmodel.pxd
 delete mode 100644 selfdrive/modeld/runners/thneedmodel_pyx.pyx
 create mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
 delete mode 100644 selfdrive/modeld/thneed/README
 delete mode 100644 selfdrive/modeld/thneed/__init__.py
 delete mode 100644 selfdrive/modeld/thneed/serialize.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed.h
 delete mode 100644 selfdrive/modeld/thneed/thneed_common.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed_pc.cc
 delete mode 100644 selfdrive/modeld/thneed/thneed_qcom2.cc

diff --git a/pyproject.toml b/pyproject.toml
index 41b0e3aca5..ff5c1e2392 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -42,8 +42,7 @@ dependencies = [
 
   # modeld
   "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
-  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+  "onnxruntime >=1.16.3",
 
   # logging
   "pyzmq",
diff --git a/release/release_files.py b/release/release_files.py
index 52974ba711..0e1ed852a2 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -54,7 +54,7 @@ whitelist = [
   "tools/joystick/",
   "tools/longitudinal_maneuvers/",
 
-  "tinygrad_repo/openpilot/compile2.py",
+  "tinygrad_repo/examples/openpilot/compile3.py",
   "tinygrad_repo/extra/onnx.py",
   "tinygrad_repo/extra/onnx_ops.py",
   "tinygrad_repo/extra/thneed.py",
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index d472998416..ef0fd52f33 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -13,20 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-thneed_src_common = [
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
 
 # OpenCL is a framework on Mac
 if arch == "Darwin":
@@ -45,34 +31,24 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
 snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
 
 cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
 # Get model metadata
 fn = File("models/supercombo").abspath
 cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
 lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-# Build thneed model
-if arch == "larch64" or GetOption('pc_thneed'):
-  tinygrad_opts = []
-  if not GetOption('pc_thneed'):
-    # use FLOAT16 on device for speed + don't cache the CL kernels for space
-    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
-
-  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
+# Compile tinygrad model
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+if arch == 'larch64':
+  device_string = 'QCOM=1'
+else:
+  device_string = 'CLANG=1 IMAGE=0'
 
-  fn_dm = File("models/dmonitoring_model").abspath
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed"
-  lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd)
+for model_name in ['supercombo', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
 
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 80157e1751..90b43800fe 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -1,10 +1,4 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
 exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index a29dc081e1..ebc24ad024 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,8 +1,17 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import gc
 import math
 import time
+import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
@@ -13,21 +22,20 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
 
+MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
+MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
@@ -58,29 +66,42 @@ class DMonitoringModelResult(ctypes.Structure):
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
-  model: ModelRunner
 
   def __init__(self, cl_ctx):
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
 
     self.frame = MonitoringModelFrame(cl_ctx)
-    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {
-      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
+    self.numpy_inputs = {
+      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+    }
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
-    self.model.addInput("input_img", None)
-    self.model.addInput("calib", self.inputs['calib'])
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
   def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
-    self.inputs['calib'][:] = calib
-
-    self.model.setInputBuffer("input_img", self.frame.prepare(buf, transform.flatten(), None).view(np.float32))
+    self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
-    self.model.execute()
+
+    input_img_cl = self.frame.prepare(buf, transform.flatten())
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      if 'input_img' not in self.tensor_inputs:
+        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
+    else:
+      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
+
+    if TICI:
+      output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
     t2 = time.perf_counter()
-    return self.output, t2 - t1
+    return output, t2 - t1
 
 
 def fill_driver_state(msg, ds_result: DriverStateResult):
diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld
index e1cef4dcc3..5ba4688554 100755
--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@@ -1,10 +1,4 @@
 #!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
 exec "$DIR/modeld.py" "$@"
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index e0f78c5aa0..49f8c483f0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,5 +1,15 @@
 #!/usr/bin/env python3
 import os
+from openpilot.system.hardware import TICI
+
+#
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
 import pickle
 import numpy as np
@@ -18,22 +28,19 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
+
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
-
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -44,40 +51,39 @@ class FrameMeta:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 class ModelState:
-  frame: DrivingModelFrame
-  wide_frame: DrivingModelFrame
+  frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
 
   def __init__(self, context: CLContext):
-    self.frame = DrivingModelFrame(context)
-    self.wide_frame = DrivingModelFrame(context)
+    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.inputs = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    self.numpy_inputs = {
+      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
+    self.input_shapes =  model_metadata['input_shapes']
 
     self.output_slices = model_metadata['output_slices']
     net_output_size = model_metadata['output_shapes']['outputs'][1]
     self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
   def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
@@ -94,24 +100,36 @@ class ModelState:
 
     self.desire_20Hz[:-1] = self.desire_20Hz[1:]
     self.desire_20Hz[-1] = new_desire
-    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
 
-    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
+               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      for key in imgs_cl:
+        if key not in self.tensor_inputs:
+          self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
+    else:
+      for key in imgs_cl:
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
 
     if prepare_only:
       return None
 
-    self.model.execute()
+    if TICI:
+      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
     self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
 
     idxs = np.arange(-4,-100,-4)[::-1]
-    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
     return outputs
 
 
@@ -281,7 +299,6 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
-
     last_vipc_frame_id = meta_main.frame_id
 
 
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index cd77903680..ad2620c7b4 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -7,7 +7,7 @@
 
 DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
   img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
   region.origin = 4 * frame_size_bytes;
   region.size = frame_size_bytes;
@@ -17,7 +17,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
   for (int i = 0; i < 4; i++) {
@@ -25,19 +25,12 @@ uint8_t* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_he
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
 
-  if (output == NULL) {
-    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
-    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
+  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
 
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
+  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+  clFinish(q);
+  return &input_frames_cl;
 }
 
 DrivingModelFrame::~DrivingModelFrame() {
@@ -51,16 +44,15 @@ DrivingModelFrame::~DrivingModelFrame() {
 
 MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
-  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
 
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }
-uint8_t* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
+
+cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), input_frames.get(), 0, nullptr, nullptr));
   clFinish(q);
-  //return &y_cl;
-  return input_frames.get();
+  return &y_cl;
 }
 
 MonitoringModelFrame::~MonitoringModelFrame() {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index e55f78e248..14409943e4 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -23,14 +23,12 @@ public:
     q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   }
   virtual ~ModelFrame() {}
-  virtual uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
-  /*
+  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
   uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
     CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   }
-  */
 
   int MODEL_WIDTH;
   int MODEL_HEIGHT;
@@ -68,7 +66,7 @@ class DrivingModelFrame : public ModelFrame {
 public:
   DrivingModelFrame(cl_device_id device_id, cl_context context);
   ~DrivingModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -78,7 +76,7 @@ public:
 
 private:
   LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
+  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
   cl_buffer_region region;
 };
 
@@ -86,7 +84,7 @@ class MonitoringModelFrame : public ModelFrame {
 public:
   MonitoringModelFrame(cl_device_id device_id, cl_context context);
   ~MonitoringModelFrame();
-  uint8_t* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
   const int MODEL_WIDTH = 1440;
   const int MODEL_HEIGHT = 960;
@@ -94,5 +92,5 @@ public:
   const int buf_size = MODEL_FRAME_SIZE;
 
 private:
-  // cl_mem input_frame_cl;
+  cl_mem input_frame_cl;
 };
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index 61acb2bb2f..d2a8fb4dcd 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -14,8 +14,8 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
-    # unsigned char * buffer_from_cl(cl_mem*, int);
-    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    unsigned char * buffer_from_cl(cl_mem*, int);
+    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
 
   cppclass DrivingModelFrame:
     int buf_size
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index c7ea5ecac2..b754086544 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -39,24 +39,17 @@ cdef class ModelFrame:
   def __dealloc__(self):
     del self.frame
 
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+  def prepare(self, VisionBuf buf, float[:] projection):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef unsigned char * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
+    cdef cl_mem * data
+    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
+    return CLMem.create(data)
 
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data)
-    # return CLMem.create(data)
-
-  # def buffer_from_cl(self, CLMem in_frames):
-  #   cdef unsigned char * data2
-  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
+  def buffer_from_cl(self, CLMem in_frames):
+    cdef unsigned char * data2
+    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
 
 
 cdef class DrivingModelFrame(ModelFrame):
@@ -74,3 +67,4 @@ cdef class MonitoringModelFrame(ModelFrame):
     self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
+
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
deleted file mode 100644
index 4c29bf3f1c..0000000000
--- a/selfdrive/modeld/runners/__init__.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  SNPE = 'SNPE'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
-    elif ModelRunner.ONNX in paths:
-      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
deleted file mode 100644
index b2827a8619..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,71 +0,0 @@
-import os
-import onnx
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
-from openpilot.selfdrive.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES
-
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
deleted file mode 100644
index 36ad262a5b..0000000000
--- a/selfdrive/modeld/runners/run.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/runners/snpemodel.h"
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7..0000000000
--- a/selfdrive/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd
deleted file mode 100644
index 01b2a9cf2c..0000000000
--- a/selfdrive/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "selfdrive/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37..0000000000
--- a/selfdrive/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index 12b8ec10ff..0000000000
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
deleted file mode 100644
index 15c1db0086..0000000000
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "selfdrive/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
deleted file mode 100644
index 86b2c86084..0000000000
--- a/selfdrive/modeld/runners/snpemodel.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};
diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd
deleted file mode 100644
index a911b43584..0000000000
--- a/selfdrive/modeld/runners/snpemodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
deleted file mode 100644
index f83b7c8cff..0000000000
--- a/selfdrive/modeld/runners/snpemodel_pyx.pyx
+++ /dev/null
@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
deleted file mode 100644
index a16d8b42aa..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "selfdrive/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
deleted file mode 100644
index 6ed479c081..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index 79e24dbdd6..0000000000
--- a/selfdrive/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index 6f8fdd255f..0000000000
--- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
new file mode 100644
index 0000000000..776381341c
--- /dev/null
+++ b/selfdrive/modeld/runners/tinygrad_helpers.py
@@ -0,0 +1,8 @@
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import to_mv
+
+def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
+  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
+  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
+  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/thneed/README b/selfdrive/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc..0000000000
--- a/selfdrive/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/selfdrive/modeld/thneed/__init__.py b/selfdrive/modeld/thneed/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
deleted file mode 100644
index 3dc2bef414..0000000000
--- a/selfdrive/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "selfdrive/modeld/thneed/thneed.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3..0000000000
--- a/selfdrive/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc
deleted file mode 100644
index ecdf1237e3..0000000000
--- a/selfdrive/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 8d0037628e..0000000000
--- a/selfdrive/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index 21de15d17c..0000000000
--- a/selfdrive/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "selfdrive/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7b1519a3d3..25aaa95f0f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,7 +36,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 265.  # total for all 8 cores
+MAX_TOTAL_CPU = 275.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -50,8 +50,8 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 17.0,
-  "selfdrive.modeld.dmonitoringmodeld": 11.0,
+  "selfdrive.modeld.modeld": 22.0,
+  "selfdrive.modeld.dmonitoringmodeld": 21.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -371,10 +371,9 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "----------------- Model Timing -----------------\n"
     result += "------------------------------------------------\n"
-    # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
-      ("modelV2", 0.050, 0.036),
-      ("driverStateV2", 0.050, 0.026),
+      ("modelV2", 0.045, 0.035),
+      ("driverStateV2", 0.045, 0.035),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 22fd70e1a5..e1b9845c4c 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -33,7 +33,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.65, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index d26fc19afe..a25be615f4 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -70,10 +70,12 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
+  # TODO Make python process once TG allows opening QCOM from child proc
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  # TODO Make python process once TG allows opening QCOM from child proc
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
diff --git a/tinygrad_repo b/tinygrad_repo
index 9dda6d260d..480e5e7a12 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1
+Subproject commit 480e5e7a1292bf2f84e18edffd06a985c4b48e65
diff --git a/uv.lock b/uv.lock
index f9014cb800..8c1e25b943 100644
--- a/uv.lock
+++ b/uv.lock
@@ -3,10 +3,10 @@ requires-python = ">=3.11, <=3.12"
 resolution-markers = [
     "python_full_version < '3.12' and platform_system == 'Darwin'",
     "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
     "python_full_version >= '3.12' and platform_system == 'Darwin'",
     "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]
 
 [[package]]
@@ -501,7 +501,7 @@ name = "ewmhlib"
 version = "0.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "python-xlib", marker = "sys_platform == 'linux'" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -666,6 +666,9 @@ wheels = [
 name = "humanfriendly"
 version = "10.0"
 source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pyreadline3", marker = "sys_platform == 'win32'" },
+]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/3f/2c29224acb2e2df4d2046e4c73ee2662023c58ff5b113c4c1adac0886c43/humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc", size = 360702 }
 wheels = [
     { url = "https://files.pythonhosted.org/packages/f0/0f/310fb31e39e2d734ccaa2c0fb981ee41f7bd5056ce9bc29b2248bd569169/humanfriendly-10.0-py2.py3-none-any.whl", hash = "sha256:1697e1a8a8f550fd43c2865cd84542fc175a61dcb779b6fee18cf6b6ccba1477", size = 86794 },
@@ -1231,27 +1234,16 @@ dependencies = [
     { name = "sympy" },
 ]
 wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/8d/2634e2959b34aa8a0037989f4229e9abcfa484e9c228f99633b3241768a6/onnxruntime-1.20.1-cp311-cp311-macosx_13_0_universal2.whl", hash = "sha256:06bfbf02ca9ab5f28946e0f912a562a5f005301d0c419283dc57b3ed7969bb7b", size = 30998725 },
     { url = "https://files.pythonhosted.org/packages/a5/da/c44bf9bd66cd6d9018a921f053f28d819445c4d84b4dd4777271b0fe52a2/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f6243e34d74423bdd1edf0ae9596dd61023b260f546ee17d701723915f06a9f7", size = 11955227 },
     { url = "https://files.pythonhosted.org/packages/11/ac/4120dfb74c8e45cce1c664fc7f7ce010edd587ba67ac41489f7432eb9381/onnxruntime-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5eec64c0269dcdb8d9a9a53dc4d64f87b9e0c19801d9321246a53b7eb5a7d1bc", size = 13331703 },
+    { url = "https://files.pythonhosted.org/packages/12/f1/cefacac137f7bb7bfba57c50c478150fcd3c54aca72762ac2c05ce0532c1/onnxruntime-1.20.1-cp311-cp311-win32.whl", hash = "sha256:a19bc6e8c70e2485a1725b3d517a2319603acc14c1f1a017dda0afe6d4665b41", size = 9813977 },
+    { url = "https://files.pythonhosted.org/packages/2c/2d/2d4d202c0bcfb3a4cc2b171abb9328672d7f91d7af9ea52572722c6d8d96/onnxruntime-1.20.1-cp311-cp311-win_amd64.whl", hash = "sha256:8508887eb1c5f9537a4071768723ec7c30c28eb2518a00d0adcd32c89dea3221", size = 11329895 },
+    { url = "https://files.pythonhosted.org/packages/e5/39/9335e0874f68f7d27103cbffc0e235e32e26759202df6085716375c078bb/onnxruntime-1.20.1-cp312-cp312-macosx_13_0_universal2.whl", hash = "sha256:22b0655e2bf4f2161d52706e31f517a0e54939dc393e92577df51808a7edc8c9", size = 31007580 },
     { url = "https://files.pythonhosted.org/packages/c5/9d/a42a84e10f1744dd27c6f2f9280cc3fb98f869dd19b7cd042e391ee2ab61/onnxruntime-1.20.1-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f1f56e898815963d6dc4ee1c35fc6c36506466eff6d16f3cb9848cea4e8c8172", size = 11952833 },
     { url = "https://files.pythonhosted.org/packages/47/42/2f71f5680834688a9c81becbe5c5bb996fd33eaed5c66ae0606c3b1d6a02/onnxruntime-1.20.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:bb71a814f66517a65628c9e4a2bb530a6edd2cd5d87ffa0af0f6f773a027d99e", size = 13333903 },
-]
-
-[[package]]
-name = "onnxruntime-gpu"
-version = "1.20.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "coloredlogs" },
-    { name = "flatbuffers" },
-    { name = "numpy" },
-    { name = "packaging" },
-    { name = "protobuf" },
-    { name = "sympy" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e0/a5/5c2287d61f359c7342e9d59d1e3dd728a982dea85f846c7af305a801c3ca/onnxruntime_gpu-1.20.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1795e8bc6f9a1488a4d51d242edc4232a5ae60ec44ab4d4b0a7c65b3d17fcbff", size = 291519550 },
-    { url = "https://files.pythonhosted.org/packages/91/a8/6984a2fb070be372a866108e3e85c9eb6e8f0378a8567a66967d80befb75/onnxruntime_gpu-1.20.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1951f96cd534c6151721e552606d0d792ea6a4c3e57e2f10eed17cca8105e953", size = 291510989 },
+    { url = "https://files.pythonhosted.org/packages/c8/f1/aabfdf91d013320aa2fc46cf43c88ca0182860ff15df872b4552254a9680/onnxruntime-1.20.1-cp312-cp312-win32.whl", hash = "sha256:bd386cc9ee5f686ee8a75ba74037750aca55183085bf1941da8efcfe12d5b120", size = 9814562 },
+    { url = "https://files.pythonhosted.org/packages/dd/80/76979e0b744307d488c79e41051117634b956612cc731f1028eb17ee7294/onnxruntime-1.20.1-cp312-cp312-win_amd64.whl", hash = "sha256:19c2d843eb074f385e8bbb753a40df780511061a63f9def1b216bf53860223fb", size = 11331482 },
 ]
 
 [[package]]
@@ -1288,8 +1280,7 @@ dependencies = [
     { name = "libusb1" },
     { name = "numpy" },
     { name = "onnx" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
+    { name = "onnxruntime" },
     { name = "psutil" },
     { name = "pyaudio" },
     { name = "pycapnp" },
@@ -1387,8 +1378,7 @@ requires-dist = [
     { name = "natsort", marker = "extra == 'docs'" },
     { name = "numpy", specifier = "<2.0.0" },
     { name = "onnx", specifier = ">=1.14.0" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'", specifier = ">=1.16.3" },
+    { name = "onnxruntime", specifier = ">=1.16.3" },
     { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8,<0.9" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
@@ -1835,10 +1825,10 @@ name = "pymonctl"
 version = "0.92"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
-    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
+    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
+    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
+    { name = "python-xlib", marker = "sys_platform == 'linux'" },
+    { name = "pywin32", marker = "sys_platform == 'win32'" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -4431,6 +4421,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a7/33/d91e003b85ff7ab227d0fff236d48c18ada2f0cd49d5e35cb514867ba609/PyQt5_sip-12.16.1-cp312-cp312-win_amd64.whl", hash = "sha256:a0f83f554727f43dfe92afbf3a8c51e83bb8b78c5f160b635d4359fad681cebe", size = 57957 },
 ]
 
+[[package]]
+name = "pyreadline3"
+version = "3.5.4"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/0f/49/4cea918a08f02817aabae639e3d0ac046fef9f9180518a3ad394e22da148/pyreadline3-3.5.4.tar.gz", hash = "sha256:8d57d53039a1c75adba8e50dd3d992b28143480816187ea5efbd5c78e6c885b7", size = 99839 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/5a/dc/491b7661614ab97483abf2056be1deee4dc2490ecbf7bff9ab5cdbac86e1/pyreadline3-3.5.4-py3-none-any.whl", hash = "sha256:eaf8e6cc3c49bcccf145fc6067ba8643d1df34d604a1ec0eccbf7a18e6d3fae6", size = 83178 },
+]
+
 [[package]]
 name = "pyrect"
 version = "0.2.0"
@@ -4460,7 +4459,7 @@ name = "pytest"
 version = "8.3.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "colorama", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
+    { name = "colorama", marker = "sys_platform == 'win32'" },
     { name = "iniconfig" },
     { name = "packaging" },
     { name = "pluggy" },
@@ -4649,10 +4648,10 @@ name = "pywinbox"
 version = "0.7"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
-    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
+    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
+    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
+    { name = "python-xlib", marker = "sys_platform == 'linux'" },
+    { name = "pywin32", marker = "sys_platform == 'win32'" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -4664,11 +4663,11 @@ name = "pywinctl"
 version = "0.4.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
     { name = "pymonctl" },
-    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
-    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
+    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
+    { name = "python-xlib", marker = "sys_platform == 'linux'" },
+    { name = "pywin32", marker = "sys_platform == 'win32'" },
     { name = "pywinbox" },
     { name = "typing-extensions" },
 ]

From af5082089ede5e3c05fa0923589a5662295eb1be Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Wed, 18 Dec 2024 23:11:05 +0100
Subject: [PATCH 1179/1243] cabana: issue filtering by addresses in FindSignal
 tool (#34283)

fixed filtering by addresses issue in cabana
---
 tools/cabana/tools/findsignal.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 8e1749ba8e..ec56fcaac0 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -225,7 +225,7 @@ void FindSignalDlg::setInitialSignals() {
   model->initial_signals.clear();
 
   for (const auto &[id, m] : can->lastMessages()) {
-    if (buses.isEmpty() || buses.contains(id.source) && (addresses.isEmpty() || addresses.contains(id.address))) {
+    if ((buses.isEmpty() || buses.contains(id.source)) && (addresses.isEmpty() || addresses.contains(id.address))) {
       const auto &events = can->events(id);
       auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {

From 1a7c28444595dc399af432a35dc725231806fd21 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 18 Dec 2024 16:13:47 -0800
Subject: [PATCH 1180/1243] =?UTF-8?q?National=20Public=20Radio=20Model=20?=
 =?UTF-8?q?=F0=9F=93=BB=20(#34259)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* f3a009b7-dcb9-41f3-8917-6fcb3cec37bf/400

* 65f26b40-56c9-4c6c-a3ac-e1788bd52567/400
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 384072f426..777aa8aa7e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0c896681fd6851de3968433e12f37834429eba265e938cf383200be3e5835cec
+oid sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
 size 49096168

From 383893d39e53448fa675bf153da26d62a4da7cb3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 18 Dec 2024 16:41:57 -0800
Subject: [PATCH 1181/1243] Long planner get accel: new function args (#34288)

* Change function args

* typo

* typo

* ref commit
---
 .../controls/lib/longitudinal_planner.py      | 24 +++++++++----------
 selfdrive/test/process_replay/migration.py    |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 3 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index f1637d960c..eba8019117 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -50,24 +50,20 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(CP, speeds, accels):
+def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   if len(speeds) == CONTROL_N:
-    v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-    a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
+    v_now = speeds[0]
+    a_now = accels[0]
 
-    v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-    if v_target != v_target_now:
-      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
-    else:
-      a_target = a_target_now
-
-    v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
   else:
     v_target = 0.0
     v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_target < CP.vEgoStopping and
-                 v_target_1sec < CP.vEgoStopping)
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
   return a_target, should_stop
 
 
@@ -201,7 +197,9 @@ class LongitudinalPlanner:
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
+    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
+                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
     longitudinalPlan.aTarget = a_target
     longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 5376f91aee..d531b3b7ed 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -107,7 +107,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(CP, msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c746ad22d5..3120a4de3a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cae12bc0a2960de17104a9e22fafe33d797fbcee
+1f37082d56a60f20ba9e36b702a23cbdde3caca7

From 9c9b273a3e89b3de7afe3ea400a9a7c45c783723 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 18 Dec 2024 22:17:28 -0800
Subject: [PATCH 1182/1243] set python upper bound to 3.13 (#34286)

* try

* test

* ...

* wow

* y

* docker

* <
---
 Dockerfile.openpilot_base |  2 +-
 pyproject.toml            |  2 +-
 tools/op.sh               |  2 +-
 uv.lock                   | 36 ++++++++++++++++++------------------
 4 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index cc73503f53..44d8d95e95 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED=1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
diff --git a/pyproject.toml b/pyproject.toml
index ff5c1e2392..9cd28e6baf 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11, <= 3.12"
+requires-python = ">= 3.11, < 3.13"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
diff --git a/tools/op.sh b/tools/op.sh
index d56dadc76e..f0f1308d44 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -155,7 +155,7 @@ function op_check_python() {
     LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
     UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
     VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
-    if [[ $VERSION -ge LB && $VERSION -le UB ]]; then
+    if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
     else
       echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
diff --git a/uv.lock b/uv.lock
index 8c1e25b943..f1a5fa9915 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,12 +1,12 @@
 version = 1
-requires-python = ">=3.11, <=3.12"
+requires-python = ">=3.11, <3.13"
 resolution-markers = [
     "python_full_version < '3.12' and platform_system == 'Darwin'",
     "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
     "python_full_version >= '3.12' and platform_system == 'Darwin'",
     "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]
 
 [[package]]
@@ -501,7 +501,7 @@ name = "ewmhlib"
 version = "0.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
+    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -667,7 +667,7 @@ name = "humanfriendly"
 version = "10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyreadline3", marker = "sys_platform == 'win32'" },
+    { name = "pyreadline3", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/3f/2c29224acb2e2df4d2046e4c73ee2662023c58ff5b113c4c1adac0886c43/humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc", size = 360702 }
 wheels = [
@@ -1825,10 +1825,10 @@ name = "pymonctl"
 version = "0.92"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pywin32", marker = "sys_platform == 'win32'" },
+    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
+    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -4459,7 +4459,7 @@ name = "pytest"
 version = "8.3.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "colorama", marker = "sys_platform == 'win32'" },
+    { name = "colorama", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
     { name = "iniconfig" },
     { name = "packaging" },
     { name = "pluggy" },
@@ -4648,10 +4648,10 @@ name = "pywinbox"
 version = "0.7"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pywin32", marker = "sys_platform == 'win32'" },
+    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
+    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -4663,11 +4663,11 @@ name = "pywinctl"
 version = "0.4.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
+    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
     { name = "pymonctl" },
-    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pywin32", marker = "sys_platform == 'win32'" },
+    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
+    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
     { name = "pywinbox" },
     { name = "typing-extensions" },
 ]

From 9f3c2f0a37d0996b36a4be4d25f7e30eca43f1bd Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 20 Dec 2024 02:49:35 +0800
Subject: [PATCH 1183/1243] cabana: enhance message heatmap visualization
 (#34239)

* enhance message heatmap visualization

* TODO

* improve log_factor

* typo

* bit_flip_counts
---
 tools/cabana/binaryview.cc             | 44 +++++++++++++++++++-------
 tools/cabana/streams/abstractstream.cc | 11 +++++--
 tools/cabana/streams/abstractstream.h  |  2 +-
 3 files changed, 41 insertions(+), 16 deletions(-)

diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 2950a67ff2..e8406192d2 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -292,10 +292,15 @@ void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &co
   }
 }
 
+// TODO:
+// 1. Detect instability through frequent bit flips and highlight stable bits to indicate steady signals.
+// 2. Track message sequence and timestamps to understand how patterns evolve.
+// 3. Identify time-based or periodic bit state changes to spot recurring patterns.
+// 4. Support multiple time windows for short-term and long-term analysis, helping to observe changes in different time frames.
 void BinaryViewModel::updateState() {
   const auto &last_msg = can->lastMessage(msg_id);
   const auto &binary = last_msg.dat;
-  // data size may changed.
+  // Handle size changes in binary data
   if (binary.size() > row_count) {
     beginInsertRows({}, row_count, binary.size() - 1);
     row_count = binary.size();
@@ -303,21 +308,36 @@ void BinaryViewModel::updateState() {
     endInsertRows();
   }
 
-  const double max_f = 255.0;
-  const double factor = 0.25;
-  const double scaler = max_f / log2(1.0 + factor);
-  for (int i = 0; i < binary.size(); ++i) {
+  // Find the maximum bit flip count across the message
+  uint32_t max_bit_flip_count = 1;  // Default to 1 to avoid division by zero
+  for (const auto &row : last_msg.bit_flip_counts) {
+    for (auto count : row) {
+      max_bit_flip_count = std::max(max_bit_flip_count, count);
+    }
+  }
+
+  const double max_alpha = 255.0;
+  const double min_alpha_with_signal = 25.0;  // Base alpha for small flip counts
+  const double min_alpha_no_signal = 10.0;    // Base alpha for small flip counts for no signal bits
+  const double log_factor = 1.0 + 0.2;        // Factor for logarithmic scaling
+  const double log_scaler = max_alpha / log2(log_factor * max_bit_flip_count);
+
+  for (size_t i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
-      // Bit update frequency based highlighting
-      double offset = !item.sigs.empty() ? 50 : 0;
-      auto n = last_msg.last_changes[i].bit_change_counts[j];
-      double min_f = n == 0 ? offset : offset + 25;
-      double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
+      int bit_val = (binary[i] >> (7 - j)) & 1;
+
+      double alpha = item.sigs.empty() ? 0 : min_alpha_with_signal;
+      uint32_t flip_count = last_msg.bit_flip_counts[i][j];
+      if (flip_count > 0) {
+        double normalized_alpha = log2(1.0 + flip_count * log_factor) * log_scaler;
+        double min_alpha = item.sigs.empty() ? min_alpha_no_signal : min_alpha_with_signal;
+        alpha = std::clamp(normalized_alpha, min_alpha, max_alpha);
+      }
+
       auto color = item.bg_color;
       color.setAlpha(alpha);
-      updateItem(i, j, val, color);
+      updateItem(i, j, bit_val, color);
     }
     updateItem(i, 8, binary[i], last_msg.colors[i]);
   }
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 7abeafea94..73329c4dfb 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -39,7 +39,7 @@ void AbstractStream::updateMasks() {
     const int size = std::min(mask.size(), m.last_changes.size());
     for (int i = 0; i < size; ++i) {
       for (int j = 0; j < 8; ++j) {
-        if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
+        if (((mask[i] >> (7 - j)) & 1) != 0) m.bit_flip_counts[i][j] = 0;
       }
     }
   }
@@ -59,9 +59,12 @@ size_t AbstractStream::suppressHighlighted() {
       if (dt < 2.0) {
         last_change.suppressed = true;
       }
-      last_change.bit_change_counts.fill(0);
       cnt += last_change.suppressed;
     }
+
+    for (auto &row_bit_flips : m.bit_flip_counts) {
+      row_bit_flips.fill(0);
+    }
   }
   return cnt;
 }
@@ -251,6 +254,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
     dat.resize(size);
     colors.assign(size, QColor(0, 0, 0, 0));
     last_changes.resize(size);
+    bit_flip_counts.resize(size);
     std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
   } else {
     constexpr int periodic_threshold = 10;
@@ -282,10 +286,11 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
         }
 
         // Track bit level changes
+        auto &row_bit_flips = bit_flip_counts[i];
         const uint8_t diff = (cur ^ last);
         for (int bit = 0; bit < 8; bit++) {
           if (diff & (1u << bit)) {
-            ++last_change.bit_change_counts[7 - bit];
+            ++row_bit_flips[7 - bit];
           }
         }
 
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 5ecf086c95..a53c9374a0 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -33,9 +33,9 @@ struct CanData {
     int delta = 0;
     int same_delta_counter = 0;
     bool suppressed = false;
-    std::array<uint32_t, 8> bit_change_counts;
   };
   std::vector<ByteLastChange> last_changes;
+  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
   double last_freq_update_ts = 0;
 };
 

From 7a72e419feba47464dab99f8290db94121d0dafa Mon Sep 17 00:00:00 2001
From: Mike Busuttil <31480000+MikeBusuttil@users.noreply.github.com>
Date: Thu, 19 Dec 2024 17:36:36 -0500
Subject: [PATCH 1184/1243] Openpilot webcam support improved (#34215)

* control webcam with ENV vars

* WIP: actual instructions

* wording

* file no longer exists

* this is expected behavior, just untested

* more readable

* tested on fresh install

* wording tweaks

* explicit USE_WEBCAM toggle required

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* debug-ability improved

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* newline removed

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/manager/process_config.py |  7 ++++---
 tools/webcam/README.md           | 28 +++++++++++++---------------
 tools/webcam/camerad.py          | 15 ++++++++-------
 tools/webcam/start_camerad.sh    | 14 --------------
 4 files changed, 25 insertions(+), 39 deletions(-)
 delete mode 100755 tools/webcam/start_camerad.sh

diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a25be615f4..004180c9b5 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -63,7 +63,8 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
+  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -71,7 +72,7 @@ procs = [
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
@@ -89,7 +90,7 @@ procs = [
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index c756069bb5..f4b46d1f66 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
@@ -9,29 +9,27 @@ What's needed:
 That's it!
 
 ## Setup openpilot
+- Follow [this readme](../README.md) to install and build the requirements
+- Install OpenCL Driver
 ```
-cd ~
-git clone https://github.com/commaai/openpilot.git
-```
-- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
-- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
-
-## Build openpilot for webcam
-```
-cd ~/openpilot
-USE_WEBCAM=1 scons -j$(nproc)
+sudo apt install pocl-opencl-icd
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO
 ```
-cd ~/openpilot/system/manager
-NOSENSOR=1 USE_WEBCAM=1 ./manager.py
+USE_WEBCAM=1 system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
+- Adjust and secure the webcams.
 - Finish calibration and engage!
+
+## Specify Cameras
+
+Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
+```
+USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
+```
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index 778fefb834..a0916ed5ee 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -9,14 +9,14 @@ from cereal import messaging
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
-DUAL_CAM = os.getenv("DUAL_CAMERA")
+WIDE_CAM = os.getenv("WIDE_CAM")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
 ]
-if DUAL_CAM:
-  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
+if WIDE_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
 
 class Camerad:
   def __init__(self):
@@ -25,8 +25,9 @@ class Camerad:
 
     self.cameras = []
     for c in CAMERAS:
-      print(f"opening {c.msg_name} at {c.cam_id}")
-      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
+      cam_device = f"/dev/video{c.cam_id}"
+      print(f"opening {c.msg_name} at {cam_device}")
+      cam = Camera(c.msg_name, c.stream_type, cam_device)
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
 
diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh
deleted file mode 100755
index aefc4c062a..0000000000
--- a/tools/webcam/start_camerad.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env bash
-
-# export the block below when call manager.py
-export BLOCK="${BLOCK},camerad"
-export USE_WEBCAM="1"
-
-# Change camera index according to your setting
-export CAMERA_ROAD_ID="/dev/video0"
-export CAMERA_DRIVER_ID="/dev/video1"
-#export DUAL_CAMERA="/dev/video2" # optional, camera index for wide road camera
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-$DIR/camerad.py

From 0265f20976d3d4f02678b7657b1469ec125f4987 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 19 Dec 2024 14:57:29 -0800
Subject: [PATCH 1185/1243] Update metadrive wheel (#34292)

* test

* new wheel
---
 pyproject.toml |    2 +-
 uv.lock        | 1094 ++++++++++++++++++++++++------------------------
 2 files changed, 548 insertions(+), 548 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 9cd28e6baf..3d577c7f62 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -118,7 +118,7 @@ dev = [
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 
diff --git a/uv.lock b/uv.lock
index f1a5fa9915..96d5c67af9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -502,7 +502,7 @@ version = "0.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "typing-extensions" },
+    { name = "typing-extensions", marker = "platform_system != 'Darwin'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657 },
@@ -652,10 +652,10 @@ name = "gymnasium"
 version = "1.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle" },
-    { name = "farama-notifications" },
-    { name = "numpy" },
-    { name = "typing-extensions" },
+    { name = "cloudpickle", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "farama-notifications", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4e/12/1047b8fdbfcdce74022048d916e844ad7e6e1114d81d26a7aed657e3a76d/gymnasium-1.0.0.tar.gz", hash = "sha256:9d2b66f30c1b34fe3c2ce7fae65ecf365d0e9982d2b3d860235e773328a3b403", size = 821389 }
 wheels = [
@@ -959,28 +959,28 @@ wheels = [
 
 [[package]]
 name = "metadrive-simulator"
-version = "0.4.2.3"
-source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl" }
-dependencies = [
-    { name = "filelock" },
-    { name = "gymnasium" },
-    { name = "lxml" },
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
-    { name = "pillow" },
-    { name = "progressbar" },
-    { name = "psutil" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
-]
-wheels = [
-    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl", hash = "sha256:6242d4e37e6c592d5eb1cadf497637540d3b754b89813a88c50a93c7fc88b02d" },
+version = "0.4.2.4"
+source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }
+dependencies = [
+    { name = "filelock", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "gymnasium", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "lxml", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "matplotlib", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pillow", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "progressbar", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "psutil", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pygments", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "requests", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "shapely", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "tqdm", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "yapf", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+]
+wheels = [
+    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" },
 ]
 
 [package.metadata]
@@ -1251,7 +1251,7 @@ name = "opencv-python-headless"
 version = "4.10.0.84"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
 wheels = [
@@ -1372,7 +1372,7 @@ requires-dist = [
     { name = "libusb1" },
     { name = "lru-dict", marker = "extra == 'dev'" },
     { name = "matplotlib", marker = "extra == 'dev'" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl" },
+    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" },
     { name = "mkdocs", marker = "extra == 'docs'" },
     { name = "mypy", marker = "extra == 'testing'" },
     { name = "natsort", marker = "extra == 'docs'" },
@@ -1456,8 +1456,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 }
 wheels = [
@@ -1469,8 +1469,8 @@ name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 }
 wheels = [
@@ -1846,159 +1846,159 @@ name = "pyobjc"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-addressbook" },
-    { name = "pyobjc-framework-adservices", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-applescriptkit" },
-    { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-applicationservices" },
-    { name = "pyobjc-framework-apptrackingtransparency", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-authenticationservices", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automator" },
-    { name = "pyobjc-framework-avfoundation", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-avrouting", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-backgroundassets", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-browserenginekit", marker = "platform_release >= '23.4'" },
-    { name = "pyobjc-framework-businesschat", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-calendarstore", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-cfnetwork" },
-    { name = "pyobjc-framework-cinematic", marker = "platform_release >= '23.0'" },
-    { name = "pyobjc-framework-classkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-cloudkit", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-collaboration", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-colorsync", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-contacts", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-contactsui", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-coreaudio" },
-    { name = "pyobjc-framework-coreaudiokit" },
-    { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-coredata" },
-    { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-coremedia", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-coremidi" },
-    { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-coreservices" },
-    { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-coretext" },
-    { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-discrecording" },
-    { name = "pyobjc-framework-discrecordingui" },
-    { name = "pyobjc-framework-diskarbitration" },
-    { name = "pyobjc-framework-dvdplayback" },
-    { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-exceptionhandling" },
-    { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-fileprovider", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-fileproviderui", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-findersync", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-fsevents", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-gamecenter", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-gamecontroller", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-gamekit", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-gameplaykit", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-installerplugins" },
-    { name = "pyobjc-framework-instantmessage", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0'" },
-    { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-iobluetooth" },
-    { name = "pyobjc-framework-iobluetoothui" },
-    { name = "pyobjc-framework-iosurface", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-ituneslibrary", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-kernelmanagement", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-latentsemanticmapping" },
-    { name = "pyobjc-framework-launchservices" },
-    { name = "pyobjc-framework-libdispatch", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-libxpc", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-linkpresentation", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-localauthentication", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-localauthenticationembeddedui", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-mailkit", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-mapkit", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-mediaaccessibility", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-medialibrary", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-mediaplayer", marker = "platform_release >= '16.0'" },
-    { name = "pyobjc-framework-mediatoolbox", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-metal", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-metalfx", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-metalkit", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-metalperformanceshaders", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-metalperformanceshadersgraph", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-metrickit", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-mlcompute", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-modelio", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-multipeerconnectivity", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-naturallanguage", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-netfs", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-network", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-networkextension", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-notificationcenter", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-opendirectory", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-osakit" },
-    { name = "pyobjc-framework-oslog", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-passkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-pencilkit", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-phase", marker = "platform_release >= '21.0'" },
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-    { name = "pyobjc-framework-photosui", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-preferencepanes" },
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-    { name = "pyobjc-framework-screencapturekit", marker = "platform_release >= '21.4'" },
-    { name = "pyobjc-framework-screensaver" },
-    { name = "pyobjc-framework-screentime", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-scriptingbridge", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-searchkit" },
-    { name = "pyobjc-framework-security" },
-    { name = "pyobjc-framework-securityfoundation" },
-    { name = "pyobjc-framework-securityinterface" },
-    { name = "pyobjc-framework-sensitivecontentanalysis", marker = "platform_release >= '23.0'" },
-    { name = "pyobjc-framework-servicemanagement", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-sharedwithyou", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-sharedwithyoucore", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-shazamkit", marker = "platform_release >= '21.0'" },
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-    { name = "pyobjc-framework-soundanalysis", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-speech", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-spritekit", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-storekit", marker = "platform_release >= '11.0'" },
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-    { name = "pyobjc-framework-syncservices" },
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-    { name = "pyobjc-framework-threadnetwork", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-uniformtypeidentifiers", marker = "platform_release >= '20.0'" },
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-    { name = "pyobjc-framework-usernotificationsui", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-videosubscriberaccount", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-videotoolbox", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-virtualization", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-vision", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-webkit" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-accessibility", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-accounts", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-addressbook", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-adservices", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-adsupport", marker = "(platform_machine != 'aarch64' and platform_release >= '18.0') or (platform_release >= '18.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-applescriptkit", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-applescriptobjc", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-applicationservices", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-apptrackingtransparency", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-audiovideobridging", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-authenticationservices", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-automator", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-avfoundation", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-avkit", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-avrouting", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-backgroundassets", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-browserenginekit", marker = "(platform_machine != 'aarch64' and platform_release >= '23.4') or (platform_release >= '23.4' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-businesschat", marker = "(platform_machine != 'aarch64' and platform_release >= '18.0') or (platform_release >= '18.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-calendarstore", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-callkit", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-cfnetwork", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cinematic", marker = "(platform_machine != 'aarch64' and platform_release >= '23.0') or (platform_release >= '23.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-classkit", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-cloudkit", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-collaboration", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-colorsync", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-contacts", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-contactsui", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coreaudio", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-coreaudiokit", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-corebluetooth", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coredata", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-corehaptics", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-corelocation", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coremedia", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coremediaio", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coremidi", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-coreml", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coremotion", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coreservices", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-corespotlight", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-coretext", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-corewlan", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-cryptotokenkit", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-datadetection", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-devicecheck", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-dictionaryservices", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-discrecording", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-discrecordingui", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-diskarbitration", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-dvdplayback", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-eventkit", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-exceptionhandling", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-executionpolicy", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-extensionkit", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-externalaccessory", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-fileprovider", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-fileproviderui", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-findersync", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-fsevents", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-gamecenter", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-gamecontroller", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-gamekit", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-gameplaykit", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-healthkit", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-imagecapturecore", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-inputmethodkit", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-installerplugins", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-instantmessage", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-intents", marker = "(platform_machine != 'aarch64' and platform_release >= '16.0') or (platform_release >= '16.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-intentsui", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-iobluetooth", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-iobluetoothui", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-iosurface", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-ituneslibrary", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-kernelmanagement", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-latentsemanticmapping", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-launchservices", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-libdispatch", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-libxpc", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-linkpresentation", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-localauthentication", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-localauthenticationembeddedui", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-mailkit", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-mapkit", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-mediaaccessibility", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-medialibrary", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-mediaplayer", marker = "(platform_machine != 'aarch64' and platform_release >= '16.0') or (platform_release >= '16.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-mediatoolbox", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-metal", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-metalfx", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-metalkit", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-metalperformanceshaders", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-metalperformanceshadersgraph", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-metrickit", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-mlcompute", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-modelio", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-multipeerconnectivity", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-naturallanguage", marker = "(platform_machine != 'aarch64' and platform_release >= '18.0') or (platform_release >= '18.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-netfs", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-network", marker = "(platform_machine != 'aarch64' and platform_release >= '18.0') or (platform_release >= '18.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-networkextension", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-notificationcenter", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-opendirectory", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-osakit", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-oslog", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-passkit", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-pencilkit", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-phase", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-photos", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-photosui", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-preferencepanes", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-pushkit", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-quartz", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-quicklookthumbnailing", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-replaykit", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-safariservices", marker = "(platform_machine != 'aarch64' and platform_release >= '16.0') or (platform_release >= '16.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-safetykit", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
+    { name = "pyobjc-framework-scenekit", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
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+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
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 sdist = { url = "https://files.pythonhosted.org/packages/40/2b/665cebe17818d7cf6bb5edf38319bcb3dd2915e1eb6c9e65db8c7fb045a0/pyobjc_framework_uniformtypeidentifiers-10.3.2.tar.gz", hash = "sha256:59e8b11d78d89a24f7fb944853b93705ca48febf1ae42be57d16100e38703f69", size = 18820 }
 wheels = [
@@ -4228,8 +4228,8 @@ name = "pyobjc-framework-usernotifications"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/39/87/2cf1c42e4686fe407b1043ae6fce7484da9a05d5f930ef4807aeb7f62233/pyobjc_framework_usernotifications-10.3.2.tar.gz", hash = "sha256:84743b40d950959b92bc15265278d4e4de45bf84fc3a45d8636f38476d7201c1", size = 46431 }
 wheels = [
@@ -4244,9 +4244,9 @@ name = "pyobjc-framework-usernotificationsui"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-usernotifications" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-usernotifications", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/cc/14/c028e54d93df12c4b84376bb1f343bbcf338dea8f21bd724c32de8841efe/pyobjc_framework_usernotificationsui-10.3.2.tar.gz", hash = "sha256:9e21f207dcb4305b2dd80ed5329515867aee0caf8f40157911f8b4c6674e4b60", size = 13611 }
 wheels = [
@@ -4259,8 +4259,8 @@ name = "pyobjc-framework-videosubscriberaccount"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/6d/05/6a25c1ef8189288ae7267cacf444031083840c9bd7fc0f8d9c6e61de34d6/pyobjc_framework_videosubscriberaccount-10.3.2.tar.gz", hash = "sha256:6072e55242c150bfc09417679813966482570fcfd0f0dd740c241ef5589f546a", size = 24126 }
 wheels = [
@@ -4273,10 +4273,10 @@ name = "pyobjc-framework-videotoolbox"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coremedia" },
-    { name = "pyobjc-framework-quartz" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-coremedia", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-quartz", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/8c/19/06a028ffdb254cf621795158f7da56c6c0f201d53b40709095a5f60fe55d/pyobjc_framework_videotoolbox-10.3.2.tar.gz", hash = "sha256:8ddfa3d25d53d03d00847f63cfcc7c033aab54d9fc1fdd0d18ff60af17aa2b14", size = 66599 }
 wheels = [
@@ -4291,8 +4291,8 @@ name = "pyobjc-framework-virtualization"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/71/5d/df555942df3bcd7df6a6ed0830b5b4a0024f4fda00ee7cefaf61afc19e05/pyobjc_framework_virtualization-10.3.2.tar.gz", hash = "sha256:6b8cd5b69dd5197b96d6b907c9224ea4d05ef3bebad552cfebf331ed98c2d4eb", size = 61977 }
 wheels = [
@@ -4307,10 +4307,10 @@ name = "pyobjc-framework-vision"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coreml" },
-    { name = "pyobjc-framework-quartz" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-coreml", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-quartz", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/a9/f9/f9063b8cdbb2210b51beadffabb7021d55a20b3e9693219c53e98d067c10/pyobjc_framework_vision-10.3.2.tar.gz", hash = "sha256:5cfea4a750657e2c8e7c8b0c26c7aac2578ba09ab8f66ffa0e2ee632410cacf3", size = 108990 }
 wheels = [
@@ -4325,8 +4325,8 @@ name = "pyobjc-framework-webkit"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
+    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ef/98/89187c121e130e11ce6c7ed86a2de10cb6d6c8994eb77ab2b81a060d1916/pyobjc_framework_webkit-10.3.2.tar.gz", hash = "sha256:b60d097a87867c252286855158cc35d991e2273f162f40f8e38e95153894bbbf", size = 611469 }
 wheels = [
@@ -4341,9 +4341,9 @@ name = "pyopencl"
 version = "2024.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
-    { name = "platformdirs" },
-    { name = "pytools" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "pytools", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ec/28/4679ea08b84532a67fd2d270c8f87aec64dab9ab99e618927b6a26ea063e/pyopencl-2024.3.tar.gz", hash = "sha256:d5d08de9b0a6d85695caba1769aceae4e7661f06951c507bd1ce8fb7a89e2413", size = 422604 }
 wheels = [
@@ -4397,7 +4397,7 @@ name = "pyqt5"
 version = "5.15.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyqt5-sip" },
+    { name = "pyqt5-sip", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/6c/640e3f5c734c296a7193079a86842a789edb7988dca39eab44579088a1d1/PyQt5-5.15.2.tar.gz", hash = "sha256:372b08dc9321d1201e4690182697c5e7ffb2e0770e6b4a45519025134b12e4fc", size = 3265445 }
 wheels = [
@@ -4597,7 +4597,7 @@ name = "python-xlib"
 version = "0.33"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "six" },
+    { name = "six", marker = "platform_system != 'Darwin'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/86/f5/8c0653e5bb54e0cbdfe27bf32d41f27bc4e12faa8742778c17f2a71be2c0/python-xlib-0.33.tar.gz", hash = "sha256:55af7906a2c75ce6cb280a584776080602444f75815a7aff4d287bb2d7018b32", size = 269068 }
 wheels = [
@@ -4615,9 +4615,9 @@ name = "pytools"
 version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs" },
-    { name = "siphash24" },
-    { name = "typing-extensions" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "siphash24", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741 }
 wheels = [
@@ -4922,7 +4922,7 @@ name = "shapely"
 version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4a/89/0d20bac88016be35ff7d3c0c2ae64b477908f1b1dfa540c5d69ac7af07fe/shapely-2.0.6.tar.gz", hash = "sha256:997f6159b1484059ec239cacaa53467fd8b5564dabe186cd84ac2944663b0bf6", size = 282361 }
 wheels = [
@@ -5147,7 +5147,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From ce4ebbde641a5e76bef83fae9b94a1b68c2b77a4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 19 Dec 2024 16:16:59 -0800
Subject: [PATCH 1186/1243] fix IR power scaling (#34293)

* fix IR power scaling

* Update system/hardware/tici/hardware.h
---
 system/hardware/tici/hardware.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 20ee88de80..da89bb9002 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -82,17 +82,17 @@ public:
       return;
     }
 
-    percent = std::clamp(percent, 0, 100);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
 
     std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
     if (torch_brightness.is_open()) {
-      torch_brightness << percent << "\n";
+      torch_brightness << value << "\n";
       torch_brightness.close();
     }
 
     std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
     if (switch_brightness.is_open()) {
-      switch_brightness << percent << "\n";
+      switch_brightness << value << "\n";
       switch_brightness.close();
     }
   }

From 3363881844546f7bfb07b8e65ea0941a187c408a Mon Sep 17 00:00:00 2001
From: Angus Gratton <gus@projectgus.com>
Date: Fri, 20 Dec 2024 15:15:04 +1100
Subject: [PATCH 1187/1243] replay: Update video immediately after seek when
 paused. (#34237)

replay: Update video immediately after seeking when paused.

Otherwise, if paused then have to resume playback for the video
frame to update and show the new location.

Implemented by temporarily un-pausing replay for a single
frame time.
---
 tools/replay/replay.cc | 13 ++++++++++++-
 tools/replay/replay.h  |  1 +
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 2bd3614530..328c12c418 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -89,7 +89,7 @@ void Replay::interruptStream(const std::function<bool()> &update_fn) {
     interrupt_requested_ = true;
     std::unique_lock lock(stream_lock_);
     events_ready_ = update_fn();
-    interrupt_requested_ = user_paused_;
+    interrupt_requested_ = user_paused_ && !pause_after_next_frame_;
   }
   stream_cv_.notify_one();
 }
@@ -116,6 +116,9 @@ void Replay::seekTo(double seconds, bool relative) {
       seeked_to_sec = *seeking_to_;
       seeking_to_.reset();
     }
+
+    // if paused, resume for exactly one frame to update
+    pause_after_next_frame_ = user_paused_;
     return false;
   });
 
@@ -144,6 +147,7 @@ void Replay::pause(bool pause) {
     interruptStream([=]() {
       rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
       user_paused_ = pause;
+      pause_after_next_frame_ = false;
       return !pause;
     });
   }
@@ -305,6 +309,7 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
   uint64_t evt_start_ts = cur_mono_time_;
   uint64_t loop_start_ts = nanos_since_boot();
   double prev_replay_speed = speed_;
+  uint64_t first_mono_time = first->mono_time;
 
   for (; !interrupt_requested_ && first != last; ++first) {
     const Event &evt = *first;
@@ -343,6 +348,12 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       }
       publishFrame(&evt);
     }
+
+    const auto T_ONE_FRAME = 0.050;
+    if (pause_after_next_frame_ && abs(toSeconds(evt.mono_time) - toSeconds(first_mono_time)) > T_ONE_FRAME) {
+      pause_after_next_frame_ = false;
+      interrupt_requested_ = true;
+    }
   }
 
   return first;
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index d549eaefc4..6f929cdd19 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -85,6 +85,7 @@ private:
   std::thread stream_thread_;
   std::mutex stream_lock_;
   bool user_paused_ = false;
+  bool pause_after_next_frame_ = false;
   std::condition_variable stream_cv_;
   int current_segment_ = 0;
   std::optional<double> seeking_to_;

From 7ac011ca899f344d66b13e5c587d4352a6f796c4 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 21 Dec 2024 02:40:05 +0800
Subject: [PATCH 1188/1243] cabana: add live and time-window heatmap modes for
 enhanced signal analysis (#34296)

add live and time-window heatmap modes
---
 tools/cabana/binaryview.cc             | 45 ++++++++++++++++----
 tools/cabana/binaryview.h              |  9 +++-
 tools/cabana/chart/sparkline.cc        |  8 +---
 tools/cabana/detailwidget.cc           | 59 +++++++++++++++++---------
 tools/cabana/detailwidget.h            |  3 +-
 tools/cabana/streams/abstractstream.cc | 26 ++++++------
 tools/cabana/streams/abstractstream.h  |  2 +
 7 files changed, 101 insertions(+), 51 deletions(-)

diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index e8406192d2..ec39ac470c 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -248,6 +248,7 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
 
 void BinaryViewModel::refresh() {
   beginResetModel();
+  bit_flip_tracker = {};
   items.clear();
   if (auto dbc_msg = dbc()->msg(msg_id)) {
     row_count = dbc_msg->size;
@@ -292,11 +293,6 @@ void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &co
   }
 }
 
-// TODO:
-// 1. Detect instability through frequent bit flips and highlight stable bits to indicate steady signals.
-// 2. Track message sequence and timestamps to understand how patterns evolve.
-// 3. Identify time-based or periodic bit state changes to spot recurring patterns.
-// 4. Support multiple time windows for short-term and long-term analysis, helping to observe changes in different time frames.
 void BinaryViewModel::updateState() {
   const auto &last_msg = can->lastMessage(msg_id);
   const auto &binary = last_msg.dat;
@@ -308,10 +304,11 @@ void BinaryViewModel::updateState() {
     endInsertRows();
   }
 
+  auto &bit_flips = heatmap_live_mode ? last_msg.bit_flip_counts : getBitFlipChanges(binary.size());
   // Find the maximum bit flip count across the message
   uint32_t max_bit_flip_count = 1;  // Default to 1 to avoid division by zero
-  for (const auto &row : last_msg.bit_flip_counts) {
-    for (auto count : row) {
+  for (const auto &row : bit_flips) {
+    for (uint32_t count : row) {
       max_bit_flip_count = std::max(max_bit_flip_count, count);
     }
   }
@@ -328,7 +325,7 @@ void BinaryViewModel::updateState() {
       int bit_val = (binary[i] >> (7 - j)) & 1;
 
       double alpha = item.sigs.empty() ? 0 : min_alpha_with_signal;
-      uint32_t flip_count = last_msg.bit_flip_counts[i][j];
+      uint32_t flip_count = bit_flips[i][j];
       if (flip_count > 0) {
         double normalized_alpha = log2(1.0 + flip_count * log_factor) * log_scaler;
         double min_alpha = item.sigs.empty() ? min_alpha_no_signal : min_alpha_with_signal;
@@ -343,6 +340,38 @@ void BinaryViewModel::updateState() {
   }
 }
 
+const std::vector<std::array<uint32_t, 8>> &BinaryViewModel::getBitFlipChanges(size_t msg_size) {
+  // Return cached results if time range and data are unchanged
+  auto time_range = can->timeRange();
+  if (bit_flip_tracker.time_range == time_range && !bit_flip_tracker.flip_counts.empty())
+    return bit_flip_tracker.flip_counts;
+
+  bit_flip_tracker.time_range = time_range;
+  bit_flip_tracker.flip_counts.assign(msg_size, std::array<uint32_t, 8>{});
+
+  // Iterate over events within the specified time range and calculate bit flips
+  auto [first, last] = can->eventsInRange(msg_id, time_range);
+  if (std::distance(first, last) <= 1) return bit_flip_tracker.flip_counts;
+
+  std::vector<uint8_t> prev_values((*first)->dat, (*first)->dat + (*first)->size);
+  for (auto it = std::next(first); it != last; ++it) {
+    const CanEvent *event = *it;
+    int size = std::min<int>(msg_size, event->size);
+    for (int i = 0; i < size; ++i) {
+      const uint8_t diff = event->dat[i] ^ prev_values[i];
+      if (!diff) continue;
+
+      auto &bit_flips = bit_flip_tracker.flip_counts[i];
+      for (int bit = 0; bit < 8; ++bit) {
+        if (diff & (1u << bit)) ++bit_flips[7 - bit];
+      }
+      prev_values[i] = event->dat[i];
+    }
+  }
+
+  return bit_flip_tracker.flip_counts;
+}
+
 QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Vertical) {
     switch (role) {
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 584910dc83..3802bf14d4 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -39,6 +39,12 @@ public:
   Qt::ItemFlags flags(const QModelIndex &index) const override {
     return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable;
   }
+  const std::vector<std::array<uint32_t, 8>> &getBitFlipChanges(size_t msg_size);
+
+  struct BitFlipTracker {
+    std::optional<std::pair<double, double>> time_range;
+    std::vector<std::array<uint32_t, 8>> flip_counts;
+  } bit_flip_tracker;
 
   struct Item {
     QColor bg_color = QColor(102, 86, 169, 255);
@@ -49,7 +55,7 @@ public:
     bool valid = false;
   };
   std::vector<Item> items;
-
+  bool heatmap_live_mode = true;
   MessageId msg_id;
   int row_count = 0;
   const int column_count = 9;
@@ -65,6 +71,7 @@ public:
   QSet<const cabana::Signal*> getOverlappingSignals() const;
   inline void updateState() { model->updateState(); }
   QSize minimumSizeHint() const override;
+  void setHeatmapLiveMode(bool live) { model->heatmap_live_mode = live; updateState(); }
 
 signals:
   void signalClicked(const cabana::Signal *sig);
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 094fe96182..09f86a095a 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -5,15 +5,9 @@
 #include <QPainter>
 
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
-  const auto &msgs = can->events(msg_id);
-
-  auto range_start = can->toMonoTime(last_msg_ts - range);
-  auto range_end = can->toMonoTime(last_msg_ts);
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
-  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
-
   points.clear();
   double value = 0;
+  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(last_msg_ts -range, last_msg_ts));
   for (auto it = first; it != last; ++it) {
     if (sig->getValue((*it)->dat, (*it)->size, &value)) {
       points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 7befadb722..ae9d12e862 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -2,7 +2,8 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QSpacerItem>
+#include <QRadioButton>
+#include <QToolBar>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -20,19 +21,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
   main_layout->addWidget(tabbar);
 
-  // message title
-  QHBoxLayout *title_layout = new QHBoxLayout();
-  title_layout->setContentsMargins(3, 6, 3, 0);
-  auto spacer = new QSpacerItem(0, 1);
-  title_layout->addItem(spacer);
-  title_layout->addWidget(name_label = new ElidedLabel(this), 1);
-  name_label->setStyleSheet("QLabel{font-weight:bold;}");
-  name_label->setAlignment(Qt::AlignCenter);
-  auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
-  title_layout->addWidget(edit_btn);
-  title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message")));
-  spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1);
-  main_layout->addLayout(title_layout);
+  createToolBar();
 
   // warning
   warning_widget = new QWidget(this);
@@ -58,8 +47,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
   main_layout->addWidget(tab_widget);
 
-  QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
-  QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
   QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
   QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
   QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
@@ -80,6 +67,41 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }
 
+void DetailWidget::createToolBar() {
+  QToolBar *toolbar = new QToolBar(this);
+  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
+  toolbar->setIconSize({icon_size, icon_size});
+  toolbar->addWidget(name_label = new ElidedLabel(this));
+  name_label->setStyleSheet("QLabel{font-weight:bold;}");
+
+  QWidget *spacer = new QWidget();
+  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(spacer);
+
+// Heatmap label and radio buttons
+  toolbar->addWidget(new QLabel(tr("Heatmap:"), this));
+  auto *heatmap_live = new QRadioButton(tr("Live"), this);
+  auto *heatmap_all = new QRadioButton(tr("All"), this);
+  heatmap_live->setChecked(true);
+
+  toolbar->addWidget(heatmap_live);
+  toolbar->addWidget(heatmap_all);
+
+  // Edit and remove buttons
+  toolbar->addSeparator();
+  toolbar->addAction(utils::icon("pencil"), tr("Edit Message"), this, &DetailWidget::editMsg);
+  action_remove_msg = toolbar->addAction(utils::icon("x-lg"), tr("Remove Message"), this, &DetailWidget::removeMsg);
+
+  layout()->addWidget(toolbar);
+
+  connect(heatmap_live, &QAbstractButton::toggled, this, [this](bool on) { binary_view->setHeatmapLiveMode(on); });
+  connect(can, &AbstractStream::timeRangeChanged, this, [=](const std::optional<std::pair<double, double>> &range) {
+    auto text = range ? QString("%1 - %2").arg(range->first, 0, 'f', 3).arg(range->second, 0, 'f', 3) : "All";
+    heatmap_all->setText(text);
+    (range ? heatmap_all : heatmap_live)->setChecked(true);
+  });
+}
+
 void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   int index = tabbar->tabAt(pt);
   if (index >= 0) {
@@ -131,14 +153,11 @@ void DetailWidget::refresh() {
     for (auto s : binary_view->getOverlappingSignals()) {
       warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
     }
-  } else {
-    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
-
   QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
-  remove_btn->setEnabled(msg != nullptr);
+  action_remove_msg->setEnabled(msg != nullptr);
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 15e1ee5f2f..47304fbdc5 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -36,6 +36,7 @@ public:
   void refresh();
 
 private:
+  void createToolBar();
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
@@ -47,7 +48,7 @@ private:
   QWidget *warning_widget;
   TabBar *tabbar;
   QTabWidget *tab_widget;
-  QToolButton *remove_btn;
+  QAction *action_remove_msg;
   LogsWidget *history_log;
   BinaryView *binary_view;
   SignalView *signal_view;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 73329c4dfb..fa71beb2ea 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -61,10 +61,7 @@ size_t AbstractStream::suppressHighlighted() {
       }
       cnt += last_change.suppressed;
     }
-
-    for (auto &row_bit_flips : m.bit_flip_counts) {
-      row_bit_flips.fill(0);
-    }
+    for (auto &flip_counts : m.bit_flip_counts) flip_counts.fill(0);
   }
   return cnt;
 }
@@ -203,6 +200,15 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
   }
 }
 
+std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const {
+  const auto &events = can->events(id);
+  if (!time_range) return {events.begin(), events.end()};
+
+  auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent());
+  auto last = std::upper_bound(events.begin(), events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
+  return {first, last};
+}
+
 namespace {
 
 enum Color { GREYISH_BLUE, CYAN, RED};
@@ -222,15 +228,7 @@ inline QColor blend(const QColor &a, const QColor &b) {
 
 // Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
-  const auto &events = can->events(msg_id);
-  if (events.empty()) return 0.0;
-
-  auto current_mono_time = can->toMonoTime(current_sec);
-  auto start_mono_time = can->toMonoTime(current_sec - 59);
-
-  auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent());
-  auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
-
+  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(current_sec - 59, current_sec));
   int count = std::distance(first, last);
   if (count <= 1) return 0.0;
 
@@ -251,7 +249,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
   }
 
   if (dat.size() != size) {
-    dat.resize(size);
+    dat.assign(can_data, can_data + size);
     colors.assign(size, QColor(0, 0, 0, 0));
     last_changes.resize(size);
     bit_flip_counts.resize(size);
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index a53c9374a0..2824199161 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -53,6 +53,7 @@ struct CompareCanEvent {
 };
 
 typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
+using CanEventIter = std::vector<const CanEvent *>::const_iterator;
 
 class AbstractStream : public QObject {
   Q_OBJECT
@@ -85,6 +86,7 @@ public:
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
   const CanData &lastMessage(const MessageId &id) const;
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
+  std::pair<CanEventIter, CanEventIter> eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const;
 
   size_t suppressHighlighted();
   void clearSuppressed();

From 484b96f2b614990e29b682d498504dbf513a7d09 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 20 Dec 2024 15:28:52 -0800
Subject: [PATCH 1189/1243] timed: diff against absolute value of timedelta
 (#34299)

---
 system/timed.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/timed.py b/system/timed.py
index 3eb84353ad..de9b0ffb59 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -13,7 +13,7 @@ from openpilot.common.gps import get_gps_location_service
 
 def set_time(new_time):
   diff = datetime.datetime.now() - new_time
-  if diff < datetime.timedelta(seconds=10):
+  if abs(diff) < datetime.timedelta(seconds=10):
     cloudlog.debug(f"Time diff too small: {diff}")
     return
 

From 9e8815def41c9a26035b085151a529461003eb76 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 22 Dec 2024 05:49:09 +0800
Subject: [PATCH 1190/1243] cabana: miscellaneous bug fixes and enhancements
 (#34297)

* toHexString

* use QToolBar

* fix incorrect groove rect

* limit CAN_MAX_DATA_BYTES

* add series type selector to chart toolbar

* dim inactive messages

* rename

* add help to chart

* cleanup
---
 tools/cabana/binaryview.cc             |   2 +-
 tools/cabana/binaryview.h              |   7 +-
 tools/cabana/chart/chart.cc            |   2 +
 tools/cabana/chart/chartswidget.cc     |  41 +++++++---
 tools/cabana/chart/chartswidget.h      |   2 +
 tools/cabana/dbc/dbc.h                 |   4 +-
 tools/cabana/detailwidget.cc           |   3 +-
 tools/cabana/messageswidget.cc         |  23 +-----
 tools/cabana/settings.cc               |   5 --
 tools/cabana/signalview.cc             |   2 +-
 tools/cabana/streams/abstractstream.cc |  15 ++++
 tools/cabana/streams/abstractstream.h  |   1 +
 tools/cabana/utils/util.h              |   1 +
 tools/cabana/videowidget.cc            | 102 +++++++++++++------------
 tools/cabana/videowidget.h             |  14 ++--
 15 files changed, 125 insertions(+), 99 deletions(-)

diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index ec39ac470c..eb0af5b64a 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -437,7 +437,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
     auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
-    painter->setPen(option.palette.color(color_role));
+    painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
   }
 
   if (item->sigs.size() > 1) {
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 3802bf14d4..920deb0018 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -69,7 +69,11 @@ public:
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
   QSet<const cabana::Signal*> getOverlappingSignals() const;
-  inline void updateState() { model->updateState(); }
+  void updateState() { model->updateState(); }
+  void paintEvent(QPaintEvent *event) override {
+    is_message_active = can->isMessageActive(model->msg_id);
+    QTableView::paintEvent(event);
+  }
   QSize minimumSizeHint() const override;
   void setHeatmapLiveMode(bool live) { model->heatmap_live_mode = live; updateState(); }
 
@@ -93,6 +97,7 @@ private:
   QModelIndex anchor_index;
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
+  bool is_message_active = false;
   const cabana::Signal *resize_sig = nullptr;
   const cabana::Signal *hovered_sig = nullptr;
   friend class BinaryItemDelegate;
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 6c13252e80..3588c5edc6 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -842,6 +842,8 @@ void ChartView::setSeriesType(SeriesType type) {
     }
     updateSeriesPoints();
     updateTitle();
+
+    menu->actions()[(int)type]->setChecked(true);
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index e2f0d4d0c9..5f16eeafd0 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -23,7 +23,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->setSpacing(0);
 
   // toolbar
-  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
+  toolbar = new QToolBar(tr("Charts"), this);
   int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
   toolbar->setIconSize({icon_size, icon_size});
 
@@ -34,6 +34,21 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   toolbar->addWidget(title_label = new QLabel());
   title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
 
+  auto chart_type_action = toolbar->addAction("");
+  QMenu *chart_type_menu = new QMenu(this);
+  auto types = std::array{tr("Line"), tr("Step"), tr("Scatter")};
+  for (int i = 0; i < types.size(); ++i) {
+    QString type_text = types[i];
+    chart_type_menu->addAction(type_text, this, [=]() {
+      settings.chart_series_type = i;
+      chart_type_action->setText("Type: " + type_text);
+      settingChanged();
+    });
+  }
+  chart_type_action->setText("Type: " + types[settings.chart_series_type]);
+  chart_type_action->setMenu(chart_type_menu);
+  qobject_cast<QToolButton *>(toolbar->widgetForAction(chart_type_action))->setPopupMode(QToolButton::InstantPopup);
+
   QMenu *menu = new QMenu(this);
   for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
     menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
@@ -42,13 +57,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   columns_action->setMenu(menu);
   qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
 
-  QLabel *stretch_label = new QLabel(this);
-  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(stretch_label);
+  QWidget *spacer = new QWidget(this);
+  spacer->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Preferred);
+  toolbar->addWidget(spacer);
 
   range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
   range_slider = new LogSlider(1000, Qt::Horizontal, this);
-  range_slider->setMaximumWidth(200);
+  range_slider->setFixedWidth(150 * qApp->devicePixelRatio());
   range_slider->setToolTip(tr("Set the chart range"));
   range_slider->setRange(1, settings.max_cached_minutes * 60);
   range_slider->setSingleStep(1);
@@ -121,10 +136,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   setIsDocked(true);
   newTab();
   qApp->installEventFilter(this);
-
   setWhatsThis(tr(R"(
-    <b>Chart view</b><br />
-    <!-- TODO: add descprition here -->
+    <b>Chart View</b><br />
+    <b>Click</b>: Click to seek to a corresponding time.<br />
+    <b>Drag</b>: Zoom into the chart.<br />
+    <b>Shift + Drag</b>: Scrub through the chart to view values.<br />
+    <b>Right Mouse</b>: Open the context menu.<br />
   )"));
 }
 
@@ -219,7 +236,7 @@ void ChartsWidget::setIsDocked(bool docked) {
 
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
-  columns_action->setText(tr("Column: %1").arg(column_count));
+  columns_action->setText(tr("Columns: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
 
   bool is_zoomed = can->timeRange().has_value();
@@ -241,7 +258,9 @@ void ChartsWidget::settingChanged() {
       c->setTheme(theme);
     }
   }
-  range_slider->setRange(1, settings.max_cached_minutes * 60);
+  if (range_slider->maximum() != settings.max_cached_minutes * 60) {
+    range_slider->setRange(1, settings.max_cached_minutes * 60);
+  }
   for (auto c : charts) {
     c->setFixedHeight(settings.chart_height);
     c->setSeriesType((SeriesType)settings.chart_series_type);
@@ -380,7 +399,7 @@ void ChartsWidget::doAutoScroll() {
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index bfdaaaa954..20363ebeaf 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -7,6 +7,7 @@
 #include <QLabel>
 #include <QScrollArea>
 #include <QTimer>
+#include <QToolBar>
 #include <QUndoCommand>
 #include <QUndoStack>
 
@@ -88,6 +89,7 @@ private:
   bool is_docked = true;
   ToolButton *dock_btn;
 
+  QToolBar *toolbar;
   QAction *undo_zoom_action;
   QAction *redo_zoom_action;
   QAction *reset_zoom_action;
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index da44319b5c..d2b25bc5f2 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -8,16 +8,16 @@
 #include <QMetaType>
 #include <QString>
 
-
 const QString UNTITLED = "untitled";
 const QString DEFAULT_NODE_NAME = "XXX";
+constexpr int CAN_MAX_DATA_BYTES = 64;
 
 struct MessageId {
   uint8_t source = 0;
   uint32_t address = 0;
 
   QString toString() const {
-    return QString("%1:%2").arg(source).arg(address, 1, 16);
+    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
   }
 
   bool operator==(const MessageId &other) const {
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index ae9d12e862..2e213988bc 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -203,8 +203,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   name_edit->setValidator(new NameValidator(name_edit));
 
   form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
-  // TODO: limit the maximum?
-  size_spin->setMinimum(1);
+  size_spin->setRange(1, CAN_MAX_DATA_BYTES);
   size_spin->setValue(size);
 
   form_layout->addRow(tr("Node"), node = new QLineEdit(this));
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ecb739a733..ed9aeaf311 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -13,21 +13,6 @@
 
 #include "tools/cabana/commands.h"
 
-static bool isMessageActive(const MessageId &id) {
-  if (id.source == INVALID_SOURCE) {
-    return false;
-  }
-  // Check if the message is active based on time difference and frequency
-  const auto &m = can->lastMessage(id);
-  float delta = can->currentSec() - m.ts;
-
-  if (m.freq < std::numeric_limits<double>::epsilon()) {
-    return delta < 1.5;
-  }
-
-  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
-}
-
 MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -207,7 +192,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     switch (index.column()) {
       case Column::NAME: return item.name;
       case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : NA;
-      case Column::ADDRESS: return QString::number(item.id.address, 16);
+      case Column::ADDRESS: return toHexString(item.id.address);
       case Column::NODE: return item.node;
       case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(can->lastMessage(item.id).freq) : NA;
       case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(can->lastMessage(item.id).count) : NA;
@@ -300,7 +285,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         match = parseRange(txt, item.id.source);
         break;
       case Column::ADDRESS:
-        match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
+        match = toHexString(item.id.address).contains(txt, Qt::CaseInsensitive);
         match = match || parseRange(txt, item.id.address, 16);
         break;
       case Column::NODE:
@@ -335,7 +320,7 @@ bool MessageListModel::filterAndSort() {
   std::vector<Item> items;
   items.reserve(all_messages.size());
   for (const auto &id : all_messages) {
-    if (show_inactive_messages || isMessageActive(id)) {
+    if (show_inactive_messages || can->isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
                   .name = msg ? msg->name : UNTITLED,
@@ -378,7 +363,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
    const auto &item = ((MessageListModel*)model())->items_[index.row()];
-  if (!isMessageActive(item.id)) {
+  if (!can->isMessageActive(item.id)) {
     QStyleOptionViewItem custom_option = option;
     custom_option.palette.setBrush(QPalette::Text, custom_option.palette.color(QPalette::Disabled, QPalette::Text));
     auto color = QApplication::palette().color(QPalette::HighlightedText);
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index 523cbf3be7..cccc9b6d9a 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -89,10 +89,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
 
   groupbox = new QGroupBox("Chart");
   form_layout = new QFormLayout(groupbox);
-  form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
-  chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
-  chart_series_type->setCurrentIndex(settings.chart_series_type);
-
   form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
   chart_height->setRange(100, 500);
   chart_height->setSingleStep(10);
@@ -132,7 +128,6 @@ void SettingsDlg::save() {
   }
   settings.fps = fps->value();
   settings.max_cached_minutes = cached_minutes->value();
-  settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
   settings.log_path = log_path->text();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 130b76d502..9fe70c3ee8 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -382,7 +382,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
     spin->setFrame(false);
-    spin->setRange(1, 64);
+    spin->setRange(1, CAN_MAX_DATA_BYTES);
     return spin;
   } else if (item->type == SignalModel::Item::SignalType) {
     QComboBox *c = new QComboBox(parent);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index fa71beb2ea..ad911b7bae 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -127,6 +127,21 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   return it != last_msgs.end() ? it->second : empty_data;
 }
 
+bool AbstractStream::isMessageActive(const MessageId &id) const {
+  if (id.source == INVALID_SOURCE) {
+    return false;
+  }
+  // Check if the message is active based on time difference and frequency
+  const auto &m = lastMessage(id);
+  float delta = currentSec() - m.ts;
+
+  if (m.freq < std::numeric_limits<double>::epsilon()) {
+    return delta < 1.5;
+  }
+
+  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
+}
+
 void AbstractStream::updateLastMsgsTo(double sec) {
   std::lock_guard lk(mutex_);
   current_sec_ = sec;
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 2824199161..8180c6b6f8 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -82,6 +82,7 @@ public:
   inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
+  bool isMessageActive(const MessageId &id) const;
   inline const MessageEventsMap &eventsMap() const { return events_; }
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
   const CanData &lastMessage(const MessageId &id) const;
diff --git a/tools/cabana/utils/util.h b/tools/cabana/utils/util.h
index 0ebd7e41f8..1aad3103db 100644
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -163,3 +163,4 @@ private:
 
 int num_decimals(double num);
 QString signalToolTip(const cabana::Signal *sig);
+inline QString toHexString(int value) { return QString("0x%1").arg(QString::number(value, 16).toUpper(), 2, '0'); }
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 0b2beb1dd6..b3afad41ed 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -31,9 +31,12 @@ static Replay *getReplay() {
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
   if (!can->liveStreaming())
     main_layout->addWidget(createCameraWidget());
-  main_layout->addLayout(createPlaybackController());
+
+  createPlaybackController();
 
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
@@ -65,15 +68,19 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
           timeline_colors[(int)TimelineType::AlertCritical].name()));
 }
 
-QHBoxLayout *VideoWidget::createPlaybackController() {
-  QHBoxLayout *layout = new QHBoxLayout();
-  layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward")));
-  layout->addWidget(play_btn = new ToolButton("play", tr("Play")));
-  layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward")));
+void VideoWidget::createPlaybackController() {
+  QToolBar *toolbar = new QToolBar(this);
+  layout()->addWidget(toolbar);
+
+  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
+  toolbar->setIconSize({icon_size, icon_size});
+
+  toolbar->addAction(utils::icon("rewind"), tr("Seek backward"), []() { can->seekTo(can->currentSec() - 1); });
+  play_toggle_action = toolbar->addAction(utils::icon("play"), tr("Play"), []() { can->pause(!can->isPaused()); });
+  toolbar->addAction(utils::icon("fast-forward"), tr("Seek forward"), []() { can->seekTo(can->currentSec() + 1); });
 
   if (can->liveStreaming()) {
-    layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this));
-    QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() {
+    skip_to_end_action = toolbar->addAction(utils::icon("skip-end"), tr("Skip to the end"), this, [this]() {
       // set speed to 1.0
       speed_btn->menu()->actions()[7]->setChecked(true);
       can->pause(false);
@@ -81,53 +88,48 @@ QHBoxLayout *VideoWidget::createPlaybackController() {
     });
   }
 
-  layout->addWidget(time_btn = new QToolButton);
-  time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
-  time_btn->setAutoRaise(true);
-  layout->addStretch(0);
+  time_display_action = toolbar->addAction("", this, [this]() {
+    settings.absolute_time = !settings.absolute_time;
+    time_display_action->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+    updateState();
+  });
+
+  QWidget *spacer = new QWidget();
+  spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(spacer);
 
   if (!can->liveStreaming()) {
-    layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback")));
-    QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked);
+    toolbar->addAction(utils::icon("repeat"), tr("Loop playback"), this, &VideoWidget::loopPlaybackClicked);
   }
 
-  // speed selector
-  layout->addWidget(speed_btn = new QToolButton(this));
-  speed_btn->setAutoRaise(true);
+  createSpeedDropdown(toolbar);
+}
+
+void VideoWidget::createSpeedDropdown(QToolBar *toolbar) {
+  toolbar->addWidget(speed_btn = new QToolButton(this));
   speed_btn->setMenu(new QMenu(speed_btn));
   speed_btn->setPopupMode(QToolButton::InstantPopup);
   QActionGroup *speed_group = new QActionGroup(this);
   speed_group->setExclusive(true);
 
-  int max_width = 0;
-  QFont font = speed_btn->font();
-  font.setBold(true);
-  speed_btn->setFont(font);
-  QFontMetrics fm(font);
   for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) {
-    QString name = QString("%1x").arg(speed);
-    max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2);
-
-    QAction *act = new QAction(name, speed_group);
-    act->setCheckable(true);
-    QObject::connect(act, &QAction::toggled, [this, speed]() {
+    auto act = speed_btn->menu()->addAction(QString("%1x").arg(speed), this, [this, speed]() {
       can->setSpeed(speed);
       speed_btn->setText(QString("%1x  ").arg(speed));
     });
-    speed_btn->menu()->addAction(act);
-    if (speed == 1.0)act->setChecked(true);
+
+    speed_group->addAction(act);
+    act->setCheckable(true);
+    if (speed == 1.0) {
+      act->setChecked(true);
+      act->trigger();
+    }
   }
-  speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
 
-  QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
-  QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); });
-  QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); });
-  QObject::connect(time_btn, &QToolButton::clicked, [this]() {
-    settings.absolute_time = !settings.absolute_time;
-    time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
-    updateState();
-  });
-  return layout;
+  QFont font = speed_btn->font();
+  font.setBold(true);
+  speed_btn->setFont(font);
+  speed_btn->setMinimumWidth(speed_btn->fontMetrics().width("0.05x  ") + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
 }
 
 QWidget *VideoWidget::createCameraWidget() {
@@ -180,13 +182,13 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 void VideoWidget::loopPlaybackClicked() {
   bool is_looping = getReplay()->loop();
   getReplay()->setLoop(!is_looping);
-  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
+  qobject_cast<QAction*>(sender())->setIcon(utils::icon(!is_looping ? "repeat" : "repeat-1"));
 }
 
 void VideoWidget::timeRangeChanged() {
   const auto time_range = can->timeRange();
   if (can->liveStreaming()) {
-    skip_to_end_btn->setEnabled(!time_range.has_value());
+    skip_to_end_action->setEnabled(!time_range.has_value());
     return;
   }
   time_range ? slider->setTimeRange(time_range->first, time_range->second)
@@ -208,16 +210,16 @@ void VideoWidget::updateState() {
     if (camera_tab->count() == 0) {  //  No streams available
       cam_widget->update();          // Manually refresh to show alert events
     }
-    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
+    time_display_action->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
   } else {
-    time_btn->setText(formatTime(can->currentSec(), true));
+    time_display_action->setText(formatTime(can->currentSec(), true));
   }
 }
 
 void VideoWidget::updatePlayBtnState() {
-  play_btn->setIcon(can->isPaused() ? "play" : "pause");
-  play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
+  play_toggle_action->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
+  play_toggle_action->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
 }
 
 // Slider
@@ -228,8 +230,12 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
 
 void Slider::paintEvent(QPaintEvent *ev) {
   QPainter p(this);
-  QRect r = rect().adjusted(0, 4, 0, -4);
+
+  QStyleOptionSlider opt;
+  initStyleOption(&opt);
+  QRect r = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this);
   p.fillRect(r, timeline_colors[(int)TimelineType::None]);
+
   double min = minimum() / factor;
   double max = maximum() / factor;
 
@@ -254,8 +260,6 @@ void Slider::paintEvent(QPaintEvent *ev) {
     }
   }
 
-  QStyleOptionSlider opt;
-  opt.initFrom(this);
   opt.minimum = minimum();
   opt.maximum = maximum();
   opt.subControls = QStyle::SC_SliderHandle;
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 78503365e5..d00657b164 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -6,10 +6,10 @@
 #include <string>
 #include <utility>
 
-#include <QHBoxLayout>
 #include <QFrame>
 #include <QPropertyAnimation>
 #include <QSlider>
+#include <QToolBar>
 #include <QTabBar>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
@@ -62,18 +62,16 @@ protected:
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
-  QHBoxLayout *createPlaybackController();
+  void createPlaybackController();
+  void createSpeedDropdown(QToolBar *toolbar);
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
   StreamCameraView *cam_widget;
-  QToolButton *time_btn = nullptr;
-  ToolButton *seek_backward_btn = nullptr;
-  ToolButton *play_btn = nullptr;
-  ToolButton *seek_forward_btn = nullptr;
-  ToolButton *loop_btn = nullptr;
+  QAction *time_display_action = nullptr;
+  QAction *play_toggle_action = nullptr;
   QToolButton *speed_btn = nullptr;
-  ToolButton *skip_to_end_btn = nullptr;
+  QAction *skip_to_end_action = nullptr;
   Slider *slider = nullptr;
   QTabBar *camera_tab = nullptr;
 };

From 822f613139155d95dc7a491dc0a59de966124148 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 22 Dec 2024 05:49:18 +0800
Subject: [PATCH 1191/1243] cabana: real-time cursor and video frame sync for
 chart and video (#34301)

* sync cursor and thumbnail between chart and video

* Revert "replay: Update video immediately after seek when paused. (#34237)"

This reverts commit 3363881844546f7bfb07b8e65ea0941a187c408a.

* use thumbnails while scrubing

* draw alert

* no update on resume

* draw timestamp

* cleanup
---
 tools/cabana/chart/chartswidget.cc | 15 ++----
 tools/cabana/chart/chartswidget.h  |  1 +
 tools/cabana/mainwin.cc            |  1 +
 tools/cabana/videowidget.cc        | 83 ++++++++++++++++++++----------
 tools/cabana/videowidget.h         | 11 ++--
 tools/replay/replay.cc             | 13 +----
 tools/replay/replay.h              |  1 -
 7 files changed, 71 insertions(+), 54 deletions(-)

diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 5f16eeafd0..08840f4663 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -193,6 +193,7 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  emit showTip(sec);
   if (sec < 0 && !value_tip_visible_) return;
 
   value_tip_visible_ = sec >= 0;
@@ -548,20 +549,14 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
 
 void ChartsContainer::paintEvent(QPaintEvent *ev) {
   if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
-    QRect r;
+    QRect r = geometry();
+    r.setHeight(CHART_SPACING);
     if (auto insert_after = getDropAfter(drop_indictor_pos)) {
-      QRect area = insert_after->geometry();
-      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
-    } else {
-      r = geometry();
-      r.setHeight(CHART_SPACING);
+      r.moveTop(insert_after->geometry().bottom());
     }
 
     QPainter p(this);
-    p.setPen(QPen(palette().highlight(), 2));
-    p.drawLine(r.topLeft() + QPoint(1, 0), r.bottomLeft() + QPoint(1, 0));
-    p.drawLine(r.topLeft() + QPoint(0, r.height() / 2), r.topRight() + QPoint(0, r.height() / 2));
-    p.drawLine(r.topRight(), r.bottomRight());
+    p.fillRect(r, palette().highlight());
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 20363ebeaf..46e7f546b0 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -53,6 +53,7 @@ public slots:
 signals:
   void toggleChartsDocking();
   void seriesChanged();
+  void showTip(double seconds);
 
 private:
   QSize minimumSizeHint() const override;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d3f868cd47..8361befb53 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -191,6 +191,7 @@ void MainWindow::createDockWidgets() {
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
   QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
+  QObject::connect(charts_widget, &ChartsWidget::showTip, video_widget, &VideoWidget::showThumbnail);
 }
 
 void MainWindow::createStatusBar() {
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index b3afad41ed..97e08d6afd 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -152,7 +152,6 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
   QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
-  QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); });
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -160,7 +159,7 @@ QWidget *VideoWidget::createCameraWidget() {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
   QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
-  slider->installEventFilter(cam_widget);
+  slider->installEventFilter(this);
   return w;
 }
 
@@ -222,8 +221,24 @@ void VideoWidget::updatePlayBtnState() {
   play_toggle_action->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
 }
 
-// Slider
+void VideoWidget::showThumbnail(double seconds) {
+  cam_widget->thumbnail_dispaly_time = seconds;
+  slider->thumbnail_dispaly_time = seconds;
+  cam_widget->update();
+  slider->update();
+}
+
+bool VideoWidget::eventFilter(QObject *obj, QEvent *event) {
+  if (event->type() == QEvent::MouseMove) {
+    auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+    showThumbnail(min_sec + static_cast<QMouseEvent *>(event)->pos().x() * (max_sec - min_sec) / slider->width());
+  } else if (event->type() == QEvent::Leave) {
+    showThumbnail(-1);
+  }
+  return false;
+}
 
+// Slider
 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
   setMouseTracking(true);
 }
@@ -265,6 +280,14 @@ void Slider::paintEvent(QPaintEvent *ev) {
   opt.subControls = QStyle::SC_SliderHandle;
   opt.sliderPosition = value();
   style()->drawComplexControl(QStyle::CC_Slider, &opt, &p);
+
+  if (thumbnail_dispaly_time >= 0) {
+    int left = (thumbnail_dispaly_time - min) * width() / (max - min) - 1;
+    QRect rc(left, rect().top() + 1, 2, rect().height() - 2);
+    p.setBrush(palette().highlight());
+    p.setPen(Qt::NoPen);
+    p.drawRoundedRect(rc, 1.5, 1.5);
+  }
 }
 
 void Slider::mousePressEvent(QMouseEvent *e) {
@@ -276,7 +299,6 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 }
 
 // StreamCameraView
-
 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
     : CameraWidget(stream_name, stream_type, parent) {
   fade_animation = new QPropertyAnimation(this, "overlayOpacity");
@@ -298,6 +320,7 @@ void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
         QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
         std::lock_guard lock(mutex);
         thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
       }
     }
   });
@@ -308,12 +331,15 @@ void StreamCameraView::paintGL() {
   CameraWidget::paintGL();
 
   QPainter p(this);
-  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
-    drawAlert(p, rect(), *alert);
+  bool scrubbing = false;
+  if (thumbnail_dispaly_time >= 0) {
+    scrubbing = can->isPaused();
+    scrubbing ? drawScrubThumbnail(p) : drawThumbnail(p);
   }
-  if (thumbnail_pt_) {
-    drawThumbnail(p);
+  if (auto alert = getReplay()->findAlertAtTime(scrubbing ? thumbnail_dispaly_time : can->currentSec())) {
+    drawAlert(p, rect(), *alert);
   }
+
   if (can->isPaused()) {
     p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
     p.setFont(QFont(font().family(), 16, QFont::Bold));
@@ -333,25 +359,37 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
   return scaled;
 }
 
-void StreamCameraView::drawThumbnail(QPainter &p) {
-  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
-  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
-  double seconds = min_sec + pos * (max_sec - min_sec) / width();
+void StreamCameraView::drawScrubThumbnail(QPainter &p) {
+  p.fillRect(rect(), Qt::black);
+  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  if (it != big_thumbnails.end()) {
+    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
+    p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
+    drawTime(p, thumb_rect, thumbnail_dispaly_time);
+  }
+}
 
-  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
+void StreamCameraView::drawThumbnail(QPainter &p) {
+  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != thumbnails.end()) {
     const QPixmap &thumb = it.value();
+    auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+    int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
     int y = height() - thumb.height() - THUMBNAIL_MARGIN;
 
     p.drawPixmap(x, y, thumb);
-    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-    p.setFont(QFont(font().family(), 10));
-    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN,
-               Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
+    drawTime(p, QRect{x, y, thumb.width(), thumb.height()}, thumbnail_dispaly_time);
   }
 }
 
+void StreamCameraView::drawTime(QPainter &p, const QRect &rect, double seconds) {
+  p.setPen(palette().color(QPalette::BrightText));
+  p.setFont(QFont(font().family(), 10));
+  p.drawText(rect.adjusted(0, 0, 0, -THUMBNAIL_MARGIN), Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds, 'f', 3));
+}
+
 void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
   p.setPen(QPen(palette().color(QPalette::BrightText), 2));
   QColor color = timeline_colors[int(alert.type)];
@@ -364,14 +402,3 @@ void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline:
   p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
   p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
 }
-
-bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
-  if (event->type() == QEvent::MouseMove) {
-    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
-    update();
-  } else if (event->type() == QEvent::Leave) {
-    thumbnail_pt_ = std::nullopt;
-    update();
-  }
-  return false;
-}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index d00657b164..1d87a5cfa0 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <memory>
-#include <optional>
 #include <set>
 #include <string>
 #include <utility>
@@ -28,6 +27,7 @@ public:
   void mousePressEvent(QMouseEvent *e) override;
   void paintEvent(QPaintEvent *ev) override;
   const double factor = 1000.0;
+  double thumbnail_dispaly_time = -1;
 };
 
 class StreamCameraView : public CameraWidget {
@@ -43,11 +43,14 @@ private:
   QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
   void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
   void drawThumbnail(QPainter &p);
-  bool eventFilter(QObject *obj, QEvent *event) override;
+  void drawScrubThumbnail(QPainter &p);
+  void drawTime(QPainter &p, const QRect &rect, double seconds);
 
   QPropertyAnimation *fade_animation;
+  QMap<uint64_t, QPixmap> big_thumbnails;
   QMap<uint64_t, QPixmap> thumbnails;
-  std::optional<QPoint> thumbnail_pt_;
+  double thumbnail_dispaly_time = -1;
+  friend class VideoWidget;
 };
 
 class VideoWidget : public QFrame {
@@ -55,8 +58,10 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
+  void showThumbnail(double seconds);
 
 protected:
+  bool eventFilter(QObject *obj, QEvent *event) override;
   QString formatTime(double sec, bool include_milliseconds = false);
   void timeRangeChanged();
   void updateState();
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 328c12c418..2bd3614530 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -89,7 +89,7 @@ void Replay::interruptStream(const std::function<bool()> &update_fn) {
     interrupt_requested_ = true;
     std::unique_lock lock(stream_lock_);
     events_ready_ = update_fn();
-    interrupt_requested_ = user_paused_ && !pause_after_next_frame_;
+    interrupt_requested_ = user_paused_;
   }
   stream_cv_.notify_one();
 }
@@ -116,9 +116,6 @@ void Replay::seekTo(double seconds, bool relative) {
       seeked_to_sec = *seeking_to_;
       seeking_to_.reset();
     }
-
-    // if paused, resume for exactly one frame to update
-    pause_after_next_frame_ = user_paused_;
     return false;
   });
 
@@ -147,7 +144,6 @@ void Replay::pause(bool pause) {
     interruptStream([=]() {
       rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
       user_paused_ = pause;
-      pause_after_next_frame_ = false;
       return !pause;
     });
   }
@@ -309,7 +305,6 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
   uint64_t evt_start_ts = cur_mono_time_;
   uint64_t loop_start_ts = nanos_since_boot();
   double prev_replay_speed = speed_;
-  uint64_t first_mono_time = first->mono_time;
 
   for (; !interrupt_requested_ && first != last; ++first) {
     const Event &evt = *first;
@@ -348,12 +343,6 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       }
       publishFrame(&evt);
     }
-
-    const auto T_ONE_FRAME = 0.050;
-    if (pause_after_next_frame_ && abs(toSeconds(evt.mono_time) - toSeconds(first_mono_time)) > T_ONE_FRAME) {
-      pause_after_next_frame_ = false;
-      interrupt_requested_ = true;
-    }
   }
 
   return first;
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 6f929cdd19..d549eaefc4 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -85,7 +85,6 @@ private:
   std::thread stream_thread_;
   std::mutex stream_lock_;
   bool user_paused_ = false;
-  bool pause_after_next_frame_ = false;
   std::condition_variable stream_cv_;
   int current_segment_ = 0;
   std::optional<double> seeking_to_;

From d6214690dcaceab2346a28d885e0efb1764782b0 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 22 Dec 2024 06:32:49 +0800
Subject: [PATCH 1192/1243] replay:  fix various synchronization and event
 handling issues (#34254)

fix various synchronization and event handling issues
---
 tools/cabana/streams/abstractstream.cc | 14 ++++--
 tools/cabana/streams/abstractstream.h  |  5 +-
 tools/cabana/streams/replaystream.cc   |  7 ++-
 tools/cabana/streams/replaystream.h    |  1 -
 tools/replay/replay.cc                 | 69 +++++++++++---------------
 tools/replay/replay.h                  | 11 ++--
 tools/replay/seg_mgr.cc                |  2 +-
 tools/replay/seg_mgr.h                 |  4 +-
 tools/replay/timeline.cc               |  4 +-
 tools/replay/timeline.h                | 22 ++++----
 10 files changed, 68 insertions(+), 71 deletions(-)

diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index ad911b7bae..2278104c26 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -143,7 +143,6 @@ bool AbstractStream::isMessageActive(const MessageId &id) const {
 }
 
 void AbstractStream::updateLastMsgsTo(double sec) {
-  std::lock_guard lk(mutex_);
   current_sec_ = sec;
   uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
@@ -175,10 +174,17 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                     std::any_of(messages_.cbegin(), messages_.cend(),
                                 [this](const auto &m) { return !last_msgs.count(m.first); });
   last_msgs = messages_;
-  mutex_.unlock();
-
   emit msgsReceived(nullptr, id_changed);
-  resumeStream();
+
+  std::lock_guard lk(mutex_);
+  seek_finished_ = true;
+  seek_finished_cv_.notify_one();
+}
+
+void AbstractStream::waitForSeekFinshed() {
+  std::unique_lock lock(mutex_);
+  seek_finished_cv_.wait(lock, [this]() { return seek_finished_; });
+  seek_finished_ = false;
 }
 
 const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 8180c6b6f8..f35b19d34f 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -2,6 +2,7 @@
 
 #include <algorithm>
 #include <array>
+#include <condition_variable>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -111,7 +112,7 @@ protected:
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  virtual void resumeStream() {}
+  void waitForSeekFinshed();
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
@@ -127,6 +128,8 @@ private:
 
   // Members accessed in multiple threads. (mutex protected)
   std::mutex mutex_;
+  std::condition_variable seek_finished_cv_;
+  bool seek_finished_ = false;
   std::set<MessageId> new_msgs_;
   std::unordered_map<MessageId, CanData> messages_;
   std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index bfe5ca74da..ebe478ded7 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,9 +53,12 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
 
   // Forward replay callbacks to corresponding Qt signals.
   replay->onSeeking = [this](double sec) { emit seeking(sec); };
-  replay->onSeekedTo = [this](double sec) { emit seekedTo(sec); };
+  replay->onSeekedTo = [this](double sec) {
+    emit seekedTo(sec);
+    waitForSeekFinshed();
+  };
   replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
-  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::QueuedConnection); };
+  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::BlockingQueuedConnection); };
 
   bool success = replay->load();
   if (!success) {
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 2d7f335193..df1f2526a5 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -32,7 +32,6 @@ public:
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
-  void resumeStream() override { return replay->resumeStream(); }
   void pause(bool pause) override;
 
 signals:
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 2bd3614530..a940b6d04e 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -106,31 +106,27 @@ void Replay::seekTo(double seconds, bool relative) {
   rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
   notifyEvent(onSeeking, target_time);
 
-  double seeked_to_sec = -1;
   interruptStream([&]() {
-    current_segment_ = target_segment;
+    current_segment_.store(target_segment);
     cur_mono_time_ = route_start_ts_ + target_time * 1e9;
-    seeking_to_ = target_time;
-
-    if (event_data_->isSegmentLoaded(target_segment)) {
-      seeked_to_sec = *seeking_to_;
-      seeking_to_.reset();
-    }
+    seeking_to_.store(target_time, std::memory_order_relaxed);
     return false;
   });
 
-  checkSeekProgress(seeked_to_sec);
   seg_mgr_->setCurrentSegment(target_segment);
+  checkSeekProgress();
 }
 
-void Replay::checkSeekProgress(double seeked_to_sec) {
-  if (seeked_to_sec >= 0) {
-    if (onSeekedTo) {
-      onSeekedTo(seeked_to_sec);
-    } else {
-      interruptStream([]() { return true; });
-    }
+void Replay::checkSeekProgress() {
+  if (!seg_mgr_->getEventData()->isSegmentLoaded(current_segment_.load())) return;
+
+  double seek_to = seeking_to_.exchange(-1.0, std::memory_order_acquire);
+  if (seek_to >= 0 && onSeekedTo) {
+    onSeekedTo(seek_to);
   }
+
+  // Resume the interrupted stream
+  interruptStream([]() { return true; });
 }
 
 void Replay::seekToFlag(FindFlag flag) {
@@ -152,29 +148,19 @@ void Replay::pause(bool pause) {
 void Replay::handleSegmentMerge() {
   if (exit_) return;
 
-  double seeked_to_sec = -1;
-  interruptStream([&]() {
-    event_data_ = seg_mgr_->getEventData();
-    notifyEvent(onSegmentsMerged);
-
-    bool segment_loaded = event_data_->isSegmentLoaded(current_segment_);
-    if (seeking_to_ && segment_loaded) {
-      seeked_to_sec = *seeking_to_;
-      seeking_to_.reset();
-      return false;
-    }
-    return segment_loaded;
-  });
-
-  checkSeekProgress(seeked_to_sec);
-  if (!stream_thread_.joinable() && !event_data_->events.empty()) {
-    startStream();
+  auto event_data = seg_mgr_->getEventData();
+  if (!stream_thread_.joinable() && !event_data->segments.empty()) {
+    startStream(event_data->segments.begin()->second);
   }
+  notifyEvent(onSegmentsMerged);
+
+  // Interrupt the stream to handle segment merge
+  interruptStream([]() { return false; });
+  checkSeekProgress();
 }
 
-void Replay::startStream() {
-  const auto &cur_segment = event_data_->segments.begin()->second;
-  const auto &events = cur_segment->log->events;
+void Replay::startStream(const std::shared_ptr<Segment> segment) {
+  const auto &events = segment->log->events;
   route_start_ts_ = events.front().mono_time;
   cur_mono_time_ += route_start_ts_ - 1;
 
@@ -212,7 +198,7 @@ void Replay::startStream() {
   if (!hasFlag(REPLAY_FLAG_NO_VIPC)) {
     std::pair<int, int> camera_size[MAX_CAMERAS] = {};
     for (auto type : ALL_CAMERAS) {
-      if (auto &fr = cur_segment->frames[type]) {
+      if (auto &fr = segment->frames[type]) {
         camera_size[type] = {fr->width, fr->height};
       }
     }
@@ -271,6 +257,7 @@ void Replay::streamThread() {
     stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); });
     if (exit_) break;
 
+    event_data_ = seg_mgr_->getEventData();
     const auto &events = event_data_->events;
     auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which, cur_mono_time_, {}));
     if (first == events.cend()) {
@@ -308,11 +295,11 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
 
   for (; !interrupt_requested_ && first != last; ++first) {
     const Event &evt = *first;
-    int segment = toSeconds(evt.mono_time) / 60;
 
-    if (current_segment_ != segment) {
-      current_segment_ = segment;
-      seg_mgr_->setCurrentSegment(current_segment_);
+    int segment = toSeconds(evt.mono_time) / 60;
+    if (current_segment_.load(std::memory_order_relaxed) != segment) {
+      current_segment_.store(segment, std::memory_order_relaxed);
+      seg_mgr_->setCurrentSegment(segment);
     }
 
     // Skip events if socket is not present
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index d549eaefc4..8525a532a1 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -55,9 +55,8 @@ public:
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::shared_ptr<std::vector<Timeline::Entry>> getTimeline() const { return timeline_.getEntries(); }
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
-  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return event_data_; }
+  const std::shared_ptr<SegmentManager::EventData> getEventData() const { return seg_mgr_->getEventData(); }
   void installEventFilter(std::function<bool(const Event *)> filter) { event_filter_ = filter; }
-  void resumeStream() { interruptStream([]() { return true; }); }
 
   // Event callback functions
   std::function<void()> onSegmentsMerged = nullptr;
@@ -68,7 +67,7 @@ public:
 private:
   void setupServices(const std::vector<std::string> &allow, const std::vector<std::string> &block);
   void setupSegmentManager(bool has_filters);
-  void startStream();
+  void startStream(const std::shared_ptr<Segment> segment);
   void streamThread();
   void handleSegmentMerge();
   void interruptStream(const std::function<bool()>& update_fn);
@@ -76,7 +75,7 @@ private:
                                                    std::vector<Event>::const_iterator last);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
-  void checkSeekProgress(double seeked_to_sec);
+  void checkSeekProgress();
 
   std::unique_ptr<SegmentManager> seg_mgr_;
   Timeline timeline_;
@@ -86,8 +85,8 @@ private:
   std::mutex stream_lock_;
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
-  int current_segment_ = 0;
-  std::optional<double> seeking_to_;
+  std::atomic<int> current_segment_ = 0;
+  std::atomic<double> seeking_to_ = -1.0;
   std::atomic<bool> exit_ = false;
   std::atomic<bool> interrupt_requested_ = false;
   bool events_ready_ = false;
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index 954b25e874..8a00d426b1 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -105,7 +105,7 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm
     merged_event_data->segments[n] = segments_.at(n);
   }
 
-  event_data_ = merged_event_data;
+  std::atomic_store(&event_data_, std::move(merged_event_data));
   merged_segments_ = segments_to_merge;
 
   return true;
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
index efb3d7f0ea..40bdcd51f0 100644
--- a/tools/replay/seg_mgr.h
+++ b/tools/replay/seg_mgr.h
@@ -21,14 +21,14 @@ public:
   };
 
   SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "")
-      : flags_(flags), route_(route_name, data_dir) {};
+      : flags_(flags), route_(route_name, data_dir), event_data_(std::make_shared<EventData>()) {}
   ~SegmentManager();
 
   bool load();
   void setCurrentSegment(int seg_num);
   void setCallback(const std::function<void()> &callback) { onSegmentMergedCallback_ = callback; }
   void setFilters(const std::vector<bool> &filters) { filters_ = filters; }
-  const std::shared_ptr<EventData> getEventData() const { return event_data_; }
+  const std::shared_ptr<EventData> getEventData() const { return std::atomic_load(&event_data_); }
   bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); }
 
   Route route_;
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index d836de972b..a4c2ffb700 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -1,7 +1,7 @@
 #include "tools/replay/timeline.h"
 
-#include <array>
 #include <algorithm>
+#include <array>
 
 #include "cereal/gen/cpp/log.capnp.h"
 
@@ -74,7 +74,7 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     // Sort and finalize the timeline entries
     auto entries = std::make_shared<std::vector<Entry>>(staging_entries_);
     std::sort(entries->begin(), entries->end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
-    timeline_entries_ = entries;
+    std::atomic_store(&timeline_entries_, std::move(entries));
 
     callback(log);  // Notify the callback once the log is processed
   }
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
index 689a80635f..74add9e5cc 100644
--- a/tools/replay/timeline.h
+++ b/tools/replay/timeline.h
@@ -27,20 +27,20 @@ public:
                   std::function<void(std::shared_ptr<LogReader>)> callback);
   std::optional<uint64_t> find(double cur_ts, FindFlag flag) const;
   std::optional<Entry> findAlertAtTime(double target_time) const;
-  const std::shared_ptr<std::vector<Entry>> getEntries() const { return timeline_entries_; }
+  const std::shared_ptr<std::vector<Entry>> getEntries() const { return std::atomic_load(&timeline_entries_); }
 
 private:
- void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
-                    std::function<void(std::shared_ptr<LogReader>)> callback);
- void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
- void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+  void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache,
+                     std::function<void(std::shared_ptr<LogReader>)> callback);
+  void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
+  void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds);
 
- std::thread thread_;
- std::atomic<bool> should_exit_ = false;
+  std::thread thread_;
+  std::atomic<bool> should_exit_ = false;
 
- // Temporarily holds entries before they are sorted and finalized
- std::vector<Entry> staging_entries_;
+  // Temporarily holds entries before they are sorted and finalized
+  std::vector<Entry> staging_entries_;
 
- // Final sorted timeline entries
- std::shared_ptr<std::vector<Entry>> timeline_entries_;
+  // Final sorted timeline entries
+  std::shared_ptr<std::vector<Entry>> timeline_entries_;
 };

From 52c8a12b08b1386de40c4bca9dbabf6cb78fbb80 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 23 Dec 2024 01:27:24 +0800
Subject: [PATCH 1193/1243] cabana: fix crash in live streaming mode by
 skipping thumbnail display (#34302)

resolve crash in live streaming mode
---
 tools/cabana/videowidget.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 97e08d6afd..e792f80a41 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -222,6 +222,8 @@ void VideoWidget::updatePlayBtnState() {
 }
 
 void VideoWidget::showThumbnail(double seconds) {
+  if (can->liveStreaming()) return;
+
   cam_widget->thumbnail_dispaly_time = seconds;
   slider->thumbnail_dispaly_time = seconds;
   cam_widget->update();

From 87f7bb6a9e90d385dbc336ad08befb04b60efccf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 22 Dec 2024 09:59:14 -0800
Subject: [PATCH 1194/1243] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index dd76e663d2..4ca9905011 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dd76e663d2786873e38e96eff3ed4b26db03ce78
+Subproject commit 4ca9905011ba875efa4278b2dcb507a759b0e13e

From e98741f5b27c0a51b69465a1eb2eb8ea35f254b6 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 23 Dec 2024 14:09:55 -0800
Subject: [PATCH 1195/1243] [bot] Update Python packages (#34304)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |    2 +-
 panda        |    2 +-
 uv.lock      | 1342 +++++++++++++++++++++++++-------------------------
 3 files changed, 673 insertions(+), 673 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index fd8471dc0d..68c0996baf 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit fd8471dc0d6fbd7ae009ab6d75036667c5b576a5
+Subproject commit 68c0996baf9affc6bbcfb2a4e8f5e80c9e855110
diff --git a/panda b/panda
index 4ca9905011..6ee9c8d85a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 4ca9905011ba875efa4278b2dcb507a759b0e13e
+Subproject commit 6ee9c8d85a0e27ef72df685195d59d951a8b9c45
diff --git a/uv.lock b/uv.lock
index 96d5c67af9..7ca952edd7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,12 +1,12 @@
 version = 1
 requires-python = ">=3.11, <3.13"
 resolution-markers = [
-    "python_full_version < '3.12' and platform_system == 'Darwin'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
-    "python_full_version >= '3.12' and platform_system == 'Darwin'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "python_full_version >= '3.12' and sys_platform == 'darwin'",
+    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "python_full_version < '3.12' and sys_platform == 'darwin'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
 ]
 
 [[package]]
@@ -20,7 +20,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.11.10"
+version = "3.11.11"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -31,38 +31,38 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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     { name = "pytweening" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/65/ff/cdae0a8c2118a0de74b6cf4cbcdcaf8fd25857e6c3f205ce4b1794b27814/PyAutoGUI-0.9.54.tar.gz", hash = "sha256:dd1d29e8fd118941cb193f74df57e5c6ff8e9253b99c7b04f39cfc69f3ae04b2", size = 61236 }
@@ -1825,10 +1825,10 @@ name = "pymonctl"
 version = "0.92"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "ewmhlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_system != 'Linux' and sys_platform == 'darwin')" },
-    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
-    { name = "pywin32", marker = "(platform_machine != 'aarch64' and platform_system == 'Linux' and sys_platform == 'win32') or (platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'win32')" },
+    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
+    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
+    { name = "python-xlib", marker = "sys_platform == 'linux'" },
+    { name = "pywin32", marker = "sys_platform == 'win32'" },
     { name = "typing-extensions" },
 ]
 wheels = [
@@ -1846,159 +1846,159 @@ name = "pyobjc"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
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-    { name = "pyobjc-framework-accounts", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-addressbook", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-adservices", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-adsupport", marker = "(platform_machine != 'aarch64' and platform_release >= '18.0') or (platform_release >= '18.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-applescriptkit", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-applescriptobjc", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-applicationservices", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-apptrackingtransparency", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-audiovideobridging", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-authenticationservices", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-automator", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-avfoundation", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-avkit", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-avrouting", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
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-    { name = "pyobjc-framework-browserenginekit", marker = "(platform_machine != 'aarch64' and platform_release >= '23.4') or (platform_release >= '23.4' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-businesschat", marker = "(platform_machine != 'aarch64' and platform_release >= '18.0') or (platform_release >= '18.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-calendarstore", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-callkit", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-cfnetwork", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-cinematic", marker = "(platform_machine != 'aarch64' and platform_release >= '23.0') or (platform_release >= '23.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-classkit", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-cloudkit", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-collaboration", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-colorsync", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-contacts", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-contactsui", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coreaudio", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-coreaudiokit", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-corebluetooth", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coredata", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-corehaptics", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-corelocation", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coremedia", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coremediaio", marker = "(platform_machine != 'aarch64' and platform_release >= '11.0') or (platform_release >= '11.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coremidi", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-coreml", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coremotion", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coreservices", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-corespotlight", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-coretext", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-corewlan", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-cryptotokenkit", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-datadetection", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-devicecheck", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-dictionaryservices", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-discrecording", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-discrecordingui", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-diskarbitration", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-dvdplayback", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-eventkit", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-exceptionhandling", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-executionpolicy", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-extensionkit", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-externalaccessory", marker = "(platform_machine != 'aarch64' and platform_release >= '17.0') or (platform_release >= '17.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-fileprovider", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-fileproviderui", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-findersync", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-fsevents", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-gamecenter", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-gamecontroller", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-gamekit", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-gameplaykit", marker = "(platform_machine != 'aarch64' and platform_release >= '15.0') or (platform_release >= '15.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-healthkit", marker = "(platform_machine != 'aarch64' and platform_release >= '22.0') or (platform_release >= '22.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-imagecapturecore", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-inputmethodkit", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-installerplugins", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-instantmessage", marker = "(platform_machine != 'aarch64' and platform_release >= '9.0') or (platform_release >= '9.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-intents", marker = "(platform_machine != 'aarch64' and platform_release >= '16.0') or (platform_release >= '16.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-intentsui", marker = "(platform_machine != 'aarch64' and platform_release >= '21.0') or (platform_release >= '21.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-iobluetooth", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-iobluetoothui", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-iosurface", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-ituneslibrary", marker = "(platform_machine != 'aarch64' and platform_release >= '10.0') or (platform_release >= '10.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-kernelmanagement", marker = "(platform_machine != 'aarch64' and platform_release >= '20.0') or (platform_release >= '20.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-latentsemanticmapping", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-launchservices", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
-    { name = "pyobjc-framework-libdispatch", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-libxpc", marker = "(platform_machine != 'aarch64' and platform_release >= '12.0') or (platform_release >= '12.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-linkpresentation", marker = "(platform_machine != 'aarch64' and platform_release >= '19.0') or (platform_release >= '19.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-localauthentication", marker = "(platform_machine != 'aarch64' and platform_release >= '14.0') or (platform_release >= '14.0' and platform_system != 'Linux')" },
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-    { name = "pyobjc-framework-mediaaccessibility", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-medialibrary", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-mediaplayer", marker = "(platform_machine != 'aarch64' and platform_release >= '16.0') or (platform_release >= '16.0' and platform_system != 'Linux')" },
-    { name = "pyobjc-framework-mediatoolbox", marker = "(platform_machine != 'aarch64' and platform_release >= '13.0') or (platform_release >= '13.0' and platform_system != 'Linux')" },
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+    { url = "https://files.pythonhosted.org/packages/c8/19/4ec628951a74043532ca2cf5d97b7b14863931476d117c471e8e2b1eb39f/urllib3-2.3.0-py3-none-any.whl", hash = "sha256:1cee9ad369867bfdbbb48b7dd50374c0967a0bb7710050facf0dd6911440e3df", size = 128369 },
 ]
 
 [[package]]
@@ -5147,7 +5147,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or platform_system != 'Linux'" },
+    { name = "platformdirs" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From 14123e94bb509ebbaadda36afc43711163b635e6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 23 Dec 2024 17:30:05 -0500
Subject: [PATCH 1196/1243] cleanup touch_replay (#34305)

mathematics
---
 selfdrive/debug/touch_replay.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
index 1e1596d264..6e5ecbbe5b 100755
--- a/selfdrive/debug/touch_replay.py
+++ b/selfdrive/debug/touch_replay.py
@@ -30,7 +30,7 @@ if __name__ == '__main__':
         elif event.type == 3 and event.code == 57 and event.value == -1:
           fingers[current_slot] = [-1, -1]
         elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = h - (h - event.value)
+          fingers[current_slot][1] = event.value
           if fingers[current_slot][0] != -1:
             touch_points.append(fingers[current_slot].copy())
         elif event.type == 3 and event.code == 54:

From 2e0c91c295862338c7d8b7e932304e7270278718 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 24 Dec 2024 17:21:34 -0800
Subject: [PATCH 1197/1243] uv from brew doesn't have self update

---
 tools/install_python_dependencies.sh | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 267577d712..b0bb835e64 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -10,8 +10,11 @@ cd "$ROOT"
 
 # updating uv on macOS results in 403 sometimes
 function update_uv() {
-  for i in $(seq 1 5);
-  do
+  if ! uv self update --help >/dev/null 2>&1; then
+    return 0
+  fi
+
+  for i in $(seq 1 5); do
     if uv self update; then
       return 0
     else

From 9cf02ca8db5405d0464d5d9a6a81c9aee479c3e1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 26 Dec 2024 20:22:44 -0800
Subject: [PATCH 1198/1243] Skip registration on newer devices (#34316)

---
 common/params.cc                         | 1 -
 system/athena/registration.py            | 8 +-------
 system/athena/tests/test_registration.py | 2 --
 system/manager/manager.py                | 5 +++--
 4 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 2011b52131..abdfb6e275 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -133,7 +133,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
-    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
diff --git a/system/athena/registration.py b/system/athena/registration.py
index a1e8605a9d..964fbff51e 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -33,20 +33,17 @@ def register(show_spinner=False) -> str | None:
   """
   params = Params()
 
-  IMEI = params.get("IMEI", encoding='utf8')
-  HardwareSerial = params.get("HardwareSerial", encoding='utf8')
   dongle_id: str | None = params.get("DongleId", encoding='utf8')
   if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
     # not all devices will have this; added early in comma 3X production (2/28/24)
     with open(Paths.persist_root()+"/comma/dongle_id") as f:
       dongle_id = f.read().strip()
 
-  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
   if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning(f"missing public key: {pubkey}")
-  elif needs_registration:
+  elif dongle_id is None:
     if show_spinner:
       spinner = Spinner()
       spinner.update("registering device")
@@ -71,9 +68,6 @@ def register(show_spinner=False) -> str | None:
       if time.monotonic() - start_time > 60 and show_spinner:
         spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
 
-    params.put("IMEI", imei1)
-    params.put("HardwareSerial", serial)
-
     backoff = 0
     start_time = time.monotonic()
     while True:
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index 17ebaa472d..c1dabb78ec 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -32,8 +32,6 @@ class TestRegistration:
   def test_valid_cache(self, mocker):
     # if all params are written, return the cached dongle id.
     # should work with a dongle ID on either /persist/ or normal params
-    self.params.put("IMEI", "imei")
-    self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
     dongle = "DONGLE_ID_123"
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 4a5da353e9..89e5a472f2 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -58,7 +58,8 @@ def manager_init() -> None:
   except PermissionError:
     print(f"WARNING: failed to make {Paths.shm_path()}")
 
-  # set version params
+  # set params
+  serial = HARDWARE.get_serial()
   params.put("Version", build_metadata.openpilot.version)
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
@@ -68,13 +69,13 @@ def manager_init() -> None:
   params.put("GitRemote", build_metadata.openpilot.git_origin)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put("HardwareSerial", serial)
 
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:
     dongle_id = reg_res
   else:
-    serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
   os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog

From b36db7810cab93b2b87dbfb85e1f486923d63b86 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 26 Dec 2024 20:48:45 -0800
Subject: [PATCH 1199/1243] tici: fix cpp device type (#34315)

fix cpp
---
 common/util.cc                  | 23 +++++++++++++++++++++++
 common/util.h                   |  1 +
 system/hardware/tici/hardware.h |  6 ++++--
 3 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/common/util.cc b/common/util.cc
index 5ffd6e4099..f4c69eb269 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -255,6 +255,29 @@ bool ends_with(const std::string& s, const std::string& suffix) {
          strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
+std::string strip(const std::string &str) {
+  auto should_trim = [](unsigned char ch) {
+    // trim whitespace or a null character
+    return std::isspace(ch) || ch == '\0';
+  };
+
+  size_t start = 0;
+  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
+    start++;
+  }
+
+  if (start == str.size()) {
+    return "";
+  }
+
+  size_t end = str.size() - 1;
+  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
+    end--;
+  }
+
+  return str.substr(start, end - start + 1);
+}
+
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
diff --git a/common/util.h b/common/util.h
index 7cfa008509..d4106b5002 100644
--- a/common/util.h
+++ b/common/util.h
@@ -74,6 +74,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
+std::string strip(const std::string &str);
 
 // ***** random helpers *****
 int random_int(int min, int max);
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index da89bb9002..fcfb07830a 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdlib>
+#include <cassert>
 #include <fstream>
 #include <map>
 #include <string>
@@ -22,7 +23,7 @@ public:
 
   static std::string get_name() {
     std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return model.substr(std::string("comma ").size());
+    return util::strip(model.substr(std::string("comma ").size()));
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -32,7 +33,8 @@ public:
       {"mici", cereal::InitData::DeviceType::MICI}
     };
     auto it = device_map.find(get_name());
-    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
+    assert(it != device_map.end());
+    return it->second;
   }
 
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }

From 5c5f2aacc8ba0700a9476d72c105c4c75d802189 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 31 Dec 2024 14:02:04 -0800
Subject: [PATCH 1200/1243] Tinygrad upstream master (#34325)

Upstream master
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 480e5e7a12..c18307e749 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 480e5e7a1292bf2f84e18edffd06a985c4b48e65
+Subproject commit c18307e7494054745389289d55686e81cba88db5

From 253f4343f0b6e82592af4467dd43d7e8ca5c518f Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Thu, 2 Jan 2025 11:40:55 -0800
Subject: [PATCH 1201/1243] [bot] Update Python packages (#34320)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md |   2 +-
 opendbc_repo |   2 +-
 uv.lock      | 200 +++++++++++++++++++++++++--------------------------
 3 files changed, 99 insertions(+), 105 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c0b0f1706e..6390bd60eb 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -294,7 +294,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
diff --git a/opendbc_repo b/opendbc_repo
index 68c0996baf..983bf9c049 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 68c0996baf9affc6bbcfb2a4e8f5e80c9e855110
+Subproject commit 983bf9c0498b57b3ceaccd0c3e5872c2e1c97708
diff --git a/uv.lock b/uv.lock
index 7ca952edd7..a7d5744a4b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -257,41 +257,37 @@ wheels = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f2/4f/e1808dc01273379acc506d18f1504eb2d299bd4131743b9fc54d7be4df1e/charset_normalizer-3.4.0.tar.gz", hash = "sha256:223217c3d4f82c3ac5e29032b3f1c2eb0fb591b72161f86d93f5719079dae93e", size = 106620 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/61/73589dcc7a719582bf56aae309b6103d2762b526bffe189d635a7fcfd998/charset_normalizer-3.4.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0d99dd8ff461990f12d6e42c7347fd9ab2532fb70e9621ba520f9e8637161d7c", size = 193339 },
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 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/af/19/53ecbfb96d6832f2272d13b84658c360802fcfff7c0c497ab8f6bf15ac40/libusb1-3.1.0.tar.gz", hash = "sha256:4ee9b0a55f8bd0b3ea7017ae919a6c1f439af742c4a4b04543c5fd7af89b828c", size = 83013 }
+sdist = { url = "https://files.pythonhosted.org/packages/d9/b7/9e833af6cb52fa2aece1c6a1378667ca0172bead14f63ffccc3cb9862df3/libusb1-3.2.0.tar.gz", hash = "sha256:a11a6095e718cd49418a96329314da271cca6be7b4317a142724523371ac8961", size = 105601 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/85/5c/9169aea7690df382b677d9f725accc3ec864849c5ab49991e3823a942392/libusb1-3.1.0-py3-none-any.whl", hash = "sha256:9d9f16e2c199cab91f48ead585d3f5ec7e8e4be428a25ddfed22abf786fa9b3a", size = 62368 },
-    { url = "https://files.pythonhosted.org/packages/2f/84/d851eb09565ff72b0dfbb988f4e1c79d3746c16eda5bb8e81ec6ce3bb16e/libusb1-3.1.0-py3-none-win32.whl", hash = "sha256:bc7874302565721f443a27d8182fcc7152e5b560523f12f1377b130f473e4a0c", size = 127838 },
-    { url = "https://files.pythonhosted.org/packages/02/a5/620d383ec17051f42a907f21517eb498ddecd45b2b81e46cc42e6ec4038e/libusb1-3.1.0-py3-none-win_amd64.whl", hash = "sha256:77a06ecfb3d002d7c2ce369e28d0138b292fe8db8a3d102b73fda231a716dd35", size = 140380 },
+    { url = "https://files.pythonhosted.org/packages/fc/35/d5bde9434fc734709960a94cc489d487184d0ab08e5867311d5a4c64fcea/libusb1-3.2.0-py3-none-any.whl", hash = "sha256:048d4fb79021ec05af667a32e51a911578fc63ab3ed48a4f4fe0f67da797f416", size = 65829 },
+    { url = "https://files.pythonhosted.org/packages/a3/cd/ef05b2c67fff2d704aa0325993187ce6a6d04f40ba4be953766b47f5f949/libusb1-3.2.0-py3-none-win32.whl", hash = "sha256:5dc48d6f5207e184cb53278527e7d8e5f4051d8bc419bd15b564c37dc5cca268", size = 127781 },
+    { url = "https://files.pythonhosted.org/packages/f9/82/8bcadf2794fa2d39ec100a4f3945db58c316d55c1a0e79ac2cf81c754282/libusb1-3.2.0-py3-none-win_amd64.whl", hash = "sha256:b13acc618263348c91bc4476fadada47be98b7924d6f60e79e3f1da67ac39ddc", size = 139410 },
 ]
 
 [[package]]

From 8b4ddc987ffe67e1a45b118996ad0c2d1c2999d7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 5 Jan 2025 02:35:22 +0800
Subject: [PATCH 1202/1243] cabana: fix missing transmitter after undoing DBC
 message removal (#34329)

fix missing transmitter after undoing DBC message removal
---
 tools/cabana/dbc/dbc.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 149bb9f59a..ba979f258c 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -45,6 +45,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   name = other.name;
   size = other.size;
   comment = other.comment;
+  transmitter = other.transmitter;
 
   for (auto s : sigs) delete s;
   sigs.clear();

From 420d6f0d5e72f2a59d984486d3f2dc6bf0d17743 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 5 Jan 2025 15:10:24 -0800
Subject: [PATCH 1203/1243] Quick GC pass heading into 2025 (#34330)

* first pass

* bye bye snpe
---
 .github/PULL_REQUEST_TEMPLATE/bugfix.md       |   15 -
 .github/PULL_REQUEST_TEMPLATE/car_bugfix.md   |   19 -
 .github/PULL_REQUEST_TEMPLATE/car_port.md     |   15 -
 .github/PULL_REQUEST_TEMPLATE/fingerprint.md  |   13 -
 .github/PULL_REQUEST_TEMPLATE/refactor.md     |   15 -
 .github/PULL_REQUEST_TEMPLATE/tuning.md       |   31 -
 .github/build.py                              |   30 -
 SConstruct                                    |    4 -
 cereal/maptile.capnp                          |   49 -
 common/{api/__init__.py => api.py}            |    0
 pyproject.toml                                |    4 -
 scripts/build_small.sh                        |   39 -
 scripts/code_stats.py                         |   54 -
 scripts/count_cars.py                         |   11 -
 scripts/git_rewrite/rewrite-git-history.sh    |  391 ------
 scripts/git_rewrite/rewrite.sh                |   59 -
 scripts/git_rewrite/tag-commit-map.txt        |   82 --
 scripts/pyqt_demo.py                          |   14 -
 selfdrive/assets/offroad/icon_plus.png        |    3 -
 .../{internal => }/fuzz_fw_fingerprint.py     |    0
 selfdrive/debug/internal/__init__.py          |    0
 .../measure_modeld_packet_drop.py             |    0
 .../measure_torque_time_to_max.py             |    0
 selfdrive/debug/{internal => }/qlog_size.py   |    0
 selfdrive/modeld/SConscript                   |    4 -
 .../modeld/tests/snpe_benchmark/.gitignore    |    1 -
 .../modeld/tests/snpe_benchmark/benchmark.cc  |  192 ---
 .../modeld/tests/snpe_benchmark/benchmark.sh  |    4 -
 selfdrive/test/ciui.py                        |   58 -
 selfdrive/test/docker_tag_multiarch.sh        |   25 -
 selfdrive/test/loop_until_fail.sh             |    8 -
 .../process_replay/imgproc_replay_ref_hash    |    1 -
 selfdrive/test/process_replay/test_imgproc.py |   98 --
 selfdrive/test/profiling/.gitignore           |    2 -
 selfdrive/test/profiling/__init__.py          |    0
 selfdrive/test/profiling/lib.py               |   91 --
 selfdrive/test/profiling/profiler.py          |   97 --
 .../libPlatformValidatorShared.so             |    3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libSNPE.so     |    3 -
 .../aarch64-ubuntu-gcc7.5/libcalculator.so    |    3 -
 .../snpe/aarch64-ubuntu-gcc7.5/libhta.so      |    3 -
 .../libsnpe_dsp_domains_v2.so                 |    3 -
 third_party/snpe/dsp/libcalculator_skel.so    |    3 -
 .../dsp/libsnpe_dsp_v65_domains_v2_skel.so    |    3 -
 .../dsp/libsnpe_dsp_v66_domains_v2_skel.so    |    3 -
 .../dsp/libsnpe_dsp_v68_domains_v3_skel.so    |    3 -
 third_party/snpe/include/DiagLog/IDiagLog.hpp |   84 --
 third_party/snpe/include/DiagLog/Options.hpp  |   79 --
 .../snpe/include/DlContainer/IDlContainer.hpp |  191 ---
 third_party/snpe/include/DlSystem/DlEnums.hpp |  234 ----
 third_party/snpe/include/DlSystem/DlError.hpp |  259 ----
 .../snpe/include/DlSystem/DlOptional.hpp      |  225 ----
 .../snpe/include/DlSystem/DlVersion.hpp       |   78 --
 .../include/DlSystem/IBufferAttributes.hpp    |   86 --
 .../include/DlSystem/IOBufferDataTypeMap.hpp  |  127 --
 third_party/snpe/include/DlSystem/ITensor.hpp |  146 ---
 .../snpe/include/DlSystem/ITensorFactory.hpp  |   92 --
 .../snpe/include/DlSystem/ITensorItr.hpp      |  182 ---
 .../snpe/include/DlSystem/ITensorItrImpl.hpp  |   42 -
 third_party/snpe/include/DlSystem/IUDL.hpp    |  105 --
 .../snpe/include/DlSystem/IUserBuffer.hpp     |  358 ------
 .../include/DlSystem/IUserBufferFactory.hpp   |   81 --
 .../snpe/include/DlSystem/PlatformConfig.hpp  |  230 ----
 .../snpe/include/DlSystem/RuntimeList.hpp     |  154 ---
 third_party/snpe/include/DlSystem/String.hpp  |  104 --
 .../snpe/include/DlSystem/StringList.hpp      |  107 --
 .../snpe/include/DlSystem/TensorMap.hpp       |  120 --
 .../snpe/include/DlSystem/TensorShape.hpp     |  203 ---
 .../snpe/include/DlSystem/TensorShapeMap.hpp  |  127 --
 .../snpe/include/DlSystem/UDLContext.hpp      |  243 ----
 third_party/snpe/include/DlSystem/UDLFunc.hpp |   87 --
 .../snpe/include/DlSystem/UserBufferMap.hpp   |  122 --
 .../snpe/include/DlSystem/UserMemoryMap.hpp   |  129 --
 .../snpe/include/DlSystem/ZdlExportDefine.hpp |   13 -
 .../PlatformValidator/PlatformValidator.hpp   |  118 --
 .../include/SNPE/ApplicationBufferMap.hpp     |  101 --
 third_party/snpe/include/SNPE/PSNPE.hpp       |  205 ---
 .../snpe/include/SNPE/RuntimeConfigList.hpp   |   85 --
 third_party/snpe/include/SNPE/SNPE.hpp        |  258 ----
 third_party/snpe/include/SNPE/SNPEBuilder.hpp |  306 -----
 third_party/snpe/include/SNPE/SNPEFactory.hpp |  220 ----
 .../snpe/include/SNPE/UserBufferList.hpp      |   49 -
 third_party/snpe/include/SnpeUdo/UdoBase.h    |  537 --------
 third_party/snpe/include/SnpeUdo/UdoImpl.h    |  343 -----
 third_party/snpe/include/SnpeUdo/UdoImplCpu.h |   44 -
 third_party/snpe/include/SnpeUdo/UdoImplDsp.h |  207 ---
 third_party/snpe/include/SnpeUdo/UdoImplGpu.h |  112 --
 third_party/snpe/include/SnpeUdo/UdoReg.h     |  108 --
 third_party/snpe/include/SnpeUdo/UdoShared.h  |   48 -
 third_party/snpe/larch64                      |    1 -
 third_party/snpe/x86_64                       |    1 -
 .../snpe/x86_64-linux-clang/libHtpPrepare.so  |    3 -
 .../snpe/x86_64-linux-clang/libSNPE.so        |    3 -
 third_party/snpe/x86_64-linux-clang/libomp.so |    3 -
 tools/latencylogger/README.md                 |   90 --
 tools/latencylogger/latency_logger.py         |  239 ----
 tools/plotjuggler/README.md                   |    2 +-
 tools/plotjuggler/layouts/demo.xml            |  104 --
 tools/rerun/README.md                         |    6 +-
 tools/rerun/run.sh                            |    9 -
 uv.lock                                       | 1109 ++++++++---------
 101 files changed, 543 insertions(+), 9232 deletions(-)
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/bugfix.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/car_bugfix.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/car_port.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/fingerprint.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/refactor.md
 delete mode 100644 .github/PULL_REQUEST_TEMPLATE/tuning.md
 delete mode 100644 .github/build.py
 delete mode 100644 cereal/maptile.capnp
 rename common/{api/__init__.py => api.py} (100%)
 delete mode 100755 scripts/build_small.sh
 delete mode 100755 scripts/code_stats.py
 delete mode 100755 scripts/count_cars.py
 delete mode 100755 scripts/git_rewrite/rewrite-git-history.sh
 delete mode 100755 scripts/git_rewrite/rewrite.sh
 delete mode 100644 scripts/git_rewrite/tag-commit-map.txt
 delete mode 100755 scripts/pyqt_demo.py
 delete mode 100644 selfdrive/assets/offroad/icon_plus.png
 rename selfdrive/debug/{internal => }/fuzz_fw_fingerprint.py (100%)
 delete mode 100644 selfdrive/debug/internal/__init__.py
 rename selfdrive/debug/{internal => }/measure_modeld_packet_drop.py (100%)
 rename selfdrive/debug/{internal => }/measure_torque_time_to_max.py (100%)
 rename selfdrive/debug/{internal => }/qlog_size.py (100%)
 delete mode 100644 selfdrive/modeld/tests/snpe_benchmark/.gitignore
 delete mode 100644 selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
 delete mode 100755 selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
 delete mode 100755 selfdrive/test/ciui.py
 delete mode 100755 selfdrive/test/docker_tag_multiarch.sh
 delete mode 100755 selfdrive/test/loop_until_fail.sh
 delete mode 100644 selfdrive/test/process_replay/imgproc_replay_ref_hash
 delete mode 100644 selfdrive/test/process_replay/test_imgproc.py
 delete mode 100644 selfdrive/test/profiling/.gitignore
 delete mode 100644 selfdrive/test/profiling/__init__.py
 delete mode 100644 selfdrive/test/profiling/lib.py
 delete mode 100755 selfdrive/test/profiling/profiler.py
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
 delete mode 100644 third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
 delete mode 100644 third_party/snpe/dsp/libcalculator_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
 delete mode 100644 third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
 delete mode 100644 third_party/snpe/include/DiagLog/IDiagLog.hpp
 delete mode 100644 third_party/snpe/include/DiagLog/Options.hpp
 delete mode 100644 third_party/snpe/include/DlContainer/IDlContainer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlEnums.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlError.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlOptional.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/DlVersion.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IBufferAttributes.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensor.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItr.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUDL.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBuffer.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/PlatformConfig.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/RuntimeList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/String.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/StringList.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShape.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/TensorShapeMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLContext.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UDLFunc.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserBufferMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/UserMemoryMap.hpp
 delete mode 100644 third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
 delete mode 100644 third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
 delete mode 100644 third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
 delete mode 100644 third_party/snpe/include/SNPE/PSNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/RuntimeConfigList.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPE.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEBuilder.hpp
 delete mode 100644 third_party/snpe/include/SNPE/SNPEFactory.hpp
 delete mode 100644 third_party/snpe/include/SNPE/UserBufferList.hpp
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoBase.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImpl.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplCpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplDsp.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoImplGpu.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoReg.h
 delete mode 100644 third_party/snpe/include/SnpeUdo/UdoShared.h
 delete mode 120000 third_party/snpe/larch64
 delete mode 120000 third_party/snpe/x86_64
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
 delete mode 100644 third_party/snpe/x86_64-linux-clang/libSNPE.so
 delete mode 100755 third_party/snpe/x86_64-linux-clang/libomp.so
 delete mode 100644 tools/latencylogger/README.md
 delete mode 100755 tools/latencylogger/latency_logger.py
 delete mode 100644 tools/plotjuggler/layouts/demo.xml
 delete mode 100755 tools/rerun/run.sh

diff --git a/.github/PULL_REQUEST_TEMPLATE/bugfix.md b/.github/PULL_REQUEST_TEMPLATE/bugfix.md
deleted file mode 100644
index e28661db3b..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/bugfix.md
+++ /dev/null
@@ -1,15 +0,0 @@
----
-name: Bug fix
-about: For openpilot bug fixes
-title: ''
-labels: 'bugfix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
deleted file mode 100644
index 76c86346c8..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
+++ /dev/null
@@ -1,19 +0,0 @@
----
-name: Car Bug fix
-about: For vehicle/brand specific bug fixes
-title: ''
-labels: 'car bug fix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
-
-**Route**
-
-Route: [a route with the bug fix]
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
deleted file mode 100644
index c7aa2b96c2..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ /dev/null
@@ -1,15 +0,0 @@
----
-name: Car port
-about: For new car ports
-title: ''
-labels: 'car port'
-assignees: ''
----
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
deleted file mode 100644
index b94f7dc53f..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
+++ /dev/null
@@ -1,13 +0,0 @@
----
-name: Fingerprint
-about: For adding fingerprints to existing cars
-title: ''
-labels: 'fingerprint'
-assignees: ''
----
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
\ No newline at end of file
diff --git a/.github/PULL_REQUEST_TEMPLATE/refactor.md b/.github/PULL_REQUEST_TEMPLATE/refactor.md
deleted file mode 100644
index 1ee21c1bba..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/refactor.md
+++ /dev/null
@@ -1,15 +0,0 @@
----
-name: Refactor
-about: For code refactors
-title: ''
-labels: 'refactor'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the refactor, including the goals it accomplishes. -->
-
-**Verification**
-
-<!-- Explain how you tested the refactor for regressions. -->
diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md
deleted file mode 100644
index 4397e5ad20..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/tuning.md
+++ /dev/null
@@ -1,31 +0,0 @@
----
-name: Tuning
-about: For openpilot tuning changes
-title: ''
-labels: 'tuning'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
-
-**Verification**
-
-<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
-Use the PlotJuggler tuning layout to compare planned versus actual behavior.
-
-Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
-
-Longitudinal:
-* Maintaining speed at 25, 40, 65mph
-* Driving up and down hills
-* Accelerating from a stop
-* Decelerating to a stop
-* Following large changes in set speed
-* Coming to a stop behind a lead car
-
-Lateral:
-* Straight driving at ~25, ~45 and ~65mph
-* Turns driving at ~25, ~45 and ~65mph
--->
\ No newline at end of file
diff --git a/.github/build.py b/.github/build.py
deleted file mode 100644
index e141ea05df..0000000000
--- a/.github/build.py
+++ /dev/null
@@ -1,30 +0,0 @@
-import pathlib
-
-GITHUB_FOLDER = pathlib.Path(__file__).parent
-
-PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
-
-order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
-
-def create_pull_request_template():
-  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
-    f.write("<!-- Please copy and paste the relevant template -->\n\n")
-
-    for t in order:
-      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
-      text = template.read_text()
-
-      # Remove metadata for GitHub
-      start = text.find("---")
-      end = text.find("---", start+1)
-      text = text[end + 4:]
-
-      # Remove comments
-      text = text.replace("<!-- ", "").replace("-->", "")
-
-      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
-      f.write(text)
-      f.write("\n\n")
-      f.write("-->\n\n")
-
-create_pull_request_template()
diff --git a/SConstruct b/SConstruct
index d1661e7b6c..57831647cd 100644
--- a/SConstruct
+++ b/SConstruct
@@ -49,10 +49,6 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
-AddOption('--snpe',
-          action='store_true',
-          help='use SNPE on PC')
-
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp
deleted file mode 100644
index c8a23a1822..0000000000
--- a/cereal/maptile.capnp
+++ /dev/null
@@ -1,49 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
diff --git a/common/api/__init__.py b/common/api.py
similarity index 100%
rename from common/api/__init__.py
rename to common/api.py
diff --git a/pyproject.toml b/pyproject.toml
index 3d577c7f62..2d45f99e97 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,7 +103,6 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
-  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -112,9 +111,6 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-
-  # this is only pinned since 5.15.11 is broken
-  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
diff --git a/scripts/build_small.sh b/scripts/build_small.sh
deleted file mode 100755
index 176ca5aaa8..0000000000
--- a/scripts/build_small.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env bash
-set -ex
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-# git clone --mirror
-SRC=/tmp/openpilot.git/
-OUT=/tmp/smallpilot/
-
-echo "starting size $(du -hs .git/)"
-
-rm -rf $OUT
-
-cd $SRC
-git remote update
-
-# copy contents
-#rsync -a --exclude='.git/' $DIR $OUT
-
-cp -r $SRC $OUT
-
-cd $OUT
-
-# remove all tags
-git tag -l | xargs git tag -d
-
-# remove non-master branches
-BRANCHES="release2 release3 devel master-ci nightly"
-for branch in $BRANCHES; do
-  git branch -D $branch
-  git branch -D ${branch}-staging || true
-done
-
-#git gc
-git reflog expire --expire=now --all
-git gc --prune=now
-git gc --aggressive --prune=now
-echo "new one is $(du -hs .)"
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
deleted file mode 100755
index 1ffc8901bd..0000000000
--- a/scripts/code_stats.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import os
-import ast
-import stat
-import subprocess
-
-fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
-
-pyf = []
-for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
-  for root, _, files in os.walk(d):
-    for f in files:
-      if f.endswith(".py"):
-        pyf.append(os.path.join(root, f))
-
-imps: set[str] = set()
-
-class Analyzer(ast.NodeVisitor):
-  def visit_Import(self, node):
-    for alias in node.names:
-      imps.add(alias.name)
-    self.generic_visit(node)
-
-  def visit_ImportFrom(self, node):
-    imps.add(node.module)
-    self.generic_visit(node)
-
-tlns = 0
-carlns = 0
-scriptlns = 0
-testlns = 0
-for f in sorted(pyf):
-  if f not in fouts:
-    continue
-  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
-  src = open(f).read()
-  lns = len(src.split("\n"))
-  tree = ast.parse(src)
-  Analyzer().visit(tree)
-  print(f"{lns:5d} {f} {xbit}")
-  if 'test' in f:
-    testlns += lns
-  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
-    scriptlns += lns
-  elif f.startswith('selfdrive/car'):
-    carlns += lns
-  else:
-    tlns += lns
-
-print(f"{tlns} lines of openpilot python")
-print(f"{carlns} lines of car ports")
-print(f"{scriptlns} lines of tools/scripts/debug")
-print(f"{testlns} lines of tests")
-#print(sorted(list(imps)))
diff --git a/scripts/count_cars.py b/scripts/count_cars.py
deleted file mode 100755
index 19f486735a..0000000000
--- a/scripts/count_cars.py
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/env python3
-from collections import Counter
-from pprint import pprint
-
-from opendbc.car.docs import get_all_car_docs
-
-if __name__ == "__main__":
-  cars = get_all_car_docs()
-  make_count = Counter(l.make for l in cars)
-  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
-  pprint(make_count)
diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
deleted file mode 100755
index cce4455ce5..0000000000
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ /dev/null
@@ -1,391 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SRC=/tmp/openpilot/
-SRC_CLONE=/tmp/openpilot-clone/
-OUT=/tmp/openpilot-tiny/
-
-REWRITE_IGNORE_BRANCHES=(
-  dashcam3
-  devel
-  master-ci
-  nightly
-  release2
-  release3
-  release3-staging
-)
-
-VALIDATE_IGNORE_FILES=(
-  ".github/ISSUE_TEMPLATE/bug_report.md"
-  ".github/pull_request_template.md"
-)
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
-mkdir -p $LOGS_DIR
-
-GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
-BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
-COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
-
-START_TIME=$(date +%s)
-exec > >(while IFS= read -r line; do
-  CURRENT_TIME=$(date +%s)
-  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
-  echo "[${ELAPSED_TIME}s] $line"
-done | tee -a "$GIT_REWRITE_LOG") 2>&1
-
-# INSTALL git-filter-repo
-if [ ! -f /tmp/git-filter-repo ]; then
-  echo "Installing git-filter-repo..."
-  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
-  chmod +x /tmp/git-filter-repo
-fi
-
-# MIRROR openpilot
-if [ ! -d $SRC ]; then
-  echo "Mirroring openpilot..."
-  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
-
-  cd $SRC
-
-  echo "Starting size $(du -sh .)"
-
-  git remote update
-
-  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "Pushing to openpilot-archive..."
-  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
-  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
-  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
-  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
-  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
-  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-fi
-
-# REWRITE master and tags
-if [ ! -d $SRC_CLONE ]; then
-  echo "Cloning $SRC..."
-  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
-
-  cd $SRC_CLONE
-
-  echo "Checking out old history..."
-
-  git checkout tags/v0.7.1 > /dev/null 2>&1
-  # checkout as main, since we need master ref later
-  git checkout -b main
-
-  echo "Creating setup commits..."
-
-  # rm these so we don't get conflicts later
-  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files" > /dev/null
-
-  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
-  # we don't care about fetching/pushing lfs right now
-  git lfs install --skip-smudge --local
-
-  # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
-  git commit -m "switching to master" > /dev/null
-
-  # squash the two commits
-  git reset --soft HEAD~2
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
-
-  # get commits we want to cherry-pick
-  # will start with the next commit after #59b3d06 tools is local now
-  COMMITS=$(git rev-list --reverse 59b3d06..master)
-
-  # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
-  CURRENT_COMMIT_NUMBER=0
-
-  # empty this file
-  > commit-map.txt
-
-  echo "Rewriting master commits..."
-
-  for COMMIT in $COMMITS; do
-      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
-
-      # set environment variables to preserve author/committer and dates
-      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-      # cherry-pick the commit
-      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-        # check if the failure is because of an empty commit
-        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-          echo "Empty commit detected. Skipping commit $COMMIT"
-          git cherry-pick --skip
-          # log it was empty to the mapping file
-          echo "$COMMIT EMPTY" >> commit-map.txt
-        else
-          # handle other errors or conflicts
-          echo "Cherry-pick failed. Handling error..."
-          echo "$GIT_OUTPUT"
-          exit 1
-        fi
-      else
-        # capture the new commit hash
-        NEW_COMMIT=$(git rev-parse HEAD)
-
-        # save the old and new commit hashes to the mapping file
-        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-        # append the old commit ID to the commit message
-        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-      fi
-
-    # prune every 3000 commits to avoid gc errors
-    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
-      echo "Pruning repo..."
-      git gc
-    fi
-  done
-
-  echo "Rewriting tags..."
-
-  # remove all old tags
-  git tag -l | xargs git tag -d
-
-  # read each line from the tag-commit-map.txt
-  while IFS=' ' read -r TAG OLD_COMMIT; do
-    # search for the new commit in commit-map.txt corresponding to the old commit
-    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
-
-    # check if this is a rebased commit
-    if [ -z "$NEW_COMMIT" ]; then
-      # if not, then just use old commit hash
-      NEW_COMMIT=$OLD_COMMIT
-    fi
-
-    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
-    git tag -f "$TAG" "$NEW_COMMIT"
-  done < "$DIR/tag-commit-map.txt"
-
-  # uninstall lfs since we don't want to touch (push to) lfs right now
-  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
-  git lfs uninstall --local
-
-  # force push new master
-  git push --force origin main:master
-
-  # force push new tags
-  git push --force --tags
-fi
-
-# REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
-  cd $SRC_CLONE
-  > rewrite-branches-done
-
-  # empty file
-  > $BRANCH_DIFF_LOG
-
-  echo "Rewriting branches based on master..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
-
-  for BRANCH in $BRANCHES; do
-    # check if the branch is based on master history
-    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
-    if [ -n "$MERGE_BASE" ]; then
-      echo "Rewriting branch: $BRANCH"
-
-      # create a new branch based on the new master
-      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
-      if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
-        continue
-      fi
-      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-
-      # get the range of commits unique to this branch
-      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-
-      HAS_ERROR=0
-
-      # simple delimiter
-      echo "BRANCH ${BRANCH}" >> commit-map.txt
-
-      for COMMIT in $COMMITS; do
-        # set environment variables to preserve author/committer and dates
-        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-        # cherry-pick the commit
-        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-          # check if the failure is because of an empty commit
-          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-            echo "Empty commit detected. Skipping commit $COMMIT"
-            git cherry-pick --skip
-            # log it was empty to the mapping file
-            echo "$COMMIT EMPTY" >> commit-map.txt
-          else
-            # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
-            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
-            git cherry-pick --abort
-            git push --delete origin ${BRANCH}
-            HAS_ERROR=1
-            break
-          fi
-        else
-          # capture the new commit hash
-          NEW_COMMIT=$(git rev-parse HEAD)
-
-          # save the old and new commit hashes to the mapping file
-          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-          # append the old commit ID to the commit message
-          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-        fi
-      done
-
-      # force push the new branch
-      if [ $HAS_ERROR -eq 0 ]; then
-        # git lfs goes haywire here, so we need to install and uninstall
-        # git lfs install --skip-smudge --local
-        git lfs uninstall --local > /dev/null
-        git push -f origin ${BRANCH}_new:${BRANCH}
-      fi
-
-      # clean up local branch
-      git checkout master > /dev/null
-      git branch -D ${BRANCH}_new > /dev/null
-    else
-      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
-      git push --delete origin ${BRANCH}
-    fi
-  done
-fi
-
-# VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/validation-done" ]; then
-  cd $SRC_CLONE
-  > validation-done
-
-  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
-  CURRENT_COMMIT_NUMBER=0
-  COUNT_SAME=0
-  COUNT_DIFF=0
-
-  # empty file
-  > $COMMIT_DIFF_LOG
-
-  echo "Validating commits..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # read each line from commit-map.txt
-  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
-    if [ "$NEW_COMMIT" == "EMPTY" ]; then
-      continue
-    fi
-    if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
-      continue
-    fi
-    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-    # retrieve short hashes and dates for the old and new commits
-    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
-    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
-    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
-    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
-
-    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
-    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-
-    # generate lists of files and their hashes for the old and new commits, excluding ignored files
-    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-
-    # Compare the diffs
-    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
-      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
-      COUNT_SAME=$((COUNT_SAME + 1))
-    else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
-      COUNT_DIFF=$((COUNT_DIFF + 1))
-      set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
-      set -e
-    fi
-  done < "commit-map.txt"
-
-  echo "Summary:" >> $COMMIT_DIFF_LOG
-  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
-  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
-fi
-
-if [ ! -d $OUT ]; then
-  cp -r $SRC $OUT
-
-  cd $OUT
-
-  # remove all non-master branches
-  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
-
-  # echo "cleaning up refs"
-  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
-  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
-
-  echo "importing new lfs files"
-  # import "almost" everything to lfs
-  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
-  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
-
-  echo "reflog and gc"
-  # this is needed after lfs import
-  git reflog expire --expire=now --all
-  git gc --prune=now --aggressive
-
-  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "New size is $(du -sh .)"
-fi
-
-cd $OUT
-
-# fetch all lfs files from https://github.com/commaai/openpilot.git
-# some lfs files are missing on gitlab, but they can be found on github
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
-git lfs fetch --all || true
-
-# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-git lfs fetch --all || true
-
-# final push - will also push lfs
-# TODO: switch to git@github.com:commaai/openpilot.git when ready
-# git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/rewrite.sh b/scripts/git_rewrite/rewrite.sh
deleted file mode 100755
index 8a18b15bec..0000000000
--- a/scripts/git_rewrite/rewrite.sh
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-git clone --bare https://github.com/commaai/openpilot
-cp -r openpilot.git openpilot_backup
-cd openpilot.git
-
-# backup old repo
-git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
-git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
-git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
-git push --mirror git@github.com:commaai/openpilot-archive.git
-
-# ignore all release branches
-git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
-
-# re-tag old releases on master
-declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
-for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
-
-# get master root commit
-ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
-
-# link master and devel
-git replace --graft $ROOT_COMMIT v0.7.1
-git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
-
-# delete replace refs
-git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
-
-# machine validation
-tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
-# human validation
-less /tmp/GIT_HASH
-
-# cleanup
-git reflog expire --expire=now --all
-git gc --prune=now --aggressive
-
-# get all lfs files
-set +e
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git lfs fetch --all
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git lfs fetch --all
-set -e
-
-# add new files to lfs
-git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
-
-# set new lfs endpoint
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-
-# push all branch+tag (scary stuff...)
-git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt
deleted file mode 100644
index 66b1fb00c1..0000000000
--- a/scripts/git_rewrite/tag-commit-map.txt
+++ /dev/null
@@ -1,82 +0,0 @@
-v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
-v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
-v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
-v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
-v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
-v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
-v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
-v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
-v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
-v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
-v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
-v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
-v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
-v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
-v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
-v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
-v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
-v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
-v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
-v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
-v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
-v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
-v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
-v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
-v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
-v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
-v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
-v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
-v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
-v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
-v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
-v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
-v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
-v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
-v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
-v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
-v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
-v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
-v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
-v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22
-v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
-v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
-v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
-v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
-v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
-v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
-v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
-v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
-v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
-v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
-v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
-v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
-v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
-v0.7.8 2189fe8741b635d8394d55dee28959425cfd5ad0
-v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
-v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
-v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
-v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
-v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
-v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
-v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
-v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
-v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
-v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
-v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
-v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
-v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
-v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
-v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
-v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
-v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
-v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
-v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
-v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
-v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
-v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
-v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
-v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
-v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
-v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
-v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
-v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee
diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py
deleted file mode 100755
index 783728bdb8..0000000000
--- a/scripts/pyqt_demo.py
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env python3
-
-from PyQt5.QtWidgets import QApplication, QLabel
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-
-if __name__ == "__main__":
-  app = QApplication([])
-  label = QLabel('Hello World!')
-
-  # Set full screen and rotate
-  set_main_window(label)
-
-  app.exec_()
diff --git a/selfdrive/assets/offroad/icon_plus.png b/selfdrive/assets/offroad/icon_plus.png
deleted file mode 100644
index 6418a37a65..0000000000
--- a/selfdrive/assets/offroad/icon_plus.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fa3f1c39a4e82adfb52d43fc0ad6773a70dbaa4fc79109a7d6b6c1f73b298eac
-size 2833
diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/fuzz_fw_fingerprint.py
similarity index 100%
rename from selfdrive/debug/internal/fuzz_fw_fingerprint.py
rename to selfdrive/debug/fuzz_fw_fingerprint.py
diff --git a/selfdrive/debug/internal/__init__.py b/selfdrive/debug/internal/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/debug/internal/measure_modeld_packet_drop.py b/selfdrive/debug/measure_modeld_packet_drop.py
similarity index 100%
rename from selfdrive/debug/internal/measure_modeld_packet_drop.py
rename to selfdrive/debug/measure_modeld_packet_drop.py
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/measure_torque_time_to_max.py
similarity index 100%
rename from selfdrive/debug/internal/measure_torque_time_to_max.py
rename to selfdrive/debug/measure_torque_time_to_max.py
diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/qlog_size.py
similarity index 100%
rename from selfdrive/debug/internal/qlog_size.py
rename to selfdrive/debug/qlog_size.py
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index ef0fd52f33..cb0ce22d8b 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -26,10 +26,6 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
diff --git a/selfdrive/modeld/tests/snpe_benchmark/.gitignore b/selfdrive/modeld/tests/snpe_benchmark/.gitignore
deleted file mode 100644
index d83a1b2ff5..0000000000
--- a/selfdrive/modeld/tests/snpe_benchmark/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-benchmark
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
deleted file mode 100644
index f72f7fb1a7..0000000000
--- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
+++ /dev/null
@@ -1,192 +0,0 @@
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-
-using namespace std;
-
-int64_t timespecDiff(struct timespec *timeA_p, struct timespec *timeB_p) {
-  return ((timeA_p->tv_sec * 1000000000) + timeA_p->tv_nsec) - ((timeB_p->tv_sec * 1000000000) + timeB_p->tv_nsec);
-}
-
-void PrintErrorStringAndExit() {
-  cout << "ERROR!" << endl;
-  const char* const errStr = zdl::DlSystem::getLastErrorString();
-  std::cerr << errStr << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-
-zdl::DlSystem::Runtime_t checkRuntime() {
-  static zdl::DlSystem::Version_t Version = zdl::SNPE::SNPEFactory::getLibraryVersion();
-  static zdl::DlSystem::Runtime_t Runtime;
-  std::cout << "SNPE Version: " << Version.asString().c_str() << std::endl; //Print Version number
-  if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::DSP)) {
-    std::cout << "Using DSP runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::GPU)) {
-    std::cout << "Using GPU runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else {
-    std::cout << "Using cpu runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  return Runtime;
-}
-
-void test(char *filename) {
-  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
-  container = zdl::DlContainer::IDlContainer::open(filename);
-
-  if (!container) { PrintErrorStringAndExit(); }
-  cout << "start build" << endl;
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  {
-    snpe = NULL;
-    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
-    snpe = snpeBuilder.setOutputLayers({})
-      .setRuntimeProcessor(runtime)
-      .setUseUserSuppliedBuffers(false)
-      //.setDebugMode(true)
-      .build();
-    if (!snpe) {
-      cout << "ERROR!" << endl;
-      const char* const errStr = zdl::DlSystem::getLastErrorString();
-      std::cerr << errStr << std::endl;
-    }
-    cout << "ran snpeBuilder" << endl;
-  }
-
-  const auto &strList_opt = snpe->getInputTensorNames();
-  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
-
-  cout << "get input tensor names done" << endl;
-  const auto &strList = *strList_opt;
-  static zdl::DlSystem::TensorMap inputTensorMap;
-  static zdl::DlSystem::TensorMap outputTensorMap;
-  vector<std::unique_ptr<zdl::DlSystem::ITensor> > inputs;
-  for (int i = 0; i < strList.size(); i++) {
-    cout << "input name: " << strList.at(i) << endl;
-
-    const auto &inputDims_opt = snpe->getInputDimensions(strList.at(i));
-    const auto &inputShape = *inputDims_opt;
-    inputs.push_back(zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape));
-    inputTensorMap.add(strList.at(i), inputs[i].get());
-  }
-
-  struct timespec start, end;
-  cout << "**** starting benchmark ****" << endl;
-  for (int i = 0; i < 50; i++) {
-    clock_gettime(CLOCK_MONOTONIC, &start);
-    int err = snpe->execute(inputTensorMap, outputTensorMap);
-    assert(err == true);
-    clock_gettime(CLOCK_MONOTONIC, &end);
-    uint64_t timeElapsed = timespecDiff(&end, &start);
-    printf("time: %f ms\n", timeElapsed*1.0/1e6);
-  }
-}
-
-void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
-  FILE * pFile;
-  string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index);
-  pFile = fopen(filepath.c_str(), "rb");
-  int length = 1*6*160*320*4;
-  float * frame_buffer = new float[length/4]; // 32/8
-  fread(frame_buffer, length, 1, pFile);
-  // std::cout << *(frame_buffer+length/4-1) << std::endl;
-  std::copy(frame_buffer, frame_buffer+(length/4), input->begin());
-  fclose(pFile);
-}
-
-void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor)
-{
-   std::ofstream os(path, std::ofstream::binary);
-   if (!os)
-   {
-      std::cerr << "Failed to open output file for writing: " << path << "\n";
-      std::exit(EXIT_FAILURE);
-   }
-   for ( auto it = tensor->cbegin(); it != tensor->cend(); ++it )
-   {
-      float f = *it;
-      if (!os.write(reinterpret_cast<char*>(&f), sizeof(float)))
-      {
-         std::cerr << "Failed to write data to: " << path << "\n";
-         std::exit(EXIT_FAILURE);
-      }
-   }
-}
-
-void testrun(char* modelfile) {
-  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
-  container = zdl::DlContainer::IDlContainer::open(modelfile);
-
-  if (!container) { PrintErrorStringAndExit(); }
-  cout << "start build" << endl;
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  {
-    snpe = NULL;
-    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
-    snpe = snpeBuilder.setOutputLayers({})
-      .setRuntimeProcessor(runtime)
-      .setUseUserSuppliedBuffers(false)
-      //.setDebugMode(true)
-      .build();
-    if (!snpe) {
-      cout << "ERROR!" << endl;
-      const char* const errStr = zdl::DlSystem::getLastErrorString();
-      std::cerr << errStr << std::endl;
-    }
-    cout << "ran snpeBuilder" << endl;
-  }
-
-  const auto &strList_opt = snpe->getInputTensorNames();
-  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
-  cout << "get input tensor names done" << endl;
-
-  const auto &strList = *strList_opt;
-  static zdl::DlSystem::TensorMap inputTensorMap;
-  static zdl::DlSystem::TensorMap outputTensorMap;
-
-  assert(strList.size() == 1);
-  const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
-  const auto &inputShape = *inputDims_opt;
-  std::cout << "winkwink" << std::endl;
-
-  for (int i=0; i<10000; i++) {
-    std::unique_ptr<zdl::DlSystem::ITensor> input;
-    input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape);
-    get_testframe(i, input);
-    snpe->execute(input.get(), outputTensorMap);
-    zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
-    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
-      std::ostringstream path;
-      path << "/data/opt/Result_" << std::to_string(i) << ".raw";
-      auto tensorPtr = outputTensorMap.getTensor(name);
-      SaveITensor(path.str(), tensorPtr);
-    });
-  }
-}
-
-int main(int argc, char* argv[]) {
-  if (argc < 2) {
-    printf("usage: %s <filename>\n", argv[0]);
-    return -1;
-  }
-
-  if (argc == 2) {
-    while (true) test(argv[1]);
-  } else if (argc == 3) {
-    testrun(argv[1]);
-  }
-  return 0;
-}
-
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
deleted file mode 100755
index a9d3f79786..0000000000
--- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh -e
-clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
-export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH"
-exec ./benchmark $1
diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py
deleted file mode 100755
index f3b0c1a98f..0000000000
--- a/selfdrive/test/ciui.py
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/usr/bin/env python3
-import signal
-import subprocess
-
-signal.signal(signal.SIGINT, signal.SIG_DFL)
-signal.signal(signal.SIGTERM, signal.SIG_DFL)
-
-from PyQt5.QtCore import QTimer
-from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-class Window(QWidget):
-  def __init__(self, parent=None):
-    super().__init__(parent)
-
-    layout = QVBoxLayout()
-    self.setLayout(layout)
-
-    self.l = QLabel("jenkins runner")
-    layout.addWidget(self.l)
-    layout.addStretch(1)
-    layout.setContentsMargins(20, 20, 20, 20)
-
-    cmds = [
-      "cat /etc/hostname",
-      "echo AGNOS v$(cat /VERSION)",
-      "uptime -p",
-    ]
-    self.labels = {}
-    for c in cmds:
-      self.labels[c] = QLabel(c)
-      layout.addWidget(self.labels[c])
-
-    self.setStyleSheet("""
-      * {
-        color: white;
-        font-size: 55px;
-        background-color: black;
-        font-family: "JetBrains Mono";
-      }
-    """)
-
-    self.timer = QTimer()
-    self.timer.timeout.connect(self.update)
-    self.timer.start(10 * 1000)
-    self.update()
-
-  def update(self):
-    for cmd, label in self.labels.items():
-      out = subprocess.run(cmd, capture_output=True,
-                           shell=True, check=False, encoding='utf8').stdout
-      label.setText(out.strip())
-
-if __name__ == "__main__":
-  app = QApplication([])
-  w = Window()
-  set_main_window(w)
-  app.exec_()
diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh
deleted file mode 100755
index c1761802c7..0000000000
--- a/selfdrive/test/docker_tag_multiarch.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-if [ $# -lt 2 ]; then
-  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
-  exit 1
-fi
-
-SCRIPT_DIR=$(dirname "$0")
-ARCHS=("${@:2}")
-
-source $SCRIPT_DIR/docker_common.sh $1
-
-MANIFEST_AMENDS=""
-for ARCH in ${ARCHS[@]}; do
-  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
-done
-
-docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
-docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
-
-if [[ -n "$PUSH_IMAGE" ]]; then
-  docker manifest push $REMOTE_TAG
-  docker manifest push $REMOTE_SHA_TAG
-fi
diff --git a/selfdrive/test/loop_until_fail.sh b/selfdrive/test/loop_until_fail.sh
deleted file mode 100755
index b73009dba6..0000000000
--- a/selfdrive/test/loop_until_fail.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# Loop something forever until it fails, for verifying new tests
-
-while true; do
-  $@
-done
diff --git a/selfdrive/test/process_replay/imgproc_replay_ref_hash b/selfdrive/test/process_replay/imgproc_replay_ref_hash
deleted file mode 100644
index defcb3681c..0000000000
--- a/selfdrive/test/process_replay/imgproc_replay_ref_hash
+++ /dev/null
@@ -1 +0,0 @@
-707434c540e685bbe2886b3ff7c82fd61939d362
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py
deleted file mode 100644
index 27d0541a50..0000000000
--- a/selfdrive/test/process_replay/test_imgproc.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import os
-import numpy as np
-import hashlib
-
-import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
-
-from openpilot.system.hardware import PC, TICI
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
-from openpilot.tools.lib.logreader import LogReader
-
-# TODO: check all sensors
-TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
-
-cam = DEVICE_CAMERAS[("tici", "ar0231")]
-FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
-FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
-
-UV_WIDTH = FRAME_WIDTH // 2
-UV_HEIGHT = FRAME_HEIGHT // 2
-UV_SIZE = UV_WIDTH * UV_HEIGHT
-
-
-def init_kernels(frame_offset=0):
-  ctx = cl.create_some_context(interactive=False)
-
-  with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f:
-    build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
-      f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
-      f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
-      ' -DSENSOR_ID=1 -DVIGNETTING=0 '
-    if PC:
-      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
-    imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
-
-  return ctx, imgproc_prg
-
-def proc_frame(ctx, imgproc_prg, data, rgb=False):
-  q = cl.CommandQueue(ctx)
-
-  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
-
-  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
-  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
-
-  krn = imgproc_prg.process_raw
-  krn.set_scalar_arg_dtypes([None, None, np.int32])
-  local_worksize = (20, 20) if TICI else (4, 4)
-
-  ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
-  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
-  cl.enqueue_barrier(q)
-
-  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
-  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH))
-  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH))
-
-  if rgb:
-    return yuv_to_rgb(y, u, v)
-  else:
-    return y, u, v
-
-
-def imgproc_replay(lr):
-  ctx, imgproc_prg = init_kernels()
-
-  frames = []
-  for m in lr:
-    if m.which() == 'roadCameraState':
-      cs = m.roadCameraState
-      if cs.image:
-        data = np.frombuffer(cs.image, dtype=np.uint8)
-        img = proc_frame(ctx, imgproc_prg, data)
-
-        frames.append(img)
-
-  return frames
-
-
-if __name__ == "__main__":
-  # load logs
-  lr = list(LogReader(TEST_ROUTE))
-  # run replay
-  out_frames = imgproc_replay(lr)
-
-  all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
-  pix_hash = hashlib.sha1(all_pix).hexdigest()
-
-  with open('imgproc_replay_ref_hash') as f:
-    ref_hash = f.read()
-
-  if pix_hash != ref_hash:
-    print("result changed! please check kernel")
-    print(f"ref: {ref_hash}")
-    print(f"new: {pix_hash}")
-  else:
-    print("test passed")
diff --git a/selfdrive/test/profiling/.gitignore b/selfdrive/test/profiling/.gitignore
deleted file mode 100644
index 76acac7f93..0000000000
--- a/selfdrive/test/profiling/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-cachegrind.out.*
-*.prof
diff --git a/selfdrive/test/profiling/__init__.py b/selfdrive/test/profiling/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
deleted file mode 100644
index 62bb305ca8..0000000000
--- a/selfdrive/test/profiling/lib.py
+++ /dev/null
@@ -1,91 +0,0 @@
-from collections import defaultdict
-from cereal.services import SERVICE_LIST
-import cereal.messaging as messaging
-import capnp
-
-
-class ReplayDone(Exception):
-  pass
-
-
-class SubSocket:
-  def __init__(self, msgs, trigger):
-    self.i = 0
-    self.trigger = trigger
-    self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
-    self.max_i = len(self.msgs) - 1
-
-  def receive(self, non_blocking=False):
-    if non_blocking:
-      return None
-
-    if self.i == self.max_i:
-      raise ReplayDone
-
-    while True:
-      msg = self.msgs[self.i]
-      self.i += 1
-      return msg
-
-
-class PubSocket:
-  def send(self, data):
-    pass
-
-
-class SubMaster(messaging.SubMaster):
-  def __init__(self, msgs, trigger, services, check_averag_freq=False):
-    self.frame = 0
-    self.data = {}
-    self.ignore_alive = []
-
-    self.alive = {s: True for s in services}
-    self.updated = {s: False for s in services}
-    self.rcv_time = {s: 0. for s in services}
-    self.rcv_frame = {s: 0 for s in services}
-    self.valid = {s: True for s in services}
-    self.freq_ok = {s: True for s in services}
-    self.freq_tracker = {s: messaging.FrequencyTracker(SERVICE_LIST[s].frequency, SERVICE_LIST[s].frequency, False) for s in services}
-    self.logMonoTime = {}
-    self.sock = {}
-    self.freq = {}
-    self.check_average_freq = check_averag_freq
-    self.non_polled_services = []
-    self.ignore_average_freq = []
-
-    # TODO: specify multiple triggers for service like plannerd that poll on more than one service
-    cur_msgs = []
-    self.msgs = []
-    msgs = [m for m in msgs if m.which() in services]
-
-    for msg in msgs:
-      cur_msgs.append(msg)
-      if msg.which() == trigger:
-        self.msgs.append(cur_msgs)
-        cur_msgs = []
-
-    self.msgs = list(reversed(self.msgs))
-
-    for s in services:
-      self.freq[s] = SERVICE_LIST[s].frequency
-      try:
-        data = messaging.new_message(s)
-      except capnp.lib.capnp.KjException:
-        # lists
-        data = messaging.new_message(s, 0)
-
-      self.data[s] = getattr(data, s)
-      self.logMonoTime[s] = 0
-      self.sock[s] = SubSocket(msgs, s)
-
-  def update(self, timeout=None):
-    if not len(self.msgs):
-      raise ReplayDone
-
-    cur_msgs = self.msgs.pop()
-    self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop())
-
-
-class PubMaster(messaging.PubMaster):
-  def __init__(self):
-    self.sock = defaultdict(PubSocket)
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
deleted file mode 100755
index d50b157a37..0000000000
--- a/selfdrive/test/profiling/profiler.py
+++ /dev/null
@@ -1,97 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import cProfile
-import pprofile
-import pyprof2calltree
-
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.volkswagen.values import CAR as VW
-from openpilot.common.params import Params
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-
-CARS = {
-  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
-  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
-  "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
-}
-
-
-def get_inputs(msgs, process, fingerprint):
-  for config in CONFIGS:
-    if config.proc_name == process:
-      sub_socks = list(config.pubs)
-      trigger = sub_socks[0]
-      break
-
-  # some procs block on CarParams
-  for msg in msgs:
-    if msg.which() == 'carParams':
-      m = msg.as_builder()
-      m.carParams.carFingerprint = fingerprint
-      Params().put("CarParams", m.carParams.copy().to_bytes())
-      break
-
-  sm = SubMaster(msgs, trigger, sub_socks)
-  pm = PubMaster()
-  if 'can' in sub_socks:
-    can_sock = SubSocket(msgs, 'can')
-  else:
-    can_sock = None
-  return sm, pm, can_sock
-
-
-def profile(proc, func, car='toyota'):
-  segment, fingerprint = CARS[car]
-  segment = segment.replace('|', '/')
-  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
-  msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
-
-  os.environ['FINGERPRINT'] = fingerprint
-  os.environ['SKIP_FW_QUERY'] = "1"
-  os.environ['REPLAY'] = "1"
-
-  def run(sm, pm, can_sock):
-    try:
-      if can_sock is not None:
-        func(sm, pm, can_sock)
-      else:
-        func(sm, pm)
-    except ReplayDone:
-      pass
-
-  # Statistical
-  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
-  with pprofile.StatisticalProfile()(period=0.00001) as pr:
-    run(sm, pm, can_sock)
-  pr.dump_stats(f'cachegrind.out.{proc}_statistical')
-
-  # Deterministic
-  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
-  with cProfile.Profile() as pr:
-    run(sm, pm, can_sock)
-  pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')
-
-
-if __name__ == '__main__':
-  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
-  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
-  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
-
-  procs = {
-    'controlsd': controlsd_thread,
-    'paramsd': paramsd_thread,
-    'plannerd': plannerd_thread,
-  }
-
-  proc = sys.argv[1]
-  if proc not in procs:
-    print(f"{proc} not available")
-    sys.exit(0)
-  else:
-    profile(proc, procs[proc])
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
deleted file mode 100644
index a1c6fed910..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
-size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
deleted file mode 100644
index 54c0c32e41..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
-size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
deleted file mode 100644
index 2154203026..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
-size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
deleted file mode 100644
index 1d81abd3a5..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
-size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
deleted file mode 100644
index 40e3d5af74..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
-size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
deleted file mode 100644
index 9e9e9221be..0000000000
--- a/third_party/snpe/dsp/libcalculator_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
-size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
deleted file mode 100644
index 3f1b7a8b8c..0000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
-size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
deleted file mode 100644
index aa42b5e830..0000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
-size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
deleted file mode 100644
index 9423da1b94..0000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
-size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
deleted file mode 100644
index 018b567256..0000000000
--- a/third_party/snpe/include/DiagLog/IDiagLog.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __IDIAGLOG_HPP_
-#define __IDIAGLOG_HPP_
-
-#include <string>
-
-#include "DiagLog/Options.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Interface for controlling logging for zdl components.
-
-class ZDL_EXPORT IDiagLog
-{
-public:
-
-   /// @brief .
-   ///
-   /// Sets the options after initialization occurs.
-   ///
-   /// @param[in] loggingOptions The options to set up diagnostic logging.
-   ///
-   /// @return False if the options could not be set. Ensure logging is not started.
-   virtual bool setOptions(const Options& loggingOptions) = 0;
-
-   /// @brief .
-   ///
-   /// Gets the curent options for the diag logger.
-   ///
-   /// @return Diag log options object.
-   virtual Options getOptions() = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const std::string& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Enables logging for zdl components.
-   ///
-   /// Logging should be started prior to the instantiation of zdl components
-   /// to ensure all events are captured.
-   ///
-   /// @return False if diagnostic logging could not be started.
-   virtual bool start(void) = 0;
-
-   /// @brief Disables logging for zdl components.
-   virtual bool stop(void) = 0;
-
-   virtual ~IDiagLog() {};
-};
-
-} // DiagLog namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
deleted file mode 100644
index 798fa3f124..0000000000
--- a/third_party/snpe/include/DiagLog/Options.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __DIAGLOG_OPTIONS_HPP_
-#define __DIAGLOG_OPTIONS_HPP_
-
-#include <string>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Options for setting up diagnostic logging for zdl components.
-class ZDL_EXPORT Options
-{
-public:
-   Options() :
-      DiagLogMask(""),
-      LogFileDirectory("diaglogs"),
-      LogFileName("DiagLog"),
-      LogFileRotateCount(20),
-      LogFileReplace(true)
-   {
-      // Solves the empty string problem with multiple std libs
-      DiagLogMask.reserve(1);
-   }
-
-   /// @brief .
-   ///
-   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
-   std::string DiagLogMask;
-
-   /// @brief .
-   ///
-   /// The path to the directory where log files will be written.
-   /// The path may be relative or absolute. Relative paths are interpreted
-   /// from the current working directory.
-   /// Default value is "diaglogs"
-   std::string LogFileDirectory;
-
-   /// @brief .
-   ///
-   //// The name used for log files. If this value is empty then BaseName will be
-   /// used as the default file name.
-   /// Default value is "DiagLog"
-   std::string LogFileName;
-
-   /// @brief .
-   ///
-   /// The maximum number of log files to create. If set to 0 no log rotation
-   /// will be used and the log file name specified will be used each time, overwriting
-   /// any existing log file that may exist.
-   /// Default value is 20
-   uint32_t LogFileRotateCount;
-
-   /// @brief
-   ///
-   /// If the log file already exists, control whether it will be replaced
-   /// (existing contents truncated), or appended.
-   /// Default value is true
-   bool LogFileReplace;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DiagLog namespace
-} // zdl namespace
-
-
-#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
deleted file mode 100644
index 4e29b39bb4..0000000000
--- a/third_party/snpe/include/DlContainer/IDlContainer.hpp
+++ /dev/null
@@ -1,191 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-   DlcRecord(const std::string& new_name)
-      : name(new_name)
-      , data()
-   {
-      if(name.empty())
-      {
-         name.reserve(1);
-      }
-   }
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    *
-    * @param[out] catalog Buffer that will hold the record names on
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save(const std::string &filename) = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save (const zdl::DlSystem::String &filename) = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
deleted file mode 100644
index c9b3ef970a..0000000000
--- a/third_party/snpe/include/DlSystem/DlEnums.hpp
+++ /dev/null
@@ -1,234 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Run the processing on Snapdragon AIX+HVX.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   AIP_FIXED8_TF = 5,
-   AIP_FIXED_TF = AIP_FIXED8_TF,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF,
-
-   /// Special value indicating the property is unset.
-   UNSET = -1
-};
-
-/**
- * Enumeration of runtime available check options.
- */
-enum class RuntimeCheckOption_t
-{
-   /// Perform standard runtime available check
-   DEFAULT = 0,
-   /// Perform standard runtime available check
-   NORMAL_CHECK = 0,
-   /// Perform basic runtime available check, may be runtime specific
-   BASIC_CHECK = 1,
-   /// Perform unsignedPD runtime available check
-   UNSIGNEDPD_CHECK = 2,
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE = 1,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER = 2,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS = 3,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE = 4,
-
-    /// Run in burst mode
-    BURST = 5,
-
-    /// Run in lower clock than POWER_SAVER, at the expense of performance.
-    LOW_POWER_SAVER = 6,
-
-    /// Run in higher clock and provides better performance than POWER_SAVER.
-    HIGH_POWER_SAVER = 7,
-
-    /// Run in lower balanced mode
-    LOW_BALANCED = 8,
-};
-
-/**
- * Enumeration of various profilngLevels that can be requested.
- */
-enum class ProfilingLevel_t
-{
-    /// No profiling.
-    /// Collects no runtime stats in the DiagLog
-    OFF = 0,
-
-    /// Basic profiling
-    /// Collects some runtime stats in the DiagLog
-    BASIC = 1,
-
-    /// Detailed profiling
-    /// Collects more runtime stats in the DiagLog, including per-layer statistics
-    /// Performance may be impacted
-    DETAILED = 2,
-
-    /// Moderate profiling
-    /// Collects more runtime stats in the DiagLog, no per-layer statistics
-    MODERATE = 3
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH = 1,
-
-    /// Lower priority
-    LOW = 2
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB = 1,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32 = 2,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA = 3,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE = 4,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21 = 5,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR = 6
-};
-
-/**
- * Enumeration that lists the supported LogLevels that can be set by users.
- */
-enum class LogLevel_t
-{
-    /// Enumeration variable to be used by user to set logging level to FATAL.
-    LOG_FATAL = 0,
-
-    /// Enumeration variable to be used by user to set logging level to ERROR.
-    LOG_ERROR = 1,
-
-    /// Enumeration variable to be used by user to set logging level to WARN.
-    LOG_WARN = 2,
-
-    /// Enumeration variable to be used by user to set logging level to INFO.
-    LOG_INFO = 3,
-
-    /// Enumeration variable to be used by user to set logging level to VERBOSE.
-    LOG_VERBOSE = 4
-};
-
-typedef enum : int
-{
-   UNSPECIFIED = 0,
-   FLOATING_POINT_32 = 1,
-   FLOATING_POINT_16 = 2,
-   FIXED_POINT_8 =  3,
-   FIXED_POINT_16 = 4
-} IOBufferDataType_t;
-
-}} // namespaces end
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
deleted file mode 100644
index 57592f01ba..0000000000
--- a/third_party/snpe/include/DlSystem/DlError.hpp
+++ /dev/null
@@ -1,259 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ERROR_HPP_
-#define _DL_ERROR_HPP_
-
-#include <stdint.h>
-#include <limits> // numeric_limits
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-// clang and arm gcc different in how ZDL_EXPORT is used with enum class
-#if !defined (__clang__)
-enum class ErrorCode : uint32_t ZDL_EXPORT {
-#else
-enum class ZDL_EXPORT ErrorCode : uint32_t {
-#endif // ARM64V8A
-   NONE = 0,
-
-   // System config errors
-   SNPE_CONFIG_MISSING_PARAM                             = 100,
-   SNPE_CONFIG_INVALID_PARAM                             = 101,
-   SNPE_CONFIG_MISSING_FILE                              = 102,
-   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
-   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
-   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
-   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
-   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
-   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
-
-   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
-   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
-
-   // DlSystem errors
-   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
-   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
-   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
-   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
-   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
-   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
-   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
-   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
-   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
-   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
-   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
-   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
-   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
-   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
-   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
-   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
-   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
-   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
-   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
-   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
-
-   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
-   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
-
-   // DlContainer errors
-   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
-   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
-   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
-   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
-   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
-   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
-   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
-   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
-   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
-   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
-   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
-   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
-   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
-   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
-   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
-   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
-
-   // Network errors
-   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
-   SNPE_NETWORK_CREATION_FAILED                          = 401,
-   SNPE_NETWORK_PARTITION_FAILED                         = 402,
-   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
-   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
-   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
-   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
-   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
-
-   // Host runtime errors
-   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
-
-   // CPU runtime errors
-   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
-   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
-   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
-   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
-   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
-   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
-   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
-
-   // CPU fixed-point runtime errors
-   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
-   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
-   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
-
-   // GPU runtime errors
-   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
-   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
-   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
-   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
-   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
-   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
-   SNPE_GPU_KERNEL_NOT_SET                               = 806,
-   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
-   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
-   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
-   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
-   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
-   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
-   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
-   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
-   SNPE_GPU_BUFFER_IN_USE                                = 815,
-   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
-   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
-   // DSP runtime errors
-   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
-   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
-   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
-   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
-   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
-   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
-   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
-   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
-   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
-   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
-   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
-   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
-   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
-   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
-   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
-   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
-   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
-   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
-   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
-
-   // Model validataion errors
-   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
-   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
-   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
-   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
-   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
-   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
-   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
-
-   // UDL errors
-   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
-   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
-   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
-   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
-   SNPE_UDL_EXECUTE_FAILED                               = 1104,
-   SNPE_UDL_BUNDLE_INVALID                               = 1105,
-   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
-   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
-   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
-
-   // Dependent library errors
-   SNPE_STD_LIBRARY_ERROR                                = 1200,
-
-   // Unknown exception (catch (...)), Has no component attached to this
-   SNPE_UNKNOWN_EXCEPTION                                = 1210,
-
-   // Storage Errors
-   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
-
-   // AIP runtime errors
-   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
-   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
-   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
-   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
-   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
-   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
-   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
-   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
-   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
-   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
-   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
-   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
-   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
-   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
-
-   // DlCaching errors
-   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
-   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
-
-   // Infrastructure Errors
-   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
-
-   // Memory Errors
-   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
-
-};
-
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Returns the error code of the last error encountered.
- *
- * @return The error code.
- *
- * @note The returned error code is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT ErrorCode getLastErrorCode();
-
-/**
- * Returns the error string of the last error encountered.
- *
- * @return The error string.
- *
- * @note The returned error string is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT const char* getLastErrorString();
-
-/**
- * Returns the info string of the last error encountered.
- */
-ZDL_EXPORT const char* getLastInfoString();
-
-/**
- * Returns the uint32_t representation of the error code enum.
- *
- * @param[in] code The error code to be converted.
- *
- * @return uint32_t representation of the error code.
- */
-ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem
-} // zdl
-
-#endif // _DL_ERROR_HPP_
-
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
deleted file mode 100644
index 4f83e6b4e4..0000000000
--- a/third_party/snpe/include/DlSystem/DlOptional.hpp
+++ /dev/null
@@ -1,225 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_SYSTEM_OPTIONAL_HPP_
-#define _DL_SYSTEM_OPTIONAL_HPP_
-
-#include <cstdio>
-#include <utility>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-template <typename T>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class to manage a value that may or may not exist. The boolean value
- * of the Optional class is true if the object contains a value and false
- * if it does not contain a value.
- *
- * The class must be evaluated and confirmed as true (containing a value)
- * before being dereferenced.
- */
-class ZDL_EXPORT Optional final {
-public:
-   enum class LIFECYCLE {
-      NONE = 0,
-      REFERENCE_OWNED = 1,
-      POINTER_OWNED = 2,
-      POINTER_NOT_OWNED = 3
-   };
-
-   struct ReferenceCount {
-      size_t count = 0;
-
-      void increment() { count++; }
-
-      size_t decrement() {
-         if (count > 0) {
-            count--;
-         }
-         return count;
-      }
-   };
-
-   using U = typename std::remove_pointer<T>::type;
-
-   /**
-    * The default constructor is set to not have any value, and is
-    * therefore evaluated as false.
-    */
-   // Do not explicit it so we can return {}
-   Optional() {
-      m_Type = LIFECYCLE::NONE;
-   }
-
-   /**
-    * Construct an Optional class using an object.
-    * @param[in] Reference to an object v
-    * @param[out] Optional instance of object v
-    */
-   template <typename Q = T>
-   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
-      try {
-         m_StoragePtr = new T(v);
-      } catch (...) {
-         m_StoragePtr = nullptr;
-         m_Type = LIFECYCLE::NONE;
-      }
-   }
-
-   template <typename Q = T>
-   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(type) {
-      switch (m_Type) {
-         case LIFECYCLE::POINTER_OWNED:
-            m_StoragePtr = v;
-            m_Count = new ReferenceCount();
-            m_Count->increment();
-            break;
-         case LIFECYCLE::POINTER_NOT_OWNED:
-            m_StoragePtr = v;
-            break;
-         case LIFECYCLE::REFERENCE_OWNED:
-            throw std::bad_exception();
-         case LIFECYCLE::NONE:
-            break;
-      }
-   }
-
-   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
-      if (isReference()) {
-         m_StoragePtr = new U(*other.m_StoragePtr);
-      } else if (isPointer()) {
-         m_StoragePtr = other.m_StoragePtr;
-         if (isOwned()) {
-            m_Count->increment();
-         }
-      }
-   }
-
-   Optional& operator=(const Optional& other) noexcept {
-      Optional tmp(other);
-      swap(std::move(tmp));
-      return *this;
-   }
-
-   Optional(Optional&& other) noexcept {
-      swap(std::move(other));
-   }
-
-   Optional& operator=(Optional&& other) noexcept {
-      swap(std::move(other));
-      return *this;
-   }
-
-   ~Optional() {
-      if (isOwned()) {
-         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
-            delete m_StoragePtr;
-            delete m_Count;
-         }
-      }
-   }
-
-   /**
-    * Boolean value of Optional class is only true when there exists a value.
-    */
-   operator bool() const noexcept { return isValid(); }
-
-   bool operator!() const noexcept { return !isValid(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() { return this->GetReference(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() const { return this->GetReference(); }
-
-   operator T&() { return this->GetReference(); }
-
-   T operator->() {
-      T self = this->GetReference();
-      return self;
-   }
-private:
-   void swap(Optional&& other) {
-      m_Type = other.m_Type;
-      m_StoragePtr = other.m_StoragePtr;
-      m_Count = other.m_Count;
-
-      other.m_Type = LIFECYCLE::NONE;
-      other.m_StoragePtr = nullptr;
-      other.m_Count = nullptr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) std::terminate();
-      return *static_cast<const Q*>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) std::terminate();
-      return static_cast<const Q&>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) std::terminate();
-      return *m_StoragePtr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) std::terminate();
-      return m_StoragePtr;
-   }
-
-   bool isPointer() const {
-      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
-   }
-
-   bool isOwned() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
-   }
-
-   bool isReference() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED;
-   }
-
-   bool isValid() const {
-      return m_Type != LIFECYCLE::NONE;
-   }
-
-   U* m_StoragePtr = nullptr;
-   LIFECYCLE m_Type;
-   ReferenceCount *m_Count = nullptr;
-};
-
-} // ns DlSystem
-} // ns zdl
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
deleted file mode 100644
index beb8d75f21..0000000000
--- a/third_party/snpe/include/DlSystem/DlVersion.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-
-#ifndef _DL_VERSION_HPP_
-#define _DL_VERSION_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include <stdint.h>
-#include <string>
-#include "DlSystem/String.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-   class Version_t;
-}}
-
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A class that contains the different portions of a version number.
- */
-class ZDL_EXPORT Version_t
-{
-public:
-   /// Holds the major version number. Changes in this value indicate
-   /// major changes that break backward compatibility.
-   int32_t         Major;
-
-   /// Holds the minor version number. Changes in this value indicate
-   /// minor changes made to library that are backwards compatible
-   /// (such as additions to the interface).
-   int32_t         Minor;
-
-   /// Holds the teeny version number. Changes in this value indicate
-   /// changes such as bug fixes and patches made to the library that
-   /// do not affect the interface.
-   int32_t         Teeny;
-
-   /// This string holds information about the build version.
-   ///
-   std::string     Build;
-
-   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
-
-   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const std::string toString() const;
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const zdl::DlSystem::String asString() const;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
deleted file mode 100644
index f893e0a237..0000000000
--- a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IBUFFER_ATTRIBUTES_HPP
-#define _IBUFFER_ATTRIBUTES_HPP
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-    namespace DlSystem {
-        class UserBufferEncoding;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * @brief IBufferAttributes returns a buffer's dimension and alignment
- *        requirements, along with info on its encoding type
- */
-class ZDL_EXPORT IBufferAttributes {
-public:
-
-    /**
-      * @brief Gets the buffer's element size, in bytes
-      *
-      * This can be used to compute the memory size required
-      * to back this buffer.
-      *
-      * @return Element size, in bytes
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Gets the element's encoding type
-      *
-      * @return encoding type
-     */
-    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
-
-    /**
-      * @brief Gets the number of elements in each dimension
-      *
-      * @return Dimension size, in terms of number of elements
-     */
-    virtual const TensorShape getDims() const noexcept = 0;
-
-    /**
-      * @brief Gets the alignment requirement of each dimension
-      *
-      * Alignment per each dimension is expressed as an multiple, for
-      * example, if one particular dimension can accept multiples of 8,
-      * the alignment will be 8.
-      *
-      * @return Alignment in each dimension, in terms of multiple of
-      *         number of elements
-     */
-    virtual const TensorShape getAlignments() const noexcept = 0;
-
-    /**
-      * @brief Gets the buffer encoding returned from the network responsible
-      * for generating this buffer. Depending on the encoding type, this will
-      * be an instance of an encoding type specific derived class.
-      *
-      * @return Derived user buffer encoding object.
-     */
-    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
-
-    virtual ~IBufferAttributes() {}
-};
-
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
deleted file mode 100644
index ac33c84af8..0000000000
--- a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
deleted file mode 100644
index 2f006c857f..0000000000
--- a/third_party/snpe/include/DlSystem/ITensor.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_HPP_
-#define _ITENSOR_HPP_
-
-#include "ITensorItr.hpp"
-#include "ITensorItrImpl.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <memory>
-#include <ostream>
-#include <cmath>
-
-namespace zdl {
-namespace DlSystem
-{
-   class ITensor;
-}}
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Represents a tensor which holds n-dimensional data. It is important to
- * understand how the tensor data is represented in memory 
- * relative to the tensor dimensions. Tensors store data in 
- * memory in row-major order (i.e. the last tensor dimension is 
- * the fastest varying one). For example, if you have a two 
- * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
- * dimensions are 3,2 as returned in tensor dimension vectors)
- * with the following data in terms rows and columns: 
- *  
- * | 1 2 | <br/>
- * | 3 4 | <br/>
- * | 5 6 | <br/>
- *  
- * This data would be stored in memory as 1,2,3,4,5,6. 
- */
-class ZDL_EXPORT ITensor 
-{
-public:
-
-   typedef zdl::DlSystem::ITensorItr<false> iterator;
-   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
-
-   virtual ~ITensor() {}
-
-   /**
-    * Returns a tensor iterator pointing to the beginning 
-    * of the data in the tensor.
-    * 
-    * @return A tensor iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual iterator begin() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the beginning of the data in the tensor.
-    * 
-    * @return A tensor const iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual const_iterator cbegin() const = 0;
-
-   /**
-    * Returns a tensor iterator pointing to the end of the
-    * data in the tensor. This tensor should not be
-    * dereferenced.
-    * 
-    * @return A tensor iterator that points to the end of the data 
-    *         (one past the last element) in the tensor.
-    */
-   virtual iterator end() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the end of the data in the tensor. This
-    * tensor should not be dereferenced.
-    * 
-    * @return A tensor const iterator that points to the end of the
-    *         data (one past the last element) in the tensor.
-    */
-   virtual const_iterator cend() const = 0;
-
-   /**
-    * @brief Gets the shape of this tensor.
-    *  
-    * The last element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest 
-    * varying dimension, etc. 
-    * 
-    * @return A shape class holding the tensor dimensions.
-    */
-   virtual TensorShape getShape() const = 0;
-
-   /**
-    * Returns the element size of the data in the tensor 
-    * (discounting strides). This is how big a buffer would
-    * need to be to hold the tensor data contiguously in
-    * memory.
-    *  
-    * @return The size of the tensor (in elements).
-    */
-   virtual size_t getSize() const = 0;
-
-   /**
-    * @brief Serializes the tensor to an output stream.
-    * 
-    * @param[in] output The output stream to which to write the tensor 
-    *  
-    * @throw std::runtime_error If the stream is ever in a bad 
-    *        state before the tensor is fully serialized.
-    */
-   virtual void serialize(std::ostream &output) const = 0;
-
-   friend iterator;
-   friend const_iterator;
-
-   virtual bool isQuantized() {return false;}
-   virtual float GetDelta() {return NAN;};
-   virtual float GetOffset() {return NAN;};
-
-protected:
-
-   /**
-    * Returns the tensor iterator implementation.
-    * 
-    * @return A pointer to the tensor iterator implementation.
-    */
-   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
deleted file mode 100644
index 57d2c8ea99..0000000000
--- a/third_party/snpe/include/DlSystem/ITensorFactory.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_FACTORY_HPP
-#define _ITENSOR_FACTORY_HPP
-
-#include "ITensor.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <istream>
-
-namespace zdl {
-    namespace DlSystem
-    {
-        class ITensor;
-        class TensorShape;
-    }
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Factory interface class to create ITensor objects.
- */
-class ZDL_EXPORT ITensorFactory
-{
-public:
-   virtual ~ITensorFactory() = default;
-
-   /**
-    * Creates a new ITensor with uninitialized data. 
-    *  
-    * The strides for the tensor will match the tensor dimensions 
-    * (i.e., the tensor data is contiguous in memory).
-    *  
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape) noexcept = 0;
-
-   /**
-    * Creates a new ITensor by loading it from a file.
-    *  
-    * @param[in] input The input stream from which to read the tensor 
-    *                  data.
-    *  
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    *
-    */
-   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
-
-   /**
-    * Create a new ITensor with specific data.
-    * (i.e. the tensor data is contiguous in memory). This tensor is
-    * primarily used to create a tensor where tensor size can't be
-    * computed directly from dimension. One such example is
-    * NV21-formatted image, or any YUV formatted image
-    *
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] data The actual data with which the Tensor object is filled.
-    *
-    * @param[in] dataSize The size of data
-    *
-    * @return A pointer to the created tensor
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
deleted file mode 100644
index 4ce12a9f11..0000000000
--- a/third_party/snpe/include/DlSystem/ITensorItr.hpp
+++ /dev/null
@@ -1,182 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_HPP_
-#define _ITENSOR_ITR_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include "ITensorItrImpl.hpp"
-
-#include <memory>
-#include <iterator>
-#include <iostream>
-
-namespace zdl {
-namespace DlSystem
-{
-   template<bool IS_CONST> class ITensorItr;
-   class ITensor;
-   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
-   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
-   {
-      return std::copy(first, last, result);
-   }
-}}
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A bidirectional iterator (with limited random access 
- * capabilities) for the zdl::DlSystem::ITensor class.
- *  
- * This is a standard bidrectional iterator and is compatible
- * with standard algorithm functions that operate on bidirectional 
- * access iterators (e.g., std::copy, std::fill, etc.). It uses a
- * template parameter to create const and non-const iterators 
- * from the same code. Iterators are easiest to declare via the 
- * typedefs iterator and const_iterator in the ITensor class 
- * (e.g., zdl::DlSystem::ITensor::iterator). 
- *  
- * Note that if the tensor the iterator is traversing was 
- * created with nondefault (i.e., nontrivial) strides, the 
- * iterator will obey the strides when traversing the tensor 
- * data. 
- *  
- * Also note that nontrivial strides dramatically affect the
- * performance of the iterator (on the order of 20x slower). 
- */ 
-template<bool IS_CONST=true>
-class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
-{
-public:
-
-   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
-
-   ITensorItr() = delete;
-   virtual ~ITensorItr() {}
-
-   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
-              bool isTrivial = false, 
-              float* data = nullptr)
-      : m_Impl(impl->clone())
-      , m_IsTrivial(isTrivial)
-      , m_Data(data)
-      , m_DataStart(data) {}
-
-   ITensorItr(const ITensorItr<IS_CONST>& itr)
-      : m_Impl(itr.m_Impl->clone()),
-        m_IsTrivial(itr.m_IsTrivial),
-        m_Data(itr.m_Data),
-        m_DataStart(itr.m_DataStart) {}
-
-   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
-   {
-      if (this == &other) return *this;
-      m_Impl = std::move(other.m_Impl->clone());
-      m_IsTrivial = other.m_IsTrivial;
-      m_Data = other.m_Data;
-      m_DataStart = other.m_DataStart;
-      return *this;
-   }
-
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
-   {
-      if (m_IsTrivial) m_Data++; else m_Impl->increment();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
-   {
-      ITensorItr tmp(*this);
-      operator++();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
-   {
-      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
-   {
-      ITensorItr tmp(*this);
-      operator--();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
-   {
-      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs += rhs; return lhs; }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
-   {
-      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs -= rhs; return lhs; }
-
-   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
-   {
-      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
-      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
-   }
-
-   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-   {
-      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
-      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
-   }
-   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return rhs < lhs; }
-   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs > rhs); }
-   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs < rhs); }
-
-   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
-   {
-      if (m_IsTrivial) return m_Data == rhs.m_Data;
-      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
-   }
-   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
-      { return !operator==(rhs); }
-
-   inline VALUE_REF operator[](size_t idx)
-   {
-      if (m_IsTrivial) return *(m_DataStart + idx);
-      return m_Impl->getReferenceAt(idx);
-   }
-   inline VALUE_REF operator*()
-      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
-   inline VALUE_REF operator->()
-      { return *(*this); }
-   inline float* dataPointer() const
-      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
-
-
-protected:
-   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
-   bool m_IsTrivial = false;
-   float* m_Data = nullptr;
-   float* m_DataStart = nullptr;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
deleted file mode 100644
index 069e7a1d69..0000000000
--- a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_IMPL_HPP_
-#define _ITENSOR_ITR_IMPL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-#include <memory>
-#include <iterator>
-
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-class ZDL_EXPORT DlSystem::ITensorItrImpl
-{
-public:
-   ITensorItrImpl() {}
-   virtual ~ITensorItrImpl() {}
-
-   virtual float getValue() const = 0;
-   virtual float& getReference() = 0;
-   virtual float& getReferenceAt(size_t idx) = 0;
-   virtual float* dataPointer() const = 0;
-   virtual void increment(int incVal = 1) = 0;
-   virtual void decrement(int decVal = 1) = 0;
-   virtual size_t getPosition() = 0;
-   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
-
-private:
-   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
-   ITensorItrImpl(const ITensorItrImpl& other) = delete;
-};
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
deleted file mode 100644
index a171ac7e81..0000000000
--- a/third_party/snpe/include/DlSystem/IUDL.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_IUDL_HPP_
-#define _DL_SYSTEM_IUDL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Base class user concrete UDL implementation.
- *
- * All functions are marked as:
- *
- * - virtual
- * - noexcept
- *
- * User should make sure no exceptions are propagated outside of
- * their module. Errors can be communicated via return values.
- */
-class ZDL_EXPORT IUDL {
-public:
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief .
-    *
-    * Destructor
-    */
-   virtual ~IUDL() = default;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Sets up the user's environment.
-    * This is called by the SNPE framework to allow the user the
-    * opportunity to setup anything which is needed for running
-    * user defined layers.
-    *
-    * @param cookie User provided opaque data returned by the SNPE
-    *               runtime
-    *
-    * @param insz How many elements in input size array
-    * @param indim Pointer to a buffer that holds input dimension
-    *               array
-    * @param indimsz Input dimension size  array of the buffer
-    *                 'indim'. Corresponds to indim
-    *
-    * @param outsz How many elements in output size array
-    * @param outdim Pointer to a buffer that holds output
-    *              dimension array
-    * @param outdimsz Output dimension size of the buffer 'oudim'.
-    *                  Corresponds to indim
-    *
-    * @return true on success, false otherwise
-    */
-   virtual bool setup(void *cookie,
-                      size_t insz, const size_t **indim, const size_t *indimsz,
-                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Close the instance. Invoked by the SNPE
-    * framework to allow the user the opportunity to release any resources
-    * allocated during setup.
-    *
-    * @param cookie - User provided opaque data returned by the SNPE runtime
-    */
-   virtual void close(void *cookie) noexcept = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Execute the user defined layer
-    *
-    * @param cookie User provided opaque data returned by the SNPE 
-    *               runtime
-    *
-    * @param input Const pointer to a float buffer that contains
-    *               the input
-    *
-    * @param output Float pointer to a buffer that would hold
-    *                 the user defined layer's output. This buffer
-    *                 is allocated and owned by SNPE runtime.
-    */
-   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
-};
-
-} // ns DlSystem
-
-} // ns zdl
-
-#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index ea491a545b..0000000000
--- a/third_party/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,358 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <math.h>
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10,
-
-        /// Each element is presented by an 16-bit quantized value.
-        TF16            = 11
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
-public:
-   UserBufferEncodingTfN() = delete;
-   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
-                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
-                                           bitWidth(bWidth),
-                                           m_StepExactly0(stepFor0),
-                                           m_QuantizedStepSize(stepSize){};
-
-   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
-            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
-                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
-            if (ubEncodingTfN) {
-                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
-                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
-                bitWidth = ubEncodingTfN->bitWidth;
-            }
-   }
-
-   size_t getElementSize() const noexcept override;
-   /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-   void setStepExactly0(uint64_t stepExactly0) {
-      m_StepExactly0 = stepExactly0;
-   }
-
-   /**
-     * @brief Sets the float value that each step represents
-     *
-     * @param[in] quantizedStepSize The float value of each step size
-     *
-    */
-   void setQuantizedStepSize(const float quantizedStepSize) {
-      m_QuantizedStepSize = quantizedStepSize;
-   }
-
-   /**
-     * @brief Retrieves the step that represents 0.0
-     *
-     * @return Step value
-    */
-   uint64_t getStepExactly0() const {
-      return m_StepExactly0;
-   }
-
-   /**
-    * Calculates the minimum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Minimum representable floating point value
-    */
-   float getMin() const {
-      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
-   }
-
-   /**
-    * Calculates the maximum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Maximum representable floating point value
-    */
-   float getMax() const{
-       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
-   };
-
-   /**
-     * @brief Retrieves the step size
-     *
-     * @return Step size
-    */
-   float getQuantizedStepSize() const {
-      return m_QuantizedStepSize;
-   }
-
-   ElementType_t getTypeFromWidth(uint8_t width);
-
-   uint8_t bitWidth;
-protected:
-   uint64_t m_StepExactly0;
-   float m_QuantizedStepSize;
-};
-
-
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingTfN(stepFor0, stepSize) {};
-
-    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
-
-/**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-
-    void setStepExactly0(const unsigned char stepExactly0) {
-        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
-    }
-
-/**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-
-    unsigned char getStepExactly0() const {
-        return UserBufferEncodingTfN::m_StepExactly0;
-    }
-
-};
-
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Retrieves the size of the inference data in the buffer, in bytes.
-      *
-      * The inference results from a dynamic-sized model may not be exactly the same size
-      * as the UserBuffer provided to SNPE. This function can be used to get the amount
-      * of output inference data, which may be less or greater than the size of the UserBuffer.
-      *
-      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
-      * or equal to getSize(). But if the inference results were more than the capacity of
-      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
-      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
-      * needs to be provided to SNPE to hold all of the inference results.
-      *
-      * @return Size required for the buffer to hold all inference results, which can be less
-      * or more than the size of the buffer, in bytes.
-    */
-    virtual size_t getOutputSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
deleted file mode 100644
index 59803fbd8f..0000000000
--- a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _IUSERBUFFER_FACTORY_HPP
-#define _IUSERBUFFER_FACTORY_HPP
-
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include "DlEnums.hpp"
-namespace zdl {
-    namespace DlSystem {
-        class IUserBuffer;
-
-        class TensorShape;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* Factory interface class to create IUserBuffer objects.
-*/
-class ZDL_EXPORT IUserBufferFactory {
-public:
-    virtual ~IUserBufferFactory() = default;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @param[in] userBufferSource Reference to an UserBufferSource object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
deleted file mode 100644
index c7b85f43c1..0000000000
--- a/third_party/snpe/include/DlSystem/PlatformConfig.hpp
+++ /dev/null
@@ -1,230 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include <string>
-
-namespace zdl{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A structure OpenGL configuration
-  *
-  * @note When certain OpenGL context and display are provided to UserGLConfig for using
-  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
-  *       context and display remain vaild throughout the execution of neural network models.
-  */
-struct ZDL_EXPORT UserGLConfig
-{
-   /// Holds user EGL context.
-   ///
-   void* userGLContext = nullptr;
-
-   /// Holds user EGL display.
-   void* userGLDisplay = nullptr;
-};
-
-/**
-  * @brief .
-  *
-  * A structure Gpu configuration
-  */
-struct ZDL_EXPORT UserGpuConfig{
-   /// Holds user OpenGL configuration.
-   ///
-   UserGLConfig userGLConfig;
-};
-
-/**
-  * @brief .
-  *
-  * A class user platform configuration
-  */
-class ZDL_EXPORT PlatformConfig
-{
-public:
-
-   /**
-     * @brief .
-     *
-     * An enum class of all supported platform types
-     */
-   enum class PlatformType_t
-   {
-      /// Unknown platform type.
-      UNKNOWN = 0,
-
-      /// Snapdragon CPU.
-      CPU = 1,
-
-      /// Adreno GPU.
-      GPU = 2,
-
-      /// Hexagon DSP.
-      DSP = 3
-   };
-
-   /**
-     * @brief .
-     *
-     * A union class user platform configuration information
-     */
-   union PlatformConfigInfo
-   {
-      /// Holds user GPU Configuration.
-      ///
-      UserGpuConfig userGpuConfig;
-
-      PlatformConfigInfo(){};
-   };
-
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
-                      m_PlatformOptions("") {};
-
-   /**
-     * @brief Retrieves the platform type
-     *
-     * @return Platform type
-     */
-   PlatformType_t getPlatformType() const {return m_PlatformType;};
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
-
-   /**
-     * @brief Retrieves the Gpu configuration
-     *
-     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
-     *
-     * @return True if Gpu configuration was retrieved; false otherwise.
-     */
-   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
-   {
-      if(m_PlatformType == PlatformType_t::GPU)
-      {
-         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
-         return true;
-      }
-      else
-      {
-         return false;
-      }
-   }
-
-   /**
-     * @brief Sets the Gpu configuration
-     *
-     * @param[in] userGpuConfig Gpu Configuration
-     *
-     * @return True if Gpu configuration was successfully set; false otherwise.
-     */
-   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
-   {
-      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
-      {
-         switch (m_PlatformType)
-         {
-         case PlatformType_t::GPU:
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         case PlatformType_t::UNKNOWN:
-            m_PlatformType = PlatformType_t::GPU;
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         default:
-            return false;
-         }
-      }
-      else
-         return false;
-   }
-
-   /**
-     * @brief Sets the platform options
-     *
-     * @param[in] options Options as a string in the form of "keyword:options"
-     *
-     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
-     */
-   bool setPlatformOptions(std::string options) {
-      std::string oldOptions = m_PlatformOptions;
-      m_PlatformOptions = options;
-      if (isOptionsValid()) {
-         return true;
-      } else {
-         m_PlatformOptions = oldOptions;
-         return false;
-      }
-   }
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isOptionsValid() const;
-
-   /**
-     * @brief Gets the platform options
-     *
-     * @return Options as a string
-     */
-   std::string getPlatformOptions() const { return m_PlatformOptions; }
-
-    /**
-      * @brief Sets the platform options
-      *
-      * @param[in] optionName Name of platform options"
-      * @param[in] value Value of specified optionName
-      *
-      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
-      *         value of specified optionName.
-      *         If false, the platform options will not be changed.
-      */
-   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
-
-    /**
-       * @brief Removes the platform options
-       *
-       * @param[in] optionName Name of platform options"
-       * @param[in] value Value of specified optionName
-       *
-       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
-       *         If false, the platform options will not be changed.
-       */
-    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
-
-   static void SetIsUserGLBuffer(bool isUserGLBuffer);
-   static bool GetIsUserGLBuffer();
-
-private:
-   PlatformType_t m_PlatformType;
-   PlatformConfigInfo m_PlatformConfigInfo;
-   std::string m_PlatformOptions;
-   static bool m_IsUserGLBuffer;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}} //namespace end
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
deleted file mode 100644
index 1088a5b31f..0000000000
--- a/third_party/snpe/include/DlSystem/RuntimeList.hpp
+++ /dev/null
@@ -1,154 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/StringList.hpp"
-#include <cstddef>
-#include <memory>
-
-#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
-#define DL_SYSTEM_RUNTIME_LIST_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of Runtime List implementation.
-   class RuntimeListImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing list of runtimes
-  */
-class ZDL_EXPORT RuntimeList final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new runtime list
-    *
-    */
-   RuntimeList();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   RuntimeList(const RuntimeList& other);
-
-   /**
-   * @brief .
-   *
-   * constructor with single Runtime_t object
-   * @param[in] Runtime_t object
-   */
-   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   RuntimeList& operator=(const RuntimeList& other);
-
-   /**
-    * @brief .
-    *
-    * subscript operator.
-    */
-   Runtime_t& operator[](size_t index);
-
-   /**
-    * @brief Adds runtime to the end of the runtime list
-    *        order of precedence is former followed by latter entry
-    *
-    * @param[in] runtime to add
-    *
-    * Ruturns false If the runtime already exists
-    */
-   bool add(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief Removes the runtime from the list
-    *
-    * @param[in] runtime to be removed
-    *
-    * @note If the runtime is not found, nothing is done.
-    */
-   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
-
-   /**
-    * @brief Returns the number of runtimes in the list
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief Returns true if the list is empty
-    */
-   bool empty() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all runtime from the list
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns a StringList of names from the runtime list in
-    * order of precedence
-    */
-   zdl::DlSystem::StringList getRuntimeListNames() const;
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime string
-    * Returns a Runtime enum corresponding to the in param string
-    *
-    */
-   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime
-    * Returns a string corresponding to the in param runtime enum
-    *
-    */
-   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
-
-   ~RuntimeList();
-
-private:
-   void deepCopy(const RuntimeList &other);
-   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_RUNTIME_LIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
deleted file mode 100644
index c1eba3bad9..0000000000
--- a/third_party/snpe/include/DlSystem/String.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef PLATFORM_STANDARD_STRING_HPP
-#define PLATFORM_STANDARD_STRING_HPP
-
-#include <cstdio>
-#include <string>
-#include <ostream>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for wrapping char * as a really stripped down std::string replacement.
- */
-class ZDL_EXPORT String final
-{
-public:
-   String() = delete;
-
-   /**
-    * Construct a string from std::string reference.
-    * @param str Reference to a std::string
-    */
-   explicit String(const std::string& str);
-
-   /**
-    * Construct a string from char* reference.
-    * @param a char*
-    */
-   explicit String(const char* str);
-
-   /**
-    * move constructor.
-    */
-   String(String&& other) noexcept;
-
-   /**
-    * copy constructor.
-    */
-   String(const String& other) = delete;
-
-   /**
-    * assignment operator.
-    */
-   String& operator=(const String&) = delete;
-
-   /**
-    * move assignment operator.
-    */
-   String& operator=(String&&) = delete;
-
-   /**
-    * class comparators
-    */
-   bool operator<(const String& rhs) const noexcept;
-   bool operator>(const String& rhs) const noexcept;
-   bool operator<=(const String& rhs) const noexcept;
-   bool operator>=(const String& rhs) const noexcept;
-   bool operator==(const String& rhs) const noexcept;
-   bool operator!=(const String& rhs) const noexcept;
-
-   /**
-    * class comparators against std::string
-    */
-   bool operator<(const std::string& rhs) const noexcept;
-   bool operator>(const std::string& rhs) const noexcept;
-   bool operator<=(const std::string& rhs) const noexcept;
-   bool operator>=(const std::string& rhs) const noexcept;
-   bool operator==(const std::string& rhs) const noexcept;
-   bool operator!=(const std::string& rhs) const noexcept;
-
-   const char* c_str() const noexcept;
-
-   ~String();
-private:
-
-   char* m_string;
-};
-
-/**
- * overloaded << operator
- */
-ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
deleted file mode 100644
index a9a7d5ed89..0000000000
--- a/third_party/snpe/include/DlSystem/StringList.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <cstdio>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_STRINGLIST_HPP
-#define DL_SYSTEM_STRINGLIST_HPP
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for holding an order list of null-terminated ASCII strings.
- */
-class ZDL_EXPORT StringList final
-{
-public:
-   StringList() {}
-
-   /**
-    * Construct a string list with some pre-allocated memory.
-    * @warning Contents of the list will be uninitialized
-    * @param[in] length Number of elements for which to pre-allocate space.
-    */
-   explicit StringList(size_t length);
-
-   /**
-    * Append a string to the list.
-    * @param[in] str Null-terminated ASCII string to append to the list.
-    */
-   void append(const char* str);
-
-   /**
-    * Returns the string at the indicated position,
-    *  or an empty string if the positions is greater than the size
-    *  of the list.
-    * @param[in] idx Position in the list of the desired string
-    */
-   const char* at(size_t idx) const noexcept;
-
-   /**
-    * Pointer to the first string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** begin() const noexcept;
-
-   /**
-    * Pointer to one after the last string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** end() const noexcept;
-
-   /**
-    * Return the number of valid string pointers held by this list.
-    */
-   size_t size() const noexcept;
-
-
-   /**
-    * assignment operator. 
-    */
-   StringList& operator=(const StringList&) noexcept;
-
-   /**
-    * copy constructor.
-    * @param[in] other object to copy.
-    */
-   StringList(const StringList& other);
-
-   /**
-    * move constructor.
-    * @param[in] other object to move.    
-    */
-   StringList(StringList&& other) noexcept;
-
-   ~StringList();
-private:
-   void copy(const StringList& other);
-
-   void resize(size_t length);
-
-   void clear();
-
-   static const char* s_Empty;
-   const char** m_Strings = nullptr;
-   const char** m_End = nullptr;
-   size_t       m_Size = 0;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_STRINGLIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
deleted file mode 100644
index feecec6667..0000000000
--- a/third_party/snpe/include/DlSystem/TensorMap.hpp
+++ /dev/null
@@ -1,120 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "ITensor.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_MAP_HPP
-#define DL_SYSTEM_TENSOR_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor map implementation.
-   class TensorMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of tensor.
-  */
-class ZDL_EXPORT TensorMap final
-{
-public:
-
-  /**
-   * @brief .
-   *
-   * Creates a new empty tensor map
-   */
-   TensorMap();
-
-  /**
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */
-   TensorMap(const TensorMap& other);
-
-  /**
-    * assignment operator. 
-    */
-   TensorMap& operator=(const TensorMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, the
-    *       tensor is replaced with the existing tensor.
-    */
-   void add(const char *name, zdl::DlSystem::ITensor *tensor);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *  
-    * @param[in] name The name of the tensor to get. 
-    *  
-    * @return nullptr if no tensor with the specified name is 
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensors
-    */
-   zdl::DlSystem::StringList getTensorNames() const;
-
-   ~TensorMap();
-private:
-   void swap(const TensorMap &other);
-   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
deleted file mode 100644
index 99583dccb4..0000000000
--- a/third_party/snpe/include/DlSystem/TensorShape.hpp
+++ /dev/null
@@ -1,203 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include <vector>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape implementation.
-   class TensorShapeImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Convenient typedef to represent dimension
- */
-using Dimension = size_t;
-
-/**
-  * @brief .
-  *
-  * A class representing the shape of tensor. It is used at the
-  * time of creation of tensor.
-  */
-class ZDL_EXPORT TensorShape final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in
-    * initializer list fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    */
-   TensorShape(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in array
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] size Size of the array.
-    *
-    */
-   TensorShape(const Dimension *dims, size_t size);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a vector of dims specified in
-    * vector fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    */   
-   TensorShape(std::vector<Dimension> dims);
-
-   /**
-   * @brief .
-   *   
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */   
-   TensorShape(const TensorShape& other);
-
-   /**
-    * @brief .
-    *  
-    * assignment operator. 
-    */   
-   TensorShape& operator=(const TensorShape& other);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with no dims. It can be extended later
-    * by invoking concatenate.
-    */
-   TensorShape();
-
-  /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * initializer list fashion to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-   */
-   void concatenate(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * the array to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @param[in] size Size of the array.
-    *
-   */
-   void concatenate(const Dimension *dims, size_t size);
-
-  /**
-    * @brief .
-    *
-    * Concatenates an additional dimension to the existing
-    * dimensions.
-    *
-    * @param[in] dim The dimensions are specified in which the last element
-    * of the vector represents the fastest varying dimension and the
-    * zeroth element represents the slowest varying, etc.
-    *
-   */
-   void concatenate(const Dimension &dim);
-
-  /**
-    * @brief .
-    *
-    * Retrieves a single dimension, based on its index.
-    *
-    * @return The value of dimension
-    *
-    * @throws std::out_of_range if the index is >= the number of
-    * dimensions (or rank).
-    */
-   Dimension& operator[](size_t index);
-   Dimension& operator[](size_t index) const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves the rank i.e. number of dimensions.
-    *
-    * @return The rank
-    */
-   size_t rank() const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves a pointer to the first dimension of shape
-    *
-    * @return nullptr if no dimension exists; otherwise, points to
-    * the first dimension. 
-    *
-    */
-   const Dimension* getDimensions() const;
-
-   ~TensorShape();
-
-private:
-   void swap(const TensorShape &other);
-   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
deleted file mode 100644
index cef946e2e6..0000000000
--- a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape map implementation.
-   class TensorShapeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of names and tensorshapes.
-  */
-class ZDL_EXPORT TensorShapeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new tensor shape map
-    *
-    */
-   TensorShapeMap();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   TensorShapeMap(const TensorShapeMap& other);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   TensorShapeMap& operator=(const TensorShapeMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, no new
-    *       tensor is added.
-    */
-   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *
-    * @param[in] name The name of the tensor to get.
-    *
-    * @return nullptr if no tensor with the specified name is
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensor shapes
-    */
-   zdl::DlSystem::StringList getTensorShapeNames() const;
-
-   ~TensorShapeMap();
-private:
-   void swap(const TensorShapeMap &other);
-   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
deleted file mode 100644
index 21fce1b04a..0000000000
--- a/third_party/snpe/include/DlSystem/UDLContext.hpp
+++ /dev/null
@@ -1,243 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef UDL_CONTEXT_HPP
-#define UDL_CONTEXT_HPP
-
-#include <cstring> // memset
-#include <tuple>
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl { namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * UDLContext holds the user defined layer context which 
- * consists of a layer name, layer ID, blob and blob size. 
- *  
- * An instance of UDLContext is passed as an argument to the
- * UDLFactoryFunc provided by the user every time the SNPE 
- * runtime encounters an unknown layer descriptor. The instance 
- * of a UDLContext is created by the SNPE runtime and is 
- * consumed by the user's factory function. The user should 
- * obtain a copy of this class and should not assume any 
- * prolonged object lifetime beyond the UDLFactoryFunction.
- */
-class ZDL_EXPORT UDLContext final {
-public:
-   /**
-    * @brief Constructor
-    *
-    * @param[in] name name of the layer
-    *
-    * @param[in] type layer type
-    *
-    * @param[in] id identifier for the layer
-    *
-    * @param[in] id Blob/bytes as packed by the user code as part of
-    *           the Python converter script
-    */
-   UDLContext(const std::string& name,
-              const std::string& type,
-              int32_t id,
-              const std::string& blob) :
-      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
-      // FIXME not dealing with alloc error
-      m_Buffer = new uint8_t[m_Size];
-      std::memcpy(m_Buffer, blob.data(), m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Empty constructor is useful for
-    * creating an empty UDLContext and then run copy constructor
-    * from a fully initialized one.
-    */
-   explicit UDLContext() {}
-
-   /**
-    * @brief .
-    *
-    * destructor Deallocates any internal allocated memory
-    */
-   ~UDLContext() { release(); }
-
-   /**
-    * @brief .
-    *
-    * Deallocate any internally allocated memory
-    */
-   void release() {
-      if (m_Buffer && m_Size)
-         std::memset(m_Buffer, 0, m_Size);
-      delete []m_Buffer;
-      m_Buffer = nullptr;
-      m_Size = 0;
-   }
-
-   /**
-    * @brief .
-    *
-    * Copy Constructor - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    */
-   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
-      m_Type(ctx.m_Type),
-      m_Id(ctx.m_Id) {
-      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
-      // current compiler does not support get<type>
-      m_Buffer = std::get<0>(cpy);
-      m_Size = std::get<1>(cpy);
-   }
-
-   /**
-    * @brief 
-    *
-    * Assignment operator - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    *
-    * @return this
-    */
-   UDLContext& operator=(const UDLContext& ctx) {
-      UDLContext c (ctx);
-      this->swap(c); // non throwing swap
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Move Constructor - Move internals from ctx into this
-    *
-    * @param[in] ctx Source UDLContext to move from
-    */
-   UDLContext(UDLContext&& ctx) :
-      m_Name(std::move(ctx.m_Name)),
-      m_Type(std::move(ctx.m_Type)),
-      m_Buffer(ctx.m_Buffer),
-      m_Size(ctx.m_Size),
-      m_Id(ctx.m_Id) {
-      ctx.clear();
-   }
-
-   /**
-    * @brief .
-    *
-    * Assignment move - Move assignment operator from ctx
-    *
-    * @param[in] ctx Source UDLContext to move from
-    *
-    * @return this
-    */
-   UDLContext& operator=(UDLContext&& ctx) {
-      m_Name = std::move(ctx.m_Name);
-      m_Type = std::move(ctx.m_Type);
-      m_Buffer = ctx.m_Buffer;
-      m_Size = ctx.m_Size;
-      m_Id = ctx.m_Id;
-      ctx.clear();
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Obtain the name of the layer
-    *
-    * @return const reference to the name of the layer
-    */
-   const std::string& getName() const noexcept { return m_Name; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the type of the layer
-    *
-    * @return const reference to the type of the layer
-    */
-   const std::string& getType() const noexcept { return m_Type; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the Id of the layer
-    *
-    * @return The id of the layer
-    */
-   int32_t getId() const noexcept  { return m_Id; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the size of the blob
-    *
-    * @return Size of the internal blob
-    */
-   size_t getSize() const noexcept { return m_Size; }
-
-   /**
-    * @brief .
-    *
-    * Get a const pointer to the internal blob
-    *
-    * @return Const pointer to the internal blob
-    */
-   const uint8_t* getBlob() const noexcept { return m_Buffer; }
-
-   /**
-    * @brief .
-    *
-    * Get a copy of the blob/size into a tuple
-    *
-    * @return A tuple with a pointer to a copy of the blob and a
-    *         size
-    */
-   std::tuple<uint8_t*, size_t> getCopy() const {
-      uint8_t* buf = new uint8_t[m_Size];
-      // FIXME missing memcpy
-      std::memcpy(buf, m_Buffer, m_Size);
-      return std::make_tuple(buf, m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Set zeros in the internals members
-    */
-   void clear() {
-      m_Name.clear();
-      m_Type.clear();
-      m_Buffer = 0;
-      m_Size = 0;
-      m_Id = -1;
-   }
-private:
-   void swap(UDLContext& c) noexcept {
-      std::swap(m_Name, c.m_Name);
-      std::swap(m_Type, c.m_Type);
-      std::swap(m_Id,   c.m_Id);
-      std::swap(m_Buffer, c.m_Buffer);
-      std::swap(m_Size, c.m_Size);
-   }
-   std::string m_Name; // name of the layer instance
-   std::string m_Type; // The actual layer type
-   uint8_t*    m_Buffer = nullptr;
-   size_t      m_Size = 0;
-   int32_t     m_Id = -1;
-};
-
-}}
-
-#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
deleted file mode 100644
index 6a95eef170..0000000000
--- a/third_party/snpe/include/DlSystem/UDLFunc.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _UDL_FUNC_HPP_
-#define _UDL_FUNC_HPP_
-
-#include <functional>
-
-#include "ZdlExportDefine.hpp"
-#include <DlSystem/IUDL.hpp>
-
-namespace zdl {
-    namespace DlSystem {
-        class UDLContext;
-    }
-}
-
-namespace zdl { namespace DlSystem {
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
- * UDLBundle - a simple way to bundle func and cookie into one type
- */
-
-
-/**
- * @brief .
- * 
- * Convenient typedef for user defined layer creation factory
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @return IUDL* - a Concrete instance of IUDL derivative
- */
-using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * default UDL factory implementation
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- * 
- * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
- *         implementation for UDL. When SNPE's runtime sees nullptr as a return
- *         value from the factory, it will halt execution if model has an unknown layer
- *
- */
-inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- * 
- * Simple struct to bundle 2 elements.
- * A user defined cookie that would be returned for each
- * IUDL call. The user can place anything there and the
- * SNPE runtime will provide it back
- */
-struct ZDL_EXPORT UDLBundle {
-   void          *cookie = nullptr;
-   UDLFactoryFunc func   = DefaultUDLFunc;
-};
-
-}}
-
-
-#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
deleted file mode 100644
index a03ddfe1d1..0000000000
--- a/third_party/snpe/include/DlSystem/UserBufferMap.hpp
+++ /dev/null
@@ -1,122 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
-#define DL_SYSTEM_USER_BUFFER_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserBuffer map implementation.
-    class UserBufferMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserBuffer.
-  */
-class ZDL_EXPORT UserBufferMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserBuffer map
-     */
-    UserBufferMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserBufferMap(const UserBufferMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserBufferMap& operator=(const UserBufferMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding UserBuffer pointer
-     *        to the map
-     *
-     * @param[in] name The name of the UserBuffer
-     * @param[in] userBuffer The pointer to the UserBuffer
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       UserBuffer pointer would be updated.
-     */
-    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
-
-    /**
-     * @brief Removes a mapping of one UserBuffer and its name by its name
-     *
-     * @param[in] name The name of UserBuffer to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of UserBuffers in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all UserBuffers from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief Returns the UserBuffer given its name.
-     *
-     * @param[in] name The name of the UserBuffer to get.
-     *
-     * @return nullptr if no UserBuffer with the specified name is
-     *         found; otherwise, a valid pointer to the UserBuffer.
-     */
-    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all UserBuffers
-     *
-     * @return A list of UserBuffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    ~UserBufferMap();
-private:
-    void swap(const UserBufferMap &other);
-    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
deleted file mode 100644
index 3685a8ddab..0000000000
--- a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
+++ /dev/null
@@ -1,129 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
-#define DL_SYSTEM_USER_MEMORY_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserMemory map implementation.
-    class UserMemoryMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserMemory.
-  */
-class ZDL_EXPORT UserMemoryMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserMemory map
-     */
-    UserMemoryMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserMemoryMap(const UserMemoryMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserMemoryMap& operator=(const UserMemoryMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding buffer address
-     *        to the map
-     *
-     * @param[in] name The name of the UserMemory
-     * @param[in] address The pointer to the Buffer Memory
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       address would be updated.
-     */
-    void add(const char *name, void *address);
-
-    /**
-     * @brief Removes a mapping of one Buffer address and its name by its name
-     *
-     * @param[in] name The name of Memory address to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of User Memory addresses in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all User Memory from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all User Memory
-     *
-     * @return A list of Buffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    /**
-     * @brief Returns the no of UserMemory addresses mapped to the buffer
-     *
-     * @param[in] name The name of the UserMemory
-     *
-     */
-    size_t getUserMemoryAddressCount(const char *name) const noexcept;
-
-    /**
-     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
-     *
-     * @param[in] name The name of the buffer
-     * @param[in] index The index in the list of addresses
-     *
-     */
-    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
-
-    ~UserMemoryMap();
-private:
-    void swap(const UserMemoryMap &other);
-    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index 92eb786d31..0000000000
--- a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#pragma once
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT
-#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
deleted file mode 100644
index 66097ba569..0000000000
--- a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef SNPE_PLATFORMVALIDATOR_HPP
-#define SNPE_PLATFORMVALIDATOR_HPP
-
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#define DO_PRAGMA(s) _Pragma(#s)
-#define NO_WARNING "-Wunused-variable"
-
-#ifdef __clang__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("clang diagnostic push") \
-DO_PRAGMA(clang diagnostic ignored clang_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("clang diagnostic pop")
-
-#elif defined __GNUC__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("GCC diagnostic push") \
-DO_PRAGMA(GCC diagnostic ignored gcc_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("GCC diagnostic pop")
-
-#else
-#define SNPE_DISABLE_WARNINGS(...)
-#define SNPE_ENABLE_WARNINGS
-#endif
-
-SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
-#include <string>
-#include <memory>
-SNPE_ENABLE_WARNINGS
-
-namespace zdl
-{
-   namespace SNPE
-   {
-      class PlatformValidator;
-
-      class IPlatformValidatorRuntime;
-   }
-}
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* The class for checking SNPE compatibility/capability of a device.
-*
-*/
-
-class ZDL_EXPORT zdl::SNPE::PlatformValidator
-{
-public:
-   /**
-    * @brief Default Constructor of the PlatformValidator Class
-    *
-    * @return A new instance of a PlatformValidator object
-    *         that can be used to check the SNPE compatibility
-    *         of a device
-    */
-   PlatformValidator();
-
-   ~PlatformValidator();
-
-   /**
-    * @brief Sets the runtime processor for compatibility check
-    *
-    * @return Void
-    */
-   void setRuntime(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * @brief Checks if the Runtime prerequisites for SNPE are available.
-    *
-    * @return True if the Runtime prerequisites are available, else false.
-    */
-   bool isRuntimeAvailable();
-
-   /**
-    * @brief Returns the core version for the Runtime selected.
-    *
-    * @return String which contains the actual core version value
-    */
-   std::string getCoreVersion();
-
-   /**
-    * @brief Returns the library version for the Runtime selected.
-    *
-    * @return String which contains the actual lib version value
-    */
-   std::string getLibVersion();
-
-   /**
-    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
-    *
-    * @return If True, the device is ready for SNPE execution, else not.
-    */
-
-   bool runtimeCheck();
-
-private:
-    zdl::DlSystem::Runtime_t m_runtimeType;
-    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
deleted file mode 100644
index 380a3e0e6e..0000000000
--- a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
-#define PSNPE_APPLICATIONBUFFERMAP_HPP
-#include <vector>
-#include <string>
-#include <unordered_map>
-
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * A class representing the UserBufferMap of Input and Output asynchronous mode.
- */
-
-class ZDL_EXPORT ApplicationBufferMap final
-{
-
- public:
-   /**
-    * @brief Adds a name and the corresponding buffer
-    *        to the map
-    *
-    * @param[in] name The name of the UserBuffer
-    * @param[in] buffer The vector of the uint8_t data
-    *
-    * @note If a UserBuffer with the same name already exists, the new
-    *       UserBuffer pointer would be updated.
-    */
-   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
-   void add(const char* name, std::vector<float>& buff) noexcept;
-   /**
-    * @brief Removes a mapping of one UserBuffer and its name by its name
-    *
-    * @param[in] name The name of UserBuffer to be removed
-    *
-    * @note If no UserBuffer with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char* name) noexcept;
-
-   /**
-    * @brief Returns the number of UserBuffers in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all UserBuffers from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the UserBuffer given its name.
-    *
-    * @param[in] name The name of the UserBuffer to get.
-    *
-    * @return nullptr if no UserBuffer with the specified name is
-    *         found; otherwise, a valid pointer to the UserBuffer.
-    */
-   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
-   const std::vector<uint8_t>& operator[](const char* name) const;
-   /**
-    * @brief .
-    *
-    * Returns the names of all UserAsyncBufferMap
-    *
-    * @return A list of UserBuffer names.
-    */
-   zdl::DlSystem::StringList getUserBufferNames() const;
-   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
-   explicit ApplicationBufferMap();
-   ~ApplicationBufferMap();
-   explicit ApplicationBufferMap(
-     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
-
- private:
-   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-
-#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
deleted file mode 100644
index a823c0c7fa..0000000000
--- a/third_party/snpe/include/SNPE/PSNPE.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef PSNPE_HPP
-#define PSNPE_HPP
-
-#include <cstdlib>
-#include <functional>
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#include "UserBufferList.hpp"
-#include "RuntimeConfigList.hpp"
-#include "ApplicationBufferMap.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- *@ brief build snpe instance in serial or parallel
- *
- */
-enum ZDL_EXPORT BuildMode {
-   SERIAL = 0,
-   PARALLEL = 1
-};
-/**
- * @brief  Input and output transmission mode
- */
-enum ZDL_EXPORT InputOutputTransmissionMode
-{
-   sync = 0,
-   outputAsync = 1,
-   inputOutputAsync = 2
-};
-
-/**
- * @brief  A structure representing parameters of callback function of Async Output mode
- */
-struct ZDL_EXPORT OutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   bool executeStatus;
-   std::string errorMsg;
-   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
-     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
-};
-/**
- * @brief  A structure representing parameters of callback function of Async Input/Output mode
- */
-struct ZDL_EXPORT InputOutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   const ApplicationBufferMap& outputMap;
-   bool executeStatus;
-   std::string errorMsg;
-   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
-                                 const std::string _ErrorMsg = std::string())
-     : dataIndex(_index)
-     , outputMap(output_map)
-     , executeStatus(_status)
-     , errorMsg(_ErrorMsg){};
-};
-/**
- * @brief  This callback is called when the output data is ready, only use for Output Async mode
- */
-using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
-/**
- * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
- */
-using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
-/**
- * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
- */
-using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
-    const zdl::DlSystem::StringList &)>;
-/**
- * @brief .
- *
- * A structure PSNPE configuration
- *
- */
-struct ZDL_EXPORT BuildConfig final
-{
-   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
-   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
-   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
-   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
-   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
-   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
-   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
-   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
-   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
-   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
-   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
-   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
-   uint64_t encode[2] = {0, 0};
-   bool enableInitCache = false;
-   std::string platformOptions;
-   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
-};
-/**
- * @brief .
- *
- * The class for executing SNPE instances in parallel.
- */
-class ZDL_EXPORT PSNPE final
-{
- public:
-   ~PSNPE();
-
-   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
-
-   /**
-    * @brief Build snpe instances.
-    *
-    */
-   bool build(BuildConfig& buildConfig) noexcept;
-
-   /**
-    * @brief Execute snpe instances in Async Output mode and Sync mode
-    *
-    * @param[in] inputBufferList A list of user buffers that contains the input data
-    *
-    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
-    *
-    */
-   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
-
-   /**
-    * @brief  Execute snpe instances in Async Input/Output mode
-    *
-    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
-    *                     need to be matched with names retrived through getInputTensorNames()
-    *
-    * @param dataIndex Index of the input data
-    *
-    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
-    *
-    * @return True if executed successfully; flase, otherwise.
-    */
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
-   /**
-    * @brief Returns the input layer names of the network.
-    *
-    * @return StringList which contains the input layer names
-    */
-   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the output layer names of the network.
-    *
-    * @return StringList which contains the output layer names
-    */
-   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the input tensor dimensions of the network.
-    *
-    * @return TensorShape which contains the dimensions.
-    */
-   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
-
-   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Returns attributes of buffers.
-    *
-    * @see zdl::SNPE
-    *
-    * @return BufferAttributes of input/output tensor named.
-    */
-   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
-
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
-
-   const char* getLastErrorString();
-
- private:
-   PSNPE(const PSNPE&) = delete;
-   PSNPE& operator=(const PSNPE&) = delete;
-   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
deleted file mode 100644
index 837dba092a..0000000000
--- a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
-#define PSNPE_RUNTIMECONFIGLIST_HPP
-
-#include <iostream>
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/RuntimeList.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-namespace zdl {
-namespace PSNPE {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The structure for configuring a BulkSNPE runtime
- *
- */
-struct ZDL_EXPORT RuntimeConfig final {
-    zdl::DlSystem::Runtime_t runtime;
-    zdl::DlSystem::RuntimeList runtimeList;
-    zdl::DlSystem::PerformanceProfile_t perfProfile;
-    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
-    bool enableCPUFallback;
-    RuntimeConfig()
-        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
-          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
-          enableCPUFallback{false} {}
-    RuntimeConfig(const RuntimeConfig& other) {
-        runtime = other.runtime;
-        runtimeList = other.runtimeList;
-        perfProfile = other.perfProfile;
-        enableCPUFallback = other.enableCPUFallback;
-        inputDimensionsMap = other.inputDimensionsMap;
-    }
-
-    RuntimeConfig& operator=(const RuntimeConfig& other) {
-        this->runtimeList = other.runtimeList;
-        this->runtime = other.runtime;
-        this->perfProfile = other.perfProfile;
-        this->enableCPUFallback = other.enableCPUFallback;
-        this->inputDimensionsMap = other.inputDimensionsMap;
-        return *this;
-    }
-
-    ~RuntimeConfig() {}
-};
-
-/**
- * @brief .
- *
- * The class for creating a RuntimeConfig container.
- *
- */
-class ZDL_EXPORT RuntimeConfigList final {
-   public:
-    RuntimeConfigList();
-    RuntimeConfigList(const size_t size);
-    void push_back(const RuntimeConfig& runtimeConfig);
-    RuntimeConfig& operator[](const size_t index);
-    RuntimeConfigList& operator=(const RuntimeConfigList& other);
-    size_t size() const noexcept;
-    size_t capacity() const noexcept;
-    void clear() noexcept;
-    ~RuntimeConfigList() = default;
-
-   private:
-    void swap(const RuntimeConfigList& other);
-    std::vector<RuntimeConfig> m_runtimeConfigs;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}  // namespace PSNPE
-}  // namespace zdl
-#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
deleted file mode 100644
index 5ab45b82ee..0000000000
--- a/third_party/snpe/include/SNPE/SNPE.hpp
+++ /dev/null
@@ -1,258 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_SNPE_HPP_
-#define _SNPE_SNPE_HPP_
-
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/DlVersion.hpp"
-#include "DlSystem/IBufferAttributes.hpp"
-#include "DlSystem/ITensor.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/TensorMap.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/StringList.hpp"
-#include "DlSystem/IUserBuffer.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/UserMemoryMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-   namespace SNPE
-   {
-      class SnpeRuntime;
-   }
-}
-namespace zdl {
-   namespace DiagLog
-   {
-      class IDiagLog;
-   }
-}
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The SNPE interface class definition
- */
-class ZDL_EXPORT SNPE final
-{
-public:
-
-   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
-   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
-   ~SNPE();
-
-   /**
-    * @brief Gets the names of input tensors to the network
-    *
-    * To support multiple input scenarios, where multiple tensors are
-    * passed through execute() in a TensorMap, each tensor needs to
-    * be uniquely named. The names of tensors can be retrieved
-    * through this function.
-    *
-    * In the case of a single input, one name will be returned.
-    *
-    * @note Note that because the returned value is an Optional list,
-    * the list must be verified as boolean true value before being
-    * dereferenced.
-    *
-    * @return An Optional List of input tensor names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getInputTensorNames() const noexcept;
-
-    /**
-     * @brief Gets the names of output tensors to the network
-     *
-     * @return List of output tensor names.
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Gets the name of output tensor from the input layer name
-    *
-    * @return Output tensor name.
-    */
-   zdl::DlSystem::StringList
-      getOutputTensorNamesByLayerName(const char *name) const noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A map of tensors that contains the input data for
-    *            each input. The names of tensors needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.  To forward propagate
-    *       and get results in user-supplied tensors, use
-    *       executeWithSuppliedOutputTensors.
-    */
-   bool execute(const zdl::DlSystem::TensorMap &input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A single tensor contains the input data.
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.
-    */
-   bool execute(const zdl::DlSystem::ITensor *input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output, using
-    *        user-supplied buffers
-    *
-    * @param[in] A map of UserBuffers that contains the input data for
-    *            each input. The names of UserBuffers needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] A map of UserBuffers that will hold the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the UserBuffer name)
-    *
-    * @note input and output UserBuffer maps must be fully pre-populated. with
-    *       dimensions matching what the network expects.
-    *       For example, if there are 5 output UserBuffers they all have to be
-    *       present in map.
-    *
-    *       Caller must guarantee that for the duration of execute(), the buffer
-    *       stored in UserBuffer would remain valid.  For more detail on buffer
-    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
-    *       documentation.
-    */
-   bool execute(const zdl::DlSystem::UserBufferMap &input,
-                const zdl::DlSystem::UserBufferMap &output) noexcept;
-
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A UserMemoryMap of virtual addresses
-    *
-    */
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A StringList of ION Buffer names
-    *
-    */
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
-
-    /**
-    * @brief Returns the version string embedded at model conversion
-    * time.
-    *
-    * @return Model version string, which is a free-form string
-    *         supplied at the time of the conversion
-    *
-    */
-   zdl::DlSystem::String getModelVersion() const noexcept;
-
-   /**
-    * @brief Returns the dimensions of the input data to the model in the
-    * form of TensorShape. The dimensions in TensorShape corresponds to
-    * what the tensor dimensions would need to be for an input tensor to
-    * the model.
-    *
-    * @param[in] layer input name.
-    *
-    * @note Note that this function only makes sense for networks 
-    *       that have a fixed input size. For networks in which the
-    *       input size varies with each call of Execute(), this
-    *       function should not be used.
-    *
-    * @note Because the returned type is an Optional instance, it must
-    *       be verified as a boolean true value before being dereferenced.
-    * 
-    * @return An Optional instance of TensorShape that maintains dimensions,
-    *         matching the tensor dimensions for input to the model,
-    *         where the last entry is the fastest varying dimension, etc.
-    *  
-    * @see zdl::DlSystem::ITensor
-    * @see zdl::DlSystem::TensorShape
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions() const noexcept;
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Gets the output layer(s) for the network. 
-    *  
-    * Note that the output layers returned by this function may be 
-    * different than those specified when the network was created 
-    * via the zdl::SNPE::SNPEBuilder. For example, if the
-    * network was created in debug mode with no explicit output 
-    * layers specified, this will contain all layers.
-    *
-    * @note Note that because the returned value is an Optional StringList,
-    * the list must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @return A List of output layer names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputLayerNames() const noexcept;
-
-   /**
-     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
-     *
-     * @param[in] Tensor name.
-     *
-     * @return BufferAttributes of input/output tensor named
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Get the diagnostic logging interface
-    *
-    * @note Note that because the returned type is an Optional instance,
-    * it must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
-      getDiagLogInterface() noexcept;
-
-private:
-   SNPE(const SNPE&) = delete;
-   SNPE& operator=(const SNPE&) = delete;
-
-   std::unique_ptr<SnpeRuntime> m_Runtime;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index 5fc7846ced..0000000000
--- a/third_party/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,306 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_BUILDER_HPP_
-#define _SNPE_BUILDER_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/PlatformConfig.hpp"
-#include "DlSystem/IOBufferDataTypeMap.hpp"
-#include "DlSystem/RuntimeList.hpp"
-
-namespace zdl {
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-struct SNPEBuilderImpl;
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The builder class for creating SNPE objects.
- * Not meant to be extended.
- */
-class ZDL_EXPORT SNPEBuilder final
-{
-private:
-   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
-public:
-
-   /**
-    * @brief Constructor of NeuralNetwork Builder with a supplied model.
-    *
-    * @param[in] container A container holding the model.
-    *
-    * @return A new instance of a SNPEBuilder object
-    *         that can be used to configure and build
-    *         an instance of SNPE.
-    *
-    */
-   explicit SNPEBuilder(
-      zdl::DlContainer::IDlContainer* container);
-   ~SNPEBuilder();
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the runtime processor.
-    *
-    * @param[in] targetRuntimeProcessor The target runtime.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessor(
-      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
-
-   /**
-    * @brief Requests a performance profile.
-    *
-    * @param[in] targetRuntimeProfile The target performance profile.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPerformanceProfile(
-      zdl::DlSystem::PerformanceProfile_t performanceProfile);
-
-   /**
-    * @brief Sets the profiling level. Default profiling level for
-    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
-    *
-    * @param[in] profilingLevel The target profiling level.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setProfilingLevel(
-      zdl::DlSystem::ProfilingLevel_t profilingLevel);
-
-    /**
-     * @brief Sets a preference for execution priority.
-     *
-     * This allows the caller to give coarse hint to SNPE runtime
-     * about the priority of the network.  SNPE runtime is free to use
-     * this information to co-ordinate between different workloads
-     * that may or may not extend beyond SNPE.
-     *
-     * @param[in] ExecutionPriorityHint_t The target performance profile.
-     *
-     * @return The current instance of SNPEBuilder.
-     */
-   SNPEBuilder& setExecutionPriorityHint(
-            zdl::DlSystem::ExecutionPriorityHint_t priority);
-
-    /**
-    * @brief Sets the layers that will generate output.
-    *
-    * @param[in] outputLayerNames List of layer names to
-    *                             output. An empty list will
-    *                             result in only the final
-    *                             layer of the model being
-    *                             the output layer.  The list
-    *                             will be copied.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setOutputLayers(
-      const zdl::DlSystem::StringList& outputLayerNames);
-
-   /**
-   * @brief Sets the output tensor names.
-   *
-   * @param[in] outputTensorNames List of tensor names to
-   *                             output. An empty list will
-   *                             result in producing output for the final
-   *                             output tensor of the model.
-   *                             The list will be copied.
-   *
-   * @return The current instance of SNPEBuilder.
-   */
-   SNPEBuilder& setOutputTensors(
-      const zdl::DlSystem::StringList& outputTensorNames);
-
-   /**
-    * @brief Passes in a User-defined layer.
-    *
-    * @param udlBundle Bundle of udl factory function and a cookie
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUdlBundle(
-      zdl::DlSystem::UDLBundle udlBundle);
-
-   /**
-    * @brief Sets whether this neural network will perform inference with
-    *        input from user-supplied buffers, and write output to user-supplied
-    *        buffers.  Default behaviour is to use tensors created by
-    *        ITensorFactory.
-    *
-    * @param[in] bufferMode Whether to use user-supplied buffer or not.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUseUserSuppliedBuffers(
-      bool bufferMode);
-
-    /**
-    * @brief Sets the debug mode of the runtime.
-    *
-    * @param[in] debugMode This enables debug mode for the runtime. It
-    *                      does two things. For an empty
-    *                      outputLayerNames list, all layers will be
-    *                      output. It might also disable some internal
-    *                      runtime optimizations (e.g., some networks
-    *                      might be optimized by combining layers,
-    *                      etc.).
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setDebugMode(
-      bool debugMode);
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the mode of CPU fallback functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality
-    *                   of CPU fallback. When the CPU fallback
-    *                   functionality is enabled, layers in model that
-    *                   violates runtime constraints will run on CPU
-    *                   while the rest of non-violating layers will
-    *                   run on the chosen runtime processor. In
-    *                   disabled mode, models with layers violating
-    *                   runtime constraints will NOT run on the chosen
-    *                   runtime processor and will result in runtime
-    *                   exception. By default, the functionality is
-    *                   enabled.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setCPUFallbackMode(
-      bool mode);
-
-
-   /**
-    * @brief Sets network's input dimensions to enable resizing of
-    *        the spatial dimensions of each layer for fully convolutional networks,
-    *        and the batch dimension for all networks.
-    *
-    * @param[in] tensorShapeMap The map of input names and their new dimensions.
-    *                           The new dimensions overwrite the input dimensions
-    *                           embedded in the model and then resize each layer
-    *                           of the model. If the model contains
-    *                           layers whose dimensions cannot be resized e.g FullyConnected,
-    *                           exception will be thrown when SNPE instance is actually built.
-    *                           In general the batch dimension is always resizable.
-    *                           After resizing of layers' dimensions in model based
-    *                           on new input dimensions, the new model is revalidated
-    *                           against all runtime constraints, whose failures may
-    *                           result in cpu fallback situation.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
-
-   /**
-    * @brief Sets the mode of init caching functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality of init caching.
-    *                   When init caching functionality is enabled, a set of init caches
-    *                   will be created during network building/initialization process
-    *                   and will be added to DLC container. If such DLC container is saved
-    *                   by the user, in subsequent network building/initialization processes
-    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
-    *                   In disable mode, no init caches will be added to DLC container.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInitCacheMode(
-      bool cacheMode);
-
-   /**
-    * @brief Returns an instance of SNPE based on the current parameters.
-    *
-    * @return A new instance of a SNPE object that can be used
-    *         to execute models or null if any errors occur.
-    */
-   std::unique_ptr<SNPE> build() noexcept;
-
-   /**
-    * @brief Sets the platform configuration.
-    *
-    * @param[in] platformConfig The platform configuration.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
-
-   /**
-    * @brief Sets network's runtime order of precedence. Example:
-    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
-    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
-    *        setRuntimeProcessorOrder() is invoked
-    *
-    * @param[in] runtimeList The list of runtime in order of precedence
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
-
-    /**
-    * @brief Sets the unconsumed tensors as output
-    *
-    * @param[in] setOutput This enables unconsumed tensors (i.e)
-    *                      outputs which are not inputs to any
-    *                      layer (basically dead ends) to be marked
-    *                      for output
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUnconsumedTensorsAsOutputs(
-      bool setOutput);
-
-    /**
-    * @brief Execution terminated when exceeding time limit.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] timeout Time limit value
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setTimeOut(
-      uint64_t timeout);
-
-
-   /**
-    * @brief Sets the datatype of the buffer.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] Map of the buffer names and the datatype that needs to be set.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index 2d78e81b17..0000000000
--- a/third_party/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,220 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_FACTORY_HPP_
-#define _SNPE_FACTORY_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/DlOptional.hpp"
-
-namespace zdl {
-   namespace DlSystem
-   {
-      class ITensorFactory;
-      class IUserBufferFactory;
-   }
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The factory class for creating SNPE objects.
- *
- */
-class ZDL_EXPORT SNPEFactory
-{
-public:
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @param[in] option Extent to perform runtime available check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
-                                  zdl::DlSystem::RuntimeCheckOption_t option);
-
-   /**
-    * Gets a reference to the tensor factory.
-    *
-    * @return A reference to the tensor factory.
-    */
-   static zdl::DlSystem::ITensorFactory& getTensorFactory();
-
-   /**
-    * Gets a reference to the UserBuffer factory.
-    *
-    * @return A reference to the UserBuffer factory.
-    */
-   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
-
-   /**
-    * Gets the version of the SNPE library.
-    *
-    * @return Version of the SNPE library.
-    *
-    */
-   static zdl::DlSystem::Version_t getLibraryVersion();
-
-   /**
-    * Set the SNPE storage location for all SNPE instances in this
-    * process. Note that this may only be called once, and if so
-    * must be called before creating any SNPE instances.
-    *
-    * @param[in] storagePath Absolute path to a directory which SNPE may
-    *  use for caching and other storage purposes.
-    *
-    * @return True if the supplied path was succesfully set as
-    *  the SNPE storage location, false otherwise.
-    */
-   static bool setSNPEStorageLocation(const char* storagePath);
-
-   /**
-    * @brief Register a user-defined op package with SNPE.
-    *
-    * @param[in] regLibraryPath Path to the registration library
-    *                      that allows clients to register a set of operations that are
-    *                      part of the package, and share op info with SNPE
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool addOpPackage( const std::string& regLibraryPath );
-
-   /**
-    * Indicates whether the OpenGL and OpenCL interoperability is supported
-    * on GPU platform.
-    *
-    * @return True if the OpenGL and OpenCl interop is supported; false,
-    *         otherwise.
-    */
-   static bool isGLCLInteropSupported();
-
-   static const char* getLastError();
-
-   /**
-    * Initializes logging with the specified log level.
-    * initializeLogging with level, is used on Android platforms
-    * and after successful initialization, SNPE
-    * logs are printed in android logcat logs.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging().
-    *
-    * Please note, enabling logging can have performance impact.
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Initializes logging with the specified log level and log path.
-    * initializeLogging with level & log path, is used on non Android
-    * platforms and after successful initialization, SNPE
-    * logs are printed in std output & into log files created in the
-    * log path.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging()
-    *
-    * Please note, enabling logging can have performance impact
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @param[in] Path of directory to store logs.
-    *      If path is empty, the default path is "./Log".
-    *      For android, the log path is ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
-
-   /**
-    * Updates the current logging level with the specified level.
-    * setLogLevel is optional, called anytime after initializeLogging
-    * and before terminateLogging, to update the log level set.
-    * Log levels can be updated multiple times by calling setLogLevel
-    * A call to setLogLevel() is ignored if it is made before
-    * initializeLogging() or after terminateLogging()
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Terminates logging.
-    *
-    * It is recommended to terminateLogging after initializeLogging
-    * in order to disable logging information.
-    * If this is called before initialization or after first time termination,
-    * calls are ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool terminateLogging(void);
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-
-#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
deleted file mode 100644
index a660bca0f6..0000000000
--- a/third_party/snpe/include/SNPE/UserBufferList.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_USERBUFFERLIST_HPP
-#define PSNPE_USERBUFFERLIST_HPP
-
-#include <vector>
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-/**
-* @brief .
-*
-* The class for creating a UserBufferMap container.
-*
-*/
-class ZDL_EXPORT UserBufferList final
-{
-public:
-   UserBufferList();
-   UserBufferList(const size_t size);
-   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
-   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
-   UserBufferList& operator =(const UserBufferList &other);
-   size_t size() const noexcept;
-   size_t capacity() const noexcept;
-   void clear() noexcept;
-   ~UserBufferList() = default;
-
-private:
-   void swap(const UserBufferList &other);
-   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // namespace PSNPE
-} // namespace zdl
-#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
deleted file mode 100644
index 7b2567920e..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoBase.h
+++ /dev/null
@@ -1,537 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_BASE_H
-#define SNPE_UDO_BASE_H
-
-#include <stdint.h>
-
-// Provide values to use for API version.
-#define API_VERSION_MAJOR 1
-#define API_VERSION_MINOR 6
-#define API_VERSION_TEENY 0
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-// Defines a bitmask of enum values.
-typedef uint32_t SnpeUdo_Bitmask_t;
-typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
-
-// A string of characters, rather than an array of bytes.
-// Assumed to be UTF-8.
-typedef char* SnpeUdo_String_t;
-typedef SnpeUdo_String_t Udo_String_t;
-
-// The maximum allowable length of a SnpeUdo_String_t in bytes,
-// including null terminator. SNPE will truncate strings longer
-// than this.
-#define SNPE_UDO_MAX_STRING_SIZE 1024
-
-/**
-  * An enum which holds the various error types.
-  * The error types are divided to classes :
-  * 0 - 99    : generic errors
-  * 100 - 200 : errors related to configuration
-  *
-  */
-typedef enum
-{
-   /// No Error
-   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
-   /// Unsupported value for core type
-   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
-   /// Invalid attribute/argument passed into UDO API
-   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
-   /// Unsupported feature error
-   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
-   /// Error relating to memory allocation
-   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
-   /* Configuration Specific errors */
-   /// No op with given attributes available in library
-   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
-   /// Unsupported value for core type in UDO configuration
-   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
-   /// Wrong number of params in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
-   /// Wrong number of dimensions for tensor(s) in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
-   /// Wrong number of input tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
-   /// Wrong number of output tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
-   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
-   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
-} SnpeUdo_ErrorType_t;
-
-typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
-
-/**
-  * An enum which holds the various data types.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  * \n FIXED_XX types are targeted for data in tensors.
-  * \n UINT / INT types are targeted for scalar params
-  */
-typedef enum
-{
-   /// data type: 16-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
-   /// data type: 32-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
-   /// data type: 4-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
-   /// data type: 8-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
-   /// data type: 16-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
-   /// data type: 32-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
-   /// data type: 8-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
-   /// data type: 16-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
-   /// data type: 32-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
-   /// data type: 8-bit signed integer
-   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
-   /// data type: 16-bit signed integer
-   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
-   /// data type: 32-bit signed integer
-   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
-   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
-} SnpeUdo_DataType_t;
-
-typedef SnpeUdo_DataType_t Udo_DataType_t;
-
-/**
-  * An enum which holds the various layouts.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// data layout (4D): NHWC (batch-height-width-channel)
-   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
-   /// data layout (4D): NCHW (batch-channel-height-width)
-   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
-   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
-   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
-   // Indicates no data will be allocated for this tensor.
-   // Used to specify optional inputs/outputs positionally.
-   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
-   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
-} SnpeUdo_TensorLayout_t;
-
-typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
-
-/**
-  * An enum which holds the UDO library Core type .
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// Library target IP Core is undefined
-   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
-   /// Library target IP Core is CPU
-   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
-   /// Library target IP Core is GPU
-   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
-   /// Library target IP Core is DSP
-   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
-   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
-} SnpeUdo_CoreType_t;
-
-typedef SnpeUdo_CoreType_t Udo_CoreType_t;
-
-/**
-  * An enum to specify the parameter type : Scalar or Tensor
-  */
-typedef enum
-{
-   /// UDO static param type: scalar
-   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
-   /// UDO static param type: string
-   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
-   /// UDO static param type: tensor
-   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
-   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
-} SnpeUdo_ParamType_t;
-
-typedef SnpeUdo_ParamType_t Udo_ParamType_t;
-
-/**
-  * An enum to specify quantization type
-  */
-typedef enum
-{
-   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
-   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
-   /// Tensor Quantization type: Tensorflow-style
-   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
-   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
-   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
-} SnpeUdo_QuantizationType_t;
-
-typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
-
-/**
- * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
- *
- */
-typedef struct
-{
-   /// version field: major - for backward-incompatible changes
-   uint32_t major;
-   /// version field: minor - for backward-compatible feature updates
-   uint32_t minor;
-   /// version field: teeny - for minor bug-fixes and clean-up
-   uint32_t teeny;
-} SnpeUdo_Version_t;
-
-typedef SnpeUdo_Version_t Udo_Version_t;
-
-/**
- * @brief A struct returned from version query, contains the Library version and API version
- *
- */
-typedef struct
-{
-   /// Version of UDO library. Controlled by users
-   SnpeUdo_Version_t libVersion;
-   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
-   SnpeUdo_Version_t apiVersion;
-} SnpeUdo_LibVersion_t;
-
-/**
- * @brief A struct returned from version query, contains the package version
- *
- */
-typedef struct
-{
-   /// Version of UDO API used in package.
-   Udo_Version_t apiVersion;
-} Udo_PkgVersion_t;
-
-/**
- * @brief A union to hold the value of a generic type. Allows defining a parameter struct
- * in a generic way, with a "value" location that holds the data regardless of the type.
- *
- */
-typedef union
-{
-   /// value type: float
-   float    floatValue;
-   /// value type: unsigned 32-bit integer
-   uint32_t uint32Value;
-   /// value type: signed 32-bit integer
-   int32_t  int32Value;
-   /// value type: unsigned 16-bit integer
-   uint16_t uint16Value;
-   /// value type: signed 16-bit integer
-   int16_t  int16Value;
-   /// value type: unsigned 8-bit integer
-   uint8_t  uint8Value;
-   /// value type: signed 8-bit integer
-   int8_t   int8Value;
-} SnpeUdo_Value_t;
-
-typedef SnpeUdo_Value_t Udo_Value_t;
-
-/**
- * @brief A struct which defines a scalar parameter : name, data type, and union of values
- *
- */
-typedef struct
-{
-   /// The parameter data type : float, int, etc.
-   SnpeUdo_DataType_t  dataType;
-   /// a union of specified type which holds the data
-   SnpeUdo_Value_t dataValue;
-} SnpeUdo_ScalarParam_t;
-
-typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
-
-/**
- * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
- *
- */
-typedef struct
-{
-   /// minimum value of the quantization range of data
-   float minValue;
-   /// maximum value of the quantization range of data
-   float maxValue;
-} SnpeUdo_TFQuantize_t;
-
-typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
-
-/**
- * @brief A struct which defines the quantization type, and union of supported quantization structs
- *
- */
-typedef struct
-{
-   /// quantization type (only TF-style currently supported)
-   SnpeUdo_QuantizationType_t quantizeType;
-   union
-   {
-     /// TF-style min-max quantization ranges
-     SnpeUdo_TFQuantize_t TFParams;
-   };
-} SnpeUdo_QuantizeParams_t;
-
-typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
-
-/**
- * @brief A struct which defines the datatype associated with a specified core-type
- * This should be used to denote the datatypes for a single tensor info, depending
- * on the intended execution core.
- *
- */
-typedef struct
-{
-    /// The IP Core
-    SnpeUdo_CoreType_t     coreType;
-    /// The associated datatype for this coreType
-    SnpeUdo_DataType_t       dataType;
-} SnpeUdo_PerCoreDatatype_t;
-
-typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
-
-/**
- * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
- *        Also holds a pointer to the tensor data.
- *
- */
-typedef struct
-{
-   /// The maximum allowable dimensions of the tensor. The memory held in
-   /// _tensorData_ is guaranteed to be large enough for this.
-   uint32_t*                maxDimensions;
-   /// The current dimensions of the tensor. An operation may modify the current
-   /// dimensions of its output, to indicate cases where the output has been
-   /// "resized".
-   /// Note that for static parameters, the current and max dimensions must
-   /// match.
-   uint32_t*                currDimensions;
-   /// Quantization params applicable to the tensor. Currently only supports
-   /// Tensorflow quantization style.
-   SnpeUdo_QuantizeParams_t quantizeParams;
-   /// Number of dimensions to the tensor: 3D, 4D, etc.
-   uint32_t                 tensorRank;
-   /// The parameter data type: float, int, etc.
-   SnpeUdo_DataType_t       dataType;
-   /// The tensor layout type: NCHW, NHWC, etc.
-   SnpeUdo_TensorLayout_t   layout;
-   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
-   /// based on core-specific definitions.
-   void*                    tensorData;
-} SnpeUdo_TensorParam_t;
-
-typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
-
-/**
- * @brief A struct which defines tensor information for activation tensors only
- *
- * It describes an activation tensor object using its name, the intended layout and the datatype
- * it will take depending on the intended runtime core. The repeated field indicates that
- * that the tensor info describes several input/output activation tensors, which all share the
- * aforementioned properties.
- */
-typedef struct
-{
-    /// The tensor name
-    SnpeUdo_String_t    tensorName;
-    /// The tensor layout type: NCHW, NHWC, etc.
-    SnpeUdo_TensorLayout_t   layout;
-    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
-    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
-    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
-    bool repeated;
-    /// A boolean field indicating whether input is static or not.
-    bool isStatic;
-} SnpeUdo_TensorInfo_t;
-
-typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
-
-/**
- * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
- *
- */
-typedef struct
-{
-   /// Type is scalar or tensor
-  SnpeUdo_ParamType_t paramType;
-  /// The param name, for example : "offset", "activation_type"
-  SnpeUdo_String_t    paramName;
-  union
-  {
-    /// scalar param value
-    SnpeUdo_ScalarParam_t scalarParam;
-    /// tensor param value
-    SnpeUdo_TensorParam_t tensorParam;
-    /// string param value
-    SnpeUdo_String_t      stringParam;
-  };
-} SnpeUdo_Param_t;
-
-typedef SnpeUdo_Param_t Udo_Param_t;
-
-/**
- * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
- *
- */
-typedef struct
-{
-   /// The IP Core
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
-   /// Based on SnpeUdo_DataType
-   SnpeUdo_Bitmask_t      operationCalculationTypes;
-} SnpeUdo_OpCoreInfo_t;
-
-typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
-
-/**
- * @brief A struct which defines the common and core-specific Operation information
- *
- */
-typedef struct
-{
-   /// Operation type
-   SnpeUdo_String_t      operationType;
-   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t     supportedByCores;
-   /// Number of static parameters defined by the op
-   uint32_t              numOfStaticParams;
-   /// Array of static parameters. Can be scalar or tensor params
-   SnpeUdo_Param_t*      staticParams;
-   /// Number of input tensors this op receives
-   uint32_t              numOfInputs;
-   /// Array of input tensor names to this operation
-   SnpeUdo_String_t*      inputNames;
-   /// Number of output tensors this op receives
-   uint32_t              numOfOutputs;
-   /// Array of output tensor names to this operation
-   SnpeUdo_String_t*      outputNames;
-   /// Number of cores that the op can execute on
-   uint32_t              numOfCoreInfo;
-   /// Array of per-core information entries
-   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
-    /// Array of input tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     inputInfos;
-   /// Array of output tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     outputInfos;
-} SnpeUdo_OperationInfo_t;
-
-typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
-
-/**
- * @brief A struct which provides the implementation library info : type, name
- *
- */
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// library name. will be looked at in the standard library path
-   SnpeUdo_String_t       libraryName;
-} SnpeUdo_LibraryInfo_t;
-
-typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
-
-/**
- * @brief A struct returned by the registration library and contains information on the UDO package :
- * name, operations, libraries, etc.
- *
- */
-typedef struct
-{
-   /// A string containing the package name
-   SnpeUdo_String_t         packageName;
-   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t        supportedCoreTypes;
-   /// The number of implementation libraries in the package
-   uint32_t                numOfImplementationLib;
-   /// Array of implementation libraries names/types
-   SnpeUdo_LibraryInfo_t*   implementationLib;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t         operationsString;
-   /// Number of supported operations
-   uint32_t                numOfOperations;
-   /// Array of Operation info structs. Each entry describes one
-   /// Operation (name, params, inputs, outputs)
-   SnpeUdo_OperationInfo_t* operationsInfo;
-} SnpeUdo_RegInfo_t;
-
-typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
-
-/**
-* @brief A struct returned by the implementation library and contains information on the
-* specific library: name, IP Core, operations, etc.
-*
-*/
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// A string containing the package name
-   SnpeUdo_String_t       packageName;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t       operationsString;
-   /// Number of supported operations
-   uint32_t              numOfOperations;
-} SnpeUdo_ImpInfo_t;
-
-typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
-
-/**
- * @brief This struct defines an operation. It is used for validation
- * or creation of an operation.
- * In case of using it for creation, the static params which are tensors
- * contain pointers to the real data (weights, for example), and input/output
- * tensors also include pointers to the buffers used.
- */
-typedef struct
-{
-   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
-   SnpeUdo_CoreType_t      udoCoreType;
-   /// Operation type
-   SnpeUdo_String_t        operationType;
-   /// The number of static parameters provided in the staticParams array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfStaticParams;
-   /// Array of static parameters
-   SnpeUdo_Param_t*        staticParams;
-   /// The number of input parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfInputs;
-   /// Array of input tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  inputs;
-   /// The number of output parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfOutputs;
-   /// Array of output tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  outputs;
-} SnpeUdo_OpDefinition_t;
-
-typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
deleted file mode 100644
index a0cb648cf7..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImpl.h
+++ /dev/null
@@ -1,343 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_IMPL_H
-#define SNPE_UDO_IMPL_H
-
-#include <stdbool.h>
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
-typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
-
-typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
-typedef SnpeUdo_Operation_t Udo_Operation_t;
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in error.
- *
- * @param[in] globalInfrastructure Global core-specific infrastructure to be
- *            used by operations created in this library. The definition and
- *            semantics of this object will be defined in the corresponding
- *            implementation header for the core type.
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initImplLibrary(void* globalInfrastructure);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitImplLibraryFunction_t)(void*);
-
-/**
- * @brief A function to query the API version of the UDO implementation library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_initImplLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateImplLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query info on the UDO implementation library.
- *        The function populates a structure which contains information about
- *        operations that are part of this library
- *
- * @param[in, out] implementationInfo A pointer to struct which contains information
- *                 on the operations
- *
- * @return error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
-
-/**
- * @brief A function to create an operation factory.
- *        The function receives the operation type, and an array of static parameters,
- *        and returns operation factory handler
- *
- * @param[in] udoCoreType The Core type to create the operation on. An error will
- *            be returned if this does not match the core type of the library.
- *
- * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
- *            core type. The definition and semantics of this object will be defined
- *            in the corresponding implementation header for the core type.
- *
- * @param[in] operationType A string containing Operation type. for example "MY_CONV"
- *
- * @param[in] numOfStaticParams The number of static parameters.
- *
- * @param[in] staticParams Array of static parameters
- *
- * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
-                        void*                perFactoryInfrastructure,
-                        SnpeUdo_String_t      operationType,
-                        uint32_t             numOfStaticParams,
-                        SnpeUdo_Param_t*      staticParams,
-                        SnpeUdo_OpFactory_t*  opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
-                                     void*,
-                                     SnpeUdo_String_t,
-                                     uint32_t,
-                                     SnpeUdo_Param_t*,
-                                     SnpeUdo_OpFactory_t*);
-
-typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
-
-/**
- * @brief A function to release the resources allocated for an operation factory
- *        created by this library.
- *
- * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
-
-typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
-
-/**
- * @brief A function to create an operation from the factory.
- *        The function receives array of inputs and array of outputs, and creates an operation
- *        instance, returning the operation instance handler.
- *
- * @param[in] opFactory OpFactory instance containing the parameters for this operation.
- *
- * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
- *            and semantics of this object will be defined in the implementation header
- *            appropriate to this core type.
- *
- * @param[in] numOfInputs The number of input tensors this operation will receive.
- *
- * @param[in] inputs Array of input tensors, providing both the sizes and initial
- *            location of the data.
- *
- * @param[in] numOfOutputs Number of output tensors this operation will produce.
- *
- * @param[in] outputs Array of output tensors, providing both the sizes and
- *            initial location of the data.
- *
- * @param[in,out] operation Handle for newly created operation instance.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
-                        void*                 perOpInfrastructure,
-                        uint32_t              numOfInputs,
-                        SnpeUdo_TensorParam_t* inputs,
-                        uint32_t              numOfOutputs,
-                        SnpeUdo_TensorParam_t* outputs,
-                        SnpeUdo_Operation_t*   operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
-                                     void*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     SnpeUdo_Operation_t*);
-
-typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
-
-/**
- * @brief A pointer to notification function.
- *
- *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
- *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
- *        notify function, this function will be called by the implementation library at the
- *        end of execution. The implementation library will pass the notify function the ID
- *        that was provided to it when "executeUdoOp" was called.
- *
- * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
- *            Can be used to track the notifications, in case of multiple execute calls issued.
- *
- * @return Error code
- *
- */
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
-
-typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
-
-/**
- * @brief Operation execution function.
- *
- *        Calling this function will run the operation on set of inputs, generating a set of outputs.
- *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
- *        non-blocking mode, the calling entity can pass an ID and a notification function.
- *        At the end of the execution this notification function would be called, passing it the ID.
- *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
- *
- * @param[in] operation handle to the operation on which execute is invoked
- * @param[in] blocking flag to indicate execution mode.
- *            If set, execution is blocking,
- *            e.g SnpeUdo_executeOp call does not return until execution is done.
- *            If not set, SnpeUdo_executeOp returns immediately, and the
- *            library will call the notification function (if set) when execution is done.
- *
- * @param[in] ID 32-bit number that can be used by the calling entity to track execution
- *            in case of non-blocking execution.
- *            For example, it can be a sequence number, increased by one on each call.
- *
- * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
- *            non-blocking, the library will call this function at end of execution,
- *            passing the number provided as ID
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
-                  bool         blocking,
-                  const uint32_t ID,
-                  SnpeUdo_ExternalNotify_t notifyFunc);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
-                               bool,
-                               const uint32_t,
-                               SnpeUdo_ExternalNotify_t);
-
-typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
-
-/**
- * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
- *        returned from creation of a new operation instance.
- *        <b> Not supported in this release. </b>
- *
- *        This function allows the calling entity to change some of the inputs and outputs
- *        between calls to execute.
- *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
- *        Any other change may be rejected by the implementation library, causing
- *        immediate invalidation of the operation instance
- *
- * @param[in] operation Operation on which IO tensors are set
- *
- * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation inputs, providing only those that it wants to change.
- *
- * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation outputs, providing only those that it wants to change.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
-                SnpeUdo_TensorParam_t* inputs,
-                SnpeUdo_TensorParam_t* outputs);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
-                             SnpeUdo_TensorParam_t*,
-                             SnpeUdo_TensorParam_t*);
-
-typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
-
-/**
- * @brief A function to return execution times.
- *
- *        This function can be called to query the operation execution times on the IP core
- *        on which the operation is run. The time is provided in micro-seconds
- *
- * @param[in] operation Handle to operation whose execution time is being profiled
- *
- * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
- *                execution time in usec into this value.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
-
-typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
-
-/**
- * @brief A function to release the operation instance
- *        \n When it is called, the implementation library needs to release all resources
- *        allocated for this operation instance.
- *        \n Note that all function pointers which are part of SnpeUdo_Operation become
- *        <b> invalid </b> once releaseUdoOp call returns.
- *
- * @param[in] operation Handle to operation to be released
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
-
-typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
deleted file mode 100644
index 3bbe0638e6..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
+++ /dev/null
@@ -1,44 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a CPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_CPU_H
-#define SNPE_UDO_IMPL_CPU_H
-
-#include <stdio.h>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief This struct provides the infrastructure needed by a developer of
- * CPU UDO Implementation library.
- *
- * The framework/runtime which loads the CPU UDO implementation library provides
- * this infrastructure data to the loaded library at the time of op factory creation.
- * as an opaque pointer. It contains hooks for the UDO library to invoke supported
- * functionality at the time of execution
- *
- * @param getData function pointer to retrieve raw tensor data from opaque pointer
- *  passed into the UDO when creating an instance.
- * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
- */
-
-typedef struct
-{
-   /// function pointer to retrieve raw tensor data from opaque pointer
-   /// passed into the UDO when creating an instance.
-   float* (*getData)(void*);
-   /// function pointer to retrieve tensor data size from opaque pointer
-   size_t (*getDataSize) (void*);
-} SnpeUdo_CpuInfrastructure_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
deleted file mode 100644
index b97a649320..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-//==============================================================================
-/*
- * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
- *
- */
-//==============================================================================
-
-
-// Header to be used by a DSP Hexnn UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_DSP_H
-#define SNPE_UDO_IMPL_DSP_H
-#include <stdio.h>
-#include "SnpeUdo/UdoImpl.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        This function is HexNN specific, use case is when registration library is not in use.
- *        Optional function.
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @return Error code, indicating if the operation can be created on this set of configuration or not.
- *
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
-                           uint32_t numOfStaticParams,
-                           const SnpeUdo_Param_t* staticParams);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
-                                                                    uint32_t,
-                                                                    const SnpeUdo_Param_t*);
-
-typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
-
-// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
-typedef enum {
-        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
-        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
-} SnpeUdo_HexNNTensorLayout_t;
-
-typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
-
-/**
- * @brief A function to query numbers of inputs and outputs,
- *        quantization type of each input and each output as arrays,
- *        and data layout (plain vs d32) of each input and each output as arrays
- *        of an operation.
- * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
- * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
- *
- * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
- * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @param[in,out] numOfInputs Number of input tensors to the op
- * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
- * @param[in,out] inputsLayouts Array of layout type for each input tensor
- * @param[in,out] numOfOutputs Number of output tensors to the op
- * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
- * @param[in,out] outputsLayouts Array of layout type for each output tensor
- * @return error code, indicating status of query
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
-                        uint32_t numOfStaticParams,
-                        const SnpeUdo_Param_t* staticParams,
-                        uint32_t* numOfInputs,
-                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
-                        uint32_t* numOfOutputs,
-                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
-                                                                 uint32_t,
-                                                                 const SnpeUdo_Param_t*,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**);
-
-typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
-
-// Global infrastructure functions supported by Hexagon-NN v2
-typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
-typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
-typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
-                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
-                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
-                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
-typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
-                                                   uint32_t batch,
-                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
-                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
-                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
-                                                   SnpeUdo_DataType_t dataType);
-typedef void* (*udoMemalign_t) (size_t n, size_t size);
-typedef void* (*udoMalloc_t) (size_t size);
-typedef void* (*udoCalloc_t) (size_t n, size_t size);
-typedef void (*udoFree_t) (void* ptr);
-typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
-typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
-typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
-typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
-
-typedef struct hexNNv2GlobalInfra {
-    udoSetOutputTensorSize_t udoSetOutputTensorSize;
-    udoGetInputD32Paddings_t udoGetInputD32Paddings;
-    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
-    udoMemalign_t udoMemalign;
-    udoMalloc_t udoMalloc;
-    udoCalloc_t udoCalloc;
-    udoFree_t udoFree;
-    udoGetVtcmSize_t udoGetVtcmSize;
-    udoGetVtcmPtr_t udoGetVtcmPtr;
-    udoVtcmIsReal_t udoVtcmIsReal;
-    udoRunWorkerThreads_t udoRunWorkerThreads;
-} SnpeUdo_HexNNv2GlobalInfra_t;
-
-typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
-
-// hexnn types
-typedef enum hexnnInfraType {
-   UDO_INFRA_HEXNN_V2,
-   UDO_INFRA_HEXNN_V3   // reserved, do not use
-} SnpeUdo_HexNNInfraType_t;
-
-typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
-
-typedef struct {
-    Udo_CreateOpFactoryFunction_t create_op_factory;
-    Udo_CreateOperationFunction_t create_operation;
-    Udo_ExecuteOpFunction_t execute_op;
-    Udo_ReleaseOpFunction_t release_op;
-    Udo_ReleaseOpFactoryFunction_t release_op_factory;
-    Udo_ValidateOperationFunction_t validate_op;
-    Udo_QueryOperationFunction_t query_op;
-} udo_func_package_t;
-
-/**
- * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
- *
- * The framework/runtime which loads the Hexnn UDO implementation library provides
- * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
- * function, and passing it (cast to void*). The Hexnn UDO library is expected
- * to cast it back to this structure.
- *
- */
-typedef struct dspGlobalInfrastructure {
-    SnpeUdo_Version_t   dspInfraVersion;     // api version
-    SnpeUdo_HexNNInfraType_t infraType;
-    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
-} SnpeUdo_DspGlobalInfrastructure_t;
-
-typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
-
-/**
- * hexnn v2 per op factory infrastructure
- *
- * The framework/runtime passes per op factory infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
- * UDO implementation library is expected to cast it back to this following struct.
- *
- */
-typedef struct hexnnv2OpFactoryInfra {
-   unsigned long graphId;
-} SnpeUdo_HexNNv2OpFactoryInfra_t;
-
-typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
-
-/**
- * hexnn v2 per operation infrastructure
- *
- * The framework/runtime passes per operation infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
- * UDO implementation library is expected to cast it to the following type and save it.
- *
- * This is needed to be passed back into some functions from global infrastructure.
- *
- */
-typedef void* SnpeUdo_HexNNv2OpInfra_t;
-
-typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
deleted file mode 100644
index 1af654d110..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
+++ /dev/null
@@ -1,112 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a GPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_GPU_H
-#define SNPE_UDO_IMPL_GPU_H
-
-#include "CL/cl.h"
-#include "SnpeUdo/UdoBase.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * This header defines version 0.0.0 of the GPU UDO Infrastructure.
- * It defines the interpretation of the global and per-OpFactory infrastructure pointers
- * as well as the interpretation of tensorData pointers.
- *
- * The per-Operation infrastructure pointer is defined to be null, and should not be used.
- *
- * The SnpeUdoTensorParam_t struct below provides the interpretation for
- * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
- *
- * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
- * as a host-readable data pointer.
- *
- */
-
-/**
- * @brief Function to retrieve opencl program from Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is pointer to opencl program which will be populated with
- * valid opencl program if found in Program Cache repository.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
-   (void* programCache, const char* programName, cl_program* program);
-
-/**
- * @brief Function to store valid opencl program in Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is valid opencl program after program is built.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- * */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
-   (void* programCache, const char * programName, cl_program program);
-
-/**
- * @brief Global Infrastructure Definition for GPU UDO Implementations.
- */
-typedef struct {
-   // Infrastructure definition version. This header is 0.0.0
-   SnpeUdo_Version_t   gpuInfraVersion;
-   SnpeUdo_getProgram_t SnpeUdo_getProgram;
-   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
-} SnpeUdo_GpuInfrastructure_t;
-
-/**
- * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
- * @note  This version of the infrastructure definition guarantees that the same
- *        Per OpFactory infrastructure pointer will be provided to all OpFactories
- *        in the same network.
- */
-typedef struct
-{
-   cl_context context;
-   cl_command_queue commandQueue;
-   void* programCache;
-} SnpeUdo_GpuOpFactoryInfrastructure_t;
-
-/**
- * @brief Opaque tensorData definition for operation inputs and outputs.
- *
- * The following is a list of all SnpeUdoTensorLayout_t values supported by the
- * GPU UDO implementation, and how the parameters of the struct should be
- * interpreted in each case:
- *
- * SNPE_UDO_LAYOUT_NHWC:
- *   mem shall be single-element array, pointing to a cl buffer memory object.
- *   the dimensions of this object match the dimensions specified in the encompassing
- *   SnpeUdoTensorParam_t's currDimensions.
- *
- *   memCount shall be 1.
- *
- *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
- *   implementation.
- *
- */
-typedef struct
-{
-   cl_mem*   mem;
-   uint32_t  memCount;
-   uint32_t  paddedRank;
-   uint32_t* paddedDimensions;
-
-} SnpeUdo_GpuTensorData_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
deleted file mode 100644
index a5d2398833..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoReg.h
+++ /dev/null
@@ -1,108 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_REG_H
-#define SNPE_UDO_REG_H
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in an error being returned.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitRegLibraryFunction_t)(void);
-
-/**
- * @brief A function to query the API version of the UDO registration library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query the info on the UDO set.
- *        The function populates a structure which contains information about
- *        the package and operations contained in it.
- *
- * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        The function receives an operation definition struct, and returns if this configuration is
- *        supported (e.g. if an operation can be created using this configuration)
- *
- * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
- *            validate that an operation can be created with this configuration.
- *
- * @return Error code, indicating is the operation can be created on this set or not.
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
deleted file mode 100644
index 418d9db9e2..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoShared.h
+++ /dev/null
@@ -1,48 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_SHARED_H
-#define SNPE_UDO_SHARED_H
-
-#include "SnpeUdo/UdoBase.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to return the various versions as they relate to the UDO
- *        The function returns a struct containing the the following:
- *        libVersion: the version of the implementation library compiled for the UDO. Set by user
- *        apiVersion: the version of the UDO API used in compiling the implementation library.
- *        Set by SNPE
- *
- * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
deleted file mode 120000
index 2e2a1c315b..0000000000
--- a/third_party/snpe/larch64
+++ /dev/null
@@ -1 +0,0 @@
-aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
deleted file mode 120000
index 700025efab..0000000000
--- a/third_party/snpe/x86_64
+++ /dev/null
@@ -1 +0,0 @@
-x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
deleted file mode 100644
index 20d1377a01..0000000000
--- a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
-size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
deleted file mode 100644
index 0367b1106b..0000000000
--- a/third_party/snpe/x86_64-linux-clang/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
-size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
deleted file mode 100755
index db98cba162..0000000000
--- a/third_party/snpe/x86_64-linux-clang/libomp.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
-size 759208
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
deleted file mode 100644
index 110970308a..0000000000
--- a/tools/latencylogger/README.md
+++ /dev/null
@@ -1,90 +0,0 @@
-# LatencyLogger
-
-LatencyLogger is a tool to track the time from first pixel to actuation. Timestamps are printed in a table as well as plotted in a graph. Start openpilot with `LOG_TIMESTAMPS=1` set to enable the necessary logging.
-
-## Usage
-
-```
-$ python3 latency_logger.py -h
-usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
-
-A tool for analyzing openpilot's end-to-end latency
-
-positional arguments:
-  route_or_segment_name
-                        The route to print (default: None)
-
-optional arguments:
-  -h, --help            show this help message and exit
-  --relative            Make timestamps relative to the start of each frame (default: False)
-  --demo                Use the demo route instead of providing one (default: False)
-  --plot                If a plot should be generated (default: False)
-  --offset              Offset service to better visualize overlap (default: False)
-```
-To timestamp an event, use `LOGT("msg")` in c++ code or `cloudlog.timestamp("msg")` in python code. If the print is warning for frameId assignment ambiguity, use `LOGT(frameId ,"msg")`.
-
-## Examples
-
-Timestamps are visualized as diamonds
-
-|  | Relative  | Absolute |
-| ------------- | ------------- | ------------- |
-| Inline | ![inrel](https://user-images.githubusercontent.com/42323981/170559939-465df3b1-bf87-46d5-b5ee-5cc87dc49470.png) | ![inabs](https://user-images.githubusercontent.com/42323981/170559985-a82f87e7-82c4-4e48-a348-4221568dd589.png) |
-| Offset | ![offrel](https://user-images.githubusercontent.com/42323981/170559854-93fba90f-acc4-4d08-b317-d3f8fc649ea8.png) | ![offabs](https://user-images.githubusercontent.com/42323981/170559782-06ed5599-d4e3-4701-ad78-5c1eec6cb61e.png) |
-
-Printed timestamps of a frame with internal durations.
-```
-Frame ID: 1202
-  camerad
-    wideRoadCameraState start of frame                   0.0
-    roadCameraState start of frame                       0.049583
-    wideRoadCameraState published                        35.01206
-    WideRoadCamera: Image set                            35.020028
-    roadCameraState published                            38.508261
-    RoadCamera: Image set                                38.520344
-    RoadCamera: Transformed                              38.616176
-    wideRoadCameraState.processingTime                   3.152403049170971
-    roadCameraState.processingTime                       6.453451234847307
-  modeld
-    Image added                                          40.909841
-    Extra image added                                    42.515027
-    Execution finished                                   63.002552
-    modelV2 published                                    63.148747
-    modelV2.modelExecutionTime                           23.62649142742157
-    modelV2.gpuExecutionTimeDEPRECATED                   0.0
-  plannerd
-    longitudinalPlan published                           69.715999
-    longitudinalPlan.solverExecutionTime                 0.5619999719783664
-  controlsd
-    Data sampled                                         70.217763
-    Events updated                                       71.037178
-    sendcan published                                    72.278775
-    controlsState published                              72.825226
-    Data sampled                                         80.008354
-    Events updated                                       80.787666
-    sendcan published                                    81.849682
-    controlsState published                              82.238323
-    Data sampled                                         90.521123
-    Events updated                                       91.626003
-    sendcan published                                    93.413218
-    controlsState published                              94.143989
-    Data sampled                                         100.991497
-    Events updated                                       101.973774
-    sendcan published                                    103.565575
-    controlsState published                              104.146088
-    Data sampled                                         110.284387
-    Events updated                                       111.183541
-    sendcan published                                    112.981692
-    controlsState published                              113.731994
-  pandad
-    sending sendcan to panda: 250027001751393037323631   81.928119
-    sendcan sent to panda: 250027001751393037323631      82.164834
-    sending sendcan to panda: 250027001751393037323631   93.569986
-    sendcan sent to panda: 250027001751393037323631      93.92795
-    sending sendcan to panda: 250027001751393037323631   103.689167
-    sendcan sent to panda: 250027001751393037323631      104.012235
-    sending sendcan to panda: 250027001751393037323631   113.109555
-    sendcan sent to panda: 250027001751393037323631      113.525487
-    sending sendcan to panda: 250027001751393037323631   122.508434
-    sendcan sent to panda: 250027001751393037323631      122.834314
-```
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
deleted file mode 100755
index 65cb6e6c2c..0000000000
--- a/tools/latencylogger/latency_logger.py
+++ /dev/null
@@ -1,239 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import json
-import matplotlib.patches as mpatches
-import matplotlib.pyplot as plt
-import sys
-from bisect import bisect_left, bisect_right
-from collections import defaultdict
-
-from openpilot.tools.lib.logreader import LogReader
-
-DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
-
-SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'pandad']
-MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime']
-MSGQ_TO_SERVICE = {
-  'roadCameraState': 'camerad',
-  'wideRoadCameraState': 'camerad',
-  'modelV2': 'modeld',
-  'longitudinalPlan': 'plannerd',
-  'sendcan': 'controlsd',
-  'controlsState': 'controlsd'
-}
-SERVICE_TO_DURATIONS = {
-  'camerad': ['processingTime'],
-  'modeld': ['modelExecutionTime', 'gpuExecutionTimeDEPRECATED'],
-  'plannerd': ['solverExecutionTime'],
-}
-
-def read_logs(lr):
-  data = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
-  mono_to_frame = {}
-  frame_mismatches = []
-  frame_id_fails = 0
-  latest_sendcan_monotime = 0
-  for msg in lr:
-    if msg.which() == 'sendcan':
-      latest_sendcan_monotime = msg.logMonoTime
-      continue
-
-    if msg.which() in MSGQ_TO_SERVICE:
-      service = MSGQ_TO_SERVICE[msg.which()]
-      msg_obj = getattr(msg, msg.which())
-
-      frame_id = -1
-      if hasattr(msg_obj, "frameId"):
-        frame_id = msg_obj.frameId
-      else:
-        continue_outer = False
-        for key in MONOTIME_KEYS:
-          if hasattr(msg_obj, key):
-            if getattr(msg_obj, key) == 0:
-              # Filter out controlsd messages which arrive before the camera loop
-              continue_outer = True
-            elif getattr(msg_obj, key) in mono_to_frame:
-              frame_id = mono_to_frame[getattr(msg_obj, key)]
-        if continue_outer:
-          continue
-      if frame_id == -1:
-        frame_id_fails += 1
-        continue
-      mono_to_frame[msg.logMonoTime] = frame_id
-      data['timestamp'][frame_id][service].append((msg.which()+" published", msg.logMonoTime))
-
-      next_service = SERVICES[SERVICES.index(service)+1]
-      if not data['start'][frame_id][next_service]:
-        data['start'][frame_id][next_service] = msg.logMonoTime
-      data['end'][frame_id][service] = msg.logMonoTime
-
-      if service in SERVICE_TO_DURATIONS:
-        for duration in SERVICE_TO_DURATIONS[service]:
-          data['duration'][frame_id][service].append((msg.which()+"."+duration, getattr(msg_obj, duration)))
-
-      if service == SERVICES[0]:
-        data['timestamp'][frame_id][service].append((msg.which()+" start of frame", msg_obj.timestampSof))
-        if not data['start'][frame_id][service]:
-          data['start'][frame_id][service] = msg_obj.timestampSof
-      elif msg.which() == 'controlsState':
-        # Sendcan is published before controlsState, but the frameId is retrieved in CS
-        data['timestamp'][frame_id][service].append(("sendcan published", latest_sendcan_monotime))
-      elif msg.which() == 'modelV2':
-        if msg_obj.frameIdExtra != frame_id:
-          frame_mismatches.append(frame_id)
-
-  if frame_id_fails > 20:
-    print("Warning, many frameId fetch fails", frame_id_fails)
-  if len(frame_mismatches) > 20:
-    print("Warning, many frame mismatches", len(frame_mismatches))
-  return (data, frame_mismatches)
-
-# This is not needed in 3.10 as a "key" parameter is added to bisect
-class KeyifyList:
-  def __init__(self, inner, key):
-    self.inner = inner
-    self.key = key
-  def __len__(self):
-    return len(self.inner)
-  def __getitem__(self, k):
-    return self.key(self.inner[k])
-
-def find_frame_id(time, service, start_times, end_times):
-  left = bisect_left(KeyifyList(list(start_times.items()),
-                     lambda x: x[1][service] if x[1][service] else -1), time) - 1
-  right = bisect_right(KeyifyList(list(end_times.items()),
-                      lambda x: x[1][service] if x[1][service] else float("inf")), time)
-  return left, right
-
-def find_t0(start_times, frame_id=-1):
-  frame_id = frame_id if frame_id > -1 else min(start_times.keys())
-  m = max(start_times.keys())
-  while frame_id <= m:
-    for service in SERVICES:
-      if start_times[frame_id][service]:
-        return start_times[frame_id][service]
-    frame_id += 1
-  raise Exception('No start time has been set')
-
-def insert_cloudlogs(lr, timestamps, start_times, end_times):
-  # at least one cloudlog must be made in controlsd
-
-  t0 = find_t0(start_times)
-  failed_inserts = 0
-  latest_controls_frameid = 0
-  for msg in lr:
-    if msg.which() == "logMessage":
-      jmsg = json.loads(msg.logMessage)
-      if "timestamp" in jmsg['msg']:
-        time = int(jmsg['msg']['timestamp']['time'])
-        service = jmsg['ctx']['daemon']
-        event = jmsg['msg']['timestamp']['event']
-        if time < t0:
-          # Filter out controlsd messages which arrive before the camera loop
-          continue
-
-        if "frame_id" in jmsg['msg']['timestamp']:
-          timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time))
-          continue
-
-        if service == "pandad":
-          timestamps[latest_controls_frameid][service].append((event, time))
-          end_times[latest_controls_frameid][service] = time
-        else:
-          frame_id = find_frame_id(time, service, start_times, end_times)
-          if frame_id:
-            if frame_id[0] != frame_id[1]:
-              event += " (warning: ambiguity)"
-            frame_id = frame_id[0]
-            if service == 'controlsd':
-              latest_controls_frameid = frame_id
-            timestamps[frame_id][service].append((event, time))
-          else:
-            failed_inserts += 1
-
-  if latest_controls_frameid == 0:
-    print("Warning: failed to bind pandad logs to a frame ID. Add a timestamp cloudlog in controlsd.")
-  elif failed_inserts > len(timestamps):
-    print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID")
-
-def print_timestamps(timestamps, durations, start_times, relative):
-  t0 = find_t0(start_times)
-  for frame_id in timestamps.keys():
-    print('='*80)
-    print("Frame ID:", frame_id)
-    if relative:
-      t0 = find_t0(start_times, frame_id)
-
-    for service in SERVICES:
-      print("  "+service)
-      events = timestamps[frame_id][service]
-      for event, time in sorted(events, key = lambda x: x[1]):
-        print("    "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
-      for event, time in durations[frame_id][service]:
-        print("    "+f'{event:<53s}{str(time*1000):<53s}')
-
-def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  plt.rcParams.update({'font.size': 18})
-
-  t0 = find_t0(start_times)
-  fig, ax = plt.subplots()
-  ax.set_xlim(0, 130 if relative else 750)
-  ax.set_ylim(0, 17)
-  ax.set_xlabel('Time (milliseconds)')
-  colors = ['blue', 'green', 'red', 'yellow', 'purple']
-  offsets = [[0, -5*j] for j in range(len(SERVICES))] if offset_services else None
-  height = 0.3 if offset_services else 0.9
-  assert len(colors) == len(SERVICES), 'Each service needs a color'
-
-  points = {"x": [], "y": [], "labels": []}
-  for i, (frame_id, services) in enumerate(timestamps.items()):
-    if relative:
-      t0 = find_t0(start_times, frame_id)
-    service_bars = []
-    for service, events in services.items():
-      if start_times[frame_id][service] and end_times[frame_id][service]:
-        start = start_times[frame_id][service]
-        end = end_times[frame_id][service]
-        service_bars.append(((start-t0)/1e6,(end-start)/1e6))
-        for event in events:
-          points['x'].append((event[1]-t0)/1e6)
-          points['y'].append(i)
-          points['labels'].append(event[0])
-    ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
-
-  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  for i, label in enumerate(points['labels']):
-    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
-
-  plt.title(title)
-  fig.set_size_inches(18, 9)
-  plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  plt.show()
-
-def get_timestamps(lr):
-  lr = list(lr)
-  data, frame_mismatches = read_logs(lr)
-  insert_cloudlogs(lr, data['timestamp'], data['start'], data['end'])
-  return data, frame_mismatches
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="A tool for analyzing openpilot's end-to-end latency",
-                                   formatter_class = argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--relative", action="store_true", help="Make timestamps relative to the start of each frame")
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--plot", action="store_true", help="If a plot should be generated")
-  parser.add_argument("--offset", action="store_true", help="Vertically offset service to better visualize overlap")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route to print")
-
-  if len(sys.argv) == 1:
-    parser.print_help()
-    sys.exit()
-  args = parser.parse_args()
-
-  r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  lr = LogReader(r, sort_by_time=True)
-
-  data, _ = get_timestamps(lr)
-  print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
-  if args.plot:
-    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index dc301efcb7..794c292e68 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -58,7 +58,7 @@ If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py -
 
 For a quick demo, go through the installation step and run this command:
 
-`./juggle.py --demo --layout=layouts/demo.xml`
+`./juggle.py --demo --layout=layouts/tuning.xml`
 
 ## Layouts
 
diff --git a/tools/plotjuggler/layouts/demo.xml b/tools/plotjuggler/layouts/demo.xml
deleted file mode 100644
index 7026221374..0000000000
--- a/tools/plotjuggler/layouts/demo.xml
+++ /dev/null
@@ -1,104 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root version="2.3.8">
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="tab1" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="1" count="1">
-     <DockSplitter orientation="|" sizes="0.5;0.5" count="2">
-      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="2.762667" bottom="-3.239397" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#1f77b4" name="/carState/aEgo"/>
-         <curve color="#17becf" name="/carState/brake"/>
-        </plot>
-       </DockArea>
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="5.191867" bottom="-5.724069" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#1ac938" name="dv/dt"/>
-        </plot>
-       </DockArea>
-      </DockSplitter>
-      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="16.065524" bottom="-0.470076" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#d62728" name="/carState/vEgo"/>
-         <curve color="#bcbd22" name="/carState/gas"/>
-        </plot>
-       </DockArea>
-       <DockArea name="...">
-        <plot mode="TimeSeries" style="Lines">
-         <range top="1.014703" bottom="-0.012971" right="56.512723" left="0.000000"/>
-         <limitY/>
-         <curve color="#ff7f0e" name="/model/meta/brakeDisengageProb"/>
-         <curve color="#f14cc1" name="/model/meta/engagedProb"/>
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diff --git a/tools/rerun/README.md b/tools/rerun/README.md
index dc0a901e60..11a8d33ee1 100644
--- a/tools/rerun/README.md
+++ b/tools/rerun/README.md
@@ -24,14 +24,14 @@ options:
 
 Examples using route name to observe accelerometer and qcamera:
 
-`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
 
 Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
 
-`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
 
 ## Cautions:
 - Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
 
 ## Demo
-`./run.sh --qcam --demo`
+`./run.py --qcam --demo`
diff --git a/tools/rerun/run.sh b/tools/rerun/run.sh
deleted file mode 100755
index 0c02615360..0000000000
--- a/tools/rerun/run.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# TODO: remove this file once Rerun has interface to set log message level
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-RUST_LOG=warn $DIR/run.py $@
-
diff --git a/uv.lock b/uv.lock
index a7d5744a4b..d5d5f7cf27 100644
--- a/uv.lock
+++ b/uv.lock
@@ -498,7 +498,7 @@ version = "0.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "typing-extensions" },
+    { name = "typing-extensions", marker = "sys_platform != 'darwin'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657 },
@@ -648,10 +648,10 @@ name = "gymnasium"
 version = "1.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle" },
-    { name = "farama-notifications" },
-    { name = "numpy" },
-    { name = "typing-extensions" },
+    { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4e/12/1047b8fdbfcdce74022048d916e844ad7e6e1114d81d26a7aed657e3a76d/gymnasium-1.0.0.tar.gz", hash = "sha256:9d2b66f30c1b34fe3c2ce7fae65ecf365d0e9982d2b3d860235e773328a3b403", size = 821389 }
 wheels = [
@@ -956,22 +956,22 @@ name = "metadrive-simulator"
 version = "0.4.2.4"
 source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }
 dependencies = [
-    { name = "filelock" },
-    { name = "gymnasium" },
-    { name = "lxml" },
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
-    { name = "pillow" },
-    { name = "progressbar" },
-    { name = "psutil" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
+    { name = "filelock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "gymnasium", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "progressbar", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "psutil", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "pygments", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "requests", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "shapely", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 wheels = [
     { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" },
@@ -1245,7 +1245,7 @@ name = "opencv-python-headless"
 version = "4.10.0.84"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
 wheels = [
@@ -1309,7 +1309,6 @@ dev = [
     { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
     { name = "pyprof2calltree" },
-    { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
     { name = "pywinctl" },
     { name = "tabulate" },
@@ -1384,7 +1383,6 @@ requires-dist = [
     { name = "pyopencl", marker = "platform_machine != 'aarch64' and extra == 'dev'" },
     { name = "pyopenssl", specifier = "<24.3.0" },
     { name = "pyprof2calltree", marker = "extra == 'dev'" },
-    { name = "pyqt5", marker = "platform_machine == 'x86_64' and extra == 'dev'", specifier = "==5.15.2" },
     { name = "pyserial" },
     { name = "pytest", marker = "extra == 'testing'" },
     { name = "pytest-asyncio", marker = "extra == 'testing'" },
@@ -1450,8 +1448,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 }
 wheels = [
@@ -1463,8 +1461,8 @@ name = "panda3d-simplepbr"
 version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 }
 wheels = [
@@ -1840,159 +1838,159 @@ name = "pyobjc"
 version = "10.3.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
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From b1170c98c17a6f84422039c5679eb79edee713de Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 6 Jan 2025 09:55:37 -0800
Subject: [PATCH 1204/1243] [bot] Update Python packages (#34334)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md |    7 +-
 opendbc_repo |    2 +-
 uv.lock      | 1230 +++++++++++++++++++++++++-------------------------
 3 files changed, 621 insertions(+), 618 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 6390bd60eb..10d10d4cfc 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 289 Supported Cars
+# 290 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -56,6 +56,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -79,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -91,7 +92,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 983bf9c049..c1a8eaec70 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 983bf9c0498b57b3ceaccd0c3e5872c2e1c97708
+Subproject commit c1a8eaec70f459b6f5be9b6d3433ba148b96cfa4
diff --git a/uv.lock b/uv.lock
index d5d5f7cf27..e25fd79c42 100644
--- a/uv.lock
+++ b/uv.lock
@@ -498,7 +498,7 @@ version = "0.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "typing-extensions", marker = "sys_platform != 'darwin'" },
+    { name = "typing-extensions" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657 },
@@ -648,10 +648,10 @@ name = "gymnasium"
 version = "1.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "cloudpickle" },
+    { name = "farama-notifications" },
+    { name = "numpy" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4e/12/1047b8fdbfcdce74022048d916e844ad7e6e1114d81d26a7aed657e3a76d/gymnasium-1.0.0.tar.gz", hash = "sha256:9d2b66f30c1b34fe3c2ce7fae65ecf365d0e9982d2b3d860235e773328a3b403", size = 821389 }
 wheels = [
@@ -956,22 +956,22 @@ name = "metadrive-simulator"
 version = "0.4.2.4"
 source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }
 dependencies = [
-    { name = "filelock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "gymnasium", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "progressbar", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "psutil", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "pygments", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "requests", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "shapely", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "filelock" },
+    { name = "gymnasium" },
+    { name = "lxml" },
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "opencv-python-headless" },
+    { name = "panda3d" },
+    { name = "panda3d-gltf" },
+    { name = "pillow" },
+    { name = "progressbar" },
+    { name = "psutil" },
+    { name = "pygments" },
+    { name = "requests" },
+    { name = "shapely" },
+    { name = "tqdm" },
+    { name = "yapf" },
 ]
 wheels = [
     { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" },
@@ -1130,25 +1130,27 @@ wheels = [
 
 [[package]]
 name = "mypy"
-version = "1.14.0"
+version = "1.14.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "mypy-extensions" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/8c/7b/08046ef9330735f536a09a2e31b00f42bccdb2795dcd979636ba43bb2d63/mypy-1.14.0.tar.gz", hash = "sha256:822dbd184d4a9804df5a7d5335a68cf7662930e70b8c1bc976645d1509f9a9d6", size = 3215684 }
+sdist = { url = "https://files.pythonhosted.org/packages/b9/eb/2c92d8ea1e684440f54fa49ac5d9a5f19967b7b472a281f419e69a8d228e/mypy-1.14.1.tar.gz", hash = "sha256:7ec88144fe9b510e8475ec2f5f251992690fcf89ccb4500b214b4226abcd32d6", size = 3216051 }
 wheels = [
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 ]
 
 [[package]]
@@ -4873,11 +4875,11 @@ wheels = [
 
 [[package]]
 name = "setuptools"
-version = "75.6.0"
+version = "75.7.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/43/54/292f26c208734e9a7f067aea4a7e282c080750c4546559b58e2e45413ca0/setuptools-75.6.0.tar.gz", hash = "sha256:8199222558df7c86216af4f84c30e9b34a61d8ba19366cc914424cdbd28252f6", size = 1337429 }
+sdist = { url = "https://files.pythonhosted.org/packages/ac/57/e6f0bde5a2c333a32fbcce201f906c1fd0b3a7144138712a5e9d9598c5ec/setuptools-75.7.0.tar.gz", hash = "sha256:886ff7b16cd342f1d1defc16fc98c9ce3fde69e087a4e1983d7ab634e5f41f4f", size = 1338616 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/4e/6e/abdfaaf5c294c553e7a81cf5d801fbb4f53f5c5b6646de651f92a2667547/setuptools-75.7.0-py3-none-any.whl", hash = "sha256:84fb203f278ebcf5cd08f97d3fb96d3fbed4b629d500b29ad60d11e00769b183", size = 1224467 },
 ]
 
 [[package]]
@@ -4885,7 +4887,7 @@ name = "shapely"
 version = "2.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "numpy" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/4a/89/0d20bac88016be35ff7d3c0c2ae64b477908f1b1dfa540c5d69ac7af07fe/shapely-2.0.6.tar.gz", hash = "sha256:997f6159b1484059ec239cacaa53467fd8b5564dabe186cd84ac2944663b0bf6", size = 282361 }
 wheels = [
@@ -5110,7 +5112,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "platformdirs" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 }
 wheels = [

From c8264cbf2c99399794ed9473c49de19958f99eb3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 6 Jan 2025 20:52:36 -0800
Subject: [PATCH 1205/1243] Notre Dame model in tinygrad (#34324)

* release model: 6f23a03f-486b-4d3e-a314-19d149644c7c/700

* old style model in tinygrad

* fix desire

* tg hack

* 20Hz

* no gas probs

* No gas here

* better indexing

---------

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
---
 selfdrive/modeld/constants.py                 | 20 ++++++-------
 selfdrive/modeld/fill_model_msg.py            | 20 +++----------
 selfdrive/modeld/modeld.py                    | 28 +++++++++++--------
 selfdrive/modeld/models/commonmodel.cc        |  6 ++--
 selfdrive/modeld/models/supercombo.onnx       |  4 +--
 selfdrive/modeld/parse_model_outputs.py       |  2 ++
 selfdrive/test/process_replay/model_replay.py |  2 +-
 tinygrad_repo                                 |  2 +-
 8 files changed, 38 insertions(+), 46 deletions(-)

diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index bf74c2d1a0..beb0d22ef5 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -16,7 +16,6 @@ class ModelConstants:
   MODEL_FREQ = 20
   FEATURE_LEN = 512
   FULL_HISTORY_BUFFER_LEN = 99
-  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
@@ -73,14 +72,13 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
   # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index a13d632aa6..3056da9374 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,21 +3,11 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2*curv_from_psi - psi_rate / vego
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
 
 class PublishState:
   def __init__(self):
@@ -75,8 +65,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -85,7 +73,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -120,7 +108,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -181,8 +169,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 49f8c483f0..5783f6aa8e 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -59,14 +59,14 @@ class ModelState:
   def __init__(self, context: CLContext):
     self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
     with open(METADATA_PATH, 'rb') as f:
@@ -98,11 +98,11 @@ class ModelState:
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-    self.desire_20Hz[-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
+    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+    self.numpy_inputs['desire'][0,-1] = new_desire
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
@@ -113,7 +113,7 @@ class ModelState:
           self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
     else:
       for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
 
     if prepare_only:
       return None
@@ -125,11 +125,13 @@ class ModelState:
 
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
+    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
 
-    idxs = np.arange(-4,-100,-4)[::-1]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
+
+    # TODO model only uses last value now
+    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
+    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
     return outputs
 
 
@@ -240,6 +242,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -270,6 +273,7 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
       }
 
     mt1 = time.perf_counter()
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index ad2620c7b4..9973d18588 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -8,8 +8,8 @@
 DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
-  region.origin = 4 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
+  region.origin = 1 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -20,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < 1; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 777aa8aa7e..2e1a60a23e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
-size 49096168
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index b699c5fd13..4367e9db8a 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,6 +96,8 @@ class Parser:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 94803643e0..f406b79e10 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -57,7 +57,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: x.action.desiredCurvature, "desiredCurvature"),
                      (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
                      (lambda x: x.laneLines[1].y[0], "laneLines.y"),
-                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                     #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                     ], "modelV2")
   DriverStateV2_Plots = zl([
                      (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
diff --git a/tinygrad_repo b/tinygrad_repo
index c18307e749..2619a86d2a 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit c18307e7494054745389289d55686e81cba88db5
+Subproject commit 2619a86d2a6157c12cc9b1773b4a03cf968a1309

From 2290d2f2fb21ec6b1c99d632aa9b529c730b6151 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 7 Jan 2025 16:12:29 -0800
Subject: [PATCH 1206/1243] camerad: ISP lsc buffers (#34335)

* luts

* assert sizeof

* remove 0s

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/camerad/cameras/ife.h      | 27 ++++++++++++---------------
 system/camerad/cameras/spectra.cc | 17 +++++++++++------
 system/camerad/sensors/ar0231.cc  | 21 +++++++++++++++------
 system/camerad/sensors/os04c10.cc | 21 +++++++++++++++------
 system/camerad/sensors/ox03c10.cc | 21 +++++++++++++++------
 system/camerad/sensors/sensor.h   |  4 ++--
 6 files changed, 70 insertions(+), 41 deletions(-)

diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index a232000100..c06aab1a5e 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -4,7 +4,7 @@
 #include "system/camerad/sensors/sensor.h"
 
 
-int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
   uint8_t *start = dst;
 
   dst += write_random(dst, {
@@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
   });
 
   dst += write_cont(dst, 0x40, {
-    0x00000c06, // (1<<8) to enable vignetting correction
+    0x00000c06 | ((uint32_t)(camera_num == 1) << 8),
   });
 
   dst += write_cont(dst, 0x48, {
@@ -76,11 +76,11 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 }
 
 
-int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
   uint8_t *start = dst;
 
   // start with the every frame config
-  dst += build_update(dst, s, patches);
+  dst += build_update(dst, s, patches, camera_num);
 
   uint64_t addr;
 
@@ -111,7 +111,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_cont(dst, 0x500, s->linearization_pts);
   dst += write_cont(dst, 0x510, s->linearization_pts);
   // TODO: this is DMI64 in the dump, does that matter?
-  dst += write_dmi(dst, &addr, 288, 0xc24, 9);
+  dst += write_dmi(dst, &addr, s->linearization_lut.size()*sizeof(uint32_t), 0xc24, 9);
   patches.push_back(addr - (uint64_t)start);
   /* TODO
   cdm_dmi_cmd_t 248
@@ -129,17 +129,14 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
     0x00670067,
     0xd3b1300c,
     0x13b1300c,
-    0x00670067,
-    0xd3b1300c,
-    0x13b1300c,
-    0xec4e4000,
-    0x0100c003,
+  });
+  dst += write_cont(dst, 0x6d8, {
     0xec4e4000,
     0x0100c003,
   });
-  dst += write_dmi(dst, &addr, 884, 0xc24, 14);
+  dst += write_dmi(dst, &addr, s->vignetting_lut.size()*sizeof(uint32_t), 0xc24, 14); // GRR
   patches.push_back(addr - (uint64_t)start);
-  dst += write_dmi(dst, &addr, 884, 0xc24, 15);
+  dst += write_dmi(dst, &addr, s->vignetting_lut.size()*sizeof(uint32_t), 0xc24, 15); // GBB
   patches.push_back(addr - (uint64_t)start);
 
   // debayer
@@ -158,11 +155,11 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
   dst += write_cont(dst, 0x798, {
     0x00000000,
   });
-  dst += write_dmi(dst, &addr, 256, 0xc24, 26);  // G
+  dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 26);  // G
   patches.push_back(addr - (uint64_t)start);
-  dst += write_dmi(dst, &addr, 256, 0xc24, 28);  // B
+  dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 28);  // B
   patches.push_back(addr - (uint64_t)start);
-  dst += write_dmi(dst, &addr, 256, 0xc24, 30);  // R
+  dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 30);  // R
   patches.push_back(addr - (uint64_t)start);
 
   // YUV
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 3f41683901..b347673b4f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -507,9 +507,9 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     // stream of IFE register writes
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
       } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches);
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
       }
     }
 
@@ -879,20 +879,25 @@ void SpectraCamera::configISP() {
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                m->device_iommu, m->cdm_iommu, ife_buf_depth);
   if (!is_raw) {
-    ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
+    assert(sensor->gamma_lut_rgb.size() == 64);
+    ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20,
                        CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                        m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
     for (int i = 0; i < 3; i++) {
       memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
     }
-    ife_linearization_lut.init(m, sensor->linearization_lut.size(), 0x20,
+    assert(sensor->linearization_lut.size() == 36);
+    ife_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20,
                                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                                m->device_iommu, m->cdm_iommu);
     memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size);
-    ife_vignetting_lut.init(m, sensor->vignetting_lut.size(), 0x20,
+    assert(sensor->vignetting_lut.size() == 221);
+    ife_vignetting_lut.init(m, sensor->vignetting_lut.size()*sizeof(uint32_t), 0x20,
                             CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
                             m->device_iommu, m->cdm_iommu, 2);
-    memcpy(ife_vignetting_lut.ptr, sensor->vignetting_lut.data(), ife_vignetting_lut.size*2);
+    for (int i = 0; i < 2; i++) {
+      memcpy(ife_vignetting_lut.ptr + ife_vignetting_lut.size*i, sensor->vignetting_lut.data(), ife_vignetting_lut.size);
+    }
   }
 
   config_ife(0, 1, true);
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 5234ebd418..48c7f9a082 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -151,13 +151,22 @@ AR0231::AR0231() {
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
   };
-  for (int i = 0; i < 252; i++) {
-    linearization_lut.push_back(0x0);
-  }
   linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  for (int i = 0; i < 884*2; i++) {
-    vignetting_lut.push_back(0xff);
-  }
+  vignetting_lut = {
+    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
+    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
+    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
+    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
+    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
+    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
+    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
+    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
+    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
+    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
+    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
+    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
+    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
+  };
 }
 
 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 5074b08f2c..b3a7e39bfb 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -86,13 +86,22 @@ OS04C10::OS04C10() {
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
   };
-  for (int i = 0; i < 252; i++) {
-    linearization_lut.push_back(0x0);
-  }
   linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  for (int i = 0; i < 884*2; i++) {
-    vignetting_lut.push_back(0xff);
-  }
+  vignetting_lut = {
+    0x01064832, 0x00da26d1, 0x00bb25d9, 0x00aac556, 0x00a06503, 0x009a64d3, 0x009744ba, 0x009744ba, 0x009a24d1, 0x00a00500, 0x00aa2551, 0x00ba45d2, 0x00d826c1, 0x01040820, 0x013729b9, 0x0171ab8d, 0x01b36d9b,
+    0x00eee777, 0x00c2c616, 0x00ae2571, 0x009fe4ff, 0x0096e4b7, 0x0090e487, 0x008d446a, 0x008d2469, 0x0090a485, 0x009684b4, 0x009f64fb, 0x00ad456a, 0x00c1a60d, 0x00eca765, 0x011fc8fe, 0x015a4ad2, 0x019c0ce0,
+    0x00dee6f7, 0x00b9c5ce, 0x00a5652b, 0x009964cb, 0x00904482, 0x00892449, 0x0085842c, 0x0085642b, 0x0088e447, 0x008fe47f, 0x0098e4c7, 0x00a4c526, 0x00b8a5c5, 0x00dc86e4, 0x010fc87e, 0x014a2a51, 0x018c0c60,
+    0x00d626b1, 0x00b4e5a7, 0x00a1e50f, 0x0095e4af, 0x008c2461, 0x00850428, 0x0081640b, 0x0081440a, 0x0084a425, 0x008ba45d, 0x009564ab, 0x00a1450a, 0x00b3c59e, 0x00d3e69f, 0x01070838, 0x01418a0c, 0x01834c1a,
+    0x00d4c6a6, 0x00b425a1, 0x00a1450a, 0x009544aa, 0x008b645b, 0x00844422, 0x0080a405, 0x0080a405, 0x00840420, 0x008b0458, 0x0094c4a6, 0x00a0a505, 0x00b30598, 0x00d26693, 0x0105a82d, 0x01402a01, 0x0181ec0f,
+    0x00daa6d5, 0x00b765bb, 0x00a3c51e, 0x0097a4bd, 0x008e4472, 0x00872439, 0x0083841c, 0x0083641b, 0x0086e437, 0x008de46f, 0x009724b9, 0x00a30518, 0x00b665b3, 0x00d866c3, 0x010b885c, 0x01460a30, 0x0187ec3f,
+    0x00e80740, 0x00bec5f6, 0x00aa6553, 0x009d24e9, 0x009404a0, 0x008d846c, 0x0089e44f, 0x0089e44f, 0x008d446a, 0x0093c49e, 0x009ca4e5, 0x00a9854c, 0x00bdc5ee, 0x00e5a72d, 0x0118c8c6, 0x01534a9a, 0x01952ca9,
+    0x00fca7e5, 0x00d06683, 0x00b5c5ae, 0x00a5852c, 0x009c84e4, 0x009664b3, 0x0093649b, 0x0093449a, 0x009624b1, 0x009c24e1, 0x00a50528, 0x00b4e5a7, 0x00ce8674, 0x00fa47d2, 0x012d696b, 0x0167eb3f, 0x01a9cd4e,
+    0x011888c4, 0x00ec6763, 0x00c7863c, 0x00b4e5a7, 0x00a8a545, 0x00a1c50e, 0x009ec4f6, 0x009ea4f5, 0x00a1a50d, 0x00a82541, 0x00b445a2, 0x00c5e62f, 0x00ea6753, 0x011648b2, 0x01496a4b, 0x0183ec1f, 0x01c5ae2d,
+    0x013bc9de, 0x010fa87d, 0x00eac756, 0x00cd466a, 0x00bc25e1, 0x00b405a0, 0x00afc57e, 0x00afa57d, 0x00b3a59d, 0x00bbc5de, 0x00cc0660, 0x00e92749, 0x010da86d, 0x013989cc, 0x016cab65, 0x01a72d39, 0x01e8ef47,
+    0x01666b33, 0x013a49d2, 0x011568ab, 0x00f7e7bf, 0x00e1c70e, 0x00d2e697, 0x00cb665b, 0x00cb2659, 0x00d26693, 0x00e0c706, 0x00f6a7b5, 0x0113c89e, 0x013849c2, 0x01642b21, 0x01974cba, 0x01d1ce8e, 0x0213909c,
+    0x01986cc3, 0x016c2b61, 0x01476a3b, 0x0129e94f, 0x0113a89d, 0x0104c826, 0x00fd47ea, 0x00fd27e9, 0x01044822, 0x0112c896, 0x0128a945, 0x0145ca2e, 0x016a4b52, 0x01960cb0, 0x01c92e49, 0x0203b01d, 0x0245922c,
+    0x01d1ae8d, 0x01a58d2c, 0x0180ac05, 0x01632b19, 0x014cea67, 0x013e29f1, 0x013689b4, 0x013669b3, 0x013d89ec, 0x014c0a60, 0x0161eb0f, 0x017f0bf8, 0x01a38d1c, 0x01cf4e7a, 0x02029014, 0x023d11e8, 0x027ed3f6,
+  };
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index d8cdc89648..6f7e658f48 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -88,13 +88,22 @@ OX03C10::OX03C10() {
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
     0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
   };
-  for (int i = 0; i < 252; i++) {
-    linearization_lut.push_back(0x0);
-  }
   linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
-  for (int i = 0; i < 884*2; i++) {
-    vignetting_lut.push_back(0xff);
-  }
+  vignetting_lut = {
+    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
+    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
+    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
+    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
+    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
+    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
+    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
+    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
+    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
+    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
+    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
+    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
+    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
+  };
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index c4a4b64a07..be2d70a5c1 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -79,9 +79,9 @@ public:
     }
     gamma_lut_rgb.pop_back();
   }
-  std::vector<uint32_t> linearization_lut;     // length 288
+  std::vector<uint32_t> linearization_lut;     // length 36
   std::vector<uint32_t> linearization_pts;     // length 4
-  std::vector<uint32_t> vignetting_lut;        // 2x length 884
+  std::vector<uint32_t> vignetting_lut;        // length 221
 };
 
 class AR0231 : public SensorInfo {

From 89204b546474eb4d9e6e3dd262c7d32d0f0f2282 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 7 Jan 2025 19:45:53 -0800
Subject: [PATCH 1207/1243] test_onroad: adjust rlog size (#34336)

s
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 25aaa95f0f..1279a505dd 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -103,7 +103,7 @@ TIMINGS = {
 
 LOGS_SIZE_RATE = {
   "qlog": 0.0083,
-  "rlog": 0.1528,
+  "rlog": 0.135,
   "qcamera.ts": 0.03828,
 }
 LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))

From 5dd1972f96b655bac16dbd58b5ea3c46debbdbca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 9 Jan 2025 01:20:59 +0000
Subject: [PATCH 1208/1243] logreader: support filesystem DATA_ENDPOINT
 (#34340)

* Check if DATA_ENDPOINT is a dir

* Change url resolution to support joining dirs
---
 tools/lib/filereader.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 8206ad2228..0bb4abd2fa 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,4 +1,5 @@
 import os
+import posixpath
 import socket
 from urllib.parse import urlparse
 
@@ -8,6 +9,9 @@ DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
 
 def internal_source_available(url=DATA_ENDPOINT):
+  if os.path.isdir(url):
+    return True
+
   try:
     hostname = urlparse(url).hostname
     port = urlparse(url).port or 80
@@ -22,7 +26,7 @@ def internal_source_available(url=DATA_ENDPOINT):
 
 def resolve_name(fn):
   if fn.startswith("cd:/"):
-    return fn.replace("cd:/", DATA_ENDPOINT)
+    return posixpath.join(DATA_ENDPOINT, fn[4:])
   return fn
 
 

From f761f53205aed644c6a183f1babf75a00f350b53 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 9 Jan 2025 20:00:45 +0000
Subject: [PATCH 1209/1243] deleter cleanups (#34345)

---
 system/loggerd/deleter.py | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 7d83b490b0..2a2bd5fe11 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -23,6 +23,7 @@ def has_preserve_xattr(d: str) -> bool:
 
 
 def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
+  # skip deleting most recent N preserved segments (and their prior segment)
   preserved = []
   for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))):
     if n == PRESERVE_COUNT:
@@ -44,15 +45,13 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
   return preserved
 
 
-def deleter_thread(exit_event):
+def deleter_thread(exit_event: threading.Event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
       dirs = listdir_by_creation(Paths.log_root())
-
-      # skip deleting most recent N preserved segments (and their prior segment)
       preserved_dirs = get_preserved_segments(dirs)
 
       # remove the earliest directory we can
@@ -64,10 +63,7 @@ def deleter_thread(exit_event):
 
         try:
           cloudlog.info(f"deleting {delete_path}")
-          if os.path.isfile(delete_path):
-            os.remove(delete_path)
-          else:
-            shutil.rmtree(delete_path)
+          shutil.rmtree(delete_path)
           break
         except OSError:
           cloudlog.exception(f"issue deleting {delete_path}")

From 08779941e533ce4cb36410c899b3dff3883d59fe Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 9 Jan 2025 22:12:10 +0000
Subject: [PATCH 1210/1243] loggerd: typing and remove unused default arg
 (#34349)

---
 system/loggerd/config.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index 5c2c89b73f..e1c47c768d 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -9,7 +9,7 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60
 
-def get_available_percent(default=None):
+def get_available_percent(default: float) -> float:
   try:
     statvfs = os.statvfs(Paths.log_root())
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
@@ -19,7 +19,7 @@ def get_available_percent(default=None):
   return available_percent
 
 
-def get_available_bytes(default=None):
+def get_available_bytes(default: int) -> int:
   try:
     statvfs = os.statvfs(Paths.log_root())
     available_bytes = statvfs.f_bavail * statvfs.f_frsize

From 55cdf5ad7c297ffe818ed045fa99b7a58cfb6eb7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 12 Jan 2025 08:58:53 -0800
Subject: [PATCH 1211/1243] release soon

---
 RELEASES.md | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index dbec5206cc..1ec9c9ffcd 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,16 +1,17 @@
-Version 0.9.8 (2024-XX-XX)
+Version 0.9.8 (2025-02-27)
 ========================
-* New driving model
-  * Trained in brand new ML simulator
-  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
   * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
   * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler 
+  * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
+* Coming soon
+  * Rivian support
+  * F-150 & Mach-E support
+  * Tesla Model 3 support
 
 Version 0.9.7 (2024-06-13)
 ========================

From 10687792945278ba391ead788efa04bc38e4cec0 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 13 Jan 2025 02:15:26 +0800
Subject: [PATCH 1212/1243] modeld: properly release OpenCL context in 
 `__dealloc__` method (#34353)

release OpenCL context in __dealloc__
---
 common/clutil.cc                            | 4 ++++
 common/clutil.h                             | 1 +
 selfdrive/modeld/models/commonmodel.pxd     | 1 +
 selfdrive/modeld/models/commonmodel_pyx.pyx | 6 +++++-
 4 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/common/clutil.cc b/common/clutil.cc
index 4f2a783d3e..ee43ef36d5 100644
--- a/common/clutil.cc
+++ b/common/clutil.cc
@@ -79,6 +79,10 @@ cl_context cl_create_context(cl_device_id device_id) {
   return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }
 
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
   return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
diff --git a/common/clutil.h b/common/clutil.h
index af986d6434..c8bd2cd38f 100644
--- a/common/clutil.h
+++ b/common/clutil.h
@@ -23,6 +23,7 @@
 
 cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index d2a8fb4dcd..b4f08b12aa 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -10,6 +10,7 @@ cdef extern from "common/clutil.h":
   cdef unsigned long CL_DEVICE_TYPE_DEFAULT
   cl_device_id cl_get_device_id(unsigned long)
   cl_context cl_create_context(cl_device_id)
+  void cl_release_context(cl_context)
 
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index b754086544..7b3a5bb342 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -8,7 +8,7 @@ from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
 from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
 
 
@@ -17,6 +17,10 @@ cdef class CLContext(BaseCLContext):
     self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
     self.context = cl_create_context(self.device_id)
 
+  def __dealloc__(self):
+    if self.context:
+      cl_release_context(self.context)
+
 cdef class CLMem:
   @staticmethod
   cdef create(void * cmem):

From 47b13f54f61600e6bc1322e3884d45dd1b7aa213 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 13 Jan 2025 03:38:20 +0800
Subject: [PATCH 1213/1243] encoderd: refactor VideoEncoder::publisher_publish
 to standardize member variable access (#34342)

remove redundant pointer parameter
---
 system/loggerd/encoder/encoder.cc        | 22 +++++++++++-----------
 system/loggerd/encoder/encoder.h         |  2 +-
 system/loggerd/encoder/ffmpeg_encoder.cc |  2 +-
 system/loggerd/encoder/v4l_encoder.cc    |  2 +-
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index 313a0f57a1..a936d32b6e 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -14,12 +14,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
   pm.reset(new PubMaster(pubs));
 }
 
-void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
+void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
                                      unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
   // broadcast packet
   MessageBuilder msg;
   auto event = msg.initEvent(true);
-  auto edat = (event.*(e->encoder_info.init_encode_data_func))();
+  auto edat = (event.*(encoder_info.init_encode_data_func))();
   auto edata = edat.initIdx();
   struct timespec ts;
   timespec_get(&ts, TIME_UTC);
@@ -27,8 +27,8 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   edata.setFrameId(extra.frame_id);
   edata.setTimestampSof(extra.timestamp_sof);
   edata.setTimestampEof(extra.timestamp_eof);
-  edata.setType(e->encoder_info.encode_type);
-  edata.setEncodeId(e->cnt++);
+  edata.setType(encoder_info.encode_type);
+  edata.setEncodeId(cnt++);
   edata.setSegmentNum(segment_num);
   edata.setSegmentId(idx);
   edata.setFlags(flags);
@@ -39,21 +39,21 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
 
   uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
-  if (e->msg_cache.size() < bytes_size) {
-    e->msg_cache.resize(bytes_size);
+  if (msg_cache.size() < bytes_size) {
+    msg_cache.resize(bytes_size);
   }
-  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
+  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(msg_cache.data(), bytes_size));
   capnp::writeMessage(output_stream, msg);
-  e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
+  pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size);
 
   // Publish keyframe thumbnail
-  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) {
+  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && encoder_info.thumbnail_name != NULL) {
     MessageBuilder tm;
     auto thumbnail = tm.initEvent().initThumbnail();
     thumbnail.setFrameId(extra.frame_id);
     thumbnail.setTimestampEof(extra.timestamp_eof);
     thumbnail.setThumbnail(dat);
     thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
-    pm->send(e->encoder_info.thumbnail_name, tm);
+    pm->send(encoder_info.thumbnail_name, tm);
   }
-}
\ No newline at end of file
+}
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 1296f78f61..3863f89744 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -27,7 +27,7 @@ public:
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
 
-  void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
+  void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
 protected:
   void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 9d992f088d..145be87912 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -138,7 +138,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
       printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id);
     }
 
-    publisher_publish(this, segment_num, counter, *extra,
+    publisher_publish(segment_num, counter, *extra,
       (pkt.flags & AV_PKT_FLAG_KEY) ? V4L2_BUF_FLAG_KEYFRAME : 0,
       kj::arrayPtr<capnp::byte>(pkt.data, (size_t)0), // TODO: get the header
       kj::arrayPtr<capnp::byte>(pkt.data, pkt.size));
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 853a17abbe..d0789cd5ae 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -133,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
         assert(extra.timestamp_eof/1000 == ts); // stay in sync
         frame_id = extra.frame_id;
         ++idx;
-        e->publisher_publish(e, e->segment_num, idx, extra, flags, header, kj::arrayPtr<capnp::byte>(buf, bytesused));
+        e->publisher_publish(e->segment_num, idx, extra, flags, header, kj::arrayPtr<capnp::byte>(buf, bytesused));
       }
 
       if (env_debug_encoder) {

From d35ef3b3d50c55983a09672b1bb2aae6e31c426c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 12 Jan 2025 11:57:26 -0800
Subject: [PATCH 1214/1243] swaglog: fix locale dependence (#34367)

---
 common/swaglog.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/common/swaglog.cc b/common/swaglog.cc
index 7864a6355a..62a405a2b6 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -26,6 +26,9 @@ public:
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
     zmq_connect(sock, Path::swaglog_ipc().c_str());
 
+    // workaround for https://github.com/dropbox/json11/issues/38
+    setlocale(LC_NUMERIC, "C");
+
     print_level = CLOUDLOG_WARNING;
     if (const char* print_lvl = getenv("LOGPRINT")) {
       if (strcmp(print_lvl, "debug") == 0) {

From 99bb7da850464b903e4cf53ce2092df3a479b8ea Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 12 Jan 2025 15:02:30 -0800
Subject: [PATCH 1215/1243] third_party: add raygui (#34369)

---
 third_party/raylib/include/raygui.h | 1833 +++++++++++++++++++++++++++
 third_party/raylib/setup.sh         |    4 +
 2 files changed, 1837 insertions(+)
 create mode 100644 third_party/raylib/include/raygui.h

diff --git a/third_party/raylib/include/raygui.h b/third_party/raylib/include/raygui.h
new file mode 100644
index 0000000000..15002b712c
--- /dev/null
+++ b/third_party/raylib/include/raygui.h
@@ -0,0 +1,1833 @@
+
+
+
+
+
+
+<!DOCTYPE html>
+<html
+  lang="en"
+  
+  data-color-mode="auto" data-light-theme="light" data-dark-theme="dark"
+  data-a11y-animated-images="system" data-a11y-link-underlines="true"
+  
+  >
+
+
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+    <meta charset="utf-8">
+  <link rel="dns-prefetch" href="https://github.githubassets.com">
+  <link rel="dns-prefetch" href="https://avatars.githubusercontent.com">
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+  <link rel="dns-prefetch" href="https://user-images.githubusercontent.com/">
+  <link rel="preconnect" href="https://github.githubassets.com" crossorigin>
+  <link rel="preconnect" href="https://avatars.githubusercontent.com">
+
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+
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+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description pb-lg-3" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;code_review&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;code_review_link_product_navbar&quot;}" href="https://github.com/features/code-review">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-code-review color-fg-subtle mr-3">
+    <path d="M10.3 6.74a.75.75 0 0 1-.04 1.06l-2.908 2.7 2.908 2.7a.75.75 0 1 1-1.02 1.1l-3.5-3.25a.75.75 0 0 1 0-1.1l3.5-3.25a.75.75 0 0 1 1.06.04Zm3.44 1.06a.75.75 0 1 1 1.02-1.1l3.5 3.25a.75.75 0 0 1 0 1.1l-3.5 3.25a.75.75 0 1 1-1.02-1.1l2.908-2.7-2.908-2.7Z"></path><path d="M1.5 4.25c0-.966.784-1.75 1.75-1.75h17.5c.966 0 1.75.784 1.75 1.75v12.5a1.75 1.75 0 0 1-1.75 1.75h-9.69l-3.573 3.573A1.458 1.458 0 0 1 5 21.043V18.5H3.25a1.75 1.75 0 0 1-1.75-1.75ZM3.25 4a.25.25 0 0 0-.25.25v12.5c0 .138.112.25.25.25h2.5a.75.75 0 0 1 .75.75v3.19l3.72-3.72a.749.749 0 0 1 .53-.22h10a.25.25 0 0 0 .25-.25V4.25a.25.25 0 0 0-.25-.25Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">Code Review</div>
+        Manage code changes
+      </div>
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description pb-lg-3" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;discussions&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;discussions_link_product_navbar&quot;}" href="https://github.com/features/discussions">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-comment-discussion color-fg-subtle mr-3">
+    <path d="M1.75 1h12.5c.966 0 1.75.784 1.75 1.75v9.5A1.75 1.75 0 0 1 14.25 14H8.061l-2.574 2.573A1.458 1.458 0 0 1 3 15.543V14H1.75A1.75 1.75 0 0 1 0 12.25v-9.5C0 1.784.784 1 1.75 1ZM1.5 2.75v9.5c0 .138.112.25.25.25h2a.75.75 0 0 1 .75.75v2.19l2.72-2.72a.749.749 0 0 1 .53-.22h6.5a.25.25 0 0 0 .25-.25v-9.5a.25.25 0 0 0-.25-.25H1.75a.25.25 0 0 0-.25.25Z"></path><path d="M22.5 8.75a.25.25 0 0 0-.25-.25h-3.5a.75.75 0 0 1 0-1.5h3.5c.966 0 1.75.784 1.75 1.75v9.5A1.75 1.75 0 0 1 22.25 20H21v1.543a1.457 1.457 0 0 1-2.487 1.03L15.939 20H10.75A1.75 1.75 0 0 1 9 18.25v-1.465a.75.75 0 0 1 1.5 0v1.465c0 .138.112.25.25.25h5.5a.75.75 0 0 1 .53.22l2.72 2.72v-2.19a.75.75 0 0 1 .75-.75h2a.25.25 0 0 0 .25-.25v-9.5Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">Discussions</div>
+        Collaborate outside of code
+      </div>
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;code_search&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;code_search_link_product_navbar&quot;}" href="https://github.com/features/code-search">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-code-square color-fg-subtle mr-3">
+    <path d="M10.3 8.24a.75.75 0 0 1-.04 1.06L7.352 12l2.908 2.7a.75.75 0 1 1-1.02 1.1l-3.5-3.25a.75.75 0 0 1 0-1.1l3.5-3.25a.75.75 0 0 1 1.06.04Zm3.44 1.06a.75.75 0 1 1 1.02-1.1l3.5 3.25a.75.75 0 0 1 0 1.1l-3.5 3.25a.75.75 0 1 1-1.02-1.1l2.908-2.7-2.908-2.7Z"></path><path d="M2 3.75C2 2.784 2.784 2 3.75 2h16.5c.966 0 1.75.784 1.75 1.75v16.5A1.75 1.75 0 0 1 20.25 22H3.75A1.75 1.75 0 0 1 2 20.25Zm1.75-.25a.25.25 0 0 0-.25.25v16.5c0 .138.112.25.25.25h16.5a.25.25 0 0 0 .25-.25V3.75a.25.25 0 0 0-.25-.25Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">Code Search</div>
+        Find more, search less
+      </div>
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+          <div class="HeaderMenu-column px-lg-4">
+              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0 border-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="product-explore-heading">Explore</span>
+                <ul class="list-style-none f5" aria-labelledby="product-explore-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;all_features&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;all_features_link_product_navbar&quot;}" href="https://github.com/features">
+      All features
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;documentation&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;documentation_link_product_navbar&quot;}" href="https://docs.github.com">
+      Documentation
+
+    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
+    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
+</svg>
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;github_skills&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;github_skills_link_product_navbar&quot;}" href="https://skills.github.com">
+      GitHub Skills
+
+    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
+    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
+</svg>
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;blog&quot;,&quot;context&quot;:&quot;product&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;blog_link_product_navbar&quot;}" href="https://github.blog">
+      Blog
+
+    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
+    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
+</svg>
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+      </div>
+</li>
+
+                  <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
+      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
+        Solutions
+        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
+    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
+</svg>
+      </button>
+      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 d-lg-flex flex-wrap dropdown-menu-wide">
+          <div class="HeaderMenu-column px-lg-4 border-lg-right mb-4 mb-lg-0 pr-lg-7">
+              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0 pb-lg-3 mb-3 mb-lg-0">
+                    <span class="d-block h4 color-fg-default my-1" id="solutions-by-company-size-heading">By company size</span>
+                <ul class="list-style-none f5" aria-labelledby="solutions-by-company-size-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;enterprises&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;enterprises_link_solutions_navbar&quot;}" href="https://github.com/enterprise">
+      Enterprises
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;small_and_medium_teams&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;small_and_medium_teams_link_solutions_navbar&quot;}" href="https://github.com/team">
+      Small and medium teams
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;startups&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;startups_link_solutions_navbar&quot;}" href="https://github.com/enterprise/startups">
+      Startups
+
+    
+</a></li>
+
+                </ul>
+              </div>
+              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="solutions-by-use-case-heading">By use case</span>
+                <ul class="list-style-none f5" aria-labelledby="solutions-by-use-case-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;devsecops&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;devsecops_link_solutions_navbar&quot;}" href="/solutions/use-case/devsecops">
+      DevSecOps
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;devops&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;devops_link_solutions_navbar&quot;}" href="/solutions/use-case/devops">
+      DevOps
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;ci_cd&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;ci_cd_link_solutions_navbar&quot;}" href="/solutions/use-case/ci-cd">
+      CI/CD
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;view_all_use_cases&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;view_all_use_cases_link_solutions_navbar&quot;}" href="/solutions/use-case">
+      View all use cases
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+          <div class="HeaderMenu-column px-lg-4">
+              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="solutions-by-industry-heading">By industry</span>
+                <ul class="list-style-none f5" aria-labelledby="solutions-by-industry-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;healthcare&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;healthcare_link_solutions_navbar&quot;}" href="/solutions/industry/healthcare">
+      Healthcare
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;financial_services&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;financial_services_link_solutions_navbar&quot;}" href="/solutions/industry/financial-services">
+      Financial services
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;manufacturing&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;manufacturing_link_solutions_navbar&quot;}" href="/solutions/industry/manufacturing">
+      Manufacturing
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;government&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;government_link_solutions_navbar&quot;}" href="/solutions/industry/government">
+      Government
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;view_all_industries&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;view_all_industries_link_solutions_navbar&quot;}" href="/solutions/industry">
+      View all industries
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+         <div class="HeaderMenu-trailing-link rounded-bottom-2 flex-shrink-0 mt-lg-4 px-lg-4 py-4 py-lg-3 f5 text-semibold">
+            <a href="/solutions">
+              View all solutions
+              <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-right HeaderMenu-trailing-link-icon">
+    <path d="M6.22 3.22a.75.75 0 0 1 1.06 0l4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L9.94 8 6.22 4.28a.75.75 0 0 1 0-1.06Z"></path>
+</svg>
+</a>         </div>
+      </div>
+</li>
+
+                    <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
+      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
+        Resources
+        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
+    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
+</svg>
+      </button>
+      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 d-lg-flex flex-wrap dropdown-menu-wide">
+          <div class="HeaderMenu-column px-lg-4 border-lg-right mb-4 mb-lg-0 pr-lg-7">
+              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="resources-topics-heading">Topics</span>
+                <ul class="list-style-none f5" aria-labelledby="resources-topics-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;ai&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;ai_link_resources_navbar&quot;}" href="/resources/articles/ai">
+      AI
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;devops&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;devops_link_resources_navbar&quot;}" href="/resources/articles/devops">
+      DevOps
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;security&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;security_link_resources_navbar&quot;}" href="/resources/articles/security">
+      Security
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;software_development&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;software_development_link_resources_navbar&quot;}" href="/resources/articles/software-development">
+      Software Development
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;view_all&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;view_all_link_resources_navbar&quot;}" href="/resources/articles">
+      View all
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+          <div class="HeaderMenu-column px-lg-4">
+              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0 border-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="resources-explore-heading">Explore</span>
+                <ul class="list-style-none f5" aria-labelledby="resources-explore-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;learning_pathways&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;learning_pathways_link_resources_navbar&quot;}" href="https://resources.github.com/learn/pathways">
+      Learning Pathways
+
+    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
+    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
+</svg>
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;white_papers_ebooks_webinars&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;white_papers_ebooks_webinars_link_resources_navbar&quot;}" href="https://resources.github.com">
+      White papers, Ebooks, Webinars
+
+    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
+    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
+</svg>
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;customer_stories&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;customer_stories_link_resources_navbar&quot;}" href="https://github.com/customer-stories">
+      Customer Stories
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;partners&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;partners_link_resources_navbar&quot;}" href="https://partner.github.com">
+      Partners
+
+    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
+    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
+</svg>
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;executive_insights&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;executive_insights_link_resources_navbar&quot;}" href="https://github.com/solutions/executive-insights">
+      Executive Insights
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+      </div>
+</li>
+
+
+                <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
+      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
+        Open Source
+        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
+    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
+</svg>
+      </button>
+      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 px-lg-4">
+          <div class="HeaderMenu-column">
+              <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3">
+                <ul class="list-style-none f5" >
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;github_sponsors&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;github_sponsors_link_open_source_navbar&quot;}" href="/sponsors">
+      
+      <div>
+        <div class="color-fg-default h4">GitHub Sponsors</div>
+        Fund open source developers
+      </div>
+
+    
+</a></li>
+
+                </ul>
+              </div>
+              <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3">
+                <ul class="list-style-none f5" >
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;the_readme_project&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;the_readme_project_link_open_source_navbar&quot;}" href="https://github.com/readme">
+      
+      <div>
+        <div class="color-fg-default h4">The ReadME Project</div>
+        GitHub community articles
+      </div>
+
+    
+</a></li>
+
+                </ul>
+              </div>
+              <div class="border-bottom pb-3 pb-lg-0 border-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="open-source-repositories-heading">Repositories</span>
+                <ul class="list-style-none f5" aria-labelledby="open-source-repositories-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;topics&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;topics_link_open_source_navbar&quot;}" href="https://github.com/topics">
+      Topics
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;trending&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;trending_link_open_source_navbar&quot;}" href="https://github.com/trending">
+      Trending
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;collections&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;collections_link_open_source_navbar&quot;}" href="https://github.com/collections">
+      Collections
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+      </div>
+</li>
+
+
+                <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
+      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
+        Enterprise
+        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
+    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
+</svg>
+      </button>
+      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 px-lg-4">
+          <div class="HeaderMenu-column">
+              <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3">
+                <ul class="list-style-none f5" >
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;enterprise_platform&quot;,&quot;context&quot;:&quot;enterprise&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;enterprise_platform_link_enterprise_navbar&quot;}" href="/enterprise">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-stack color-fg-subtle mr-3">
+    <path d="M11.063 1.456a1.749 1.749 0 0 1 1.874 0l8.383 5.316a1.751 1.751 0 0 1 0 2.956l-8.383 5.316a1.749 1.749 0 0 1-1.874 0L2.68 9.728a1.751 1.751 0 0 1 0-2.956Zm1.071 1.267a.25.25 0 0 0-.268 0L3.483 8.039a.25.25 0 0 0 0 .422l8.383 5.316a.25.25 0 0 0 .268 0l8.383-5.316a.25.25 0 0 0 0-.422Z"></path><path d="M1.867 12.324a.75.75 0 0 1 1.035-.232l8.964 5.685a.25.25 0 0 0 .268 0l8.964-5.685a.75.75 0 0 1 .804 1.267l-8.965 5.685a1.749 1.749 0 0 1-1.874 0l-8.965-5.685a.75.75 0 0 1-.231-1.035Z"></path><path d="M1.867 16.324a.75.75 0 0 1 1.035-.232l8.964 5.685a.25.25 0 0 0 .268 0l8.964-5.685a.75.75 0 0 1 .804 1.267l-8.965 5.685a1.749 1.749 0 0 1-1.874 0l-8.965-5.685a.75.75 0 0 1-.231-1.035Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">Enterprise platform</div>
+        AI-powered developer platform
+      </div>
+
+    
+</a></li>
+
+                </ul>
+              </div>
+              <div class="border-bottom pb-3 pb-lg-0 border-bottom-0">
+                    <span class="d-block h4 color-fg-default my-1" id="enterprise-available-add-ons-heading">Available add-ons</span>
+                <ul class="list-style-none f5" aria-labelledby="enterprise-available-add-ons-heading">
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description pb-lg-3" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;advanced_security&quot;,&quot;context&quot;:&quot;enterprise&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;advanced_security_link_enterprise_navbar&quot;}" href="https://github.com/enterprise/advanced-security">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-shield-check color-fg-subtle mr-3">
+    <path d="M16.53 9.78a.75.75 0 0 0-1.06-1.06L11 13.19l-1.97-1.97a.75.75 0 0 0-1.06 1.06l2.5 2.5a.75.75 0 0 0 1.06 0l5-5Z"></path><path d="m12.54.637 8.25 2.675A1.75 1.75 0 0 1 22 4.976V10c0 6.19-3.771 10.704-9.401 12.83a1.704 1.704 0 0 1-1.198 0C5.77 20.705 2 16.19 2 10V4.976c0-.758.489-1.43 1.21-1.664L11.46.637a1.748 1.748 0 0 1 1.08 0Zm-.617 1.426-8.25 2.676a.249.249 0 0 0-.173.237V10c0 5.46 3.28 9.483 8.43 11.426a.199.199 0 0 0 .14 0C17.22 19.483 20.5 15.461 20.5 10V4.976a.25.25 0 0 0-.173-.237l-8.25-2.676a.253.253 0 0 0-.154 0Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">Advanced Security</div>
+        Enterprise-grade security features
+      </div>
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description pb-lg-3" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;github_copilot&quot;,&quot;context&quot;:&quot;enterprise&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;github_copilot_link_enterprise_navbar&quot;}" href="/features/copilot#enterprise">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-copilot color-fg-subtle mr-3">
+    <path d="M23.922 16.992c-.861 1.495-5.859 5.023-11.922 5.023-6.063 0-11.061-3.528-11.922-5.023A.641.641 0 0 1 0 16.736v-2.869a.841.841 0 0 1 .053-.22c.372-.935 1.347-2.292 2.605-2.656.167-.429.414-1.055.644-1.517a10.195 10.195 0 0 1-.052-1.086c0-1.331.282-2.499 1.132-3.368.397-.406.89-.717 1.474-.952 1.399-1.136 3.392-2.093 6.122-2.093 2.731 0 4.767.957 6.166 2.093.584.235 1.077.546 1.474.952.85.869 1.132 2.037 1.132 3.368 0 .368-.014.733-.052 1.086.23.462.477 1.088.644 1.517 1.258.364 2.233 1.721 2.605 2.656a.832.832 0 0 1 .053.22v2.869a.641.641 0 0 1-.078.256ZM12.172 11h-.344a4.323 4.323 0 0 1-.355.508C10.703 12.455 9.555 13 7.965 13c-1.725 0-2.989-.359-3.782-1.259a2.005 2.005 0 0 1-.085-.104L4 11.741v6.585c1.435.779 4.514 2.179 8 2.179 3.486 0 6.565-1.4 8-2.179v-6.585l-.098-.104s-.033.045-.085.104c-.793.9-2.057 1.259-3.782 1.259-1.59 0-2.738-.545-3.508-1.492a4.323 4.323 0 0 1-.355-.508h-.016.016Zm.641-2.935c.136 1.057.403 1.913.878 2.497.442.544 1.134.938 2.344.938 1.573 0 2.292-.337 2.657-.751.384-.435.558-1.15.558-2.361 0-1.14-.243-1.847-.705-2.319-.477-.488-1.319-.862-2.824-1.025-1.487-.161-2.192.138-2.533.529-.269.307-.437.808-.438 1.578v.021c0 .265.021.562.063.893Zm-1.626 0c.042-.331.063-.628.063-.894v-.02c-.001-.77-.169-1.271-.438-1.578-.341-.391-1.046-.69-2.533-.529-1.505.163-2.347.537-2.824 1.025-.462.472-.705 1.179-.705 2.319 0 1.211.175 1.926.558 2.361.365.414 1.084.751 2.657.751 1.21 0 1.902-.394 2.344-.938.475-.584.742-1.44.878-2.497Z"></path><path d="M14.5 14.25a1 1 0 0 1 1 1v2a1 1 0 0 1-2 0v-2a1 1 0 0 1 1-1Zm-5 0a1 1 0 0 1 1 1v2a1 1 0 0 1-2 0v-2a1 1 0 0 1 1-1Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">GitHub Copilot</div>
+        Enterprise-grade AI features
+      </div>
+
+    
+</a></li>
+
+                    <li>
+  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;premium_support&quot;,&quot;context&quot;:&quot;enterprise&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;premium_support_link_enterprise_navbar&quot;}" href="/premium-support">
+      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-comment-discussion color-fg-subtle mr-3">
+    <path d="M1.75 1h12.5c.966 0 1.75.784 1.75 1.75v9.5A1.75 1.75 0 0 1 14.25 14H8.061l-2.574 2.573A1.458 1.458 0 0 1 3 15.543V14H1.75A1.75 1.75 0 0 1 0 12.25v-9.5C0 1.784.784 1 1.75 1ZM1.5 2.75v9.5c0 .138.112.25.25.25h2a.75.75 0 0 1 .75.75v2.19l2.72-2.72a.749.749 0 0 1 .53-.22h6.5a.25.25 0 0 0 .25-.25v-9.5a.25.25 0 0 0-.25-.25H1.75a.25.25 0 0 0-.25.25Z"></path><path d="M22.5 8.75a.25.25 0 0 0-.25-.25h-3.5a.75.75 0 0 1 0-1.5h3.5c.966 0 1.75.784 1.75 1.75v9.5A1.75 1.75 0 0 1 22.25 20H21v1.543a1.457 1.457 0 0 1-2.487 1.03L15.939 20H10.75A1.75 1.75 0 0 1 9 18.25v-1.465a.75.75 0 0 1 1.5 0v1.465c0 .138.112.25.25.25h5.5a.75.75 0 0 1 .53.22l2.72 2.72v-2.19a.75.75 0 0 1 .75-.75h2a.25.25 0 0 0 .25-.25v-9.5Z"></path>
+</svg>
+      <div>
+        <div class="color-fg-default h4">Premium Support</div>
+        Enterprise-grade 24/7 support
+      </div>
+
+    
+</a></li>
+
+                </ul>
+              </div>
+          </div>
+      </div>
+</li>
+
+
+                <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
+    <a class="HeaderMenu-link no-underline px-0 px-lg-2 py-3 py-lg-2 d-block d-lg-inline-block" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;pricing&quot;,&quot;context&quot;:&quot;global&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;pricing_link_global_navbar&quot;}" href="https://github.com/pricing">Pricing</a>
+</li>
+
+            </ul>
+          </nav>
+
+        <div class="d-flex flex-column flex-lg-row width-full flex-justify-end flex-lg-items-center text-center mt-3 mt-lg-0 text-lg-left ml-lg-3">
+                
+
+
+<qbsearch-input class="search-input" data-scope="repo:raysan5/raygui" data-custom-scopes-path="/search/custom_scopes" data-delete-custom-scopes-csrf="ahyrd-0Fbzpk70wfKZVq03W12CkbIg4c4cghCvoceU-OBfKitCmCKBT6PQWJJ6RT7sd6xZDVO0H5F5lgUNFMjA" data-max-custom-scopes="10" data-header-redesign-enabled="false" data-initial-value="" data-blackbird-suggestions-path="/search/suggestions" data-jump-to-suggestions-path="/_graphql/GetSuggestedNavigationDestinations" data-current-repository="raysan5/raygui" data-current-org="" data-current-owner="raysan5" data-logged-in="false" data-copilot-chat-enabled="false" data-nl-search-enabled="false" data-retain-scroll-position="true">
+  <div
+    class="search-input-container search-with-dialog position-relative d-flex flex-row flex-items-center mr-4 rounded"
+    data-action="click:qbsearch-input#searchInputContainerClicked"
+  >
+      <button
+        type="button"
+        class="header-search-button placeholder  input-button form-control d-flex flex-1 flex-self-stretch flex-items-center no-wrap width-full py-0 pl-2 pr-0 text-left border-0 box-shadow-none"
+        data-target="qbsearch-input.inputButton"
+        aria-label="Search or jump to…"
+        aria-haspopup="dialog"
+        placeholder="Search or jump to..."
+        data-hotkey=s,/
+        autocapitalize="off"
+        data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;searchbar&quot;,&quot;context&quot;:&quot;global&quot;,&quot;tag&quot;:&quot;input&quot;,&quot;label&quot;:&quot;searchbar_input_global_navbar&quot;}"
+        data-action="click:qbsearch-input#handleExpand"
+      >
+        <div class="mr-2 color-fg-muted">
+          <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-search">
+    <path d="M10.68 11.74a6 6 0 0 1-7.922-8.982 6 6 0 0 1 8.982 7.922l3.04 3.04a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215ZM11.5 7a4.499 4.499 0 1 0-8.997 0A4.499 4.499 0 0 0 11.5 7Z"></path>
+</svg>
+        </div>
+        <span class="flex-1" data-target="qbsearch-input.inputButtonText">Search or jump to...</span>
+          <div class="d-flex" data-target="qbsearch-input.hotkeyIndicator">
+            <svg xmlns="http://www.w3.org/2000/svg" width="22" height="20" aria-hidden="true" class="mr-1"><path fill="none" stroke="#979A9C" opacity=".4" d="M3.5.5h12c1.7 0 3 1.3 3 3v13c0 1.7-1.3 3-3 3h-12c-1.7 0-3-1.3-3-3v-13c0-1.7 1.3-3 3-3z"></path><path fill="#979A9C" d="M11.8 6L8 15.1h-.9L10.8 6h1z"></path></svg>
+
+          </div>
+      </button>
+
+    <input type="hidden" name="type" class="js-site-search-type-field">
+
+    
+<div class="Overlay--hidden " data-modal-dialog-overlay>
+  <modal-dialog data-action="close:qbsearch-input#handleClose cancel:qbsearch-input#handleClose" data-target="qbsearch-input.searchSuggestionsDialog" role="dialog" id="search-suggestions-dialog" aria-modal="true" aria-labelledby="search-suggestions-dialog-header" data-view-component="true" class="Overlay Overlay--width-large Overlay--height-auto">
+      <h1 id="search-suggestions-dialog-header" class="sr-only">Search code, repositories, users, issues, pull requests...</h1>
+    <div class="Overlay-body Overlay-body--paddingNone">
+      
+          <div data-view-component="true">        <div class="search-suggestions position-fixed width-full color-shadow-large border color-fg-default color-bg-default overflow-hidden d-flex flex-column query-builder-container"
+          style="border-radius: 12px;"
+          data-target="qbsearch-input.queryBuilderContainer"
+          hidden
+        >
+          <!-- '"` --><!-- </textarea></xmp> --></option></form><form id="query-builder-test-form" action="" accept-charset="UTF-8" method="get">
+  <query-builder data-target="qbsearch-input.queryBuilder" id="query-builder-query-builder-test" data-filter-key=":" data-view-component="true" class="QueryBuilder search-query-builder">
+    <div class="FormControl FormControl--fullWidth">
+      <label id="query-builder-test-label" for="query-builder-test" class="FormControl-label sr-only">
+        Search
+      </label>
+      <div
+        class="QueryBuilder-StyledInput width-fit "
+        data-target="query-builder.styledInput"
+      >
+          <span id="query-builder-test-leadingvisual-wrap" class="FormControl-input-leadingVisualWrap QueryBuilder-leadingVisualWrap">
+            <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-search FormControl-input-leadingVisual">
+    <path d="M10.68 11.74a6 6 0 0 1-7.922-8.982 6 6 0 0 1 8.982 7.922l3.04 3.04a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215ZM11.5 7a4.499 4.499 0 1 0-8.997 0A4.499 4.499 0 0 0 11.5 7Z"></path>
+</svg>
+          </span>
+        <div data-target="query-builder.styledInputContainer" class="QueryBuilder-StyledInputContainer">
+          <div
+            aria-hidden="true"
+            class="QueryBuilder-StyledInputContent"
+            data-target="query-builder.styledInputContent"
+          ></div>
+          <div class="QueryBuilder-InputWrapper">
+            <div aria-hidden="true" class="QueryBuilder-Sizer" data-target="query-builder.sizer"></div>
+            <input id="query-builder-test" name="query-builder-test" value="" autocomplete="off" type="text" role="combobox" spellcheck="false" aria-expanded="false" aria-describedby="validation-25937086-671f-472f-9e09-0e5ed797cb98" data-target="query-builder.input" data-action="
+          input:query-builder#inputChange
+          blur:query-builder#inputBlur
+          keydown:query-builder#inputKeydown
+          focus:query-builder#inputFocus
+        " data-view-component="true" class="FormControl-input QueryBuilder-Input FormControl-medium" />
+          </div>
+        </div>
+          <span class="sr-only" id="query-builder-test-clear">Clear</span>
+          <button role="button" id="query-builder-test-clear-button" aria-labelledby="query-builder-test-clear query-builder-test-label" data-target="query-builder.clearButton" data-action="
+                click:query-builder#clear
+                focus:query-builder#clearButtonFocus
+                blur:query-builder#clearButtonBlur
+              " variant="small" hidden="hidden" type="button" data-view-component="true" class="Button Button--iconOnly Button--invisible Button--medium mr-1 px-2 py-0 d-flex flex-items-center rounded-1 color-fg-muted">  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x-circle-fill Button-visual">
+    <path d="M2.343 13.657A8 8 0 1 1 13.658 2.343 8 8 0 0 1 2.343 13.657ZM6.03 4.97a.751.751 0 0 0-1.042.018.751.751 0 0 0-.018 1.042L6.94 8 4.97 9.97a.749.749 0 0 0 .326 1.275.749.749 0 0 0 .734-.215L8 9.06l1.97 1.97a.749.749 0 0 0 1.275-.326.749.749 0 0 0-.215-.734L9.06 8l1.97-1.97a.749.749 0 0 0-.326-1.275.749.749 0 0 0-.734.215L8 6.94Z"></path>
+</svg>
+</button>
+
+      </div>
+      <template id="search-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-search">
+    <path d="M10.68 11.74a6 6 0 0 1-7.922-8.982 6 6 0 0 1 8.982 7.922l3.04 3.04a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215ZM11.5 7a4.499 4.499 0 1 0-8.997 0A4.499 4.499 0 0 0 11.5 7Z"></path>
+</svg>
+</template>
+
+<template id="code-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-code">
+    <path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path>
+</svg>
+</template>
+
+<template id="file-code-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-file-code">
+    <path d="M4 1.75C4 .784 4.784 0 5.75 0h5.586c.464 0 .909.184 1.237.513l2.914 2.914c.329.328.513.773.513 1.237v8.586A1.75 1.75 0 0 1 14.25 15h-9a.75.75 0 0 1 0-1.5h9a.25.25 0 0 0 .25-.25V6h-2.75A1.75 1.75 0 0 1 10 4.25V1.5H5.75a.25.25 0 0 0-.25.25v2.5a.75.75 0 0 1-1.5 0Zm1.72 4.97a.75.75 0 0 1 1.06 0l2 2a.75.75 0 0 1 0 1.06l-2 2a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734l1.47-1.47-1.47-1.47a.75.75 0 0 1 0-1.06ZM3.28 7.78 1.81 9.25l1.47 1.47a.751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018l-2-2a.75.75 0 0 1 0-1.06l2-2a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042Zm8.22-6.218V4.25c0 .138.112.25.25.25h2.688l-.011-.013-2.914-2.914-.013-.011Z"></path>
+</svg>
+</template>
+
+<template id="history-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-history">
+    <path d="m.427 1.927 1.215 1.215a8.002 8.002 0 1 1-1.6 5.685.75.75 0 1 1 1.493-.154 6.5 6.5 0 1 0 1.18-4.458l1.358 1.358A.25.25 0 0 1 3.896 6H.25A.25.25 0 0 1 0 5.75V2.104a.25.25 0 0 1 .427-.177ZM7.75 4a.75.75 0 0 1 .75.75v2.992l2.028.812a.75.75 0 0 1-.557 1.392l-2.5-1A.751.751 0 0 1 7 8.25v-3.5A.75.75 0 0 1 7.75 4Z"></path>
+</svg>
+</template>
+
+<template id="repo-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-repo">
+    <path d="M2 2.5A2.5 2.5 0 0 1 4.5 0h8.75a.75.75 0 0 1 .75.75v12.5a.75.75 0 0 1-.75.75h-2.5a.75.75 0 0 1 0-1.5h1.75v-2h-8a1 1 0 0 0-.714 1.7.75.75 0 1 1-1.072 1.05A2.495 2.495 0 0 1 2 11.5Zm10.5-1h-8a1 1 0 0 0-1 1v6.708A2.486 2.486 0 0 1 4.5 9h8ZM5 12.25a.25.25 0 0 1 .25-.25h3.5a.25.25 0 0 1 .25.25v3.25a.25.25 0 0 1-.4.2l-1.45-1.087a.249.249 0 0 0-.3 0L5.4 15.7a.25.25 0 0 1-.4-.2Z"></path>
+</svg>
+</template>
+
+<template id="bookmark-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-bookmark">
+    <path d="M3 2.75C3 1.784 3.784 1 4.75 1h6.5c.966 0 1.75.784 1.75 1.75v11.5a.75.75 0 0 1-1.227.579L8 11.722l-3.773 3.107A.751.751 0 0 1 3 14.25Zm1.75-.25a.25.25 0 0 0-.25.25v9.91l3.023-2.489a.75.75 0 0 1 .954 0l3.023 2.49V2.75a.25.25 0 0 0-.25-.25Z"></path>
+</svg>
+</template>
+
+<template id="plus-circle-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-plus-circle">
+    <path d="M8 0a8 8 0 1 1 0 16A8 8 0 0 1 8 0ZM1.5 8a6.5 6.5 0 1 0 13 0 6.5 6.5 0 0 0-13 0Zm7.25-3.25v2.5h2.5a.75.75 0 0 1 0 1.5h-2.5v2.5a.75.75 0 0 1-1.5 0v-2.5h-2.5a.75.75 0 0 1 0-1.5h2.5v-2.5a.75.75 0 0 1 1.5 0Z"></path>
+</svg>
+</template>
+
+<template id="circle-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-dot-fill">
+    <path d="M8 4a4 4 0 1 1 0 8 4 4 0 0 1 0-8Z"></path>
+</svg>
+</template>
+
+<template id="trash-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-trash">
+    <path d="M11 1.75V3h2.25a.75.75 0 0 1 0 1.5H2.75a.75.75 0 0 1 0-1.5H5V1.75C5 .784 5.784 0 6.75 0h2.5C10.216 0 11 .784 11 1.75ZM4.496 6.675l.66 6.6a.25.25 0 0 0 .249.225h5.19a.25.25 0 0 0 .249-.225l.66-6.6a.75.75 0 0 1 1.492.149l-.66 6.6A1.748 1.748 0 0 1 10.595 15h-5.19a1.75 1.75 0 0 1-1.741-1.575l-.66-6.6a.75.75 0 1 1 1.492-.15ZM6.5 1.75V3h3V1.75a.25.25 0 0 0-.25-.25h-2.5a.25.25 0 0 0-.25.25Z"></path>
+</svg>
+</template>
+
+<template id="team-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-people">
+    <path d="M2 5.5a3.5 3.5 0 1 1 5.898 2.549 5.508 5.508 0 0 1 3.034 4.084.75.75 0 1 1-1.482.235 4 4 0 0 0-7.9 0 .75.75 0 0 1-1.482-.236A5.507 5.507 0 0 1 3.102 8.05 3.493 3.493 0 0 1 2 5.5ZM11 4a3.001 3.001 0 0 1 2.22 5.018 5.01 5.01 0 0 1 2.56 3.012.749.749 0 0 1-.885.954.752.752 0 0 1-.549-.514 3.507 3.507 0 0 0-2.522-2.372.75.75 0 0 1-.574-.73v-.352a.75.75 0 0 1 .416-.672A1.5 1.5 0 0 0 11 5.5.75.75 0 0 1 11 4Zm-5.5-.5a2 2 0 1 0-.001 3.999A2 2 0 0 0 5.5 3.5Z"></path>
+</svg>
+</template>
+
+<template id="project-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-project">
+    <path d="M1.75 0h12.5C15.216 0 16 .784 16 1.75v12.5A1.75 1.75 0 0 1 14.25 16H1.75A1.75 1.75 0 0 1 0 14.25V1.75C0 .784.784 0 1.75 0ZM1.5 1.75v12.5c0 .138.112.25.25.25h12.5a.25.25 0 0 0 .25-.25V1.75a.25.25 0 0 0-.25-.25H1.75a.25.25 0 0 0-.25.25ZM11.75 3a.75.75 0 0 1 .75.75v7.5a.75.75 0 0 1-1.5 0v-7.5a.75.75 0 0 1 .75-.75Zm-8.25.75a.75.75 0 0 1 1.5 0v5.5a.75.75 0 0 1-1.5 0ZM8 3a.75.75 0 0 1 .75.75v3.5a.75.75 0 0 1-1.5 0v-3.5A.75.75 0 0 1 8 3Z"></path>
+</svg>
+</template>
+
+<template id="pencil-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-pencil">
+    <path d="M11.013 1.427a1.75 1.75 0 0 1 2.474 0l1.086 1.086a1.75 1.75 0 0 1 0 2.474l-8.61 8.61c-.21.21-.47.364-.756.445l-3.251.93a.75.75 0 0 1-.927-.928l.929-3.25c.081-.286.235-.547.445-.758l8.61-8.61Zm.176 4.823L9.75 4.81l-6.286 6.287a.253.253 0 0 0-.064.108l-.558 1.953 1.953-.558a.253.253 0 0 0 .108-.064Zm1.238-3.763a.25.25 0 0 0-.354 0L10.811 3.75l1.439 1.44 1.263-1.263a.25.25 0 0 0 0-.354Z"></path>
+</svg>
+</template>
+
+<template id="copilot-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-copilot">
+    <path d="M7.998 15.035c-4.562 0-7.873-2.914-7.998-3.749V9.338c.085-.628.677-1.686 1.588-2.065.013-.07.024-.143.036-.218.029-.183.06-.384.126-.612-.201-.508-.254-1.084-.254-1.656 0-.87.128-1.769.693-2.484.579-.733 1.494-1.124 2.724-1.261 1.206-.134 2.262.034 2.944.765.05.053.096.108.139.165.044-.057.094-.112.143-.165.682-.731 1.738-.899 2.944-.765 1.23.137 2.145.528 2.724 1.261.566.715.693 1.614.693 2.484 0 .572-.053 1.148-.254 1.656.066.228.098.429.126.612.012.076.024.148.037.218.924.385 1.522 1.471 1.591 2.095v1.872c0 .766-3.351 3.795-8.002 3.795Zm0-1.485c2.28 0 4.584-1.11 5.002-1.433V7.862l-.023-.116c-.49.21-1.075.291-1.727.291-1.146 0-2.059-.327-2.71-.991A3.222 3.222 0 0 1 8 6.303a3.24 3.24 0 0 1-.544.743c-.65.664-1.563.991-2.71.991-.652 0-1.236-.081-1.727-.291l-.023.116v4.255c.419.323 2.722 1.433 5.002 1.433ZM6.762 2.83c-.193-.206-.637-.413-1.682-.297-1.019.113-1.479.404-1.713.7-.247.312-.369.789-.369 1.554 0 .793.129 1.171.308 1.371.162.181.519.379 1.442.379.853 0 1.339-.235 1.638-.54.315-.322.527-.827.617-1.553.117-.935-.037-1.395-.241-1.614Zm4.155-.297c-1.044-.116-1.488.091-1.681.297-.204.219-.359.679-.242 1.614.091.726.303 1.231.618 1.553.299.305.784.54 1.638.54.922 0 1.28-.198 1.442-.379.179-.2.308-.578.308-1.371 0-.765-.123-1.242-.37-1.554-.233-.296-.693-.587-1.713-.7Z"></path><path d="M6.25 9.037a.75.75 0 0 1 .75.75v1.501a.75.75 0 0 1-1.5 0V9.787a.75.75 0 0 1 .75-.75Zm4.25.75v1.501a.75.75 0 0 1-1.5 0V9.787a.75.75 0 0 1 1.5 0Z"></path>
+</svg>
+</template>
+
+<template id="copilot-error-icon">
+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-copilot-error">
+    <path d="M16 11.24c0 .112-.072.274-.21.467L13 9.688V7.862l-.023-.116c-.49.21-1.075.291-1.727.291-.198 0-.388-.009-.571-.029L6.833 5.226a4.01 4.01 0 0 0 .17-.782c.117-.935-.037-1.395-.241-1.614-.193-.206-.637-.413-1.682-.297-.683.076-1.115.231-1.395.415l-1.257-.91c.579-.564 1.413-.877 2.485-.996 1.206-.134 2.262.034 2.944.765.05.053.096.108.139.165.044-.057.094-.112.143-.165.682-.731 1.738-.899 2.944-.765 1.23.137 2.145.528 2.724 1.261.566.715.693 1.614.693 2.484 0 .572-.053 1.148-.254 1.656.066.228.098.429.126.612.012.076.024.148.037.218.924.385 1.522 1.471 1.591 2.095Zm-5.083-8.707c-1.044-.116-1.488.091-1.681.297-.204.219-.359.679-.242 1.614.091.726.303 1.231.618 1.553.299.305.784.54 1.638.54.922 0 1.28-.198 1.442-.379.179-.2.308-.578.308-1.371 0-.765-.123-1.242-.37-1.554-.233-.296-.693-.587-1.713-.7Zm2.511 11.074c-1.393.776-3.272 1.428-5.43 1.428-4.562 0-7.873-2.914-7.998-3.749V9.338c.085-.628.677-1.686 1.588-2.065.013-.07.024-.143.036-.218.029-.183.06-.384.126-.612-.18-.455-.241-.963-.252-1.475L.31 4.107A.747.747 0 0 1 0 3.509V3.49a.748.748 0 0 1 .625-.73c.156-.026.306.047.435.139l14.667 10.578a.592.592 0 0 1 .227.264.752.752 0 0 1 .046.249v.022a.75.75 0 0 1-1.19.596Zm-1.367-.991L5.635 7.964a5.128 5.128 0 0 1-.889.073c-.652 0-1.236-.081-1.727-.291l-.023.116v4.255c.419.323 2.722 1.433 5.002 1.433 1.539 0 3.089-.505 4.063-.934Z"></path>
+</svg>
+</template>
+
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+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-workflow">
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+  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-device-desktop">
+    <path d="M14.25 1c.966 0 1.75.784 1.75 1.75v7.5A1.75 1.75 0 0 1 14.25 12h-3.727c.099 1.041.52 1.872 1.292 2.757A.752.752 0 0 1 11.25 16h-6.5a.75.75 0 0 1-.565-1.243c.772-.885 1.192-1.716 1.292-2.757H1.75A1.75 1.75 0 0 1 0 10.25v-7.5C0 1.784.784 1 1.75 1ZM1.75 2.5a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h12.5a.25.25 0 0 0 .25-.25v-7.5a.25.25 0 0 0-.25-.25ZM9.018 12H6.982a5.72 5.72 0 0 1-.765 2.5h3.566a5.72 5.72 0 0 1-.765-2.5Z"></path>
+</svg>
+</template>
+
+        <div class="position-relative">
+                <ul
+                  role="listbox"
+                  class="ActionListWrap QueryBuilder-ListWrap"
+                  aria-label="Suggestions"
+                  data-action="
+                    combobox-commit:query-builder#comboboxCommit
+                    mousedown:query-builder#resultsMousedown
+                  "
+                  data-target="query-builder.resultsList"
+                  data-persist-list=false
+                  id="query-builder-test-results"
+                ></ul>
+        </div>
+      <div class="FormControl-inlineValidation" id="validation-25937086-671f-472f-9e09-0e5ed797cb98" hidden="hidden">
+        <span class="FormControl-inlineValidation--visual">
+          <svg aria-hidden="true" height="12" viewBox="0 0 12 12" version="1.1" width="12" data-view-component="true" class="octicon octicon-alert-fill">
+    <path d="M4.855.708c.5-.896 1.79-.896 2.29 0l4.675 8.351a1.312 1.312 0 0 1-1.146 1.954H1.33A1.313 1.313 0 0 1 .183 9.058ZM7 7V3H5v4Zm-1 3a1 1 0 1 0 0-2 1 1 0 0 0 0 2Z"></path>
+</svg>
+        </span>
+        <span></span>
+</div>    </div>
+    <div data-target="query-builder.screenReaderFeedback" aria-live="polite" aria-atomic="true" class="sr-only"></div>
+</query-builder></form>
+          <div class="d-flex flex-row color-fg-muted px-3 text-small color-bg-default search-feedback-prompt">
+            <a target="_blank" href="https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax" data-view-component="true" class="Link color-fg-accent text-normal ml-2">Search syntax tips</a>            <div class="d-flex flex-1"></div>
+          </div>
+        </div>
+</div>
+
+    </div>
+</modal-dialog></div>
+  </div>
+  <div data-action="click:qbsearch-input#retract" class="dark-backdrop position-fixed" hidden data-target="qbsearch-input.darkBackdrop"></div>
+  <div class="color-fg-default">
+    
+<dialog-helper>
+  <dialog data-target="qbsearch-input.feedbackDialog" data-action="close:qbsearch-input#handleDialogClose cancel:qbsearch-input#handleDialogClose" id="feedback-dialog" aria-modal="true" aria-labelledby="feedback-dialog-title" aria-describedby="feedback-dialog-description" data-view-component="true" class="Overlay Overlay-whenNarrow Overlay--size-medium Overlay--motion-scaleFade Overlay--disableScroll">
+    <div data-view-component="true" class="Overlay-header">
+  <div class="Overlay-headerContentWrap">
+    <div class="Overlay-titleWrap">
+      <h1 class="Overlay-title " id="feedback-dialog-title">
+        Provide feedback
+      </h1>
+        
+    </div>
+    <div class="Overlay-actionWrap">
+      <button data-close-dialog-id="feedback-dialog" aria-label="Close" type="button" data-view-component="true" class="close-button Overlay-closeButton"><svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x">
+    <path d="M3.72 3.72a.75.75 0 0 1 1.06 0L8 6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path>
+</svg></button>
+    </div>
+  </div>
+  
+</div>
+      <scrollable-region data-labelled-by="feedback-dialog-title">
+        <div data-view-component="true" class="Overlay-body">        <!-- '"` --><!-- </textarea></xmp> --></option></form><form id="code-search-feedback-form" data-turbo="false" action="/search/feedback" accept-charset="UTF-8" method="post"><input type="hidden" data-csrf="true" name="authenticity_token" value="GHGkxhsfgdp4B5ej2jAAGl8kLquCYs+Ge0ApBWGrVwc2uiuN+hZkf/8NeEhc4BQmj5rGFwTLMSUFMqpQ6HKvEg==" />
+          <p>We read every piece of feedback, and take your input very seriously.</p>
+          <textarea name="feedback" class="form-control width-full mb-2" style="height: 120px" id="feedback"></textarea>
+          <input name="include_email" id="include_email" aria-label="Include my email address so I can be contacted" class="form-control mr-2" type="checkbox">
+          <label for="include_email" style="font-weight: normal">Include my email address so I can be contacted</label>
+</form></div>
+      </scrollable-region>
+      <div data-view-component="true" class="Overlay-footer Overlay-footer--alignEnd">          <button data-close-dialog-id="feedback-dialog" type="button" data-view-component="true" class="btn">    Cancel
+</button>
+          <button form="code-search-feedback-form" data-action="click:qbsearch-input#submitFeedback" type="submit" data-view-component="true" class="btn-primary btn">    Submit feedback
+</button>
+</div>
+</dialog></dialog-helper>
+
+    <custom-scopes data-target="qbsearch-input.customScopesManager">
+    
+<dialog-helper>
+  <dialog data-target="custom-scopes.customScopesModalDialog" data-action="close:qbsearch-input#handleDialogClose cancel:qbsearch-input#handleDialogClose" id="custom-scopes-dialog" aria-modal="true" aria-labelledby="custom-scopes-dialog-title" aria-describedby="custom-scopes-dialog-description" data-view-component="true" class="Overlay Overlay-whenNarrow Overlay--size-medium Overlay--motion-scaleFade Overlay--disableScroll">
+    <div data-view-component="true" class="Overlay-header Overlay-header--divided">
+  <div class="Overlay-headerContentWrap">
+    <div class="Overlay-titleWrap">
+      <h1 class="Overlay-title " id="custom-scopes-dialog-title">
+        Saved searches
+      </h1>
+        <h2 id="custom-scopes-dialog-description" class="Overlay-description">Use saved searches to filter your results more quickly</h2>
+    </div>
+    <div class="Overlay-actionWrap">
+      <button data-close-dialog-id="custom-scopes-dialog" aria-label="Close" type="button" data-view-component="true" class="close-button Overlay-closeButton"><svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x">
+    <path d="M3.72 3.72a.75.75 0 0 1 1.06 0L8 6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path>
+</svg></button>
+    </div>
+  </div>
+  
+</div>
+      <scrollable-region data-labelled-by="custom-scopes-dialog-title">
+        <div data-view-component="true" class="Overlay-body">        <div data-target="custom-scopes.customScopesModalDialogFlash"></div>
+
+        <div hidden class="create-custom-scope-form" data-target="custom-scopes.createCustomScopeForm">
+        <!-- '"` --><!-- </textarea></xmp> --></option></form><form id="custom-scopes-dialog-form" data-turbo="false" action="/search/custom_scopes" accept-charset="UTF-8" method="post"><input type="hidden" data-csrf="true" name="authenticity_token" value="vLyIBWbhudd+JxvbOCpNxsk4oIRp4VVhXdJskjxiWdCxX8jP9QRuEnvxttNlZ+Oeia/1VSZdouKIieOeeAv07g==" />
+          <div data-target="custom-scopes.customScopesModalDialogFlash"></div>
+
+          <input type="hidden" id="custom_scope_id" name="custom_scope_id" data-target="custom-scopes.customScopesIdField">
+
+          <div class="form-group">
+            <label for="custom_scope_name">Name</label>
+            <auto-check src="/search/custom_scopes/check_name" required>
+              <input
+                type="text"
+                name="custom_scope_name"
+                id="custom_scope_name"
+                data-target="custom-scopes.customScopesNameField"
+                class="form-control"
+                autocomplete="off"
+                placeholder="github-ruby"
+                required
+                maxlength="50">
+              <input type="hidden" data-csrf="true" value="lo1qzovOZfgJnFtU6Gl4KecJN6qQand7PqpTRajJr0W9GCWQDnUsHjAgkqjmgHOaRG8eZKJVt4diF2+G/yKP5A==" />
+            </auto-check>
+          </div>
+
+          <div class="form-group">
+            <label for="custom_scope_query">Query</label>
+            <input
+              type="text"
+              name="custom_scope_query"
+              id="custom_scope_query"
+              data-target="custom-scopes.customScopesQueryField"
+              class="form-control"
+              autocomplete="off"
+              placeholder="(repo:mona/a OR repo:mona/b) AND lang:python"
+              required
+              maxlength="500">
+          </div>
+
+          <p class="text-small color-fg-muted">
+            To see all available qualifiers, see our <a class="Link--inTextBlock" href="https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax">documentation</a>.
+          </p>
+</form>        </div>
+
+        <div data-target="custom-scopes.manageCustomScopesForm">
+          <div data-target="custom-scopes.list"></div>
+        </div>
+
+</div>
+      </scrollable-region>
+      <div data-view-component="true" class="Overlay-footer Overlay-footer--alignEnd Overlay-footer--divided">          <button data-action="click:custom-scopes#customScopesCancel" type="button" data-view-component="true" class="btn">    Cancel
+</button>
+          <button form="custom-scopes-dialog-form" data-action="click:custom-scopes#customScopesSubmit" data-target="custom-scopes.customScopesSubmitButton" type="submit" data-view-component="true" class="btn-primary btn">    Create saved search
+</button>
+</div>
+</dialog></dialog-helper>
+    </custom-scopes>
+  </div>
+</qbsearch-input>
+
+
+            <div class="position-relative HeaderMenu-link-wrap d-lg-inline-block">
+              <a
+                href="/login?return_to=https%3A%2F%2Fgithub.com%2Fraysan5%2Fraygui%2Fblob%2F76b36b597edb70ffaf96f046076adc20d67e7827%2Fsrc%2Fraygui.h"
+                class="HeaderMenu-link HeaderMenu-link--sign-in HeaderMenu-button flex-shrink-0 no-underline d-none d-lg-inline-flex border border-lg-0 rounded rounded-lg-0 px-2 py-1"
+                style="margin-left: 12px;"
+                data-hydro-click="{&quot;event_type&quot;:&quot;authentication.click&quot;,&quot;payload&quot;:{&quot;location_in_page&quot;:&quot;site header menu&quot;,&quot;repository_id&quot;:null,&quot;auth_type&quot;:&quot;SIGN_UP&quot;,&quot;originating_url&quot;:&quot;https://github.com/raysan5/raygui/blob/76b36b597edb70ffaf96f046076adc20d67e7827/src/raygui.h&quot;,&quot;user_id&quot;:null}}" data-hydro-click-hmac="78b5a15a3e9c21f8d86ebab2fdbad1bc057c8a0f1145928fa1276ca41261b06a"
+                data-analytics-event="{&quot;category&quot;:&quot;Marketing nav&quot;,&quot;action&quot;:&quot;click to go to homepage&quot;,&quot;label&quot;:&quot;ref_page:Marketing;ref_cta:Sign in;ref_loc:Header&quot;}"
+              >
+                Sign in
+              </a>
+            </div>
+
+              <a href="/signup?ref_cta=Sign+up&amp;ref_loc=header+logged+out&amp;ref_page=%2F%3Cuser-name%3E%2F%3Crepo-name%3E%2Fblob%2Fshow&amp;source=header-repo&amp;source_repo=raysan5%2Fraygui"
+                class="HeaderMenu-link HeaderMenu-link--sign-up HeaderMenu-button flex-shrink-0 d-flex d-lg-inline-flex no-underline border color-border-default rounded px-2 py-1"
+                data-hydro-click="{&quot;event_type&quot;:&quot;authentication.click&quot;,&quot;payload&quot;:{&quot;location_in_page&quot;:&quot;site header menu&quot;,&quot;repository_id&quot;:null,&quot;auth_type&quot;:&quot;SIGN_UP&quot;,&quot;originating_url&quot;:&quot;https://github.com/raysan5/raygui/blob/76b36b597edb70ffaf96f046076adc20d67e7827/src/raygui.h&quot;,&quot;user_id&quot;:null}}" data-hydro-click-hmac="78b5a15a3e9c21f8d86ebab2fdbad1bc057c8a0f1145928fa1276ca41261b06a"
+                data-analytics-event="{&quot;category&quot;:&quot;Sign up&quot;,&quot;action&quot;:&quot;click to sign up for account&quot;,&quot;label&quot;:&quot;ref_page:/&lt;user-name&gt;/&lt;repo-name&gt;/blob/show;ref_cta:Sign up;ref_loc:header logged out&quot;}"
+              >
+                Sign up
+              </a>
+          <button type="button" class="sr-only js-header-menu-focus-trap d-block d-lg-none">Reseting focus</button>
+        </div>
+      </div>
+    </div>
+  </div>
+</header>
+
+      <div hidden="hidden" data-view-component="true" class="js-stale-session-flash stale-session-flash flash flash-warn flash-full">
+  
+        <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-alert">
+    <path d="M6.457 1.047c.659-1.234 2.427-1.234 3.086 0l6.082 11.378A1.75 1.75 0 0 1 14.082 15H1.918a1.75 1.75 0 0 1-1.543-2.575Zm1.763.707a.25.25 0 0 0-.44 0L1.698 13.132a.25.25 0 0 0 .22.368h12.164a.25.25 0 0 0 .22-.368Zm.53 3.996v2.5a.75.75 0 0 1-1.5 0v-2.5a.75.75 0 0 1 1.5 0ZM9 11a1 1 0 1 1-2 0 1 1 0 0 1 2 0Z"></path>
+</svg>
+        <span class="js-stale-session-flash-signed-in" hidden>You signed in with another tab or window. <a class="Link--inTextBlock" href="">Reload</a> to refresh your session.</span>
+        <span class="js-stale-session-flash-signed-out" hidden>You signed out in another tab or window. <a class="Link--inTextBlock" href="">Reload</a> to refresh your session.</span>
+        <span class="js-stale-session-flash-switched" hidden>You switched accounts on another tab or window. <a class="Link--inTextBlock" href="">Reload</a> to refresh your session.</span>
+
+    <button id="icon-button-918bb6e0-3c50-492a-8081-57222e203c47" aria-labelledby="tooltip-bb71d79b-065d-4cb6-b983-e0f6e331351b" type="button" data-view-component="true" class="Button Button--iconOnly Button--invisible Button--medium flash-close js-flash-close">  <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x Button-visual">
+    <path d="M3.72 3.72a.75.75 0 0 1 1.06 0L8 6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path>
+</svg>
+</button><tool-tip id="tooltip-bb71d79b-065d-4cb6-b983-e0f6e331351b" for="icon-button-918bb6e0-3c50-492a-8081-57222e203c47" popover="manual" data-direction="s" data-type="label" data-view-component="true" class="sr-only position-absolute">Dismiss alert</tool-tip>
+
+
+  
+</div>
+    </div>
+
+  <div id="start-of-content" class="show-on-focus"></div>
+
+
+
+
+
+
+
+
+    <div id="js-flash-container" class="flash-container" data-turbo-replace>
+
+
+
+
+  <template class="js-flash-template">
+    
+<div class="flash flash-full   {{ className }}">
+  <div >
+    <button autofocus class="flash-close js-flash-close" type="button" aria-label="Dismiss this message">
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x">
+    <path d="M3.72 3.72a.75.75 0 0 1 1.06 0L8 6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path>
+</svg>
+    </button>
+    <div aria-atomic="true" role="alert" class="js-flash-alert">
+      
+      <div>{{ message }}</div>
+
+    </div>
+  </div>
+</div>
+  </template>
+</div>
+
+
+    
+
+
+
+
+
+
+  <div
+    class="application-main "
+    data-commit-hovercards-enabled
+    data-discussion-hovercards-enabled
+    data-issue-and-pr-hovercards-enabled
+    data-project-hovercards-enabled
+  >
+        <div itemscope itemtype="http://schema.org/SoftwareSourceCode" class="">
+    <main id="js-repo-pjax-container" >
+      
+      
+
+
+
+
+
+
+  
+  <div id="repository-container-header"  class="pt-3 hide-full-screen" style="background-color: var(--page-header-bgColor, var(--color-page-header-bg));" data-turbo-replace>
+
+      <div class="d-flex flex-nowrap flex-justify-end mb-3  px-3 px-lg-5" style="gap: 1rem;">
+
+        <div class="flex-auto min-width-0 width-fit">
+            
+  <div class=" d-flex flex-wrap flex-items-center wb-break-word f3 text-normal">
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-repo color-fg-muted mr-2">
+    <path d="M2 2.5A2.5 2.5 0 0 1 4.5 0h8.75a.75.75 0 0 1 .75.75v12.5a.75.75 0 0 1-.75.75h-2.5a.75.75 0 0 1 0-1.5h1.75v-2h-8a1 1 0 0 0-.714 1.7.75.75 0 1 1-1.072 1.05A2.495 2.495 0 0 1 2 11.5Zm10.5-1h-8a1 1 0 0 0-1 1v6.708A2.486 2.486 0 0 1 4.5 9h8ZM5 12.25a.25.25 0 0 1 .25-.25h3.5a.25.25 0 0 1 .25.25v3.25a.25.25 0 0 1-.4.2l-1.45-1.087a.249.249 0 0 0-.3 0L5.4 15.7a.25.25 0 0 1-.4-.2Z"></path>
+</svg>
+    
+    <span class="author flex-self-stretch" itemprop="author">
+      <a class="url fn" rel="author" data-hovercard-type="user" data-hovercard-url="/users/raysan5/hovercard" data-octo-click="hovercard-link-click" data-octo-dimensions="link_type:self" href="/raysan5">
+        raysan5
+</a>    </span>
+    <span class="mx-1 flex-self-stretch color-fg-muted">/</span>
+    <strong itemprop="name" class="mr-2 flex-self-stretch">
+      <a data-pjax="#repo-content-pjax-container" data-turbo-frame="repo-content-turbo-frame" href="/raysan5/raygui">raygui</a>
+    </strong>
+
+    <span></span><span class="Label Label--secondary v-align-middle mr-1">Public</span>
+  </div>
+
+
+        </div>
+
+        <div id="repository-details-container" class="flex-shrink-0" data-turbo-replace style="max-width: 70%;">
+            <ul class="pagehead-actions flex-shrink-0 d-none d-md-inline" style="padding: 2px 0;">
+    
+        <li>
+          <include-fragment src="/raysan5/raygui/sponsor_button"></include-fragment>
+        </li>
+
+      
+
+  <li>
+            <a href="/login?return_to=%2Fraysan5%2Fraygui" rel="nofollow" id="repository-details-watch-button" data-hydro-click="{&quot;event_type&quot;:&quot;authentication.click&quot;,&quot;payload&quot;:{&quot;location_in_page&quot;:&quot;notification subscription menu watch&quot;,&quot;repository_id&quot;:null,&quot;auth_type&quot;:&quot;LOG_IN&quot;,&quot;originating_url&quot;:&quot;https://github.com/raysan5/raygui/blob/76b36b597edb70ffaf96f046076adc20d67e7827/src/raygui.h&quot;,&quot;user_id&quot;:null}}" data-hydro-click-hmac="ddd339adf39d5b6d14ce808728930bbb7484ce7777c0113c82037adfd027a7cb" aria-label="You must be signed in to change notification settings" data-view-component="true" class="btn-sm btn">    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-bell mr-2">
+    <path d="M8 16a2 2 0 0 0 1.985-1.75c.017-.137-.097-.25-.235-.25h-3.5c-.138 0-.252.113-.235.25A2 2 0 0 0 8 16ZM3 5a5 5 0 0 1 10 0v2.947c0 .05.015.098.042.139l1.703 2.555A1.519 1.519 0 0 1 13.482 13H2.518a1.516 1.516 0 0 1-1.263-2.36l1.703-2.554A.255.255 0 0 0 3 7.947Zm5-3.5A3.5 3.5 0 0 0 4.5 5v2.947c0 .346-.102.683-.294.97l-1.703 2.556a.017.017 0 0 0-.003.01l.001.006c0 .002.002.004.004.006l.006.004.007.001h10.964l.007-.001.006-.004.004-.006.001-.007a.017.017 0 0 0-.003-.01l-1.703-2.554a1.745 1.745 0 0 1-.294-.97V5A3.5 3.5 0 0 0 8 1.5Z"></path>
+</svg>Notifications
+</a>    <tool-tip id="tooltip-7676e9cb-a8eb-4f9f-8492-04f22fb07a85" for="repository-details-watch-button" popover="manual" data-direction="s" data-type="description" data-view-component="true" class="sr-only position-absolute">You must be signed in to change notification settings</tool-tip>
+
+  </li>
+
+  <li>
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A simple and easy-to-use immediate-mode gui library","*","*   DESCRIPTION:","*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also","*       available as a standalone library, as long as input and drawing functions are provided.","*","*   FEATURES:","*       - Immediate-mode gui, minimal retained data","*       - +25 controls provided (basic and advanced)","*       - Styling system for colors, font and metrics","*       - Icons supported, embedded as a 1-bit icons pack","*       - Standalone mode option (custom input/graphics backend)","*       - Multiple support tools provided for raygui development","*","*   POSSIBLE IMPROVEMENTS:","*       - Better standalone mode API for easy plug of custom backends","*       - Externalize required inputs, allow user easier customization","*","*   LIMITATIONS:","*       - No editable multi-line word-wraped text box supported","*       - No auto-layout mechanism, up to the user to define controls position and size","*       - Standalone mode requires library modification and some user work to plug another backend","*","*   NOTES:","*       - WARNING: GuiLoadStyle() and GuiLoadStyle{Custom}() functions, allocate memory for","*         font atlas recs and glyphs, freeing that memory is (usually) up to the user,","*         no unload function is explicitly provided... but note that GuiLoadStyleDefault() unloads","*         by default any previously loaded font (texture, recs, glyphs).","*       - Global UI alpha (guiAlpha) is applied inside GuiDrawRectangle() and GuiDrawText() functions","*","*   CONTROLS PROVIDED:","*     # Container/separators Controls","*       - WindowBox     --\u003e StatusBar, Panel","*       - GroupBox      --\u003e Line","*       - Line","*       - Panel         --\u003e StatusBar","*       - ScrollPanel   --\u003e StatusBar","*       - TabBar        --\u003e Button","*","*     # Basic Controls","*       - Label","*       - LabelButton   --\u003e Label","*       - Button","*       - Toggle","*       - ToggleGroup   --\u003e Toggle","*       - ToggleSlider","*       - CheckBox","*       - ComboBox","*       - DropdownBox","*       - TextBox","*       - ValueBox      --\u003e TextBox","*       - Spinner       --\u003e Button, ValueBox","*       - Slider","*       - SliderBar     --\u003e Slider","*       - ProgressBar","*       - StatusBar","*       - DummyRec","*       - Grid","*","*     # Advance Controls","*       - ListView","*       - ColorPicker   --\u003e ColorPanel, ColorBarHue","*       - MessageBox    --\u003e Window, Label, Button","*       - TextInputBox  --\u003e Window, Label, TextBox, Button","*","*     It also provides a set of functions for styling the controls based on its properties (size, color).","*","*","*   RAYGUI STYLE (guiStyle):","*       raygui uses a global data array for all gui style properties (allocated on data segment by default),","*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be","*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one","*","*       The global style array size is fixed and depends on the number of controls and properties:","*","*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];","*","*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB","*","*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style","*       used for all controls, when any of those base values is set, it is automatically populated to all","*       controls, so, specific control values overwriting generic style should be set after base values.","*","*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those","*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)","*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR","*","*       Custom control properties can be defined using the EXTENDED properties for each independent control.","*","*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler","*","*","*   RAYGUI ICONS (guiIcons):","*       raygui could use a global array containing icons data (allocated on data segment by default),","*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set","*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded","*","*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon","*       requires 8 integers (16*16/32) to be stored in memory.","*","*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.","*","*       The global icons array size is fixed and depends on the number of icons and size:","*","*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];","*","*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB","*","*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons","*","*   RAYGUI LAYOUT:","*       raygui currently does not provide an auto-layout mechanism like other libraries,","*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.","*","*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout","*","*   CONFIGURATION:","*       #define RAYGUI_IMPLEMENTATION","*           Generates the implementation of the library into the included file.","*           If not defined, the library is in header only mode and can be included in other headers","*           or source files without problems. But only ONE file should hold the implementation.","*","*       #define RAYGUI_STANDALONE","*           Avoid raylib.h header inclusion in this file. Data types defined on raylib are defined","*           internally in the library and input management and drawing functions must be provided by","*           the user (check library implementation for further details).","*","*       #define RAYGUI_NO_ICONS","*           Avoid including embedded ricons data (256 icons, 16x16 pixels, 1-bit per pixel, 2KB)","*","*       #define RAYGUI_CUSTOM_ICONS","*           Includes custom ricons.h header defining a set of custom icons,","*           this file can be generated using rGuiIcons tool","*","*       #define RAYGUI_DEBUG_RECS_BOUNDS","*           Draw control bounds rectangles for debug","*","*       #define RAYGUI_DEBUG_TEXT_BOUNDS","*           Draw text bounds rectangles for debug","*","*   VERSIONS HISTORY:","*       4.5-dev (Sep-2024)    Current dev version...","*                         ADDED: guiControlExclusiveMode and guiControlExclusiveRec for exclusive modes","*                         ADDED: GuiValueBoxFloat()","*                         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP","*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH","*                         ADDED: Multiple new icons","*                         REVIEWED: GuiTabBar(), close tab with mouse middle button","*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content","*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow","*                         REVIEWED: GuiTextBox(), cursor position initialization","*                         REVIEWED: GuiSliderPro(), control value change check","*                         REVIEWED: GuiGrid(), simplified implementation","*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding","*                         REVIEWED: GuiDrawText(), improved wrap mode drawing","*                         REVIEWED: GuiScrollBar(), minor tweaks","*                         REVIEWED: Functions descriptions, removed wrong return value reference","*                         REDESIGNED: GuiColorPanel(), improved HSV \u003c-\u003e RGBA convertion","*","*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()","*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()","*                         ADDED: Multiple new icons, mostly compiler related","*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE","*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode","*                         ADDED: Support loading styles with custom font charset from external file","*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning","*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)","*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color","*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()","*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value","*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value","*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value","*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value","*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value","*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value","*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value","*                         REDESIGNED: GuiListView(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value","*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value","*                         REDESIGNED: GuiGrid(), added extra parameter","*                         REDESIGNED: GuiListViewEx(), change parameters order","*                         REDESIGNED: All controls return result as int value","*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars","*                         REVIEWED: All examples and specially controls_test_suite","*                         RENAMED: gui_file_dialog module to gui_window_file_dialog","*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)","*","*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER","*                         ADDED: GuiLoadStyleFromMemory() (binary only)","*                         REVIEWED: GuiScrollBar() horizontal movement key","*                         REVIEWED: GuiTextBox() crash on cursor movement","*                         REVIEWED: GuiTextBox(), additional inputs support","*                         REVIEWED: GuiLabelButton(), avoid text cut","*                         REVIEWED: GuiTextInputBox(), password input","*                         REVIEWED: Local GetCodepointNext(), aligned with raylib","*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds","*","*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()","*                         ADDED: Helper functions to split text in separate lines","*                         ADDED: Multiple new icons, useful for code editing tools","*                         REMOVED: Unneeded icon editing functions","*                         REMOVED: GuiTextBoxMulti(), very limited and broken","*                         REMOVED: MeasureTextEx() dependency, logic directly implemented","*                         REMOVED: DrawTextEx() dependency, logic directly implemented","*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour","*                         REVIEWED: Library header info, more info, better organized","*                         REDESIGNED: GuiTextBox() to support cursor movement","*                         REDESIGNED: GuiDrawText() to divide drawing by lines","*","*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes","*                         REMOVED: GuiScrollBar(), only internal","*                         REDESIGNED: GuiPanel() to support text parameter","*                         REDESIGNED: GuiScrollPanel() to support text parameter","*                         REDESIGNED: GuiColorPicker() to support text parameter","*                         REDESIGNED: GuiColorPanel() to support text parameter","*                         REDESIGNED: GuiColorBarAlpha() to support text parameter","*                         REDESIGNED: GuiColorBarHue() to support text parameter","*                         REDESIGNED: GuiTextInputBox() to support password","*","*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)","*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures","*                         REVIEWED: External icons usage logic","*                         REVIEWED: GuiLine() for centered alignment when including text","*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_","*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency","*                         Projects updated and multiple tweaks","*","*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file","*                         REDESIGNED: GuiTextBoxMulti()","*                         REMOVED: GuiImageButton*()","*                         Multiple minor tweaks and bugs corrected","*","*       2.9 (17-Mar-2021) REMOVED: Tooltip API","*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()","*       2.7 (20-Feb-2020) ADDED: Possible tooltips API","*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()","*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()","*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()","*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties","*                         ADDED: 8 new custom styles ready to use","*                         Multiple minor tweaks and bugs corrected","*","*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()","*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed","*                         Refactor all controls drawing mechanism to use control state","*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls","*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() \u003e Use combined text string","*                         REDESIGNED: Style system (breaking change)","*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts","*                         REVIEWED: GuiComboBox(), GuiListView()...","*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...","*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout","*       1.5 (21-Jun-2017) Working in an improved styles system","*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)","*       1.3 (12-Jun-2017) Complete redesign of style system","*       1.1 (01-Jun-2017) Complete review of the library","*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.","*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.","*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.","*","*   DEPENDENCIES:","*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing","*","*   STANDALONE MODE:","*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled","*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.","*","*       The following functions should be redefined for a custom backend:","*","*           - Vector2 GetMousePosition(void);","*           - float GetMouseWheelMove(void);","*           - bool IsMouseButtonDown(int button);","*           - bool IsMouseButtonPressed(int button);","*           - bool IsMouseButtonReleased(int button);","*           - bool IsKeyDown(int key);","*           - bool IsKeyPressed(int key);","*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()","*","*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()","*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()","*","*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()","*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()","*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image","*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)","*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data","*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data","*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs","*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list","*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list","*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()","*","*   CONTRIBUTORS:","*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance","*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)","*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)","*       Adria Arranz:       Testing and implementation of additional controls (2018)","*       Jordi Jorba:        Testing and implementation of additional controls (2018)","*       Albert Martos:      Review and testing of the library (2015)","*       Ian Eito:           Review and testing of the library (2015)","*       Kevin Gato:         Initial implementation of basic components (2014)","*       Daniel Nicolas:     Initial implementation of basic components (2014)","*","*","*   LICENSE: zlib/libpng","*","*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)","*","*   This software is provided \"as-is\", without any express or implied warranty. In no event","*   will the authors be held liable for any damages arising from the use of this software.","*","*   Permission is granted to anyone to use this software for any purpose, including commercial","*   applications, and to alter it and redistribute it freely, subject to the following restrictions:","*","*     1. The origin of this software must not be misrepresented; you must not claim that you","*     wrote the original software. If you use this software in a product, an acknowledgment","*     in the product documentation would be appreciated but is not required.","*","*     2. Altered source versions must be plainly marked as such, and must not be misrepresented","*     as being the original software.","*","*     3. This notice may not be removed or altered from any source distribution.","*","**********************************************************************************************/","","#ifndef RAYGUI_H","#define RAYGUI_H","","#define RAYGUI_VERSION_MAJOR 4","#define RAYGUI_VERSION_MINOR 5","#define RAYGUI_VERSION_PATCH 0","#define RAYGUI_VERSION  \"4.5-dev\"","","#if !defined(RAYGUI_STANDALONE)","    #include \"raylib.h\"","#endif","","// Function specifiers in case library is build/used as a shared library (Windows)","// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll","#if defined(_WIN32)","    #if defined(BUILD_LIBTYPE_SHARED)","        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)","    #elif defined(USE_LIBTYPE_SHARED)","        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)","    #endif","#endif","","// Function specifiers definition","#ifndef RAYGUIAPI","    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)","#endif","","//----------------------------------------------------------------------------------","// Defines and Macros","//----------------------------------------------------------------------------------","// Allow custom memory allocators","#ifndef RAYGUI_MALLOC","    #define RAYGUI_MALLOC(sz)       malloc(sz)","#endif","#ifndef RAYGUI_CALLOC","    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)","#endif","#ifndef RAYGUI_FREE","    #define RAYGUI_FREE(p)          free(p)","#endif","","// Simple log system to avoid printf() calls if required","// NOTE: Avoiding those calls, also avoids const strings memory usage","#define RAYGUI_SUPPORT_LOG_INFO","#if defined(RAYGUI_SUPPORT_LOG_INFO)","  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)","#else","  #define RAYGUI_LOG(...)","#endif","","//----------------------------------------------------------------------------------","// Types and Structures Definition","// NOTE: Some types are required for RAYGUI_STANDALONE usage","//----------------------------------------------------------------------------------","#if defined(RAYGUI_STANDALONE)","    #ifndef __cplusplus","    // Boolean type","        #ifndef true","            typedef enum { false, true } bool;","        #endif","    #endif","","    // Vector2 type","    typedef struct Vector2 {","        float x;","        float y;","    } Vector2;","","    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()","    typedef struct Vector3 {","        float x;","        float y;","        float z;","    } Vector3;","","    // Color type, RGBA (32bit)","    typedef struct Color {","        unsigned char r;","        unsigned char g;","        unsigned char b;","        unsigned char a;","    } Color;","","    // Rectangle type","    typedef struct Rectangle {","        float x;","        float y;","        float width;","        float height;","    } Rectangle;","","    // TODO: Texture2D type is very coupled to raylib, required by Font type","    // It should be redesigned to be provided by user","    typedef struct Texture2D {","        unsigned int id;        // OpenGL texture id","        int width;              // Texture base width","        int height;             // Texture base height","        int mipmaps;            // Mipmap levels, 1 by default","        int format;             // Data format (PixelFormat type)","    } Texture2D;","","    // Image, pixel data stored in CPU memory (RAM)","    typedef struct Image {","        void *data;             // Image raw data","        int width;              // Image base width","        int height;             // Image base height","        int mipmaps;            // Mipmap levels, 1 by default","        int format;             // Data format (PixelFormat type)","    } Image;","","    // GlyphInfo, font characters glyphs info","    typedef struct GlyphInfo {","        int value;              // Character value (Unicode)","        int offsetX;            // Character offset X when drawing","        int offsetY;            // Character offset Y when drawing","        int advanceX;           // Character advance position X","        Image image;            // Character image data","    } GlyphInfo;","","    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()","    // It should be redesigned to be provided by user","    typedef struct Font {","        int baseSize;           // Base size (default chars height)","        int glyphCount;         // Number of glyph characters","        int glyphPadding;       // Padding around the glyph characters","        Texture2D texture;      // Texture atlas containing the glyphs","        Rectangle *recs;        // Rectangles in texture for the glyphs","        GlyphInfo *glyphs;      // Glyphs info data","    } Font;","#endif","","// Style property","// NOTE: Used when exporting style as code for convenience","typedef struct GuiStyleProp {","    unsigned short controlId;   // Control identifier","    unsigned short propertyId;  // Property identifier","    int propertyValue;          // Property value","} GuiStyleProp;","","/*","// Controls text style -NOT USED-","// NOTE: Text style is defined by control","typedef struct GuiTextStyle {","    unsigned int size;","    int charSpacing;","    int lineSpacing;","    int alignmentH;","    int alignmentV;","    int padding;","} GuiTextStyle;","*/","","// Gui control state","typedef enum {","    STATE_NORMAL = 0,","    STATE_FOCUSED,","    STATE_PRESSED,","    STATE_DISABLED","} GuiState;","","// Gui control text alignment","typedef enum {","    TEXT_ALIGN_LEFT = 0,","    TEXT_ALIGN_CENTER,","    TEXT_ALIGN_RIGHT","} GuiTextAlignment;","","// Gui control text alignment vertical","// NOTE: Text vertical position inside the text bounds","typedef enum {","    TEXT_ALIGN_TOP = 0,","    TEXT_ALIGN_MIDDLE,","    TEXT_ALIGN_BOTTOM","} GuiTextAlignmentVertical;","","// Gui control text wrap mode","// NOTE: Useful for multiline text","typedef enum {","    TEXT_WRAP_NONE = 0,","    TEXT_WRAP_CHAR,","    TEXT_WRAP_WORD","} GuiTextWrapMode;","","// Gui controls","typedef enum {","    // Default -\u003e populates to all controls when set","    DEFAULT = 0,","","    // Basic controls","    LABEL,          // Used also for: LABELBUTTON","    BUTTON,","    TOGGLE,         // Used also for: TOGGLEGROUP","    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER","    PROGRESSBAR,","    CHECKBOX,","    COMBOBOX,","    DROPDOWNBOX,","    TEXTBOX,        // Used also for: TEXTBOXMULTI","    VALUEBOX,","    SPINNER,        // Uses: BUTTON, VALUEBOX","    LISTVIEW,","    COLORPICKER,","    SCROLLBAR,","    STATUSBAR","} GuiControl;","","// Gui base properties for every control","// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)","typedef enum {","    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL","    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL","    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL","    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED","    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED","    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED","    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED","    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED","    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED","    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED","    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED","    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED","    BORDER_WIDTH,               // Control border size, 0 for no border","    //TEXT_SIZE,                  // Control text size (glyphs max height) -\u003e GLOBAL for all controls","    //TEXT_SPACING,               // Control text spacing between glyphs -\u003e GLOBAL for all controls","    //TEXT_LINE_SPACING           // Control text spacing between lines -\u003e GLOBAL for all controls","    TEXT_PADDING,               // Control text padding, not considering border","    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)","    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -\u003e GLOBAL for all controls","} GuiControlProperty;","","// TODO: Which text styling properties should be global or per-control?","// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while","// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and","// should be configured by user as needed while defining the UI layout","","// Gui extended properties depend on control","// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)","//----------------------------------------------------------------------------------","// DEFAULT extended properties","// NOTE: Those properties are common to all controls or global","// WARNING: We only have 8 slots for those properties by default!!! -\u003e New global control: TEXT?","typedef enum {","    TEXT_SIZE = 16,             // Text size (glyphs max height)","    TEXT_SPACING,               // Text spacing between glyphs","    LINE_COLOR,                 // Line control color","    BACKGROUND_COLOR,           // Background color","    TEXT_LINE_SPACING,          // Text spacing between lines","    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)","    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds","    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline","    //TEXT_DECORATION_THICK       // Text decoration line thickness","} GuiDefaultProperty;","","// Other possible text properties:","// TEXT_WEIGHT                  // Normal, Italic, Bold -\u003e Requires specific font change","// TEXT_INDENT                  // Text indentation -\u003e Now using TEXT_PADDING...","","// Label","//typedef enum { } GuiLabelProperty;","","// Button/Spinner","//typedef enum { } GuiButtonProperty;","","// Toggle/ToggleGroup","typedef enum {","    GROUP_PADDING = 16,         // ToggleGroup separation between toggles","} GuiToggleProperty;","","// Slider/SliderBar","typedef enum {","    SLIDER_WIDTH = 16,          // Slider size of internal bar","    SLIDER_PADDING              // Slider/SliderBar internal bar padding","} GuiSliderProperty;","","// ProgressBar","typedef enum {","    PROGRESS_PADDING = 16,      // ProgressBar internal padding","} GuiProgressBarProperty;","","// ScrollBar","typedef enum {","    ARROWS_SIZE = 16,           // ScrollBar arrows size","    ARROWS_VISIBLE,             // ScrollBar arrows visible","    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding","    SCROLL_SLIDER_SIZE,         // ScrollBar slider size","    SCROLL_PADDING,             // ScrollBar scroll padding from arrows","    SCROLL_SPEED,               // ScrollBar scrolling speed","} GuiScrollBarProperty;","","// CheckBox","typedef enum {","    CHECK_PADDING = 16          // CheckBox internal check padding","} GuiCheckBoxProperty;","","// ComboBox","typedef enum {","    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width","    COMBO_BUTTON_SPACING        // ComboBox button separation","} GuiComboBoxProperty;","","// DropdownBox","typedef enum {","    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items","    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation","    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden","    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)","} GuiDropdownBoxProperty;","","// TextBox/TextBoxMulti/ValueBox/Spinner","typedef enum {","    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable","} GuiTextBoxProperty;","","// Spinner","typedef enum {","    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width","    SPIN_BUTTON_SPACING,        // Spinner buttons separation","} GuiSpinnerProperty;","","// ListView","typedef enum {","    LIST_ITEMS_HEIGHT = 16,     // ListView items height","    LIST_ITEMS_SPACING,         // ListView items separation","    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)","    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)","    LIST_ITEMS_BORDER_WIDTH     // ListView items border width","} GuiListViewProperty;","","// ColorPicker","typedef enum {","    COLOR_SELECTOR_SIZE = 16,","    HUEBAR_WIDTH,               // ColorPicker right hue bar width","    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel","    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height","    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow","} GuiColorPickerProperty;","","#define SCROLLBAR_LEFT_SIDE     0","#define SCROLLBAR_RIGHT_SIDE    1","","//----------------------------------------------------------------------------------","// Global Variables Definition","//----------------------------------------------------------------------------------","// ...","","//----------------------------------------------------------------------------------","// Module Functions Declaration","//----------------------------------------------------------------------------------","","#if defined(__cplusplus)","extern \"C\" {            // Prevents name mangling of functions","#endif","","// Global gui state control functions","RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)","RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)","RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)","RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)","RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)","RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f","RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)","RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)","","// Font set/get functions","RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)","RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)","","// Style set/get functions","RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property","RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property","","// Styles loading functions","RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)","RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style","","// Tooltips management functions","RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)","RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)","RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string","","// Icons functionality","RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)","#if !defined(RAYGUI_NO_ICONS)","RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size","RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer","RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data","RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position","#endif","","// Controls","//----------------------------------------------------------------------------------------------------------","// Container/separator controls, useful for controls organization","RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed","RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name","RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text","RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls","RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1","RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control","","// Basic controls set","RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control","RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked","RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked","RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control","RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control","RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control","RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active","RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control","","RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control","RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control","RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers","RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values","RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text","","RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control","RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control","RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control","RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text","RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders","RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control","","// Advance controls set","RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control","RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters","RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message","RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret","RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)","RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control","RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control","RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control","RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)","RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()","//----------------------------------------------------------------------------------------------------------","","#if !defined(RAYGUI_NO_ICONS)","","#if !defined(RAYGUI_CUSTOM_ICONS)","//----------------------------------------------------------------------------------","// Icons enumeration","//----------------------------------------------------------------------------------","typedef enum {","    ICON_NONE                     = 0,","    ICON_FOLDER_FILE_OPEN         = 1,","    ICON_FILE_SAVE_CLASSIC        = 2,","    ICON_FOLDER_OPEN              = 3,","    ICON_FOLDER_SAVE              = 4,","    ICON_FILE_OPEN                = 5,","    ICON_FILE_SAVE                = 6,","    ICON_FILE_EXPORT              = 7,","    ICON_FILE_ADD                 = 8,","    ICON_FILE_DELETE              = 9,","    ICON_FILETYPE_TEXT            = 10,","    ICON_FILETYPE_AUDIO           = 11,","    ICON_FILETYPE_IMAGE           = 12,","    ICON_FILETYPE_PLAY            = 13,","    ICON_FILETYPE_VIDEO           = 14,","    ICON_FILETYPE_INFO            = 15,","    ICON_FILE_COPY                = 16,","    ICON_FILE_CUT                 = 17,","    ICON_FILE_PASTE               = 18,","    ICON_CURSOR_HAND              = 19,","    ICON_CURSOR_POINTER           = 20,","    ICON_CURSOR_CLASSIC           = 21,","    ICON_PENCIL                   = 22,","    ICON_PENCIL_BIG               = 23,","    ICON_BRUSH_CLASSIC            = 24,","    ICON_BRUSH_PAINTER            = 25,","    ICON_WATER_DROP               = 26,","    ICON_COLOR_PICKER             = 27,","    ICON_RUBBER                   = 28,","    ICON_COLOR_BUCKET             = 29,","    ICON_TEXT_T                   = 30,","    ICON_TEXT_A                   = 31,","    ICON_SCALE                    = 32,","    ICON_RESIZE                   = 33,","    ICON_FILTER_POINT             = 34,","    ICON_FILTER_BILINEAR          = 35,","    ICON_CROP                     = 36,","    ICON_CROP_ALPHA               = 37,","    ICON_SQUARE_TOGGLE            = 38,","    ICON_SYMMETRY                 = 39,","    ICON_SYMMETRY_HORIZONTAL      = 40,","    ICON_SYMMETRY_VERTICAL        = 41,","    ICON_LENS                     = 42,","    ICON_LENS_BIG                 = 43,","    ICON_EYE_ON                   = 44,","    ICON_EYE_OFF                  = 45,","    ICON_FILTER_TOP               = 46,","    ICON_FILTER                   = 47,","    ICON_TARGET_POINT             = 48,","    ICON_TARGET_SMALL             = 49,","    ICON_TARGET_BIG               = 50,","    ICON_TARGET_MOVE              = 51,","    ICON_CURSOR_MOVE              = 52,","    ICON_CURSOR_SCALE             = 53,","    ICON_CURSOR_SCALE_RIGHT       = 54,","    ICON_CURSOR_SCALE_LEFT        = 55,","    ICON_UNDO                     = 56,","    ICON_REDO                     = 57,","    ICON_REREDO                   = 58,","    ICON_MUTATE                   = 59,","    ICON_ROTATE                   = 60,","    ICON_REPEAT                   = 61,","    ICON_SHUFFLE                  = 62,","    ICON_EMPTYBOX                 = 63,","    ICON_TARGET                   = 64,","    ICON_TARGET_SMALL_FILL        = 65,","    ICON_TARGET_BIG_FILL          = 66,","    ICON_TARGET_MOVE_FILL         = 67,","    ICON_CURSOR_MOVE_FILL         = 68,","    ICON_CURSOR_SCALE_FILL        = 69,","    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,","    ICON_CURSOR_SCALE_LEFT_FILL   = 71,","    ICON_UNDO_FILL                = 72,","    ICON_REDO_FILL                = 73,","    ICON_REREDO_FILL              = 74,","    ICON_MUTATE_FILL              = 75,","    ICON_ROTATE_FILL              = 76,","    ICON_REPEAT_FILL              = 77,","    ICON_SHUFFLE_FILL             = 78,","    ICON_EMPTYBOX_SMALL           = 79,","    ICON_BOX                      = 80,","    ICON_BOX_TOP                  = 81,","    ICON_BOX_TOP_RIGHT            = 82,","    ICON_BOX_RIGHT                = 83,","    ICON_BOX_BOTTOM_RIGHT         = 84,","    ICON_BOX_BOTTOM               = 85,","    ICON_BOX_BOTTOM_LEFT          = 86,","    ICON_BOX_LEFT                 = 87,","    ICON_BOX_TOP_LEFT             = 88,","    ICON_BOX_CENTER               = 89,","    ICON_BOX_CIRCLE_MASK          = 90,","    ICON_POT                      = 91,","    ICON_ALPHA_MULTIPLY           = 92,","    ICON_ALPHA_CLEAR              = 93,","    ICON_DITHERING                = 94,","    ICON_MIPMAPS                  = 95,","    ICON_BOX_GRID                 = 96,","    ICON_GRID                     = 97,","    ICON_BOX_CORNERS_SMALL        = 98,","    ICON_BOX_CORNERS_BIG          = 99,","    ICON_FOUR_BOXES               = 100,","    ICON_GRID_FILL                = 101,","    ICON_BOX_MULTISIZE            = 102,","    ICON_ZOOM_SMALL               = 103,","    ICON_ZOOM_MEDIUM              = 104,","    ICON_ZOOM_BIG                 = 105,","    ICON_ZOOM_ALL                 = 106,","    ICON_ZOOM_CENTER              = 107,","    ICON_BOX_DOTS_SMALL           = 108,","    ICON_BOX_DOTS_BIG             = 109,","    ICON_BOX_CONCENTRIC           = 110,","    ICON_BOX_GRID_BIG             = 111,","    ICON_OK_TICK                  = 112,","    ICON_CROSS                    = 113,","    ICON_ARROW_LEFT               = 114,","    ICON_ARROW_RIGHT              = 115,","    ICON_ARROW_DOWN               = 116,","    ICON_ARROW_UP                 = 117,","    ICON_ARROW_LEFT_FILL          = 118,","    ICON_ARROW_RIGHT_FILL         = 119,","    ICON_ARROW_DOWN_FILL          = 120,","    ICON_ARROW_UP_FILL            = 121,","    ICON_AUDIO                    = 122,","    ICON_FX                       = 123,","    ICON_WAVE                     = 124,","    ICON_WAVE_SINUS               = 125,","    ICON_WAVE_SQUARE              = 126,","    ICON_WAVE_TRIANGULAR          = 127,","    ICON_CROSS_SMALL              = 128,","    ICON_PLAYER_PREVIOUS          = 129,","    ICON_PLAYER_PLAY_BACK         = 130,","    ICON_PLAYER_PLAY              = 131,","    ICON_PLAYER_PAUSE             = 132,","    ICON_PLAYER_STOP              = 133,","    ICON_PLAYER_NEXT              = 134,","    ICON_PLAYER_RECORD            = 135,","    ICON_MAGNET                   = 136,","    ICON_LOCK_CLOSE               = 137,","    ICON_LOCK_OPEN                = 138,","    ICON_CLOCK                    = 139,","    ICON_TOOLS                    = 140,","    ICON_GEAR                     = 141,","    ICON_GEAR_BIG                 = 142,","    ICON_BIN                      = 143,","    ICON_HAND_POINTER             = 144,","    ICON_LASER                    = 145,","    ICON_COIN                     = 146,","    ICON_EXPLOSION                = 147,","    ICON_1UP                      = 148,","    ICON_PLAYER                   = 149,","    ICON_PLAYER_JUMP              = 150,","    ICON_KEY                      = 151,","    ICON_DEMON                    = 152,","    ICON_TEXT_POPUP               = 153,","    ICON_GEAR_EX                  = 154,","    ICON_CRACK                    = 155,","    ICON_CRACK_POINTS             = 156,","    ICON_STAR                     = 157,","    ICON_DOOR                     = 158,","    ICON_EXIT                     = 159,","    ICON_MODE_2D                  = 160,","    ICON_MODE_3D                  = 161,","    ICON_CUBE                     = 162,","    ICON_CUBE_FACE_TOP            = 163,","    ICON_CUBE_FACE_LEFT           = 164,","    ICON_CUBE_FACE_FRONT          = 165,","    ICON_CUBE_FACE_BOTTOM         = 166,","    ICON_CUBE_FACE_RIGHT          = 167,","    ICON_CUBE_FACE_BACK           = 168,","    ICON_CAMERA                   = 169,","    ICON_SPECIAL                  = 170,","    ICON_LINK_NET                 = 171,","    ICON_LINK_BOXES               = 172,","    ICON_LINK_MULTI               = 173,","    ICON_LINK                     = 174,","    ICON_LINK_BROKE               = 175,","    ICON_TEXT_NOTES               = 176,","    ICON_NOTEBOOK                 = 177,","    ICON_SUITCASE                 = 178,","    ICON_SUITCASE_ZIP             = 179,","    ICON_MAILBOX                  = 180,","    ICON_MONITOR                  = 181,","    ICON_PRINTER                  = 182,","    ICON_PHOTO_CAMERA             = 183,","    ICON_PHOTO_CAMERA_FLASH       = 184,","    ICON_HOUSE                    = 185,","    ICON_HEART                    = 186,","    ICON_CORNER                   = 187,","    ICON_VERTICAL_BARS            = 188,","    ICON_VERTICAL_BARS_FILL       = 189,","    ICON_LIFE_BARS                = 190,","    ICON_INFO                     = 191,","    ICON_CROSSLINE                = 192,","    ICON_HELP                     = 193,","    ICON_FILETYPE_ALPHA           = 194,","    ICON_FILETYPE_HOME            = 195,","    ICON_LAYERS_VISIBLE           = 196,","    ICON_LAYERS                   = 197,","    ICON_WINDOW                   = 198,","    ICON_HIDPI                    = 199,","    ICON_FILETYPE_BINARY          = 200,","    ICON_HEX                      = 201,","    ICON_SHIELD                   = 202,","    ICON_FILE_NEW                 = 203,","    ICON_FOLDER_ADD               = 204,","    ICON_ALARM                    = 205,","    ICON_CPU                      = 206,","    ICON_ROM                      = 207,","    ICON_STEP_OVER                = 208,","    ICON_STEP_INTO                = 209,","    ICON_STEP_OUT                 = 210,","    ICON_RESTART                  = 211,","    ICON_BREAKPOINT_ON            = 212,","    ICON_BREAKPOINT_OFF           = 213,","    ICON_BURGER_MENU              = 214,","    ICON_CASE_SENSITIVE           = 215,","    ICON_REG_EXP                  = 216,","    ICON_FOLDER                   = 217,","    ICON_FILE                     = 218,","    ICON_SAND_TIMER               = 219,","    ICON_WARNING                  = 220,","    ICON_HELP_BOX                 = 221,","    ICON_INFO_BOX                 = 222,","    ICON_PRIORITY                 = 223,","    ICON_LAYERS_ISO               = 224,","    ICON_LAYERS2                  = 225,","    ICON_MLAYERS                  = 226,","    ICON_MAPS                     = 227,","    ICON_HOT                      = 228,","    ICON_229                      = 229,","    ICON_230                      = 230,","    ICON_231                      = 231,","    ICON_232                      = 232,","    ICON_233                      = 233,","    ICON_234                      = 234,","    ICON_235                      = 235,","    ICON_236                      = 236,","    ICON_237                      = 237,","    ICON_238                      = 238,","    ICON_239                      = 239,","    ICON_240                      = 240,","    ICON_241                      = 241,","    ICON_242                      = 242,","    ICON_243                      = 243,","    ICON_244                      = 244,","    ICON_245                      = 245,","    ICON_246                      = 246,","    ICON_247                      = 247,","    ICON_248                      = 248,","    ICON_249                      = 249,","    ICON_250                      = 250,","    ICON_251                      = 251,","    ICON_252                      = 252,","    ICON_253                      = 253,","    ICON_254                      = 254,","    ICON_255                      = 255,","} GuiIconName;","#endif","","#endif","","#if defined(__cplusplus)","}            // Prevents name mangling of functions","#endif","","#endif // RAYGUI_H","","/***********************************************************************************","*","*   RAYGUI IMPLEMENTATION","*","************************************************************************************/","","#if defined(RAYGUI_IMPLEMENTATION)","","#include \u003cctype.h\u003e              // required for: isspace() [GuiTextBox()]","#include \u003cstdio.h\u003e              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]","#include \u003cstdlib.h\u003e             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]","#include \u003cstring.h\u003e             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()","#include \u003cstdarg.h\u003e             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]","#include \u003cmath.h\u003e               // Required for: roundf() [GuiColorPicker()]","","#ifdef __cplusplus","    #define RAYGUI_CLITERAL(name) name","#else","    #define RAYGUI_CLITERAL(name) (name)","#endif","","// Check if two rectangles are equal, used to validate a slider bounds as an id","#ifndef CHECK_BOUNDS_ID","    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) \u0026\u0026 (src.y == dst.y) \u0026\u0026 (src.width == dst.width) \u0026\u0026 (src.height == dst.height))","#endif","","#if !defined(RAYGUI_NO_ICONS) \u0026\u0026 !defined(RAYGUI_CUSTOM_ICONS)","","// Embedded icons, no external file provided","#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)","#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons","#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id","","// Icons data is defined by bit array (every bit represents one pixel)","// Those arrays are stored as unsigned int data arrays, so,","// every array element defines 32 pixels (bits) of information","// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)","// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)","#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)","","//----------------------------------------------------------------------------------","// Icons data for all gui possible icons (allocated on data segment by default)","//","// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,","// every 16x16 icon requires 8 integers (16*16/32) to be stored","//","// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),","// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS","//","// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB","//----------------------------------------------------------------------------------","static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE","    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN","    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC","    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN","    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE","    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN","    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE","    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT","    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO","    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE","    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY","    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO","    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO","    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY","    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT","    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE","    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND","    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER","    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC","    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL","    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG","    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC","    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER","    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP","    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER","    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER","    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET","    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T","    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A","    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE","    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE","    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT","    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR","    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP","    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA","    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE","    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY","    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL","    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL","    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS","    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG","    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON","    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF","    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP","    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER","    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT","    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL","    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG","    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE","    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE","    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE","    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT","    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT","    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO","    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO","    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO","    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE","    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE","    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT","    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE","    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX","    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET","    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL","    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL","    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL","    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL","    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL","    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL","    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL","    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL","    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL","    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL","    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL","    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL","    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL","    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL","    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX","    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP","    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT","    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT","    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT","    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT","    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER","    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK","    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT","    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY","    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR","    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING","    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS","    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID","    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID","    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL","    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG","    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES","    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL","    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE","    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL","    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM","    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG","    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL","    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER","    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL","    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG","    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC","    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG","    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK","    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS","    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT","    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT","    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN","    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP","    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL","    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL","    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL","    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL","    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO","    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX","    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE","    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS","    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE","    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR","    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL","    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS","    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK","    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY","    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE","    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP","    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT","    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD","    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET","    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE","    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN","    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK","    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS","    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR","    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG","    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN","    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER","    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER","    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN","    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION","    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP","    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER","    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP","    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY","    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON","    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP","    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX","    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK","    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS","    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR","    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR","    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT","    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D","    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D","    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE","    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP","    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT","    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT","    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM","    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT","    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK","    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA","    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL","    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET","    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES","    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI","    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK","    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE","    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES","    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK","    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE","    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP","    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX","    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR","    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER","    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA","    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH","    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE","    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER","    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS","    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL","    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS","    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO","    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE","    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP","    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA","    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME","    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE","    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS","    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW","    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI","    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY","    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX","    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD","    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW","    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD","    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM","    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU","    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM","    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER","    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO","    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT","    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART","    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON","    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF","    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU","    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE","    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP","    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE","    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER","    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING","    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX","    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX","    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY","    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO","    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2","    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS","    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS","    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255","};","","// NOTE: A pointer to current icons array should be defined","static unsigned int *guiIconsPtr = guiIcons;","","#endif      // !RAYGUI_NO_ICONS \u0026\u0026 !RAYGUI_CUSTOM_ICONS","","#ifndef RAYGUI_ICON_SIZE","    #define RAYGUI_ICON_SIZE             0","#endif","","// WARNING: Those values define the total size of the style data array,","// if changed, previous saved styles could become incompatible","#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls","#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties","#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties","","//----------------------------------------------------------------------------------","// Types and Structures Definition","//----------------------------------------------------------------------------------","// Gui control property style color element","typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;","","//----------------------------------------------------------------------------------","// Global Variables Definition","//----------------------------------------------------------------------------------","static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state","","static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)","static bool guiLocked = false;                  // Gui lock state (no inputs processed)","static float guiAlpha = 1.0f;                   // Gui controls transparency","","static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)","","static bool guiTooltip = false;                 // Tooltip enabled/disabled","static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)","","static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)","static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier","","static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()","//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking","static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down","static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement","","//----------------------------------------------------------------------------------","// Style data array for all gui style properties (allocated on data segment by default)","//","// NOTE 1: First set of BASE properties are generic to all controls but could be individually","// overwritten per control, first set of EXTENDED properties are generic to all controls and","// can not be overwritten individually but custom EXTENDED properties can be used by control","//","// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),","// but default gui style could always be recovered with GuiLoadStyleDefault()","//","// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB","//----------------------------------------------------------------------------------","static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };","","static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization","","//----------------------------------------------------------------------------------","// Standalone Mode Functions Declaration","//","// NOTE: raygui depend on some raylib input and drawing functions","// To use raygui as standalone library, below functions must be defined by the user","//----------------------------------------------------------------------------------","#if defined(RAYGUI_STANDALONE)","","#define KEY_RIGHT           262","#define KEY_LEFT            263","#define KEY_DOWN            264","#define KEY_UP              265","#define KEY_BACKSPACE       259","#define KEY_ENTER           257","","#define MOUSE_LEFT_BUTTON     0","","// Input required functions","//-------------------------------------------------------------------------------","static Vector2 GetMousePosition(void);","static float GetMouseWheelMove(void);","static bool IsMouseButtonDown(int button);","static bool IsMouseButtonPressed(int button);","static bool IsMouseButtonReleased(int button);","","static bool IsKeyDown(int key);","static bool IsKeyPressed(int key);","static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()","//-------------------------------------------------------------------------------","","// Drawing required functions","//-------------------------------------------------------------------------------","static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()","static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()","//-------------------------------------------------------------------------------","","// Text required functions","//-------------------------------------------------------------------------------","static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()","static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font","","static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image","static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)","","static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data","static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data","","static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs","","static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list","static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list","","static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()","//-------------------------------------------------------------------------------","","// raylib functions already implemented in raygui","//-------------------------------------------------------------------------------","static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value","static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color","static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle","static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'","static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings","static int TextToInteger(const char *text);         // Get integer value from text","static float TextToFloat(const char *text);         // Get float value from text","","static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text","static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)","","static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient","//-------------------------------------------------------------------------------","","#endif      // RAYGUI_STANDALONE","","//----------------------------------------------------------------------------------","// Module specific Functions Declaration","//----------------------------------------------------------------------------------","static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)","","static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style","static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds","static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor","","static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font","static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style","","static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings","static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB","static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV","","static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()","static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position","","static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor","","//----------------------------------------------------------------------------------","// Gui Setup Functions Definition","//----------------------------------------------------------------------------------","// Enable gui global state","// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups","void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }","","// Disable gui global state","// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups","void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }","","// Lock gui global state","void GuiLock(void) { guiLocked = true; }","","// Unlock gui global state","void GuiUnlock(void) { guiLocked = false; }","","// Check if gui is locked (global state)","bool GuiIsLocked(void) { return guiLocked; }","","// Set gui controls alpha global state","void GuiSetAlpha(float alpha)","{","    if (alpha \u003c 0.0f) alpha = 0.0f;","    else if (alpha \u003e 1.0f) alpha = 1.0f;","","    guiAlpha = alpha;","}","","// Set gui state (global state)","void GuiSetState(int state) { guiState = (GuiState)state; }","","// Get gui state (global state)","int GuiGetState(void) { return guiState; }","","// Set custom gui font","// NOTE: Font loading/unloading is external to raygui","void GuiSetFont(Font font)","{","    if (font.texture.id \u003e 0)","    {","        // NOTE: If we try to setup a font but default style has not been","        // lazily loaded before, it will be overwritten, so we need to force","        // default style loading first","        if (!guiStyleLoaded) GuiLoadStyleDefault();","","        guiFont = font;","    }","}","","// Get custom gui font","Font GuiGetFont(void)","{","    return guiFont;","}","","// Set control style property value","void GuiSetStyle(int control, int property, int value)","{","    if (!guiStyleLoaded) GuiLoadStyleDefault();","    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;","","    // Default properties are propagated to all controls","    if ((control == 0) \u0026\u0026 (property \u003c RAYGUI_MAX_PROPS_BASE))","    {","        for (int i = 1; i \u003c RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;","    }","}","","// Get control style property value","int GuiGetStyle(int control, int property)","{","    if (!guiStyleLoaded) GuiLoadStyleDefault();","    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];","}","","//----------------------------------------------------------------------------------","// Gui Controls Functions Definition","//----------------------------------------------------------------------------------","","// Window Box control","int GuiWindowBox(Rectangle bounds, const char *title)","{","    // Window title bar height (including borders)","    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()","    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)","        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24","    #endif","","    int result = 0;","    //GuiState state = guiState;","","    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;","","    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };","    if (bounds.height \u003c statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;","","    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };","    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,","                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };","","    // Update control","    //--------------------------------------------------------------------","    // NOTE: Logic is directly managed by button","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiStatusBar(statusBar, title); // Draw window header as status bar","    GuiPanel(windowPanel, NULL);    // Draw window base","","    // Draw window close button","    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","#if defined(RAYGUI_NO_ICONS)","    result = GuiButton(closeButtonRec, \"x\");","#else","    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));","#endif","    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);","    //--------------------------------------------------------------------","","    return result;      // Window close button clicked: result = 1","}","","// Group Box control with text name","int GuiGroupBox(Rectangle bounds, const char *text)","{","    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)","        #define RAYGUI_GROUPBOX_LINE_THICK     1","    #endif","","    int result = 0;","    GuiState state = guiState;","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));","","    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);","    //--------------------------------------------------------------------","","    return result;","}","","// Line control","int GuiLine(Rectangle bounds, const char *text)","{","    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)","        #define RAYGUI_LINE_MARGIN_TEXT  12","    #endif","    #if !defined(RAYGUI_LINE_TEXT_PADDING)","        #define RAYGUI_LINE_TEXT_PADDING  4","    #endif","","    int result = 0;","    GuiState state = guiState;","","    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));","","    // Draw control","    //--------------------------------------------------------------------","    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);","    else","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = bounds.height;","        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;","        textBounds.y = bounds.y;","","        // Draw line with embedded text label: \"--- text --------------\"","        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);","        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);","        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Panel control","int GuiPanel(Rectangle bounds, const char *text)","{","    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)","        #define RAYGUI_PANEL_BORDER_WIDTH   1","    #endif","","    int result = 0;","    GuiState state = guiState;","","    // Text will be drawn as a header bar (if provided)","    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };","    if ((text != NULL) \u0026\u0026 (bounds.height \u003c RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;","","    if (text != NULL)","    {","        // Move panel bounds after the header bar","        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;","        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;","    }","","    // Draw control","    //--------------------------------------------------------------------","    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar","","    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),","                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));","    //--------------------------------------------------------------------","","    return result;","}","","// Tab Bar control","// NOTE: Using GuiToggle() for the TABS","int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)","{","    #define RAYGUI_TABBAR_ITEM_WIDTH    160","","    int result = -1;","    //GuiState state = guiState;","","    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };","","    if (*active \u003c 0) *active = 0;","    else if (*active \u003e count - 1) *active = count - 1;","","    int offsetX = 0;    // Required in case tabs go out of screen","    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();","    if (offsetX \u003c 0) offsetX = 0;","","    bool toggle = false;    // Required for individual toggles","","    // Draw control","    //--------------------------------------------------------------------","    for (int i = 0; i \u003c count; i++)","    {","        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;","","        if (tabBounds.x \u003c GetScreenWidth())","        {","            // Draw tabs as toggle controls","            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);","            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);","            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);","","            if (i == (*active))","            {","                toggle = true;","                GuiToggle(tabBounds, GuiIconText(12, text[i]), \u0026toggle);","            }","            else","            {","                toggle = false;","                GuiToggle(tabBounds, GuiIconText(12, text[i]), \u0026toggle);","                if (toggle) *active = i;","            }","","            // Close tab with middle mouse button pressed","            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;","","            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);","            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);","","            // Draw tab close button","            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))","            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);","            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","#if defined(RAYGUI_NO_ICONS)","            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, \"x\")) result = i;","#else","            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;","#endif","            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);","        }","    }","","    // Draw tab-bar bottom line","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));","    //--------------------------------------------------------------------","","    return result;     // Return as result the current TAB closing requested","}","","// Scroll Panel control","int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)","{","    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40","    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40","    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20","","    int result = 0;","    GuiState state = guiState;","","    Rectangle temp = { 0 };","    if (view == NULL) view = \u0026temp;","","    Vector2 scrollPos = { 0.0f, 0.0f };","    if (scroll != NULL) scrollPos = *scroll;","","    // Text will be drawn as a header bar (if provided)","    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };","    if (bounds.height \u003c RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;","","    if (text != NULL)","    {","        // Move panel bounds after the header bar","        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;","        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;","    }","","    bool hasHorizontalScrollBar = (content.width \u003e bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;","    bool hasVerticalScrollBar = (content.height \u003e bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;","","    // Recheck to account for the other scrollbar being visible","    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar \u0026\u0026 (content.width \u003e (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;","    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar \u0026\u0026 (content.height \u003e (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;","","    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;","    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;","    Rectangle horizontalScrollBar = {","        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)horizontalScrollBarWidth","    };","    Rectangle verticalScrollBar = {","        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),","        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)verticalScrollBarWidth,","        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)","    };","","    // Make sure scroll bars have a minimum width/height","    if (horizontalScrollBar.width \u003c RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;","    if (verticalScrollBar.height \u003c RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;","","    // Calculate view area (area without the scrollbars)","    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?","                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :","                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };","","    // Clip view area to the actual content size","    if (view-\u003ewidth \u003e content.width) view-\u003ewidth = content.width;","    if (view-\u003eheight \u003e content.height) view-\u003eheight = content.height;","","    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);","    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);","    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;","    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)","            if (hasHorizontalScrollBar)","            {","                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","            }","","            if (hasVerticalScrollBar)","            {","                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","            }","#endif","            float wheelMove = GetMouseWheelMove();","","            // Set scrolling speed with mouse wheel based on ratio between bounds and content","            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };","            if (mouseWheelSpeed.x \u003c RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;","            if (mouseWheelSpeed.y \u003c RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;","","            // Horizontal and vertical scrolling with mouse wheel","            if (hasHorizontalScrollBar \u0026\u0026 (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;","            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll","        }","    }","","    // Normalize scroll values","    if (scrollPos.x \u003e -horizontalMin) scrollPos.x = -horizontalMin;","    if (scrollPos.x \u003c -horizontalMax) scrollPos.x = -horizontalMax;","    if (scrollPos.y \u003e -verticalMin) scrollPos.y = -verticalMin;","    if (scrollPos.y \u003c -verticalMax) scrollPos.y = -verticalMax;","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar","","    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background","","    // Save size of the scrollbar slider","    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);","","    // Draw horizontal scrollbar if visible","    if (hasHorizontalScrollBar)","    {","        // Change scrollbar slider size to show the diff in size between the content width and the widget width","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));","        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);","    }","    else scrollPos.x = 0.0f;","","    // Draw vertical scrollbar if visible","    if (hasVerticalScrollBar)","    {","        // Change scrollbar slider size to show the diff in size between the content height and the widget height","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));","        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);","    }","    else scrollPos.y = 0.0f;","","    // Draw detail corner rectangle if both scroll bars are visible","    if (hasHorizontalScrollBar \u0026\u0026 hasVerticalScrollBar)","    {","        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };","        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));","    }","","    // Draw scrollbar lines depending on current state","    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);","","    // Set scrollbar slider size back to the way it was before","    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);","    //--------------------------------------------------------------------","","    if (scroll != NULL) *scroll = scrollPos;","","    return result;","}","","// Label control","int GuiLabel(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Update control","    //--------------------------------------------------------------------","    //...","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Button control, returns true when clicked","int GuiButton(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));","    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));","","    if (state == STATE_FOCUSED) GuiTooltip(bounds);","    //------------------------------------------------------------------","","    return result;      // Button pressed: result = 1","}","","// Label button control","int GuiLabelButton(Rectangle bounds, const char *text)","{","    GuiState state = guiState;","    bool pressed = false;","","    // NOTE: We force bounds.width to be all text","    float textWidth = (float)GetTextWidth(text);","    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) \u003c textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check checkbox state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return pressed;","}","","// Toggle Button control","int GuiToggle(Rectangle bounds, const char *text, bool *active)","{","    int result = 0;","    GuiState state = guiState;","","    bool temp = false;","    if (active == NULL) active = \u0026temp;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check toggle button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","            {","                state = STATE_NORMAL;","                *active = !(*active);","            }","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_NORMAL)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));","        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));","    }","    else","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));","        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));","    }","","    if (state == STATE_FOCUSED) GuiTooltip(bounds);","    //--------------------------------------------------------------------","","    return result;","}","","// Toggle Group control","int GuiToggleGroup(Rectangle bounds, const char *text, int *active)","{","    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)","        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32","    #endif","","    int result = 0;","    float initBoundsX = bounds.x;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    bool toggle = false;    // Required for individual toggles","","    // Get substrings items from text (items pointers)","    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };","    int itemCount = 0;","    const char **items = GuiTextSplit(text, ';', \u0026itemCount, rows);","","    int prevRow = rows[0];","","    for (int i = 0; i \u003c itemCount; i++)","    {","        if (prevRow != rows[i])","        {","            bounds.x = initBoundsX;","            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));","            prevRow = rows[i];","        }","","        if (i == (*active))","        {","            toggle = true;","            GuiToggle(bounds, items[i], \u0026toggle);","        }","        else","        {","            toggle = false;","            GuiToggle(bounds, items[i], \u0026toggle);","            if (toggle) *active = i;","        }","","        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));","    }","","    return result;","}","","// Toggle Slider control extended","int GuiToggleSlider(Rectangle bounds, const char *text, int *active)","{","    int result = 0;","    GuiState state = guiState;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    //bool toggle = false;    // Required for individual toggles","","    // Get substrings items from text (items pointers)","    int itemCount = 0;","    const char **items = NULL;","","    if (text != NULL) items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    Rectangle slider = {","        0,      // Calculated later depending on the active toggle","        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),","        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,","        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                (*active)++;","                result = 1;","            }","            else state = STATE_FOCUSED;","        }","","        if ((*active) \u0026\u0026 (state != STATE_FOCUSED)) state = STATE_PRESSED;","    }","","    if (*active \u003e= itemCount) *active = 0;","    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),","        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));","","    // Draw internal slider","    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));","    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));","    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));","","    // Draw text in slider","    if (text != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(text);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Check Box control, returns 1 when state changed","int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)","{","    int result = 0;","    GuiState state = guiState;","","    bool temp = false;","    if (checked == NULL) checked = \u0026temp;","","    Rectangle textBounds = { 0 };","","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        Rectangle totalBounds = {","            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,","            bounds.y,","            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),","            bounds.height,","        };","","        // Check checkbox state","        if (CheckCollisionPointRec(mousePoint, totalBounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","            {","                *checked = !(*checked);","                result = 1;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);","","    if (*checked)","    {","        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),","                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),","                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),","                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };","        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));","    }","","    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Combo Box control","int GuiComboBox(Rectangle bounds, const char *text, int *active)","{","    int result = 0;","    GuiState state = guiState;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));","","    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),","                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };","","    // Get substrings items from text (items pointers, lengths and count)","    int itemCount = 0;","    const char **items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    if (*active \u003c 0) *active = 0;","    else if (*active \u003e (itemCount - 1)) *active = itemCount - 1;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 (itemCount \u003e 1) \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (CheckCollisionPointRec(mousePoint, bounds) ||","            CheckCollisionPointRec(mousePoint, selector))","        {","            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","            {","                *active += 1;","                if (*active \u003e= itemCount) *active = 0;      // Cyclic combobox","            }","","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    // Draw combo box main","    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));","    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));","","    // Draw selector using a custom button","    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values","    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    GuiButton(selector, TextFormat(\"%i/%i\", *active + 1, itemCount));","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);","    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","    //--------------------------------------------------------------------","","    return result;","}","","// Dropdown Box control","// NOTE: Returns mouse click","int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)","{","    int result = 0;","    GuiState state = guiState;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    int itemSelected = *active;","    int itemFocused = -1;","","    int direction = 0; // Dropdown box open direction: down (default)","    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up","","    // Get substrings items from text (items pointers, lengths and count)","    int itemCount = 0;","    const char **items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    Rectangle boundsOpen = bounds;","    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);","","    Rectangle itemBounds = bounds;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 (editMode || !guiLocked) \u0026\u0026 (itemCount \u003e 1) \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (editMode)","        {","            state = STATE_PRESSED;","","            // Check if mouse has been pressed or released outside limits","            if (!CheckCollisionPointRec(mousePoint, boundsOpen))","            {","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;","            }","","            // Check if already selected item has been pressed again","            if (CheckCollisionPointRec(mousePoint, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;","","            // Check focused and selected item","            for (int i = 0; i \u003c itemCount; i++)","            {","                // Update item rectangle y position for next item","                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","","                if (CheckCollisionPointRec(mousePoint, itemBounds))","                {","                    itemFocused = i;","                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","                    {","                        itemSelected = i;","                        result = 1;         // Item selected","                    }","                    break;","                }","            }","","            itemBounds = bounds;","        }","        else","        {","            if (CheckCollisionPointRec(mousePoint, bounds))","            {","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                {","                    result = 1;","                    state = STATE_PRESSED;","                }","                else state = STATE_FOCUSED;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (editMode) GuiPanel(boundsOpen, NULL);","","    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));","    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));","","    if (editMode)","    {","        // Draw visible items","        for (int i = 0; i \u003c itemCount; i++)","        {","            // Update item rectangle y position for next item","            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","","            if (i == itemSelected)","            {","                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));","                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));","            }","            else if (i == itemFocused)","            {","                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));","                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));","            }","            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));","        }","    }","","    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))","    {","        // Draw arrows (using icon if available)","#if defined(RAYGUI_NO_ICONS)","        GuiDrawText(\"v\", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));","#else","        GuiDrawText(direction? \"#121#\" : \"#120#\", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL","#endif","    }","    //--------------------------------------------------------------------","","    *active = itemSelected;","","    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...","    return result;   // Mouse click: result = 1","}","","// Text Box control","// NOTE: Returns true on ENTER pressed (useful for data validation)","int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)","{","    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)","        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement","    #endif","    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)","        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement","    #endif","","    int result = 0;","    GuiState state = guiState;","","    bool multiline = false;     // TODO: Consider multiline text input","    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);","","    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);","    int textLength = (int)strlen(text);     // Get current text length","    int thisCursorIndex = textBoxCursorIndex;","    if (thisCursorIndex \u003e textLength) thisCursorIndex = textLength;","    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);","    int textIndexOffset = 0;    // Text index offset to start drawing in the box","","    // Cursor rectangle","    // NOTE: Position X value should be updated","    Rectangle cursor = {","        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),","        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),","        2,","        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2","    };","","    if (cursor.height \u003e= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;","    if (cursor.y \u003c (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);","","    // Mouse cursor rectangle","    // NOTE: Initialized outside of screen","    Rectangle mouseCursor = cursor;","    mouseCursor.x = -1;","    mouseCursor.width = 1;","","    // Auto-cursor movement logic","    // NOTE: Cursor moves automatically when key down after some time","    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;","    else","    {","        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter","        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter","    }","","    // Blink-cursor frame counter","    //if (!autoCursorMode) blinkCursorFrameCounter++;","    //else blinkCursorFrameCounter = 0;","","    // Update control","    //--------------------------------------------------------------------","    // WARNING: Text editing is only supported under certain conditions:","    if ((state != STATE_DISABLED) \u0026\u0026                // Control not disabled","        !GuiGetStyle(TEXTBOX, TEXT_READONLY) \u0026\u0026     // TextBox not on read-only mode","        !guiLocked \u0026\u0026                               // Gui not locked","        !guiControlExclusiveMode \u0026\u0026                       // No gui slider on dragging","        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode","    {","        Vector2 mousePosition = GetMousePosition();","","        if (editMode)","        {","            state = STATE_PRESSED;","","            if (textBoxCursorIndex \u003e textLength) textBoxCursorIndex = textLength;","","            // If text does not fit in the textbox and current cursor position is out of bounds,","            // we add an index offset to text for drawing only what requires depending on cursor","            while (textWidth \u003e= textBounds.width)","            {","                int nextCodepointSize = 0;","                GetCodepointNext(text + textIndexOffset, \u0026nextCodepointSize);","","                textIndexOffset += nextCodepointSize;","","                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);","            }","","            int codepoint = GetCharPressed();       // Get Unicode codepoint","            if (multiline \u0026\u0026 IsKeyPressed(KEY_ENTER)) codepoint = (int)'\\n';","","            // Encode codepoint as UTF-8","            int codepointSize = 0;","            const char *charEncoded = CodepointToUTF8(codepoint, \u0026codepointSize);","","            // Add codepoint to text, at current cursor position","            // NOTE: Make sure we do not overflow buffer size","            if (((multiline \u0026\u0026 (codepoint == (int)'\\n')) || (codepoint \u003e= 32)) \u0026\u0026 ((textLength + codepointSize) \u003c textSize))","            {","                // Move forward data from cursor position","                for (int i = (textLength + codepointSize); i \u003e textBoxCursorIndex; i--) text[i] = text[i - codepointSize];","","                // Add new codepoint in current cursor position","                for (int i = 0; i \u003c codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];","","                textBoxCursorIndex += codepointSize;","                textLength += codepointSize;","","                // Make sure text last character is EOL","                text[textLength] = '\\0';","            }","","            // Move cursor to start","            if ((textLength \u003e 0) \u0026\u0026 IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;","","            // Move cursor to end","            if ((textLength \u003e textBoxCursorIndex) \u0026\u0026 IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;","","            // Delete codepoint from text, after current cursor position","            if ((textLength \u003e textBoxCursorIndex) \u0026\u0026 (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) \u0026\u0026 (autoCursorCooldownCounter \u003e= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int nextCodepointSize = 0;","                    GetCodepointNext(text + textBoxCursorIndex, \u0026nextCodepointSize);","","                    // Move backward text from cursor position","                    for (int i = textBoxCursorIndex; i \u003c textLength; i++) text[i] = text[i + nextCodepointSize];","","                    textLength -= codepointSize;","                    if (textBoxCursorIndex \u003e textLength) textBoxCursorIndex = textLength;","","                    // Make sure text last character is EOL","                    text[textLength] = '\\0';","                }","            }","","            // Delete related codepoints from text, before current cursor position","            if ((textLength \u003e 0) \u0026\u0026 IsKeyPressed(KEY_BACKSPACE) \u0026\u0026 (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))","            {","                int i = textBoxCursorIndex - 1;","                int accCodepointSize = 0;","","                // Move cursor to the end of word if on space already","                while ((i \u003e 0) \u0026\u0026 isspace(text[i]))","                {","                    int prevCodepointSize = 0;","                    GetCodepointPrevious(text + i, \u0026prevCodepointSize);","                    i -= prevCodepointSize;","                    accCodepointSize += prevCodepointSize;","                }","","                // Move cursor to the start of the word","                while ((i \u003e 0) \u0026\u0026 !isspace(text[i]))","                {","                    int prevCodepointSize = 0;","                    GetCodepointPrevious(text + i, \u0026prevCodepointSize);","                    i -= prevCodepointSize;","                    accCodepointSize += prevCodepointSize;","                }","","                // Move forward text from cursor position","                for (int j = (textBoxCursorIndex - accCodepointSize); j \u003c textLength; j++) text[j] = text[j + accCodepointSize];","","                // Prevent cursor index from decrementing past 0","                if (textBoxCursorIndex \u003e 0)","                {","                    textBoxCursorIndex -= accCodepointSize;","                    textLength -= accCodepointSize;","                }","","                // Make sure text last character is EOL","                text[textLength] = '\\0';","            }","            else if ((textLength \u003e 0) \u0026\u0026 (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) \u0026\u0026 (autoCursorCooldownCounter \u003e= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int prevCodepointSize = 0;","","                    // Prevent cursor index from decrementing past 0","                    if (textBoxCursorIndex \u003e 0)","                    {","                        GetCodepointPrevious(text + textBoxCursorIndex, \u0026prevCodepointSize);","","                        // Move backward text from cursor position","                        for (int i = (textBoxCursorIndex - prevCodepointSize); i \u003c textLength; i++) text[i] = text[i + prevCodepointSize];","","                        textBoxCursorIndex -= codepointSize;","                        textLength -= codepointSize;","                    }","","                    // Make sure text last character is EOL","                    text[textLength] = '\\0';","                }","            }","","            // Move cursor position with keys","            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) \u0026\u0026 (autoCursorCooldownCounter \u003e RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int prevCodepointSize = 0;","                    if (textBoxCursorIndex \u003e 0) GetCodepointPrevious(text + textBoxCursorIndex, \u0026prevCodepointSize);","","                    if (textBoxCursorIndex \u003e= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;","                }","            }","            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) \u0026\u0026 (autoCursorCooldownCounter \u003e RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int nextCodepointSize = 0;","                    GetCodepointNext(text + textBoxCursorIndex, \u0026nextCodepointSize);","","                    if ((textBoxCursorIndex + nextCodepointSize) \u003c= textLength) textBoxCursorIndex += nextCodepointSize;","                }","            }","","            // Move cursor position with mouse","            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text","            {","                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;","                int codepointIndex = 0;","                float glyphWidth = 0.0f;","                float widthToMouseX = 0;","                int mouseCursorIndex = 0;","","                for (int i = textIndexOffset; i \u003c textLength; i++)","                {","                    codepoint = GetCodepointNext(\u0026text[i], \u0026codepointSize);","                    codepointIndex = GetGlyphIndex(guiFont, codepoint);","","                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);","                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);","","                    if (mousePosition.x \u003c= (textBounds.x + (widthToMouseX + glyphWidth/2)))","                    {","                        mouseCursor.x = textBounds.x + widthToMouseX;","                        mouseCursorIndex = i;","                        break;","                    }","","                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","                }","","                // Check if mouse cursor is at the last position","                int textEndWidth = GetTextWidth(text + textIndexOffset);","                if (GetMousePosition().x \u003e= (textBounds.x + textEndWidth - glyphWidth/2))","                {","                    mouseCursor.x = textBounds.x + textEndWidth;","                    mouseCursorIndex = textLength;","                }","","                // Place cursor at required index on mouse click","                if ((mouseCursor.x \u003e= 0) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                {","                    cursor.x = mouseCursor.x;","                    textBoxCursorIndex = mouseCursorIndex;","                }","            }","            else mouseCursor.x = -1;","","            // Recalculate cursor position.y depending on textBoxCursorIndex","            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);","            //if (multiline) cursor.y = GetTextLines()","","            // Finish text editing on ENTER or mouse click outside bounds","            if ((!multiline \u0026\u0026 IsKeyPressed(KEY_ENTER)) ||","                (!CheckCollisionPointRec(mousePosition, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))","            {","                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index","                result = 1;","            }","        }","        else","        {","            if (CheckCollisionPointRec(mousePosition, bounds))","            {","                state = STATE_FOCUSED;","","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                {","                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text","                    result = 1;","                }","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_PRESSED)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));","    }","    else if (state == STATE_DISABLED)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));","    }","    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);","","    // Draw text considering index offset if required","    // NOTE: Text index offset depends on cursor position","    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));","","    // Draw cursor","    if (editMode \u0026\u0026 !GuiGetStyle(TEXTBOX, TEXT_READONLY))","    {","        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))","        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));","","        // Draw mouse position cursor (if required)","        if (mouseCursor.x \u003e= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));","    }","    else if (state == STATE_FOCUSED) GuiTooltip(bounds);","    //--------------------------------------------------------------------","","    return result;      // Mouse button pressed: result = 1","}","","/*","// Text Box control with multiple lines and word-wrap","// NOTE: This text-box is readonly, no editing supported by default","bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)","{","    bool pressed = false;","","    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);","    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);","","    // TODO: Implement methods to calculate cursor position properly","    pressed = GuiTextBox(bounds, text, textSize, editMode);","","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);","    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);","    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);","","    return pressed;","}","*/","","// Spinner control, returns selected value","int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)","{","    int result = 1;","    GuiState state = guiState;","","    int tempValue = *value;","","    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,","                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };","    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };","    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };","","    Rectangle textBounds = { 0 };","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check spinner state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","        }","    }","","#if defined(RAYGUI_NO_ICONS)","    if (GuiButton(leftButtonBound, \"\u003c\")) tempValue--;","    if (GuiButton(rightButtonBound, \"\u003e\")) tempValue++;","#else","    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;","    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;","#endif","","    if (!editMode)","    {","        if (tempValue \u003c minValue) tempValue = minValue;","        if (tempValue \u003e maxValue) tempValue = maxValue;","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    result = GuiValueBox(spinner, NULL, \u0026tempValue, minValue, maxValue, editMode);","","    // Draw value selector custom buttons","    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values","    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);","    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","","    // Draw text label if provided","    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    *value = tempValue;","    return result;","}","","// Value Box control, updates input text with numbers","// NOTE: Requires static variables: frameCounter","int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)","{","    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)","        #define RAYGUI_VALUEBOX_MAX_CHARS  32","    #endif","","    int result = 0;","    GuiState state = guiState;","","    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = \"\\0\";","    sprintf(textValue, \"%i\", *value);","","    Rectangle textBounds = { 0 };","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        bool valueHasChanged = false;","","        if (editMode)","        {","            state = STATE_PRESSED;","","            int keyCount = (int)strlen(textValue);","","            // Only allow keys in range [48..57]","            if (keyCount \u003c RAYGUI_VALUEBOX_MAX_CHARS)","            {","                if (GetTextWidth(textValue) \u003c bounds.width)","                {","                    int key = GetCharPressed();","                    if ((key \u003e= 48) \u0026\u0026 (key \u003c= 57))","                    {","                        textValue[keyCount] = (char)key;","                        keyCount++;","                        valueHasChanged = true;","                    }","                }","            }","","            // Delete text","            if (keyCount \u003e 0)","            {","                if (IsKeyPressed(KEY_BACKSPACE))","                {","                    keyCount--;","                    textValue[keyCount] = '\\0';","                    valueHasChanged = true;","                }","            }","","            if (valueHasChanged) *value = TextToInteger(textValue);","","            // NOTE: We are not clamp values until user input finishes","            //if (*value \u003e maxValue) *value = maxValue;","            //else if (*value \u003c minValue) *value = minValue;","","            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))","            {","                if (*value \u003e maxValue) *value = maxValue;","                else if (*value \u003c minValue) *value = minValue;","","                result = 1;","            }","        }","        else","        {","            if (*value \u003e maxValue) *value = maxValue;","            else if (*value \u003c minValue) *value = minValue;","","            if (CheckCollisionPointRec(mousePoint, bounds))","            {","                state = STATE_FOCUSED;","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    Color baseColor = BLANK;","    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));","    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));","","    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);","    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));","","    // Draw cursor","    if (editMode)","    {","        // NOTE: ValueBox internal text is always centered","        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };","        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));","    }","","    // Draw text label if provided","    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Floating point Value Box control, updates input val_str with numbers","// NOTE: Requires static variables: frameCounter","int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)","{","    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)","        #define RAYGUI_VALUEBOX_MAX_CHARS  32","    #endif","","    int result = 0;","    GuiState state = guiState;","","    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = \"\\0\";","    //sprintf(textValue, \"%2.2f\", *value);","","    Rectangle textBounds = {0};","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        bool valueHasChanged = false;","","        if (editMode)","        {","            state = STATE_PRESSED;","","            int keyCount = (int)strlen(textValue);","","            // Only allow keys in range [48..57]","            if (keyCount \u003c RAYGUI_VALUEBOX_MAX_CHARS)","            {","                if (GetTextWidth(textValue) \u003c bounds.width)","                {","                    int key = GetCharPressed();","                    if (((key \u003e= 48) \u0026\u0026 (key \u003c= 57)) ||","                        (key == '.') ||","                        ((keyCount == 0) \u0026\u0026 (key == '+')) ||  // NOTE: Sign can only be in first position","                        ((keyCount == 0) \u0026\u0026 (key == '-')))","                    {","                        textValue[keyCount] = (char)key;","                        keyCount++;","","                        valueHasChanged = true;","                    }","                }","            }","","            // Pressed backspace","            if (IsKeyPressed(KEY_BACKSPACE))","            {","                if (keyCount \u003e 0)","                {","                    keyCount--;","                    textValue[keyCount] = '\\0';","                    valueHasChanged = true;","                }","            }","","            if (valueHasChanged) *value = TextToFloat(textValue);","","            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;","        }","        else","        {","            if (CheckCollisionPointRec(mousePoint, bounds))","            {","                state = STATE_FOCUSED;","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    Color baseColor = BLANK;","    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));","    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));","","    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);","    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));","","    // Draw cursor","    if (editMode)","    {","        // NOTE: ValueBox internal text is always centered","        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,","                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,","                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};","        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));","    }","","    // Draw text label if provided","    GuiDrawText(text, textBounds,","                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,","                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Slider control with pro parameters","// NOTE: Other GuiSlider*() controls use this one","int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)","{","    int result = 0;","    GuiState state = guiState;","","    float temp = (maxValue - minValue)/2.0f;","    if (value == NULL) value = \u0026temp;","    float oldValue = *value;","","    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),","                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","                    // Get equivalent value and slider position from mousePosition.x","                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                if (!CheckCollisionPointRec(mousePoint, slider))","                {","                    // Get equivalent value and slider position from mousePosition.x","                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;","                }","            }","            else state = STATE_FOCUSED;","        }","","        if (*value \u003e maxValue) *value = maxValue;","        else if (*value \u003c minValue) *value = minValue;","    }","","    // Control value change check","    if (oldValue == *value) result = 0;","    else result = 1;","","    // Slider bar limits check","    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));","    if (sliderWidth \u003e 0)        // Slider","    {","        slider.x += sliderValue;","        slider.width = (float)sliderWidth;","        if (slider.x \u003c= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);","        else if ((slider.x + slider.width) \u003e= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);","    }","    else if (sliderWidth == 0)  // SliderBar","    {","        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);","        slider.width = sliderValue;","        if (slider.width \u003e bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));","","    // Draw slider internal bar (depends on state)","    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));","    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));","    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));","","    // Draw left/right text if provided","    if (textLeft != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textLeft);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));","    }","","    if (textRight != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textRight);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Slider control extended, returns selected value and has text","int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)","{","    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));","}","","// Slider Bar control extended, returns selected value","int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)","{","    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);","}","","// Progress Bar control extended, shows current progress value","int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)","{","    int result = 0;","    GuiState state = guiState;","","    float temp = (maxValue - minValue)/2.0f;","    if (value == NULL) value = \u0026temp;","","    // Progress bar","    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),","                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,","                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };","","    // Update control","    //--------------------------------------------------------------------","    if (*value \u003e maxValue) *value = maxValue;","","    // WARNING: Working with floats could lead to rounding issues","    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value \u003e= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_DISABLED)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);","    }","    else","    {","        if (*value \u003e minValue)","        {","            // Draw progress bar with colored border, more visual","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","        }","        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","","        if (*value \u003e= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","        else","        {","            // Draw borders not yet reached by value","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","        }","","        // Draw slider internal progress bar (depends on state)","        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));","    }","","    // Draw left/right text if provided","    if (textLeft != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textLeft);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));","    }","","    if (textRight != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textRight);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Status Bar control","int GuiStatusBar(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));","    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Dummy rectangle control, intended for placeholding","int GuiDummyRec(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));","    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));","    //------------------------------------------------------------------","","    return result;","}","","// List View control","int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)","{","    int result = 0;","    int itemCount = 0;","    const char **items = NULL;","","    if (text != NULL) items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);","","    return result;","}","","// List View control with extended parameters","int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)","{","    int result = 0;","    GuiState state = guiState;","","    int itemFocused = (focus == NULL)? -1 : *focus;","    int itemSelected = (active == NULL)? -1 : *active;","","    // Check if we need a scroll bar","    bool useScrollBar = false;","    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count \u003e bounds.height) useScrollBar = true;","","    // Define base item rectangle [0]","    Rectangle itemBounds = { 0 };","    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);","    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);","    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);","    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);","    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);","","    // Get items on the list","    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));","    if (visibleItems \u003e count) visibleItems = count;","","    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;","    if ((startIndex \u003c 0) || (startIndex \u003e (count - visibleItems))) startIndex = 0;","    int endIndex = startIndex + visibleItems;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check mouse inside list view","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            state = STATE_FOCUSED;","","            // Check focused and selected item","            for (int i = 0; i \u003c visibleItems; i++)","            {","                if (CheckCollisionPointRec(mousePoint, itemBounds))","                {","                    itemFocused = startIndex + i;","                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                    {","                        if (itemSelected == (startIndex + i)) itemSelected = -1;","                        else itemSelected = startIndex + i;","                    }","                    break;","                }","","                // Update item rectangle y position for next item","                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));","            }","","            if (useScrollBar)","            {","                int wheelMove = (int)GetMouseWheelMove();","                startIndex -= wheelMove;","","                if (startIndex \u003c 0) startIndex = 0;","                else if (startIndex \u003e (count - visibleItems)) startIndex = count - visibleItems;","","                endIndex = startIndex + visibleItems;","                if (endIndex \u003e count) endIndex = count;","            }","        }","        else itemFocused = -1;","","        // Reset item rectangle y to [0]","        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background","","    // Draw visible items","    for (int i = 0; ((i \u003c visibleItems) \u0026\u0026 (text != NULL)); i++)","    {","        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);","","        if (state == STATE_DISABLED)","        {","            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));","","            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));","        }","        else","        {","            if (((startIndex + i) == itemSelected) \u0026\u0026 (active != NULL))","            {","                // Draw item selected","                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));","                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));","            }","            else if (((startIndex + i) == itemFocused)) // \u0026\u0026 (focus != NULL))  // NOTE: We want items focused, despite not returned!","            {","                // Draw item focused","                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));","                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));","            }","            else","            {","                // Draw item normal","                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));","            }","        }","","        // Update item rectangle y position for next item","        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));","    }","","    if (useScrollBar)","    {","        Rectangle scrollBarBounds = {","            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),","            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),","            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)","        };","","        // Calculate percentage of visible items and apply same percentage to scrollbar","        float percentVisible = (float)(endIndex - startIndex)/count;","        float sliderSize = bounds.height*percentVisible;","","        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size","        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size","        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed","","        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);","","        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default","    }","    //--------------------------------------------------------------------","","    if (active != NULL) *active = itemSelected;","    if (focus != NULL) *focus = itemFocused;","    if (scrollIndex != NULL) *scrollIndex = startIndex;","","    return result;","}","","// Color Panel control - Color (RGBA) variant.","int GuiColorPanel(Rectangle bounds, const char *text, Color *color)","{","    int result = 0;","","    Vector3 vcolor = { (float)color-\u003er/255.0f, (float)color-\u003eg/255.0f, (float)color-\u003eb/255.0f };","    Vector3 hsv = ConvertRGBtoHSV(vcolor);","    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.","","    GuiColorPanelHSV(bounds, text, \u0026hsv);","","    // Check if the hsv was changed, only then change the color.","    // This is required, because the Color-\u003eHSV-\u003eColor conversion has precision errors.","    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.","    // Otherwise GuiColorPanel would often modify it's color without user input.","    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.","    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)","    {","        Vector3 rgb = ConvertHSVtoRGB(hsv);","","        // NOTE: Vector3ToColor() only available on raylib 1.8.1","        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),","                            (unsigned char)(255.0f*rgb.y),","                            (unsigned char)(255.0f*rgb.z),","                            color-\u003ea };","    }","    return result;","}","","// Color Bar Alpha control","// NOTE: Returns alpha value normalized [0..1]","int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)","{","    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)","        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10","    #endif","","    int result = 0;","    GuiState state = guiState;","    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","","                    *alpha = (mousePoint.x - bounds.x)/bounds.width;","                    if (*alpha \u003c= 0.0f) *alpha = 0.0f;","                    if (*alpha \u003e= 1.0f) *alpha = 1.0f;","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                *alpha = (mousePoint.x - bounds.x)/bounds.width;","                if (*alpha \u003c= 0.0f) *alpha = 0.0f;","                if (*alpha \u003e= 1.0f) *alpha = 1.0f;","                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;","            }","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","","    // Draw alpha bar: checked background","    if (state != STATE_DISABLED)","    {","        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;","        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;","","        for (int x = 0; x \u003c checksX; x++)","        {","            for (int y = 0; y \u003c checksY; y++)","            {","                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };","                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));","            }","        }","","        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));","    }","    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));","","    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);","","    // Draw alpha bar: selector","    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));","    //--------------------------------------------------------------------","","    return result;","}","","// Color Bar Hue control","// Returns hue value normalized [0..1]","// NOTE: Other similar bars (for reference):","//      Color GuiColorBarSat() [WHITE-\u003ecolor]","//      Color GuiColorBarValue() [BLACK-\u003ecolor], HSV/HSL","//      float GuiColorBarLuminance() [BLACK-\u003eWHITE]","int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)","{","    int result = 0;","    GuiState state = guiState;","    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","","                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;","                    if (*hue \u003c= 0.0f) *hue = 0.0f;","                    if (*hue \u003e= 359.0f) *hue = 359.0f;","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                *hue = (mousePoint.y - bounds.y)*360/bounds.height;","                if (*hue \u003c= 0.0f) *hue = 0.0f;","                if (*hue \u003e= 359.0f) *hue = 359.0f;","","            }","            else state = STATE_FOCUSED;","","            /*if (IsKeyDown(KEY_UP))","            {","                hue -= 2.0f;","                if (hue \u003c= 0.0f) hue = 0.0f;","            }","            else if (IsKeyDown(KEY_DOWN))","            {","                hue += 2.0f;","                if (hue \u003e= 360.0f) hue = 360.0f;","            }*/","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state != STATE_DISABLED)","    {","        // Draw hue bar:color bars","        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));","    }","    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));","","    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);","","    // Draw hue bar: selector","    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));","    //--------------------------------------------------------------------","","    return result;","}","","// Color Picker control","// NOTE: It's divided in multiple controls:","//      Color GuiColorPanel(Rectangle bounds, Color color)","//      float GuiColorBarAlpha(Rectangle bounds, float alpha)","//      float GuiColorBarHue(Rectangle bounds, float value)","// NOTE: bounds define GuiColorPanel() size","// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead","int GuiColorPicker(Rectangle bounds, const char *text, Color *color)","{","    int result = 0;","","    Color temp = { 200, 0, 0, 255 };","    if (color == NULL) color = \u0026temp;","","    GuiColorPanel(bounds, NULL, color);","","    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };","    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };","","    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.","    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });","","    GuiColorBarHue(boundsHue, NULL, \u0026hsv.x);","","    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);","    Vector3 rgb = ConvertHSVtoRGB(hsv);","","    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };","","    return result;","}","","// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.","// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.","// NOTE: It's divided in multiple controls:","//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)","//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)","//      float GuiColorBarHue(Rectangle bounds, float value)","// NOTE: bounds define GuiColorPanelHSV() size","int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)","{","    int result = 0;","","    Vector3 tempHsv = { 0 };","","    if (colorHsv == NULL)","    {","        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };","        tempHsv = ConvertRGBtoHSV(tempColor);","        colorHsv = \u0026tempHsv;","    }","","    GuiColorPanelHSV(bounds, NULL, colorHsv);","","    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };","","    GuiColorBarHue(boundsHue, NULL, \u0026colorHsv-\u003ex);","","    return result;","}","","// Color Panel control - HSV variant","int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)","{","    int result = 0;","    GuiState state = guiState;","    Vector2 pickerSelector = { 0 };","","    const Color colWhite = { 255, 255, 255, 255 };","    const Color colBlack = { 0, 0, 0, 255 };","","    pickerSelector.x = bounds.x + (float)colorHsv-\u003ey*bounds.width;            // HSV: Saturation","    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv-\u003ez)*bounds.height;  // HSV: Value","","    Vector3 maxHue = { colorHsv-\u003ex, 1.0f, 1.0f };","    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);","    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),","                      (unsigned char)(255.0f*rgbHue.y),","                      (unsigned char)(255.0f*rgbHue.z), 255 };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    pickerSelector = mousePoint;","","                    if (pickerSelector.x \u003c bounds.x) pickerSelector.x = bounds.x;","                    if (pickerSelector.x \u003e bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;","                    if (pickerSelector.y \u003c bounds.y) pickerSelector.y = bounds.y;","                    if (pickerSelector.y \u003e bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;","","                    // Calculate color from picker","                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };","","                    colorPick.x /= (float)bounds.width;     // Get normalized value on x","                    colorPick.y /= (float)bounds.height;    // Get normalized value on y","","                    colorHsv-\u003ey = colorPick.x;","                    colorHsv-\u003ez = 1.0f - colorPick.y;","","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds;","                pickerSelector = mousePoint;","","                // Calculate color from picker","                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };","","                colorPick.x /= (float)bounds.width;     // Get normalized value on x","                colorPick.y /= (float)bounds.height;    // Get normalized value on y","","                colorHsv-\u003ey = colorPick.x;","                colorHsv-\u003ez = 1.0f - colorPick.y;","            }","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state != STATE_DISABLED)","    {","        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));","        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));","","        // Draw color picker: selector","        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };","        GuiDrawRectangle(selector, 0, BLANK, colWhite);","    }","    else","    {","        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));","    }","","    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);","    //--------------------------------------------------------------------","","    return result;","}","","// Message Box control","int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)","{","    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)","        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24","    #endif","    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)","        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12","    #endif","","    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button","","    int buttonCount = 0;","    const char **buttonsText = GuiTextSplit(buttons, ';', \u0026buttonCount, NULL);","    Rectangle buttonBounds = { 0 };","    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;","    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;","","    //int textWidth = GetTextWidth(message) + 2;","","    Rectangle textBounds = { 0 };","    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;","    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;","","    // Draw control","    //--------------------------------------------------------------------","    if (GuiWindowBox(bounds, title)) result = 0;","","    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);","    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","    GuiLabel(textBounds, message);","    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);","","    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    for (int i = 0; i \u003c buttonCount; i++)","    {","        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;","        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);","    }","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);","    //--------------------------------------------------------------------","","    return result;","}","","// Text Input Box control, ask for text","int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)","{","    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)","        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24","    #endif","    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)","        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12","    #endif","    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)","        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26","    #endif","","    // Used to enable text edit mode","    // WARNING: No more than one GuiTextInputBox() should be open at the same time","    static bool textEditMode = false;","","    int result = -1;","","    int buttonCount = 0;","    const char **buttonsText = GuiTextSplit(buttons, ';', \u0026buttonCount, NULL);","    Rectangle buttonBounds = { 0 };","    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;","    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;","","    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","","    Rectangle textBounds = { 0 };","    if (message != NULL)","    {","        int textSize = GetTextWidth(message) + 2;","","        textBounds.x = bounds.x + bounds.width/2 - textSize/2;","        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        textBounds.width = (float)textSize;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","    }","","    Rectangle textBoxBounds = { 0 };","    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;","    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);","    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;","    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;","","    // Draw control","    //--------------------------------------------------------------------","    if (GuiWindowBox(bounds, title)) result = 0;","","    // Draw message if available","    if (message != NULL)","    {","        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","        GuiLabel(textBounds, message);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);","    }","","    if (secretViewActive != NULL)","    {","        static char stars[] = \"****************\";","        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },","            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;","","        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? \"#44#\" : \"#45#\", secretViewActive);","    }","    else","    {","        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;","    }","","    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    for (int i = 0; i \u003c buttonCount; i++)","    {","        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;","        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);","    }","","    if (result \u003e= 0) textEditMode = false;","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);","    //--------------------------------------------------------------------","","    return result;      // Result is the pressed button index","}","","// Grid control","// NOTE: Returns grid mouse-hover selected cell","// About drawing lines at subpixel spacing, simple put, not easy solution:","// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster","int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)","{","    // Grid lines alpha amount","    #if !defined(RAYGUI_GRID_ALPHA)","        #define RAYGUI_GRID_ALPHA    0.15f","    #endif","","    int result = 0;","    GuiState state = guiState;","","    Vector2 mousePoint = GetMousePosition();","    Vector2 currentMouseCell = { -1, -1 };","","    float spaceWidth = spacing/(float)subdivs;","    int linesV = (int)(bounds.width/spaceWidth) + 1;","    int linesH = (int)(bounds.height/spaceWidth) + 1;","","    int color = GuiGetStyle(DEFAULT, LINE_COLOR);","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            // NOTE: Cell values must be the upper left of the cell the mouse is in","            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);","            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);","","    if (subdivs \u003e 0)","    {","        // Draw vertical grid lines","        for (int i = 0; i \u003c linesV; i++)","        {","            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };","            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));","        }","","        // Draw horizontal grid lines","        for (int i = 0; i \u003c linesH; i++)","        {","            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };","            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));","        }","    }","","    if (mouseCell != NULL) *mouseCell = currentMouseCell;","    return result;","}","","//----------------------------------------------------------------------------------","// Tooltip management functions","// NOTE: Tooltips requires some global variables: tooltipPtr","//----------------------------------------------------------------------------------","// Enable gui tooltips (global state)","void GuiEnableTooltip(void) { guiTooltip = true; }","","// Disable gui tooltips (global state)","void GuiDisableTooltip(void) { guiTooltip = false; }","","// Set tooltip string","void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }","","//----------------------------------------------------------------------------------","// Styles loading functions","//----------------------------------------------------------------------------------","","// Load raygui style file (.rgs)","// NOTE: By default a binary file is expected, that file could contain a custom font,","// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)","void GuiLoadStyle(const char *fileName)","{","    #define MAX_LINE_BUFFER_SIZE    256","","    bool tryBinary = false;","    if (!guiStyleLoaded) GuiLoadStyleDefault();","","    // Try reading the files as text file first","    FILE *rgsFile = fopen(fileName, \"rt\");","","    if (rgsFile != NULL)","    {","        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };","        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);","","        if (buffer[0] == '#')","        {","            int controlId = 0;","            int propertyId = 0;","            unsigned int propertyValue = 0;","","            while (!feof(rgsFile))","            {","                switch (buffer[0])","                {","                    case 'p':","                    {","                        // Style property: p \u003ccontrol_id\u003e \u003cproperty_id\u003e \u003cproperty_value\u003e \u003cproperty_name\u003e","","                        sscanf(buffer, \"p %d %d 0x%x\", \u0026controlId, \u0026propertyId, \u0026propertyValue);","                        GuiSetStyle(controlId, propertyId, (int)propertyValue);","","                    } break;","                    case 'f':","                    {","                        // Style font: f \u003cgen_font_size\u003e \u003ccharmap_file\u003e \u003cfont_file\u003e","","                        int fontSize = 0;","                        char charmapFileName[256] = { 0 };","                        char fontFileName[256] = { 0 };","                        sscanf(buffer, \"f %d %s %[^\\r\\n]s\", \u0026fontSize, charmapFileName, fontFileName);","","                        Font font = { 0 };","                        int *codepoints = NULL;","                        int codepointCount = 0;","","                        if (charmapFileName[0] != '0')","                        {","                            // Load text data from file","                            // NOTE: Expected an UTF-8 array of codepoints, no separation","                            char *textData = LoadFileText(TextFormat(\"%s/%s\", GetDirectoryPath(fileName), charmapFileName));","                            codepoints = LoadCodepoints(textData, \u0026codepointCount);","                            UnloadFileText(textData);","                        }","","                        if (fontFileName[0] != '\\0')","                        {","                            // In case a font is already loaded and it is not default internal font, unload it","                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);","","                            if (codepointCount \u003e 0) font = LoadFontEx(TextFormat(\"%s/%s\", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);","                            else font = LoadFontEx(TextFormat(\"%s/%s\", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints","                        }","","                        // If font texture not properly loaded, revert to default font and size/spacing","                        if (font.texture.id == 0)","                        {","                            font = GetFontDefault();","                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);","                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);","                        }","","                        UnloadCodepoints(codepoints);","","                        if ((font.texture.id \u003e 0) \u0026\u0026 (font.glyphCount \u003e 0)) GuiSetFont(font);","","                    } break;","                    default: break;","                }","","                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);","            }","        }","        else tryBinary = true;","","        fclose(rgsFile);","    }","","    if (tryBinary)","    {","        rgsFile = fopen(fileName, \"rb\");","","        if (rgsFile != NULL)","        {","            fseek(rgsFile, 0, SEEK_END);","            int fileDataSize = ftell(rgsFile);","            fseek(rgsFile, 0, SEEK_SET);","","            if (fileDataSize \u003e 0)","            {","                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));","                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);","","                GuiLoadStyleFromMemory(fileData, fileDataSize);","","                RAYGUI_FREE(fileData);","            }","","            fclose(rgsFile);","        }","    }","}","","// Load style default over global style","void GuiLoadStyleDefault(void)","{","    // We set this variable first to avoid cyclic function calls","    // when calling GuiSetStyle() and GuiGetStyle()","    guiStyleLoaded = true;","","    // Initialize default LIGHT style property values","    // WARNING: Default value are applied to all controls on set but","    // they can be overwritten later on for every custom control","    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);","    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);","    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);","    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);","    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);","    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    // Initialize default extended property values","    // NOTE: By default, extended property values are initialized to 0","    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls","    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls","    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property","    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property","    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds","","    // Initialize control-specific property values","    // NOTE: Those properties are in default list but require specific values by control type","    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);","    GuiSetStyle(SLIDER, TEXT_PADDING, 4);","    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);","    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);","    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);","    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);","    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);","    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);","    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(SPINNER, TEXT_PADDING, 0);","    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);","    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","","    // Initialize extended property values","    // NOTE: By default, extended property values are initialized to 0","    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);","    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);","    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);","    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);","    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);","    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);","    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);","    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);","    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);","    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);","    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);","    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);","    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);","    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);","    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);","    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);","    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);","    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);","    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);","    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);","    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);","    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);","    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);","    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);","    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);","    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);","    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);","","    if (guiFont.texture.id != GetFontDefault().texture.id)","    {","        // Unload previous font texture","        UnloadTexture(guiFont.texture);","        RL_FREE(guiFont.recs);","        RL_FREE(guiFont.glyphs);","        guiFont.recs = NULL;","        guiFont.glyphs = NULL;","","        // Setup default raylib font","        guiFont = GetFontDefault();","","        // NOTE: Default raylib font character 95 is a white square","        Rectangle whiteChar = guiFont.recs[95];","","        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering","        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });","    }","}","","// Get text with icon id prepended","// NOTE: Useful to add icons by name id (enum) instead of","// a number that can change between ricon versions","const char *GuiIconText(int iconId, const char *text)","{","#if defined(RAYGUI_NO_ICONS)","    return NULL;","#else","    static char buffer[1024] = { 0 };","    static char iconBuffer[16] = { 0 };","","    if (text != NULL)","    {","        memset(buffer, 0, 1024);","        sprintf(buffer, \"#%03i#\", iconId);","","        for (int i = 5; i \u003c 1024; i++)","        {","            buffer[i] = text[i - 5];","            if (text[i - 5] == '\\0') break;","        }","","        return buffer;","    }","    else","    {","        sprintf(iconBuffer, \"#%03i#\", iconId);","","        return iconBuffer;","    }","#endif","}","","#if !defined(RAYGUI_NO_ICONS)","// Get full icons data pointer","unsigned int *GuiGetIcons(void) { return guiIconsPtr; }","","// Load raygui icons file (.rgi)","// NOTE: In case nameIds are required, they can be requested with loadIconsName,","// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],","// WARNING: guiIconsName[]][] memory should be manually freed!","char **GuiLoadIcons(const char *fileName, bool loadIconsName)","{","    // Style File Structure (.rgi)","    // ------------------------------------------------------","    // Offset  | Size    | Type       | Description","    // ------------------------------------------------------","    // 0       | 4       | char       | Signature: \"rGI \"","    // 4       | 2       | short      | Version: 100","    // 6       | 2       | short      | reserved","","    // 8       | 2       | short      | Num icons (N)","    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)","","    // Icons name id (32 bytes per name id)","    // foreach (icon)","    // {","    //   12+32*i  | 32   | char       | Icon NameId","    // }","","    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)","    // S*S pixels/32bit per unsigned int = K unsigned int per icon","    // foreach (icon)","    // {","    //   ...   | K       | unsigned int | Icon Data","    // }","","    FILE *rgiFile = fopen(fileName, \"rb\");","","    char **guiIconsName = NULL;","","    if (rgiFile != NULL)","    {","        char signature[5] = { 0 };","        short version = 0;","        short reserved = 0;","        short iconCount = 0;","        short iconSize = 0;","","        fread(signature, 1, 4, rgiFile);","        fread(\u0026version, sizeof(short), 1, rgiFile);","        fread(\u0026reserved, sizeof(short), 1, rgiFile);","        fread(\u0026iconCount, sizeof(short), 1, rgiFile);","        fread(\u0026iconSize, sizeof(short), 1, rgiFile);","","        if ((signature[0] == 'r') \u0026\u0026","            (signature[1] == 'G') \u0026\u0026","            (signature[2] == 'I') \u0026\u0026","            (signature[3] == ' '))","        {","            if (loadIconsName)","            {","                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));","                for (int i = 0; i \u003c iconCount; i++)","                {","                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);","                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);","                }","            }","            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);","","            // Read icons data directly over internal icons array","            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);","        }","","        fclose(rgiFile);","    }","","    return guiIconsName;","}","","// Draw selected icon using rectangles pixel-by-pixel","void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)","{","    #define BIT_CHECK(a,b) ((a) \u0026 (1u\u003c\u003c(b)))","","    for (int i = 0, y = 0; i \u003c RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)","    {","        for (int k = 0; k \u003c 32; k++)","        {","            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))","            {","            #if !defined(RAYGUI_STANDALONE)","                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);","            #endif","            }","","            if ((k == 15) || (k == 31)) y++;","        }","    }","}","","// Set icon drawing size","void GuiSetIconScale(int scale)","{","    if (scale \u003e= 1) guiIconScale = scale;","}","","#endif      // !RAYGUI_NO_ICONS","","//----------------------------------------------------------------------------------","// Module specific Functions Definition","//----------------------------------------------------------------------------------","","// Load style from memory","// WARNING: Binary files only","static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)","{","    unsigned char *fileDataPtr = (unsigned char *)fileData;","","    char signature[5] = { 0 };","    short version = 0;","    short reserved = 0;","    int propertyCount = 0;","","    memcpy(signature, fileDataPtr, 4);","    memcpy(\u0026version, fileDataPtr + 4, sizeof(short));","    memcpy(\u0026reserved, fileDataPtr + 4 + 2, sizeof(short));","    memcpy(\u0026propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));","    fileDataPtr += 12;","","    if ((signature[0] == 'r') \u0026\u0026","        (signature[1] == 'G') \u0026\u0026","        (signature[2] == 'S') \u0026\u0026","        (signature[3] == ' '))","    {","        short controlId = 0;","        short propertyId = 0;","        unsigned int propertyValue = 0;","","        for (int i = 0; i \u003c propertyCount; i++)","        {","            memcpy(\u0026controlId, fileDataPtr, sizeof(short));","            memcpy(\u0026propertyId, fileDataPtr + 2, sizeof(short));","            memcpy(\u0026propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));","            fileDataPtr += 8;","","            if (controlId == 0) // DEFAULT control","            {","                // If a DEFAULT property is loaded, it is propagated to all controls","                // NOTE: All DEFAULT properties should be defined first in the file","                GuiSetStyle(0, (int)propertyId, propertyValue);","","                if (propertyId \u003c RAYGUI_MAX_PROPS_BASE) for (int j = 1; j \u003c RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);","            }","            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);","        }","","        // Font loading is highly dependant on raylib API to load font data and image","","#if !defined(RAYGUI_STANDALONE)","        // Load custom font if available","        int fontDataSize = 0;","        memcpy(\u0026fontDataSize, fileDataPtr, sizeof(int));","        fileDataPtr += 4;","","        if (fontDataSize \u003e 0)","        {","            Font font = { 0 };","            int fontType = 0;   // 0-Normal, 1-SDF","","            memcpy(\u0026font.baseSize, fileDataPtr, sizeof(int));","            memcpy(\u0026font.glyphCount, fileDataPtr + 4, sizeof(int));","            memcpy(\u0026fontType, fileDataPtr + 4 + 4, sizeof(int));","            fileDataPtr += 12;","","            // Load font white rectangle","            Rectangle fontWhiteRec = { 0 };","            memcpy(\u0026fontWhiteRec, fileDataPtr, sizeof(Rectangle));","            fileDataPtr += 16;","","            // Load font image parameters","            int fontImageUncompSize = 0;","            int fontImageCompSize = 0;","            memcpy(\u0026fontImageUncompSize, fileDataPtr, sizeof(int));","            memcpy(\u0026fontImageCompSize, fileDataPtr + 4, sizeof(int));","            fileDataPtr += 8;","","            Image imFont = { 0 };","            imFont.mipmaps = 1;","            memcpy(\u0026imFont.width, fileDataPtr, sizeof(int));","            memcpy(\u0026imFont.height, fileDataPtr + 4, sizeof(int));","            memcpy(\u0026imFont.format, fileDataPtr + 4 + 4, sizeof(int));","            fileDataPtr += 12;","","            if ((fontImageCompSize \u003e 0) \u0026\u0026 (fontImageCompSize != fontImageUncompSize))","            {","                // Compressed font atlas image data (DEFLATE), it requires DecompressData()","                int dataUncompSize = 0;","                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);","                memcpy(compData, fileDataPtr, fontImageCompSize);","                fileDataPtr += fontImageCompSize;","","                imFont.data = DecompressData(compData, fontImageCompSize, \u0026dataUncompSize);","","                // Security check, dataUncompSize must match the provided fontImageUncompSize","                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG(\"WARNING: Uncompressed font atlas image data could be corrupted\");","","                RAYGUI_FREE(compData);","            }","            else","            {","                // Font atlas image data is not compressed","                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);","                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);","                fileDataPtr += fontImageUncompSize;","            }","","            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);","            font.texture = LoadTextureFromImage(imFont);","","            RAYGUI_FREE(imFont.data);","","            // Validate font atlas texture was loaded correctly","            if (font.texture.id != 0)","            {","                // Load font recs data","                int recsDataSize = font.glyphCount*sizeof(Rectangle);","                int recsDataCompressedSize = 0;","","                // WARNING: Version 400 adds the compression size parameter","                if (version \u003e= 400)","                {","                    // RGS files version 400 support compressed recs data","                    memcpy(\u0026recsDataCompressedSize, fileDataPtr, sizeof(int));","                    fileDataPtr += sizeof(int);","                }","","                if ((recsDataCompressedSize \u003e 0) \u0026\u0026 (recsDataCompressedSize != recsDataSize))","                {","                    // Recs data is compressed, uncompress it","                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);","","                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);","                    fileDataPtr += recsDataCompressedSize;","","                    int recsDataUncompSize = 0;","                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, \u0026recsDataUncompSize);","","                    // Security check, data uncompressed size must match the expected original data size","                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG(\"WARNING: Uncompressed font recs data could be corrupted\");","","                    RAYGUI_FREE(recsDataCompressed);","                }","                else","                {","                    // Recs data is uncompressed","                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));","                    for (int i = 0; i \u003c font.glyphCount; i++)","                    {","                        memcpy(\u0026font.recs[i], fileDataPtr, sizeof(Rectangle));","                        fileDataPtr += sizeof(Rectangle);","                    }","                }","","                // Load font glyphs info data","                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph","                int glyphsDataCompressedSize = 0;","","                // WARNING: Version 400 adds the compression size parameter","                if (version \u003e= 400)","                {","                    // RGS files version 400 support compressed glyphs data","                    memcpy(\u0026glyphsDataCompressedSize, fileDataPtr, sizeof(int));","                    fileDataPtr += sizeof(int);","                }","","                // Allocate required glyphs space to fill with data","                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));","","                if ((glyphsDataCompressedSize \u003e 0) \u0026\u0026 (glyphsDataCompressedSize != glyphsDataSize))","                {","                    // Glyphs data is compressed, uncompress it","                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);","","                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);","                    fileDataPtr += glyphsDataCompressedSize;","","                    int glyphsDataUncompSize = 0;","                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, \u0026glyphsDataUncompSize);","","                    // Security check, data uncompressed size must match the expected original data size","                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG(\"WARNING: Uncompressed font glyphs data could be corrupted\");","","                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;","","                    for (int i = 0; i \u003c font.glyphCount; i++)","                    {","                        memcpy(\u0026font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));","                        memcpy(\u0026font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));","                        glyphsDataUncompPtr += 16;","                    }","","                    RAYGUI_FREE(glypsDataCompressed);","                    RAYGUI_FREE(glyphsDataUncomp);","                }","                else","                {","                    // Glyphs data is uncompressed","                    for (int i = 0; i \u003c font.glyphCount; i++)","                    {","                        memcpy(\u0026font.glyphs[i].value, fileDataPtr, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));","                        memcpy(\u0026font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));","                        fileDataPtr += 16;","                    }","                }","            }","            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture","","            GuiSetFont(font);","","            // Set font texture source rectangle to be used as white texture to draw shapes","            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call","            if ((fontWhiteRec.x \u003e 0) \u0026\u0026","                (fontWhiteRec.y \u003e 0) \u0026\u0026","                (fontWhiteRec.width \u003e 0) \u0026\u0026","                (fontWhiteRec.height \u003e 0)) SetShapesTexture(font.texture, fontWhiteRec);","        }","#endif","    }","}","","// Gui get text width considering icon","static int GetTextWidth(const char *text)","{","    #if !defined(ICON_TEXT_PADDING)","        #define ICON_TEXT_PADDING   4","    #endif","","    Vector2 textSize = { 0 };","    int textIconOffset = 0;","","    if ((text != NULL) \u0026\u0026 (text[0] != '\\0'))","    {","        if (text[0] == '#')","        {","            for (int i = 1; (i \u003c 5) \u0026\u0026 (text[i] != '\\0'); i++)","            {","                if (text[i] == '#')","                {","                    textIconOffset = i;","                    break;","                }","            }","        }","","        text += textIconOffset;","","        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly","        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","","        // Custom MeasureText() implementation","        if ((guiFont.texture.id \u003e 0) \u0026\u0026 (text != NULL))","        {","            // Get size in bytes of text, considering end of line and line break","            int size = 0;","            for (int i = 0; i \u003c MAX_LINE_BUFFER_SIZE; i++)","            {","                if ((text[i] != '\\0') \u0026\u0026 (text[i] != '\\n')) size++;","                else break;","            }","","            float scaleFactor = fontSize/(float)guiFont.baseSize;","            textSize.y = (float)guiFont.baseSize*scaleFactor;","            float glyphWidth = 0.0f;","","            for (int i = 0, codepointSize = 0; i \u003c size; i += codepointSize)","            {","                int codepoint = GetCodepointNext(\u0026text[i], \u0026codepointSize);","                int codepointIndex = GetGlyphIndex(guiFont, codepoint);","","                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);","                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);","","                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","            }","        }","","        if (textIconOffset \u003e 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);","    }","","    return (int)textSize.x;","}","","// Get text bounds considering control bounds","static Rectangle GetTextBounds(int control, Rectangle bounds)","{","    Rectangle textBounds = bounds;","","    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);","    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);","    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);","    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!","","    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds","    switch (control)","    {","        case COMBOBOX:","        case DROPDOWNBOX:","        case LISTVIEW:","            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW","        case SLIDER:","        case CHECKBOX:","        case VALUEBOX:","        case SPINNER:","            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER","        default:","        {","            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()","            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);","            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);","        }","        break;","    }","","    return textBounds;","}","","// Get text icon if provided and move text cursor","// NOTE: We support up to 999 values for iconId","static const char *GetTextIcon(const char *text, int *iconId)","{","#if !defined(RAYGUI_NO_ICONS)","    *iconId = -1;","    if (text[0] == '#')     // Maybe we have an icon!","    {","        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\\0'","","        int pos = 1;","        while ((pos \u003c 4) \u0026\u0026 (text[pos] \u003e= '0') \u0026\u0026 (text[pos] \u003c= '9'))","        {","            iconValue[pos - 1] = text[pos];","            pos++;","        }","","        if (text[pos] == '#')","        {","            *iconId = TextToInteger(iconValue);","","            // Move text pointer after icon","            // WARNING: If only icon provided, it could point to EOL character: '\\0'","            if (*iconId \u003e= 0) text += (pos + 1);","        }","    }","#endif","","    return text;","}","","// Get text divided into lines (by line-breaks '\\n')","const char **GetTextLines(const char *text, int *count)","{","    #define RAYGUI_MAX_TEXT_LINES   128","","    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };","    for (int i = 0; i \u003c RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings","","    int textSize = (int)strlen(text);","","    lines[0] = text;","    int len = 0;","    *count = 1;","    //int lineSize = 0;   // Stores current line size, not returned","","    for (int i = 0, k = 0; (i \u003c textSize) \u0026\u0026 (*count \u003c RAYGUI_MAX_TEXT_LINES); i++)","    {","        if (text[i] == '\\n')","        {","            //lineSize = len;","            k++;","            lines[k] = \u0026text[i + 1];     // WARNING: next value is valid?","            len = 0;","            *count += 1;","        }","        else len++;","    }","","    //lines[*count - 1].size = len;","","    return lines;","}","","// Get text width to next space for provided string","static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)","{","    float width = 0;","    int codepointByteCount = 0;","    int codepoint = 0;","    int index = 0;","    float glyphWidth = 0;","    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;","","    for (int i = 0; text[i] != '\\0'; i++)","    {","        if (text[i] != ' ')","        {","            codepoint = GetCodepoint(\u0026text[i], \u0026codepointByteCount);","            index = GetGlyphIndex(guiFont, codepoint);","            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;","            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","        }","        else","        {","            *nextSpaceIndex = i;","            break;","        }","    }","","    return width;","}","","// Gui draw text using default font","static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)","{","    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect","","    #if !defined(ICON_TEXT_PADDING)","        #define ICON_TEXT_PADDING   4","    #endif","","    if ((text == NULL) || (text[0] == '\\0')) return;    // Security check","","    // PROCEDURE:","    //   - Text is processed line per line","    //   - For every line, horizontal alignment is defined","    //   - For all text, vertical alignment is defined (multiline text only)","    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)","","    // Get text lines (using '\\n' as delimiter) to be processed individually","    // WARNING: We can't use GuiTextSplit() function because it can be already used","    // before the GuiDrawText() call and its buffer is static, it would be overriden :(","    int lineCount = 0;","    const char **lines = GetTextLines(text, \u0026lineCount);","","    // Text style variables","    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);","    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);","    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing","","    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap","    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);","    float posOffsetY = 0.0f;","","    for (int i = 0; i \u003c lineCount; i++)","    {","        int iconId = 0;","        lines[i] = GetTextIcon(lines[i], \u0026iconId);      // Check text for icon and move cursor","","        // Get text position depending on alignment and iconId","        //---------------------------------------------------------------------------------","        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };","        float textBoundsWidthOffset = 0.0f;","","        // NOTE: We get text size after icon has been processed","        // WARNING: GetTextWidth() also processes text icon to get width! -\u003e Really needed?","        int textSizeX = GetTextWidth(lines[i]);","","        // If text requires an icon, add size to measure","        if (iconId \u003e= 0)","        {","            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;","","            // WARNING: If only icon provided, text could be pointing to EOF character: '\\0'","#if !defined(RAYGUI_NO_ICONS)","            if ((lines[i] != NULL) \u0026\u0026 (lines[i][0] != '\\0')) textSizeX += ICON_TEXT_PADDING;","#endif","        }","","        // Check guiTextAlign global variables","        switch (alignment)","        {","            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;","            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;","            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;","            default: break;","        }","","        if (textSizeX \u003e textBounds.width \u0026\u0026 (lines[i] != NULL) \u0026\u0026 (lines[i][0] != '\\0')) textBoundsPosition.x = textBounds.x;","","        switch (alignmentVertical)","        {","            // Only valid in case of wordWrap = 0;","            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;","            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;","            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;","            default: break;","        }","","        // NOTE: Make sure we get pixel-perfect coordinates,","        // In case of decimals we got weird text positioning","        textBoundsPosition.x = (float)((int)textBoundsPosition.x);","        textBoundsPosition.y = (float)((int)textBoundsPosition.y);","        //---------------------------------------------------------------------------------","","        // Draw text (with icon if available)","        //---------------------------------------------------------------------------------","#if !defined(RAYGUI_NO_ICONS)","        if (iconId \u003e= 0)","        {","            // NOTE: We consider icon height, probably different than text size","            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);","            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);","            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);","        }","#endif","        // Get size in bytes of text,","        // considering end of line and line break","        int lineSize = 0;","        for (int c = 0; (lines[i][c] != '\\0') \u0026\u0026 (lines[i][c] != '\\n') \u0026\u0026 (lines[i][c] != '\\r'); c++, lineSize++){ }","        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;","","        int lastSpaceIndex = 0;","        bool tempWrapCharMode = false;","","        int textOffsetY = 0;","        float textOffsetX = 0.0f;","        float glyphWidth = 0;","","        int ellipsisWidth = GetTextWidth(\"...\");","        bool textOverflow = false;","        for (int c = 0, codepointSize = 0; c \u003c lineSize; c += codepointSize)","        {","            int codepoint = GetCodepointNext(\u0026lines[i][c], \u0026codepointSize);","            int index = GetGlyphIndex(guiFont, codepoint);","","            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)","            // but we need to draw all of the bad bytes using the '?' symbol moving one byte","            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size","","            // Get glyph width to check if it goes out of bounds","            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);","            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;","","            // Wrap mode text measuring, to validate if","            // it can be drawn or a new line is required","            if (wrapMode == TEXT_WRAP_CHAR)","            {","                // Jump to next line if current character reach end of the box limits","                if ((textOffsetX + glyphWidth) \u003e textBounds.width - textBoundsWidthOffset)","                {","                    textOffsetX = 0.0f;","                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);","","                    if (tempWrapCharMode)   // Wrap at char level when too long words","                    {","                        wrapMode = TEXT_WRAP_WORD;","                        tempWrapCharMode = false;","                    }","                }","            }","            else if (wrapMode == TEXT_WRAP_WORD)","            {","                if (codepoint == 32) lastSpaceIndex = c;","","                // Get width to next space in line","                int nextSpaceIndex = 0;","                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, \u0026nextSpaceIndex);","","                int nextSpaceIndex2 = 0;","                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, \u0026nextSpaceIndex2);","","                if (nextWordSize \u003e textBounds.width - textBoundsWidthOffset)","                {","                    // Considering the case the next word is longer than bounds","                    tempWrapCharMode = true;","                    wrapMode = TEXT_WRAP_CHAR;","                }","                else if ((textOffsetX + nextSpaceWidth) \u003e textBounds.width - textBoundsWidthOffset)","                {","                    textOffsetX = 0.0f;","                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);","                }","            }","","            if (codepoint == '\\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint","            else","            {","                // TODO: There are multiple types of spaces in Unicode,","                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html","                if ((codepoint != ' ') \u0026\u0026 (codepoint != '\\t'))      // Do not draw codepoints with no glyph","                {","                    if (wrapMode == TEXT_WRAP_NONE)","                    {","                        // Draw only required text glyphs fitting the textBounds.width","                        if (textSizeX \u003e textBounds.width)","                        {","                            if (textOffsetX \u003c= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))","                            {","                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                            }","                            else if (!textOverflow)","                            {","                                textOverflow = true;","","                                for (int j = 0; j \u003c ellipsisWidth; j += ellipsisWidth/3)","                                {","                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                                }","                            }","                        }","                        else","                        {","                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                        }","                    }","                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))","                    {","                        // Draw only glyphs inside the bounds","                        if ((textBoundsPosition.y + textOffsetY) \u003c= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))","                        {","                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                        }","                    }","                }","","                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","            }","        }","","        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);","        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));","        //---------------------------------------------------------------------------------","    }","","#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)","    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));","#endif","}","","// Gui draw rectangle using default raygui plain style with borders","static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)","{","    if (color.a \u003e 0)","    {","        // Draw rectangle filled with color","        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));","    }","","    if (borderWidth \u003e 0)","    {","        // Draw rectangle border lines with color","        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));","        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));","        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));","        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));","    }","","#if defined(RAYGUI_DEBUG_RECS_BOUNDS)","    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));","#endif","}","","// Draw tooltip using control bounds","static void GuiTooltip(Rectangle controlRec)","{","    if (!guiLocked \u0026\u0026 guiTooltip \u0026\u0026 (guiTooltipPtr != NULL) \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","","        if ((controlRec.x + textSize.x + 16) \u003e GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);","","        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);","","        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);","        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);","        GuiSetStyle(LABEL, TEXT_PADDING, 0);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);","        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);","    }","}","","// Split controls text into multiple strings","// Also check for multiple columns (required by GuiToggleGroup())","static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)","{","    // NOTE: Current implementation returns a copy of the provided string with '\\0' (string end delimiter)","    // inserted between strings defined by \"delimiter\" parameter. No memory is dynamically allocated,","    // all used memory is static... it has some limitations:","    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS","    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE","    // NOTE: Those definitions could be externally provided if required","","    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user","    // textRow is an externally provided array of integers that stores row number for every splitted string","","    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)","        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128","    #endif","    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)","        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024","    #endif","","    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)","    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\\0' added)","    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);","","    result[0] = buffer;","    int counter = 1;","","    if (textRow != NULL) textRow[0] = 0;","","    // Count how many substrings we have on text and point to every one","    for (int i = 0; i \u003c RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)","    {","        buffer[i] = text[i];","        if (buffer[i] == '\\0') break;","        else if ((buffer[i] == delimiter) || (buffer[i] == '\\n'))","        {","            result[counter] = buffer + i + 1;","","            if (textRow != NULL)","            {","                if (buffer[i] == '\\n') textRow[counter] = textRow[counter - 1] + 1;","                else textRow[counter] = textRow[counter - 1];","            }","","            buffer[i] = '\\0';   // Set an end of string at this point","","            counter++;","            if (counter \u003e RAYGUI_TEXTSPLIT_MAX_ITEMS) break;","        }","    }","","    *count = counter;","","    return result;","}","","// Convert color data from RGB to HSV","// NOTE: Color data should be passed normalized","static Vector3 ConvertRGBtoHSV(Vector3 rgb)","{","    Vector3 hsv = { 0 };","    float min = 0.0f;","    float max = 0.0f;","    float delta = 0.0f;","","    min = (rgb.x \u003c rgb.y)? rgb.x : rgb.y;","    min = (min \u003c rgb.z)? min  : rgb.z;","","    max = (rgb.x \u003e rgb.y)? rgb.x : rgb.y;","    max = (max \u003e rgb.z)? max  : rgb.z;","","    hsv.z = max;            // Value","    delta = max - min;","","    if (delta \u003c 0.00001f)","    {","        hsv.y = 0.0f;","        hsv.x = 0.0f;           // Undefined, maybe NAN?","        return hsv;","    }","","    if (max \u003e 0.0f)","    {","        // NOTE: If max is 0, this divide would cause a crash","        hsv.y = (delta/max);    // Saturation","    }","    else","    {","        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined","        hsv.y = 0.0f;","        hsv.x = 0.0f;           // Undefined, maybe NAN?","        return hsv;","    }","","    // NOTE: Comparing float values could not work properly","    if (rgb.x \u003e= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow \u0026 magenta","    else","    {","        if (rgb.y \u003e= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan \u0026 yellow","        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta \u0026 cyan","    }","","    hsv.x *= 60.0f;     // Convert to degrees","","    if (hsv.x \u003c 0.0f) hsv.x += 360.0f;","","    return hsv;","}","","// Convert color data from HSV to RGB","// NOTE: Color data should be passed normalized","static Vector3 ConvertHSVtoRGB(Vector3 hsv)","{","    Vector3 rgb = { 0 };","    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;","    long i = 0;","","    // NOTE: Comparing float values could not work properly","    if (hsv.y \u003c= 0.0f)","    {","        rgb.x = hsv.z;","        rgb.y = hsv.z;","        rgb.z = hsv.z;","        return rgb;","    }","","    hh = hsv.x;","    if (hh \u003e= 360.0f) hh = 0.0f;","    hh /= 60.0f;","","    i = (long)hh;","    ff = hh - i;","    p = hsv.z*(1.0f - hsv.y);","    q = hsv.z*(1.0f - (hsv.y*ff));","    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));","","    switch (i)","    {","        case 0:","        {","            rgb.x = hsv.z;","            rgb.y = t;","            rgb.z = p;","        } break;","        case 1:","        {","            rgb.x = q;","            rgb.y = hsv.z;","            rgb.z = p;","        } break;","        case 2:","        {","            rgb.x = p;","            rgb.y = hsv.z;","            rgb.z = t;","        } break;","        case 3:","        {","            rgb.x = p;","            rgb.y = q;","            rgb.z = hsv.z;","        } break;","        case 4:","        {","            rgb.x = t;","            rgb.y = p;","            rgb.z = hsv.z;","        } break;","        case 5:","        default:","        {","            rgb.x = hsv.z;","            rgb.y = p;","            rgb.z = q;","        } break;","    }","","    return rgb;","}","","// Scroll bar control (used by GuiScrollPanel())","static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)","{","    GuiState state = guiState;","","    // Is the scrollbar horizontal or vertical?","    bool isVertical = (bounds.width \u003e bounds.height)? false : true;","","    // The size (width or height depending on scrollbar type) of the spinner buttons","    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?","        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :","        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;","","    // Arrow buttons [\u003c] [\u003e] [∧] [∨]","    Rectangle arrowUpLeft = { 0 };","    Rectangle arrowDownRight = { 0 };","","    // Actual area of the scrollbar excluding the arrow buttons","    Rectangle scrollbar = { 0 };","","    // Slider bar that moves     --[///]-----","    Rectangle slider = { 0 };","","    // Normalize value","    if (value \u003e maxValue) value = maxValue;","    if (value \u003c minValue) value = minValue;","","    int valueRange = maxValue - minValue;","    if (valueRange \u003c= 0) valueRange = 1;","","    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);","    if (sliderSize \u003c 1) sliderSize = 1;  // TODO: Consider a minimum slider size","","    // Calculate rectangles for all of the components","    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){","        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),","        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),","        (float)spinnerSize, (float)spinnerSize };","","    if (isVertical)","    {","        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };","        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };","","        // Make sure the slider won't get outside of the scrollbar","        sliderSize = (sliderSize \u003e= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;","        slider = RAYGUI_CLITERAL(Rectangle){","            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),","            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),","            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),","            (float)sliderSize };","    }","    else    // horizontal","    {","        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };","        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };","","        // Make sure the slider won't get outside of the scrollbar","        sliderSize = (sliderSize \u003e= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;","        slider = RAYGUI_CLITERAL(Rectangle){","            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),","            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),","            (float)sliderSize,","            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) \u0026\u0026","                !CheckCollisionPointRec(mousePoint, arrowUpLeft) \u0026\u0026","                !CheckCollisionPointRec(mousePoint, arrowDownRight))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","","                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);","                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds))","        {","            state = STATE_FOCUSED;","","            // Handle mouse wheel","            int wheel = (int)GetMouseWheelMove();","            if (wheel != 0) value += wheel;","","            // Handle mouse button down","            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","            {","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                // Check arrows click","                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                else if (!CheckCollisionPointRec(mousePoint, slider))","                {","                    // If click on scrollbar position but not on slider, place slider directly on that position","                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);","                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);","                }","","                state = STATE_PRESSED;","            }","","            // Keyboard control on mouse hover scrollbar","            /*","            if (isVertical)","            {","                if (IsKeyDown(KEY_DOWN)) value += 5;","                else if (IsKeyDown(KEY_UP)) value -= 5;","            }","            else","            {","                if (IsKeyDown(KEY_RIGHT)) value += 5;","                else if (IsKeyDown(KEY_LEFT)) value -= 5;","            }","            */","        }","","        // Normalize value","        if (value \u003e maxValue) value = maxValue;","        if (value \u003c minValue) value = minValue;","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background","","    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background","    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar","","    // Draw arrows (using icon if available)","    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))","    {","#if defined(RAYGUI_NO_ICONS)","        GuiDrawText(isVertical? \"^\" : \"\u003c\",","            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));","        GuiDrawText(isVertical? \"v\" : \"\u003e\",","            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));","#else","        GuiDrawText(isVertical? \"#121#\" : \"#118#\",","            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL","        GuiDrawText(isVertical? \"#120#\" : \"#119#\",","            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL","#endif","    }","    //--------------------------------------------------------------------","","    return value;","}","","// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f","// WARNING: It multiplies current alpha by alpha scale factor","static Color GuiFade(Color color, float alpha)","{","    if (alpha \u003c 0.0f) alpha = 0.0f;","    else if (alpha \u003e 1.0f) alpha = 1.0f;","","    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };","","    return result;","}","","#if defined(RAYGUI_STANDALONE)","// Returns a Color struct from hexadecimal value","static Color GetColor(int hexValue)","{","    Color color;","","    color.r = (unsigned char)(hexValue \u003e\u003e 24) \u0026 0xFF;","    color.g = (unsigned char)(hexValue \u003e\u003e 16) \u0026 0xFF;","    color.b = (unsigned char)(hexValue \u003e\u003e 8) \u0026 0xFF;","    color.a = (unsigned char)hexValue \u0026 0xFF;","","    return color;","}","","// Returns hexadecimal value for a Color","static int ColorToInt(Color color)","{","    return (((int)color.r \u003c\u003c 24) | ((int)color.g \u003c\u003c 16) | ((int)color.b \u003c\u003c 8) | (int)color.a);","}","","// Check if point is inside rectangle","static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)","{","    bool collision = false;","","    if ((point.x \u003e= rec.x) \u0026\u0026 (point.x \u003c= (rec.x + rec.width)) \u0026\u0026","        (point.y \u003e= rec.y) \u0026\u0026 (point.y \u003c= (rec.y + rec.height))) collision = true;","","    return collision;","}","","// Formatting of text with variables to 'embed'","static const char *TextFormat(const char *text, ...)","{","    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)","        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256","    #endif","","    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];","","    va_list args;","    va_start(args, text);","    vsprintf(buffer, text, args);","    va_end(args);","","    return buffer;","}","","// Draw rectangle with vertical gradient fill color","// NOTE: This function is only used by GuiColorPicker()","static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)","{","    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };","    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);","}","","// Split string into multiple strings","const char **TextSplit(const char *text, char delimiter, int *count)","{","    // NOTE: Current implementation returns a copy of the provided string with '\\0' (string end delimiter)","    // inserted between strings defined by \"delimiter\" parameter. No memory is dynamically allocated,","    // all used memory is static... it has some limitations:","    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS","    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE","","    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)","        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128","    #endif","    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)","        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE      1024","    #endif","","    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };","    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };","    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);","","    result[0] = buffer;","    int counter = 0;","","    if (text != NULL)","    {","        counter = 1;","","        // Count how many substrings we have on text and point to every one","        for (int i = 0; i \u003c RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)","        {","            buffer[i] = text[i];","            if (buffer[i] == '\\0') break;","            else if (buffer[i] == delimiter)","            {","                buffer[i] = '\\0';   // Set an end of string at this point","                result[counter] = buffer + i + 1;","                counter++;","","                if (counter == RAYGUI_TEXTSPLIT_MAX_ITEMS) break;","            }","        }","    }","","    *count = counter;","    return result;","}","","// Get integer value from text","// NOTE: This function replaces atoi() [stdlib.h]","static int TextToInteger(const char *text)","{","    int value = 0;","    int sign = 1;","","    if ((text[0] == '+') || (text[0] == '-'))","    {","        if (text[0] == '-') sign = -1;","        text++;","    }","","    for (int i = 0; ((text[i] \u003e= '0') \u0026\u0026 (text[i] \u003c= '9')); ++i) value = value*10 + (int)(text[i] - '0');","","    return value*sign;","}","","// Get float value from text","// NOTE: This function replaces atof() [stdlib.h]","// WARNING: Only '.' character is understood as decimal point","static float TextToFloat(const char *text)","{","    float value = 0.0f;","    float sign = 1.0f;","","    if ((text[0] == '+') || (text[0] == '-'))","    {","        if (text[0] == '-') sign = -1.0f;","        text++;","    }","","    int i = 0;","    for (; ((text[i] \u003e= '0') \u0026\u0026 (text[i] \u003c= '9')); i++) value = value*10.0f + (float)(text[i] - '0');","","    if (text[i++] != '.') value *= sign;","    else","    {","        float divisor = 10.0f;","        for (; ((text[i] \u003e= '0') \u0026\u0026 (text[i] \u003c= '9')); i++)","        {","            value += ((float)(text[i] - '0'))/divisor;","            divisor = divisor*10.0f;","        }","    }","","    return value;","}","","// Encode codepoint into UTF-8 text (char array size returned as parameter)","static const char *CodepointToUTF8(int codepoint, int *byteSize)","{","    static char utf8[6] = { 0 };","    int size = 0;","","    if (codepoint \u003c= 0x7f)","    {","        utf8[0] = (char)codepoint;","        size = 1;","    }","    else if (codepoint \u003c= 0x7ff)","    {","        utf8[0] = (char)(((codepoint \u003e\u003e 6) \u0026 0x1f) | 0xc0);","        utf8[1] = (char)((codepoint \u0026 0x3f) | 0x80);","        size = 2;","    }","    else if (codepoint \u003c= 0xffff)","    {","        utf8[0] = (char)(((codepoint \u003e\u003e 12) \u0026 0x0f) | 0xe0);","        utf8[1] = (char)(((codepoint \u003e\u003e  6) \u0026 0x3f) | 0x80);","        utf8[2] = (char)((codepoint \u0026 0x3f) | 0x80);","        size = 3;","    }","    else if (codepoint \u003c= 0x10ffff)","    {","        utf8[0] = (char)(((codepoint \u003e\u003e 18) \u0026 0x07) | 0xf0);","        utf8[1] = (char)(((codepoint \u003e\u003e 12) \u0026 0x3f) | 0x80);","        utf8[2] = (char)(((codepoint \u003e\u003e  6) \u0026 0x3f) | 0x80);","        utf8[3] = (char)((codepoint \u0026 0x3f) | 0x80);","        size = 4;","    }","","    *byteSize = size;","","    return utf8;","}","","// Get next codepoint in a UTF-8 encoded text, scanning until '\\0' is found","// When a invalid UTF-8 byte is encountered we exit as soon as possible and a '?'(0x3f) codepoint is returned","// Total number of bytes processed are returned as a parameter","// NOTE: the standard says U+FFFD should be returned in case of errors","// but that character is not supported by the default font in raylib","static int GetCodepointNext(const char *text, int *codepointSize)","{","    const char *ptr = text;","    int codepoint = 0x3f;       // Codepoint (defaults to '?')","    *codepointSize = 1;","","    // Get current codepoint and bytes processed","    if (0xf0 == (0xf8 \u0026 ptr[0]))","    {","        // 4 byte UTF-8 codepoint","        if (((ptr[1] \u0026 0xC0) ^ 0x80) || ((ptr[2] \u0026 0xC0) ^ 0x80) || ((ptr[3] \u0026 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks","        codepoint = ((0x07 \u0026 ptr[0]) \u003c\u003c 18) | ((0x3f \u0026 ptr[1]) \u003c\u003c 12) | ((0x3f \u0026 ptr[2]) \u003c\u003c 6) | (0x3f \u0026 ptr[3]);","        *codepointSize = 4;","    }","    else if (0xe0 == (0xf0 \u0026 ptr[0]))","    {","        // 3 byte UTF-8 codepoint */","        if (((ptr[1] \u0026 0xC0) ^ 0x80) || ((ptr[2] \u0026 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks","        codepoint = ((0x0f \u0026 ptr[0]) \u003c\u003c 12) | ((0x3f \u0026 ptr[1]) \u003c\u003c 6) | (0x3f \u0026 ptr[2]);","        *codepointSize = 3;","    }","    else if (0xc0 == (0xe0 \u0026 ptr[0]))","    {","        // 2 byte UTF-8 codepoint","        if ((ptr[1] \u0026 0xC0) ^ 0x80) { return codepoint; } //10xxxxxx checks","        codepoint = ((0x1f \u0026 ptr[0]) \u003c\u003c 6) | (0x3f \u0026 ptr[1]);","        *codepointSize = 2;","    }","    else if (0x00 == (0x80 \u0026 ptr[0]))","    {","        // 1 byte UTF-8 codepoint","        codepoint = ptr[0];","        *codepointSize = 1;","    }","","    return codepoint;","}","#endif      // RAYGUI_STANDALONE","","#endif      // 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+            <a data-analytics-event="{&quot;category&quot;:&quot;Footer&quot;,&quot;action&quot;:&quot;go to Terms&quot;,&quot;label&quot;:&quot;text:terms&quot;}" href="https://docs.github.com/site-policy/github-terms/github-terms-of-service" data-view-component="true" class="Link--secondary Link">Terms</a>
+          </li>
+
+          <li class="mx-2">
+            <a data-analytics-event="{&quot;category&quot;:&quot;Footer&quot;,&quot;action&quot;:&quot;go to privacy&quot;,&quot;label&quot;:&quot;text:privacy&quot;}" href="https://docs.github.com/site-policy/privacy-policies/github-privacy-statement" data-view-component="true" class="Link--secondary Link">Privacy</a>
+          </li>
+
+          <li class="mx-2">
+            <a data-analytics-event="{&quot;category&quot;:&quot;Footer&quot;,&quot;action&quot;:&quot;go to security&quot;,&quot;label&quot;:&quot;text:security&quot;}" href="https://github.com/security" data-view-component="true" class="Link--secondary Link">Security</a>
+          </li>
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+          <li class="mx-2">
+            <a data-analytics-event="{&quot;category&quot;:&quot;Footer&quot;,&quot;action&quot;:&quot;go to status&quot;,&quot;label&quot;:&quot;text:status&quot;}" href="https://www.githubstatus.com/" data-view-component="true" class="Link--secondary Link">Status</a>
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+    >
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+    <button
+      type="button"
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+      data-analytics-event="{&quot;location&quot;:&quot;footer&quot;,&quot;action&quot;:&quot;dont_share_info&quot;,&quot;context&quot;:&quot;subfooter&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;dont_share_info_link_subfooter_footer&quot;}"
+    >
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+    <path d="M6.457 1.047c.659-1.234 2.427-1.234 3.086 0l6.082 11.378A1.75 1.75 0 0 1 14.082 15H1.918a1.75 1.75 0 0 1-1.543-2.575Zm1.763.707a.25.25 0 0 0-.44 0L1.698 13.132a.25.25 0 0 0 .22.368h12.164a.25.25 0 0 0 .22-.368Zm.53 3.996v2.5a.75.75 0 0 1-1.5 0v-2.5a.75.75 0 0 1 1.5 0ZM9 11a1 1 0 1 1-2 0 1 1 0 0 1 2 0Z"></path>
+</svg>
+    <button type="button" class="flash-close js-ajax-error-dismiss" aria-label="Dismiss error">
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x">
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+</svg>
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+    You can’t perform that action at this time.
+  </div>
+
+    <template id="site-details-dialog">
+  <details class="details-reset details-overlay details-overlay-dark lh-default color-fg-default hx_rsm" open>
+    <summary role="button" aria-label="Close dialog"></summary>
+    <details-dialog class="Box Box--overlay d-flex flex-column anim-fade-in fast hx_rsm-dialog hx_rsm-modal">
+      <button class="Box-btn-octicon m-0 btn-octicon position-absolute right-0 top-0" type="button" aria-label="Close dialog" data-close-dialog>
+        <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x">
+    <path d="M3.72 3.72a.75.75 0 0 1 1.06 0L8 6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path>
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+  <div class="Popover-message Popover-message--bottom-left Popover-message--large Box color-shadow-large" style="width:360px;">
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+</div>
+
+    <template id="snippet-clipboard-copy-button">
+  <div class="zeroclipboard-container position-absolute right-0 top-0">
+    <clipboard-copy aria-label="Copy" class="ClipboardButton btn js-clipboard-copy m-2 p-0" data-copy-feedback="Copied!" data-tooltip-direction="w">
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-copy js-clipboard-copy-icon m-2">
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+</svg>
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-check js-clipboard-check-icon color-fg-success d-none m-2">
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+</svg>
+    </clipboard-copy>
+  </div>
+</template>
+<template id="snippet-clipboard-copy-button-unpositioned">
+  <div class="zeroclipboard-container">
+    <clipboard-copy aria-label="Copy" class="ClipboardButton btn btn-invisible js-clipboard-copy m-2 p-0 d-flex flex-justify-center flex-items-center" data-copy-feedback="Copied!" data-tooltip-direction="w">
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-copy js-clipboard-copy-icon">
+    <path d="M0 6.75C0 5.784.784 5 1.75 5h1.5a.75.75 0 0 1 0 1.5h-1.5a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-1.5a.75.75 0 0 1 1.5 0v1.5A1.75 1.75 0 0 1 9.25 16h-7.5A1.75 1.75 0 0 1 0 14.25Z"></path><path d="M5 1.75C5 .784 5.784 0 6.75 0h7.5C15.216 0 16 .784 16 1.75v7.5A1.75 1.75 0 0 1 14.25 11h-7.5A1.75 1.75 0 0 1 5 9.25Zm1.75-.25a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-7.5a.25.25 0 0 0-.25-.25Z"></path>
+</svg>
+      <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-check js-clipboard-check-icon color-fg-success d-none">
+    <path d="M13.78 4.22a.75.75 0 0 1 0 1.06l-7.25 7.25a.75.75 0 0 1-1.06 0L2.22 9.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018L6 10.94l6.72-6.72a.75.75 0 0 1 1.06 0Z"></path>
+</svg>
+    </clipboard-copy>
+  </div>
+</template>
+
+
+
+
+    </div>
+
+    <div id="js-global-screen-reader-notice" class="sr-only mt-n1" aria-live="polite" aria-atomic="true" ></div>
+    <div id="js-global-screen-reader-notice-assertive" class="sr-only mt-n1" aria-live="assertive" aria-atomic="true"></div>
+  </body>
+</html>
+
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
index 4f26847706..343c71fc11 100755
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -39,3 +39,7 @@ cd src
 
 make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM
 sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR
+
+# this commit needs to be in line with raylib
+RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
+wget -O $INSTALL_H_DIR/raygui.h https://github.com/raysan5/raygui/blob/$RAYGUI_COMMIT/src/raygui.h

From 74ed6c5657da5cf8246287eef7263dc692c27986 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 12 Jan 2025 15:07:18 -0800
Subject: [PATCH 1216/1243] oops need raw

---
 third_party/raylib/include/raygui.h | 7592 ++++++++++++++++++++-------
 third_party/raylib/setup.sh         |    3 +-
 2 files changed, 5761 insertions(+), 1834 deletions(-)

diff --git a/third_party/raylib/include/raygui.h b/third_party/raylib/include/raygui.h
index 15002b712c..fe233a16cf 100644
--- a/third_party/raylib/include/raygui.h
+++ b/third_party/raylib/include/raygui.h
@@ -1,1833 +1,5759 @@
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-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;small_and_medium_teams&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;small_and_medium_teams_link_solutions_navbar&quot;}" href="https://github.com/team">
-      Small and medium teams
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;startups&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;startups_link_solutions_navbar&quot;}" href="https://github.com/enterprise/startups">
-      Startups
-
-    
-</a></li>
-
-                </ul>
-              </div>
-              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0">
-                    <span class="d-block h4 color-fg-default my-1" id="solutions-by-use-case-heading">By use case</span>
-                <ul class="list-style-none f5" aria-labelledby="solutions-by-use-case-heading">
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;devsecops&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;devsecops_link_solutions_navbar&quot;}" href="/solutions/use-case/devsecops">
-      DevSecOps
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;devops&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;devops_link_solutions_navbar&quot;}" href="/solutions/use-case/devops">
-      DevOps
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;ci_cd&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;ci_cd_link_solutions_navbar&quot;}" href="/solutions/use-case/ci-cd">
-      CI/CD
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;view_all_use_cases&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;view_all_use_cases_link_solutions_navbar&quot;}" href="/solutions/use-case">
-      View all use cases
-
-    
-</a></li>
-
-                </ul>
-              </div>
-          </div>
-          <div class="HeaderMenu-column px-lg-4">
-              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0">
-                    <span class="d-block h4 color-fg-default my-1" id="solutions-by-industry-heading">By industry</span>
-                <ul class="list-style-none f5" aria-labelledby="solutions-by-industry-heading">
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;healthcare&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;healthcare_link_solutions_navbar&quot;}" href="/solutions/industry/healthcare">
-      Healthcare
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;financial_services&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;financial_services_link_solutions_navbar&quot;}" href="/solutions/industry/financial-services">
-      Financial services
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;manufacturing&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;manufacturing_link_solutions_navbar&quot;}" href="/solutions/industry/manufacturing">
-      Manufacturing
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;government&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;government_link_solutions_navbar&quot;}" href="/solutions/industry/government">
-      Government
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;view_all_industries&quot;,&quot;context&quot;:&quot;solutions&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;view_all_industries_link_solutions_navbar&quot;}" href="/solutions/industry">
-      View all industries
-
-    
-</a></li>
-
-                </ul>
-              </div>
-          </div>
-         <div class="HeaderMenu-trailing-link rounded-bottom-2 flex-shrink-0 mt-lg-4 px-lg-4 py-4 py-lg-3 f5 text-semibold">
-            <a href="/solutions">
-              View all solutions
-              <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-right HeaderMenu-trailing-link-icon">
-    <path d="M6.22 3.22a.75.75 0 0 1 1.06 0l4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L9.94 8 6.22 4.28a.75.75 0 0 1 0-1.06Z"></path>
-</svg>
-</a>         </div>
-      </div>
-</li>
-
-                    <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
-      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
-        Resources
-        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
-    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
-</svg>
-      </button>
-      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 d-lg-flex flex-wrap dropdown-menu-wide">
-          <div class="HeaderMenu-column px-lg-4 border-lg-right mb-4 mb-lg-0 pr-lg-7">
-              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0">
-                    <span class="d-block h4 color-fg-default my-1" id="resources-topics-heading">Topics</span>
-                <ul class="list-style-none f5" aria-labelledby="resources-topics-heading">
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;ai&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;ai_link_resources_navbar&quot;}" href="/resources/articles/ai">
-      AI
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;devops&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;devops_link_resources_navbar&quot;}" href="/resources/articles/devops">
-      DevOps
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;security&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;security_link_resources_navbar&quot;}" href="/resources/articles/security">
-      Security
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;software_development&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;software_development_link_resources_navbar&quot;}" href="/resources/articles/software-development">
-      Software Development
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;view_all&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;view_all_link_resources_navbar&quot;}" href="/resources/articles">
-      View all
-
-    
-</a></li>
-
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-              </div>
-          </div>
-          <div class="HeaderMenu-column px-lg-4">
-              <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0 border-bottom-0">
-                    <span class="d-block h4 color-fg-default my-1" id="resources-explore-heading">Explore</span>
-                <ul class="list-style-none f5" aria-labelledby="resources-explore-heading">
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;learning_pathways&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;learning_pathways_link_resources_navbar&quot;}" href="https://resources.github.com/learn/pathways">
-      Learning Pathways
-
-    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
-    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
-</svg>
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;white_papers_ebooks_webinars&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;white_papers_ebooks_webinars_link_resources_navbar&quot;}" href="https://resources.github.com">
-      White papers, Ebooks, Webinars
-
-    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
-    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
-</svg>
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;customer_stories&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;customer_stories_link_resources_navbar&quot;}" href="https://github.com/customer-stories">
-      Customer Stories
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;partners&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;partners_link_resources_navbar&quot;}" href="https://partner.github.com">
-      Partners
-
-    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle">
-    <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path>
-</svg>
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;executive_insights&quot;,&quot;context&quot;:&quot;resources&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;executive_insights_link_resources_navbar&quot;}" href="https://github.com/solutions/executive-insights">
-      Executive Insights
-
-    
-</a></li>
-
-                </ul>
-              </div>
-          </div>
-      </div>
-</li>
-
-
-                <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item">
-      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
-        Open Source
-        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
-    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
-</svg>
-      </button>
-      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 px-lg-4">
-          <div class="HeaderMenu-column">
-              <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3">
-                <ul class="list-style-none f5" >
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;github_sponsors&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;github_sponsors_link_open_source_navbar&quot;}" href="/sponsors">
-      
-      <div>
-        <div class="color-fg-default h4">GitHub Sponsors</div>
-        Fund open source developers
-      </div>
-
-    
-</a></li>
-
-                </ul>
-              </div>
-              <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3">
-                <ul class="list-style-none f5" >
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;the_readme_project&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;the_readme_project_link_open_source_navbar&quot;}" href="https://github.com/readme">
-      
-      <div>
-        <div class="color-fg-default h4">The ReadME Project</div>
-        GitHub community articles
-      </div>
-
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-</a></li>
-
-                </ul>
-              </div>
-              <div class="border-bottom pb-3 pb-lg-0 border-bottom-0">
-                    <span class="d-block h4 color-fg-default my-1" id="open-source-repositories-heading">Repositories</span>
-                <ul class="list-style-none f5" aria-labelledby="open-source-repositories-heading">
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;topics&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;topics_link_open_source_navbar&quot;}" href="https://github.com/topics">
-      Topics
-
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-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;trending&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;trending_link_open_source_navbar&quot;}" href="https://github.com/trending">
-      Trending
-
-    
-</a></li>
-
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;collections&quot;,&quot;context&quot;:&quot;open_source&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;collections_link_open_source_navbar&quot;}" href="https://github.com/collections">
-      Collections
-
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-</a></li>
-
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-</li>
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-      <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false">
-        Enterprise
-        <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1">
-    <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path>
-</svg>
-      </button>
-      <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 px-lg-4">
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-                <ul class="list-style-none f5" >
-                    <li>
-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;enterprise_platform&quot;,&quot;context&quot;:&quot;enterprise&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;enterprise_platform_link_enterprise_navbar&quot;}" href="/enterprise">
-      <svg aria-hidden="true" height="24" viewBox="0 0 24 24" version="1.1" width="24" data-view-component="true" class="octicon octicon-stack color-fg-subtle mr-3">
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-  <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description pb-lg-3" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;advanced_security&quot;,&quot;context&quot;:&quot;enterprise&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;advanced_security_link_enterprise_navbar&quot;}" href="https://github.com/enterprise/advanced-security">
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-        Enterprise-grade 24/7 support
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-</a></li>
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-</li>
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-    <a class="HeaderMenu-link no-underline px-0 px-lg-2 py-3 py-lg-2 d-block d-lg-inline-block" data-analytics-event="{&quot;location&quot;:&quot;navbar&quot;,&quot;action&quot;:&quot;pricing&quot;,&quot;context&quot;:&quot;global&quot;,&quot;tag&quot;:&quot;link&quot;,&quot;label&quot;:&quot;pricing_link_global_navbar&quot;}" href="https://github.com/pricing">Pricing</a>
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-        <div class="position-relative">
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-          <p>We read every piece of feedback, and take your input very seriously.</p>
-          <textarea name="feedback" class="form-control width-full mb-2" style="height: 120px" id="feedback"></textarea>
-          <input name="include_email" id="include_email" aria-label="Include my email address so I can be contacted" class="form-control mr-2" type="checkbox">
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-
-          <div class="form-group">
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-
-          <p class="text-small color-fg-muted">
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-
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-                data-hydro-click="{&quot;event_type&quot;:&quot;authentication.click&quot;,&quot;payload&quot;:{&quot;location_in_page&quot;:&quot;site header menu&quot;,&quot;repository_id&quot;:null,&quot;auth_type&quot;:&quot;SIGN_UP&quot;,&quot;originating_url&quot;:&quot;https://github.com/raysan5/raygui/blob/76b36b597edb70ffaf96f046076adc20d67e7827/src/raygui.h&quot;,&quot;user_id&quot;:null}}" data-hydro-click-hmac="78b5a15a3e9c21f8d86ebab2fdbad1bc057c8a0f1145928fa1276ca41261b06a"
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-<div class="flash flash-full   {{ className }}">
-  <div >
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-      
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-</div>
-
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-    
-
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-
-
-
-  <div
-    class="application-main "
-    data-commit-hovercards-enabled
-    data-discussion-hovercards-enabled
-    data-issue-and-pr-hovercards-enabled
-    data-project-hovercards-enabled
-  >
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-        raysan5
-</a>    </span>
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-    </strong>
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-            <ul class="pagehead-actions flex-shrink-0 d-none d-md-inline" style="padding: 2px 0;">
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-        <li>
-          <include-fragment src="/raysan5/raygui/sponsor_button"></include-fragment>
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-</svg>Fork
-    <span id="repo-network-counter" data-pjax-replace="true" data-turbo-replace="true" title="312" data-view-component="true" class="Counter">312</span>
-</a>
-  </li>
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-        <div data-view-component="true" class="BtnGroup d-flex">
-        <a href="/login?return_to=%2Fraysan5%2Fraygui" rel="nofollow" data-hydro-click="{&quot;event_type&quot;:&quot;authentication.click&quot;,&quot;payload&quot;:{&quot;location_in_page&quot;:&quot;star button&quot;,&quot;repository_id&quot;:61231339,&quot;auth_type&quot;:&quot;LOG_IN&quot;,&quot;originating_url&quot;:&quot;https://github.com/raysan5/raygui/blob/76b36b597edb70ffaf96f046076adc20d67e7827/src/raygui.h&quot;,&quot;user_id&quot;:null}}" data-hydro-click-hmac="310d5b53172ee0213b9707b7b46215c5ebbfc519c1f17897f3a8c4414d11aeba" aria-label="You must be signed in to star a repository" data-view-component="true" class="tooltipped tooltipped-sw btn-sm btn">    <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-star v-align-text-bottom d-inline-block mr-2">
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-          Star
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-</svg>
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A simple and easy-to-use immediate-mode gui library","*","*   DESCRIPTION:","*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also","*       available as a standalone library, as long as input and drawing functions are provided.","*","*   FEATURES:","*       - Immediate-mode gui, minimal retained data","*       - +25 controls provided (basic and advanced)","*       - Styling system for colors, font and metrics","*       - Icons supported, embedded as a 1-bit icons pack","*       - Standalone mode option (custom input/graphics backend)","*       - Multiple support tools provided for raygui development","*","*   POSSIBLE IMPROVEMENTS:","*       - Better standalone mode API for easy plug of custom backends","*       - Externalize required inputs, allow user easier customization","*","*   LIMITATIONS:","*       - No editable multi-line word-wraped text box supported","*       - No auto-layout mechanism, up to the user to define controls position and size","*       - 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ToggleGroup   --\u003e Toggle","*       - ToggleSlider","*       - CheckBox","*       - ComboBox","*       - DropdownBox","*       - TextBox","*       - ValueBox      --\u003e TextBox","*       - Spinner       --\u003e Button, ValueBox","*       - Slider","*       - SliderBar     --\u003e Slider","*       - ProgressBar","*       - StatusBar","*       - DummyRec","*       - Grid","*","*     # Advance Controls","*       - ListView","*       - ColorPicker   --\u003e ColorPanel, ColorBarHue","*       - MessageBox    --\u003e Window, Label, Button","*       - TextInputBox  --\u003e Window, Label, TextBox, Button","*","*     It also provides a set of functions for styling the controls based on its properties (size, color).","*","*","*   RAYGUI STYLE (guiStyle):","*       raygui uses a global data array for all gui style properties (allocated on data segment by default),","*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be","*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one","*","*       The global style array size is fixed and depends on the number of controls and properties:","*","*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];","*","*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB","*","*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style","*       used for all controls, when any of those base values is set, it is automatically populated to all","*       controls, so, specific control values overwriting generic style should be set after base values.","*","*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those","*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)","*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR","*","*       Custom control properties can be defined using the EXTENDED properties for each independent control.","*","*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler","*","*","*   RAYGUI ICONS (guiIcons):","*       raygui could use a global array containing icons data (allocated on data segment by default),","*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set","*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded","*","*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon","*       requires 8 integers (16*16/32) to be stored in memory.","*","*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.","*","*       The global icons array size is fixed and depends on the number of icons and size:","*","*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];","*","*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB","*","*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons","*","*   RAYGUI LAYOUT:","*       raygui currently does not provide an auto-layout mechanism like other libraries,","*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.","*","*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout","*","*   CONFIGURATION:","*       #define RAYGUI_IMPLEMENTATION","*           Generates the implementation of the library into the included file.","*           If not defined, the library is in header only mode and can be included in other headers","*           or source files without problems. 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         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP","*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH","*                         ADDED: Multiple new icons","*                         REVIEWED: GuiTabBar(), close tab with mouse middle button","*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content","*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow","*                         REVIEWED: GuiTextBox(), cursor position initialization","*                         REVIEWED: GuiSliderPro(), control value change check","*                         REVIEWED: GuiGrid(), simplified implementation","*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding","*                         REVIEWED: GuiDrawText(), improved wrap mode drawing","*                         REVIEWED: GuiScrollBar(), minor tweaks","*                         REVIEWED: Functions descriptions, removed wrong return value reference","*                         REDESIGNED: GuiColorPanel(), improved HSV \u003c-\u003e RGBA convertion","*","*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()","*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()","*                         ADDED: Multiple new icons, mostly compiler related","*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE","*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode","*                         ADDED: Support loading styles with custom font charset from external file","*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning","*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)","*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color","*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()","*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value","*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value","*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value","*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value","*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value","*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value","*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value","*                         REDESIGNED: GuiListView(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value","*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value","*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value","*                         REDESIGNED: GuiGrid(), added extra parameter","*                         REDESIGNED: GuiListViewEx(), change parameters order","*                         REDESIGNED: All controls return result as int value","*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars","*                         REVIEWED: All examples and specially controls_test_suite","*                         RENAMED: gui_file_dialog module to gui_window_file_dialog","*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)","*","*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER","*                         ADDED: GuiLoadStyleFromMemory() (binary only)","*                         REVIEWED: GuiScrollBar() horizontal movement key","*                         REVIEWED: GuiTextBox() crash on cursor movement","*                         REVIEWED: GuiTextBox(), additional inputs support","*                         REVIEWED: GuiLabelButton(), avoid text cut","*                         REVIEWED: GuiTextInputBox(), password input","*                         REVIEWED: Local GetCodepointNext(), aligned with raylib","*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds","*","*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()","*                         ADDED: Helper functions to split text in separate lines","*                         ADDED: Multiple new icons, useful for code editing tools","*                         REMOVED: Unneeded icon editing functions","*                         REMOVED: GuiTextBoxMulti(), very limited and broken","*                         REMOVED: MeasureTextEx() dependency, logic directly implemented","*                         REMOVED: DrawTextEx() dependency, logic directly implemented","*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour","*                         REVIEWED: Library header info, more info, better organized","*                         REDESIGNED: GuiTextBox() to support cursor movement","*                         REDESIGNED: GuiDrawText() to divide drawing by lines","*","*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes","*                         REMOVED: GuiScrollBar(), only internal","*                         REDESIGNED: GuiPanel() to support text parameter","*                         REDESIGNED: GuiScrollPanel() to support text parameter","*                         REDESIGNED: GuiColorPicker() to support text parameter","*                         REDESIGNED: GuiColorPanel() to support text parameter","*                         REDESIGNED: GuiColorBarAlpha() to support text parameter","*                         REDESIGNED: GuiColorBarHue() to support text parameter","*                         REDESIGNED: GuiTextInputBox() to support password","*","*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)","*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures","*                         REVIEWED: External icons usage logic","*                         REVIEWED: GuiLine() for centered alignment when including text","*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_","*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency","*                         Projects updated and multiple tweaks","*","*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file","*                         REDESIGNED: GuiTextBoxMulti()","*                         REMOVED: GuiImageButton*()","*                         Multiple minor tweaks and bugs corrected","*","*       2.9 (17-Mar-2021) REMOVED: Tooltip API","*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()","*       2.7 (20-Feb-2020) ADDED: Possible tooltips API","*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()","*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()","*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()","*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties","*                         ADDED: 8 new custom styles ready to use","*                         Multiple minor tweaks and bugs corrected","*","*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()","*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed","*                         Refactor all controls drawing mechanism to use control state","*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls","*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() \u003e Use combined text string","*                         REDESIGNED: Style system (breaking change)","*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts","*                         REVIEWED: GuiComboBox(), GuiListView()...","*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...","*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout","*       1.5 (21-Jun-2017) Working in an improved styles system","*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)","*       1.3 (12-Jun-2017) Complete redesign of style system","*       1.1 (01-Jun-2017) Complete review of the library","*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.","*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.","*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.","*","*   DEPENDENCIES:","*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing","*","*   STANDALONE MODE:","*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled","*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.","*","*       The following functions should be redefined for a custom backend:","*","*           - Vector2 GetMousePosition(void);","*           - float GetMouseWheelMove(void);","*           - bool IsMouseButtonDown(int button);","*           - bool IsMouseButtonPressed(int button);","*           - bool IsMouseButtonReleased(int button);","*           - bool IsKeyDown(int key);","*           - bool IsKeyPressed(int key);","*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()","*","*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()","*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()","*","*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()","*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()","*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image","*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)","*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data","*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data","*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs","*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list","*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list","*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()","*","*   CONTRIBUTORS:","*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance","*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)","*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)","*       Adria Arranz:       Testing and implementation of additional controls (2018)","*       Jordi Jorba:        Testing and implementation of additional controls (2018)","*       Albert Martos:      Review and testing of the library (2015)","*       Ian Eito:           Review and testing of the library (2015)","*       Kevin Gato:         Initial implementation of basic components (2014)","*       Daniel Nicolas:     Initial implementation of basic components (2014)","*","*","*   LICENSE: zlib/libpng","*","*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)","*","*   This software is provided \"as-is\", without any express or implied warranty. In no event","*   will the authors be held liable for any damages arising from the use of this software.","*","*   Permission is granted to anyone to use this software for any purpose, including commercial","*   applications, and to alter it and redistribute it freely, subject to the following restrictions:","*","*     1. The origin of this software must not be misrepresented; you must not claim that you","*     wrote the original software. If you use this software in a product, an acknowledgment","*     in the product documentation would be appreciated but is not required.","*","*     2. Altered source versions must be plainly marked as such, and must not be misrepresented","*     as being the original software.","*","*     3. This notice may not be removed or altered from any source distribution.","*","**********************************************************************************************/","","#ifndef RAYGUI_H","#define RAYGUI_H","","#define RAYGUI_VERSION_MAJOR 4","#define RAYGUI_VERSION_MINOR 5","#define RAYGUI_VERSION_PATCH 0","#define RAYGUI_VERSION  \"4.5-dev\"","","#if !defined(RAYGUI_STANDALONE)","    #include \"raylib.h\"","#endif","","// Function specifiers in case library is build/used as a shared library (Windows)","// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll","#if defined(_WIN32)","    #if defined(BUILD_LIBTYPE_SHARED)","        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)","    #elif defined(USE_LIBTYPE_SHARED)","        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)","    #endif","#endif","","// Function specifiers definition","#ifndef RAYGUIAPI","    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)","#endif","","//----------------------------------------------------------------------------------","// Defines and Macros","//----------------------------------------------------------------------------------","// Allow custom memory allocators","#ifndef RAYGUI_MALLOC","    #define RAYGUI_MALLOC(sz)       malloc(sz)","#endif","#ifndef RAYGUI_CALLOC","    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)","#endif","#ifndef RAYGUI_FREE","    #define RAYGUI_FREE(p)          free(p)","#endif","","// Simple log system to avoid printf() calls if required","// NOTE: Avoiding those calls, also avoids const strings memory usage","#define RAYGUI_SUPPORT_LOG_INFO","#if defined(RAYGUI_SUPPORT_LOG_INFO)","  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)","#else","  #define RAYGUI_LOG(...)","#endif","","//----------------------------------------------------------------------------------","// Types and Structures Definition","// NOTE: Some types are required for RAYGUI_STANDALONE usage","//----------------------------------------------------------------------------------","#if defined(RAYGUI_STANDALONE)","    #ifndef __cplusplus","    // Boolean type","        #ifndef true","            typedef enum { false, true } bool;","        #endif","    #endif","","    // Vector2 type","    typedef struct Vector2 {","        float x;","        float y;","    } Vector2;","","    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()","    typedef struct Vector3 {","        float x;","        float y;","        float z;","    } Vector3;","","    // Color type, RGBA (32bit)","    typedef struct Color {","        unsigned char r;","        unsigned char g;","        unsigned char b;","        unsigned char a;","    } Color;","","    // Rectangle type","    typedef struct Rectangle {","        float x;","        float y;","        float width;","        float height;","    } Rectangle;","","    // TODO: Texture2D type is very coupled to raylib, required by Font type","    // It should be redesigned to be provided by user","    typedef struct Texture2D {","        unsigned int id;        // OpenGL texture id","        int width;              // Texture base width","        int height;             // Texture base height","        int mipmaps;            // Mipmap levels, 1 by default","        int format;             // Data format (PixelFormat type)","    } Texture2D;","","    // Image, pixel data stored in CPU memory (RAM)","    typedef struct Image {","        void *data;             // Image raw data","        int width;              // Image base width","        int height;             // Image base height","        int mipmaps;            // Mipmap levels, 1 by default","        int format;             // Data format (PixelFormat type)","    } Image;","","    // GlyphInfo, font characters glyphs info","    typedef struct GlyphInfo {","        int value;              // Character value (Unicode)","        int offsetX;            // Character offset X when drawing","        int offsetY;            // Character offset Y when drawing","        int advanceX;           // Character advance position X","        Image image;            // Character image data","    } GlyphInfo;","","    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()","    // It should be redesigned to be provided by user","    typedef struct Font {","        int baseSize;           // Base size (default chars height)","        int glyphCount;         // Number of glyph characters","        int glyphPadding;       // Padding around the glyph characters","        Texture2D texture;      // Texture atlas containing the glyphs","        Rectangle *recs;        // Rectangles in texture for the glyphs","        GlyphInfo *glyphs;      // Glyphs info data","    } Font;","#endif","","// Style property","// NOTE: Used when exporting style as code for convenience","typedef struct GuiStyleProp {","    unsigned short controlId;   // Control identifier","    unsigned short propertyId;  // Property identifier","    int propertyValue;          // Property value","} GuiStyleProp;","","/*","// Controls text style -NOT USED-","// NOTE: Text style is defined by control","typedef struct GuiTextStyle {","    unsigned int size;","    int charSpacing;","    int lineSpacing;","    int alignmentH;","    int alignmentV;","    int padding;","} GuiTextStyle;","*/","","// Gui control state","typedef enum {","    STATE_NORMAL = 0,","    STATE_FOCUSED,","    STATE_PRESSED,","    STATE_DISABLED","} GuiState;","","// Gui control text alignment","typedef enum {","    TEXT_ALIGN_LEFT = 0,","    TEXT_ALIGN_CENTER,","    TEXT_ALIGN_RIGHT","} GuiTextAlignment;","","// Gui control text alignment vertical","// NOTE: Text vertical position inside the text bounds","typedef enum {","    TEXT_ALIGN_TOP = 0,","    TEXT_ALIGN_MIDDLE,","    TEXT_ALIGN_BOTTOM","} GuiTextAlignmentVertical;","","// Gui control text wrap mode","// NOTE: Useful for multiline text","typedef enum {","    TEXT_WRAP_NONE = 0,","    TEXT_WRAP_CHAR,","    TEXT_WRAP_WORD","} GuiTextWrapMode;","","// Gui controls","typedef enum {","    // Default -\u003e populates to all controls when set","    DEFAULT = 0,","","    // Basic controls","    LABEL,          // Used also for: LABELBUTTON","    BUTTON,","    TOGGLE,         // Used also for: TOGGLEGROUP","    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER","    PROGRESSBAR,","    CHECKBOX,","    COMBOBOX,","    DROPDOWNBOX,","    TEXTBOX,        // Used also for: TEXTBOXMULTI","    VALUEBOX,","    SPINNER,        // Uses: BUTTON, VALUEBOX","    LISTVIEW,","    COLORPICKER,","    SCROLLBAR,","    STATUSBAR","} GuiControl;","","// Gui base properties for every control","// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)","typedef enum {","    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL","    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL","    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL","    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED","    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED","    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED","    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED","    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED","    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED","    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED","    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED","    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED","    BORDER_WIDTH,               // Control border size, 0 for no border","    //TEXT_SIZE,                  // Control text size (glyphs max height) -\u003e GLOBAL for all controls","    //TEXT_SPACING,               // Control text spacing between glyphs -\u003e GLOBAL for all controls","    //TEXT_LINE_SPACING           // Control text spacing between lines -\u003e GLOBAL for all controls","    TEXT_PADDING,               // Control text padding, not considering border","    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)","    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -\u003e GLOBAL for all controls","} GuiControlProperty;","","// TODO: Which text styling properties should be global or per-control?","// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while","// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and","// should be configured by user as needed while defining the UI layout","","// Gui extended properties depend on control","// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)","//----------------------------------------------------------------------------------","// DEFAULT extended properties","// NOTE: Those properties are common to all controls or global","// WARNING: We only have 8 slots for those properties by default!!! -\u003e New global control: TEXT?","typedef enum {","    TEXT_SIZE = 16,             // Text size (glyphs max height)","    TEXT_SPACING,               // Text spacing between glyphs","    LINE_COLOR,                 // Line control color","    BACKGROUND_COLOR,           // Background color","    TEXT_LINE_SPACING,          // Text spacing between lines","    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)","    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds","    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline","    //TEXT_DECORATION_THICK       // Text decoration line thickness","} GuiDefaultProperty;","","// Other possible text properties:","// TEXT_WEIGHT                  // Normal, Italic, Bold -\u003e Requires specific font change","// TEXT_INDENT                  // Text indentation -\u003e Now using TEXT_PADDING...","","// Label","//typedef enum { } GuiLabelProperty;","","// Button/Spinner","//typedef enum { } GuiButtonProperty;","","// Toggle/ToggleGroup","typedef enum {","    GROUP_PADDING = 16,         // ToggleGroup separation between toggles","} GuiToggleProperty;","","// Slider/SliderBar","typedef enum {","    SLIDER_WIDTH = 16,          // Slider size of internal bar","    SLIDER_PADDING              // Slider/SliderBar internal bar padding","} GuiSliderProperty;","","// ProgressBar","typedef enum {","    PROGRESS_PADDING = 16,      // ProgressBar internal padding","} GuiProgressBarProperty;","","// ScrollBar","typedef enum {","    ARROWS_SIZE = 16,           // ScrollBar arrows size","    ARROWS_VISIBLE,             // ScrollBar arrows visible","    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding","    SCROLL_SLIDER_SIZE,         // ScrollBar slider size","    SCROLL_PADDING,             // ScrollBar scroll padding from arrows","    SCROLL_SPEED,               // ScrollBar scrolling speed","} GuiScrollBarProperty;","","// CheckBox","typedef enum {","    CHECK_PADDING = 16          // CheckBox internal check padding","} GuiCheckBoxProperty;","","// ComboBox","typedef enum {","    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width","    COMBO_BUTTON_SPACING        // ComboBox button separation","} GuiComboBoxProperty;","","// DropdownBox","typedef enum {","    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items","    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation","    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden","    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)","} GuiDropdownBoxProperty;","","// TextBox/TextBoxMulti/ValueBox/Spinner","typedef enum {","    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable","} GuiTextBoxProperty;","","// Spinner","typedef enum {","    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width","    SPIN_BUTTON_SPACING,        // Spinner buttons separation","} GuiSpinnerProperty;","","// ListView","typedef enum {","    LIST_ITEMS_HEIGHT = 16,     // ListView items height","    LIST_ITEMS_SPACING,         // ListView items separation","    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)","    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)","    LIST_ITEMS_BORDER_WIDTH     // ListView items border width","} GuiListViewProperty;","","// ColorPicker","typedef enum {","    COLOR_SELECTOR_SIZE = 16,","    HUEBAR_WIDTH,               // ColorPicker right hue bar width","    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel","    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height","    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow","} GuiColorPickerProperty;","","#define SCROLLBAR_LEFT_SIDE     0","#define SCROLLBAR_RIGHT_SIDE    1","","//----------------------------------------------------------------------------------","// Global Variables Definition","//----------------------------------------------------------------------------------","// ...","","//----------------------------------------------------------------------------------","// Module Functions Declaration","//----------------------------------------------------------------------------------","","#if defined(__cplusplus)","extern \"C\" {            // Prevents name mangling of functions","#endif","","// Global gui state control functions","RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)","RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)","RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)","RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)","RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)","RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f","RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)","RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)","","// Font set/get functions","RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)","RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)","","// Style set/get functions","RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property","RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property","","// Styles loading functions","RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)","RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style","","// Tooltips management functions","RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)","RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)","RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string","","// Icons functionality","RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)","#if !defined(RAYGUI_NO_ICONS)","RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size","RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer","RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data","RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position","#endif","","// Controls","//----------------------------------------------------------------------------------------------------------","// Container/separator controls, useful for controls organization","RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed","RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name","RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text","RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls","RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1","RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control","","// Basic controls set","RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control","RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked","RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked","RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control","RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control","RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control","RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active","RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control","","RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control","RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control","RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers","RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values","RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text","","RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control","RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control","RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control","RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text","RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders","RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control","","// Advance controls set","RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control","RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters","RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message","RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret","RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)","RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control","RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control","RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control","RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)","RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()","//----------------------------------------------------------------------------------------------------------","","#if !defined(RAYGUI_NO_ICONS)","","#if !defined(RAYGUI_CUSTOM_ICONS)","//----------------------------------------------------------------------------------","// Icons enumeration","//----------------------------------------------------------------------------------","typedef enum {","    ICON_NONE                     = 0,","    ICON_FOLDER_FILE_OPEN         = 1,","    ICON_FILE_SAVE_CLASSIC        = 2,","    ICON_FOLDER_OPEN              = 3,","    ICON_FOLDER_SAVE              = 4,","    ICON_FILE_OPEN                = 5,","    ICON_FILE_SAVE                = 6,","    ICON_FILE_EXPORT              = 7,","    ICON_FILE_ADD                 = 8,","    ICON_FILE_DELETE              = 9,","    ICON_FILETYPE_TEXT            = 10,","    ICON_FILETYPE_AUDIO           = 11,","    ICON_FILETYPE_IMAGE           = 12,","    ICON_FILETYPE_PLAY            = 13,","    ICON_FILETYPE_VIDEO           = 14,","    ICON_FILETYPE_INFO            = 15,","    ICON_FILE_COPY                = 16,","    ICON_FILE_CUT                 = 17,","    ICON_FILE_PASTE               = 18,","    ICON_CURSOR_HAND              = 19,","    ICON_CURSOR_POINTER           = 20,","    ICON_CURSOR_CLASSIC           = 21,","    ICON_PENCIL                   = 22,","    ICON_PENCIL_BIG               = 23,","    ICON_BRUSH_CLASSIC            = 24,","    ICON_BRUSH_PAINTER            = 25,","    ICON_WATER_DROP               = 26,","    ICON_COLOR_PICKER             = 27,","    ICON_RUBBER                   = 28,","    ICON_COLOR_BUCKET             = 29,","    ICON_TEXT_T                   = 30,","    ICON_TEXT_A                   = 31,","    ICON_SCALE                    = 32,","    ICON_RESIZE                   = 33,","    ICON_FILTER_POINT             = 34,","    ICON_FILTER_BILINEAR          = 35,","    ICON_CROP                     = 36,","    ICON_CROP_ALPHA               = 37,","    ICON_SQUARE_TOGGLE            = 38,","    ICON_SYMMETRY                 = 39,","    ICON_SYMMETRY_HORIZONTAL      = 40,","    ICON_SYMMETRY_VERTICAL        = 41,","    ICON_LENS                     = 42,","    ICON_LENS_BIG                 = 43,","    ICON_EYE_ON                   = 44,","    ICON_EYE_OFF                  = 45,","    ICON_FILTER_TOP               = 46,","    ICON_FILTER                   = 47,","    ICON_TARGET_POINT             = 48,","    ICON_TARGET_SMALL             = 49,","    ICON_TARGET_BIG               = 50,","    ICON_TARGET_MOVE              = 51,","    ICON_CURSOR_MOVE              = 52,","    ICON_CURSOR_SCALE             = 53,","    ICON_CURSOR_SCALE_RIGHT       = 54,","    ICON_CURSOR_SCALE_LEFT        = 55,","    ICON_UNDO                     = 56,","    ICON_REDO                     = 57,","    ICON_REREDO                   = 58,","    ICON_MUTATE                   = 59,","    ICON_ROTATE                   = 60,","    ICON_REPEAT                   = 61,","    ICON_SHUFFLE                  = 62,","    ICON_EMPTYBOX                 = 63,","    ICON_TARGET                   = 64,","    ICON_TARGET_SMALL_FILL        = 65,","    ICON_TARGET_BIG_FILL          = 66,","    ICON_TARGET_MOVE_FILL         = 67,","    ICON_CURSOR_MOVE_FILL         = 68,","    ICON_CURSOR_SCALE_FILL        = 69,","    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,","    ICON_CURSOR_SCALE_LEFT_FILL   = 71,","    ICON_UNDO_FILL                = 72,","    ICON_REDO_FILL                = 73,","    ICON_REREDO_FILL              = 74,","    ICON_MUTATE_FILL              = 75,","    ICON_ROTATE_FILL              = 76,","    ICON_REPEAT_FILL              = 77,","    ICON_SHUFFLE_FILL             = 78,","    ICON_EMPTYBOX_SMALL           = 79,","    ICON_BOX                      = 80,","    ICON_BOX_TOP                  = 81,","    ICON_BOX_TOP_RIGHT            = 82,","    ICON_BOX_RIGHT                = 83,","    ICON_BOX_BOTTOM_RIGHT         = 84,","    ICON_BOX_BOTTOM               = 85,","    ICON_BOX_BOTTOM_LEFT          = 86,","    ICON_BOX_LEFT                 = 87,","    ICON_BOX_TOP_LEFT             = 88,","    ICON_BOX_CENTER               = 89,","    ICON_BOX_CIRCLE_MASK          = 90,","    ICON_POT                      = 91,","    ICON_ALPHA_MULTIPLY           = 92,","    ICON_ALPHA_CLEAR              = 93,","    ICON_DITHERING                = 94,","    ICON_MIPMAPS                  = 95,","    ICON_BOX_GRID                 = 96,","    ICON_GRID                     = 97,","    ICON_BOX_CORNERS_SMALL        = 98,","    ICON_BOX_CORNERS_BIG          = 99,","    ICON_FOUR_BOXES               = 100,","    ICON_GRID_FILL                = 101,","    ICON_BOX_MULTISIZE            = 102,","    ICON_ZOOM_SMALL               = 103,","    ICON_ZOOM_MEDIUM              = 104,","    ICON_ZOOM_BIG                 = 105,","    ICON_ZOOM_ALL                 = 106,","    ICON_ZOOM_CENTER              = 107,","    ICON_BOX_DOTS_SMALL           = 108,","    ICON_BOX_DOTS_BIG             = 109,","    ICON_BOX_CONCENTRIC           = 110,","    ICON_BOX_GRID_BIG             = 111,","    ICON_OK_TICK                  = 112,","    ICON_CROSS                    = 113,","    ICON_ARROW_LEFT               = 114,","    ICON_ARROW_RIGHT              = 115,","    ICON_ARROW_DOWN               = 116,","    ICON_ARROW_UP                 = 117,","    ICON_ARROW_LEFT_FILL          = 118,","    ICON_ARROW_RIGHT_FILL         = 119,","    ICON_ARROW_DOWN_FILL          = 120,","    ICON_ARROW_UP_FILL            = 121,","    ICON_AUDIO                    = 122,","    ICON_FX                       = 123,","    ICON_WAVE                     = 124,","    ICON_WAVE_SINUS               = 125,","    ICON_WAVE_SQUARE              = 126,","    ICON_WAVE_TRIANGULAR          = 127,","    ICON_CROSS_SMALL              = 128,","    ICON_PLAYER_PREVIOUS          = 129,","    ICON_PLAYER_PLAY_BACK         = 130,","    ICON_PLAYER_PLAY              = 131,","    ICON_PLAYER_PAUSE             = 132,","    ICON_PLAYER_STOP              = 133,","    ICON_PLAYER_NEXT              = 134,","    ICON_PLAYER_RECORD            = 135,","    ICON_MAGNET                   = 136,","    ICON_LOCK_CLOSE               = 137,","    ICON_LOCK_OPEN                = 138,","    ICON_CLOCK                    = 139,","    ICON_TOOLS                    = 140,","    ICON_GEAR                     = 141,","    ICON_GEAR_BIG                 = 142,","    ICON_BIN                      = 143,","    ICON_HAND_POINTER             = 144,","    ICON_LASER                    = 145,","    ICON_COIN                     = 146,","    ICON_EXPLOSION                = 147,","    ICON_1UP                      = 148,","    ICON_PLAYER                   = 149,","    ICON_PLAYER_JUMP              = 150,","    ICON_KEY                      = 151,","    ICON_DEMON                    = 152,","    ICON_TEXT_POPUP               = 153,","    ICON_GEAR_EX                  = 154,","    ICON_CRACK                    = 155,","    ICON_CRACK_POINTS             = 156,","    ICON_STAR                     = 157,","    ICON_DOOR                     = 158,","    ICON_EXIT                     = 159,","    ICON_MODE_2D                  = 160,","    ICON_MODE_3D                  = 161,","    ICON_CUBE                     = 162,","    ICON_CUBE_FACE_TOP            = 163,","    ICON_CUBE_FACE_LEFT           = 164,","    ICON_CUBE_FACE_FRONT          = 165,","    ICON_CUBE_FACE_BOTTOM         = 166,","    ICON_CUBE_FACE_RIGHT          = 167,","    ICON_CUBE_FACE_BACK           = 168,","    ICON_CAMERA                   = 169,","    ICON_SPECIAL                  = 170,","    ICON_LINK_NET                 = 171,","    ICON_LINK_BOXES               = 172,","    ICON_LINK_MULTI               = 173,","    ICON_LINK                     = 174,","    ICON_LINK_BROKE               = 175,","    ICON_TEXT_NOTES               = 176,","    ICON_NOTEBOOK                 = 177,","    ICON_SUITCASE                 = 178,","    ICON_SUITCASE_ZIP             = 179,","    ICON_MAILBOX                  = 180,","    ICON_MONITOR                  = 181,","    ICON_PRINTER                  = 182,","    ICON_PHOTO_CAMERA             = 183,","    ICON_PHOTO_CAMERA_FLASH       = 184,","    ICON_HOUSE                    = 185,","    ICON_HEART                    = 186,","    ICON_CORNER                   = 187,","    ICON_VERTICAL_BARS            = 188,","    ICON_VERTICAL_BARS_FILL       = 189,","    ICON_LIFE_BARS                = 190,","    ICON_INFO                     = 191,","    ICON_CROSSLINE                = 192,","    ICON_HELP                     = 193,","    ICON_FILETYPE_ALPHA           = 194,","    ICON_FILETYPE_HOME            = 195,","    ICON_LAYERS_VISIBLE           = 196,","    ICON_LAYERS                   = 197,","    ICON_WINDOW                   = 198,","    ICON_HIDPI                    = 199,","    ICON_FILETYPE_BINARY          = 200,","    ICON_HEX                      = 201,","    ICON_SHIELD                   = 202,","    ICON_FILE_NEW                 = 203,","    ICON_FOLDER_ADD               = 204,","    ICON_ALARM                    = 205,","    ICON_CPU                      = 206,","    ICON_ROM                      = 207,","    ICON_STEP_OVER                = 208,","    ICON_STEP_INTO                = 209,","    ICON_STEP_OUT                 = 210,","    ICON_RESTART                  = 211,","    ICON_BREAKPOINT_ON            = 212,","    ICON_BREAKPOINT_OFF           = 213,","    ICON_BURGER_MENU              = 214,","    ICON_CASE_SENSITIVE           = 215,","    ICON_REG_EXP                  = 216,","    ICON_FOLDER                   = 217,","    ICON_FILE                     = 218,","    ICON_SAND_TIMER               = 219,","    ICON_WARNING                  = 220,","    ICON_HELP_BOX                 = 221,","    ICON_INFO_BOX                 = 222,","    ICON_PRIORITY                 = 223,","    ICON_LAYERS_ISO               = 224,","    ICON_LAYERS2                  = 225,","    ICON_MLAYERS                  = 226,","    ICON_MAPS                     = 227,","    ICON_HOT                      = 228,","    ICON_229                      = 229,","    ICON_230                      = 230,","    ICON_231                      = 231,","    ICON_232                      = 232,","    ICON_233                      = 233,","    ICON_234                      = 234,","    ICON_235                      = 235,","    ICON_236                      = 236,","    ICON_237                      = 237,","    ICON_238                      = 238,","    ICON_239                      = 239,","    ICON_240                      = 240,","    ICON_241                      = 241,","    ICON_242                      = 242,","    ICON_243                      = 243,","    ICON_244                      = 244,","    ICON_245                      = 245,","    ICON_246                      = 246,","    ICON_247                      = 247,","    ICON_248                      = 248,","    ICON_249                      = 249,","    ICON_250                      = 250,","    ICON_251                      = 251,","    ICON_252                      = 252,","    ICON_253                      = 253,","    ICON_254                      = 254,","    ICON_255                      = 255,","} GuiIconName;","#endif","","#endif","","#if defined(__cplusplus)","}            // Prevents name mangling of functions","#endif","","#endif // RAYGUI_H","","/***********************************************************************************","*","*   RAYGUI IMPLEMENTATION","*","************************************************************************************/","","#if defined(RAYGUI_IMPLEMENTATION)","","#include \u003cctype.h\u003e              // required for: isspace() [GuiTextBox()]","#include \u003cstdio.h\u003e              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]","#include \u003cstdlib.h\u003e             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]","#include \u003cstring.h\u003e             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()","#include \u003cstdarg.h\u003e             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]","#include \u003cmath.h\u003e               // Required for: roundf() [GuiColorPicker()]","","#ifdef __cplusplus","    #define RAYGUI_CLITERAL(name) name","#else","    #define RAYGUI_CLITERAL(name) (name)","#endif","","// Check if two rectangles are equal, used to validate a slider bounds as an id","#ifndef CHECK_BOUNDS_ID","    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) \u0026\u0026 (src.y == dst.y) \u0026\u0026 (src.width == dst.width) \u0026\u0026 (src.height == dst.height))","#endif","","#if !defined(RAYGUI_NO_ICONS) \u0026\u0026 !defined(RAYGUI_CUSTOM_ICONS)","","// Embedded icons, no external file provided","#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)","#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons","#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id","","// Icons data is defined by bit array (every bit represents one pixel)","// Those arrays are stored as unsigned int data arrays, so,","// every array element defines 32 pixels (bits) of information","// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)","// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)","#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)","","//----------------------------------------------------------------------------------","// Icons data for all gui possible icons (allocated on data segment by default)","//","// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,","// every 16x16 icon requires 8 integers (16*16/32) to be stored","//","// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),","// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS","//","// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB","//----------------------------------------------------------------------------------","static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE","    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN","    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC","    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN","    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE","    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN","    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE","    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT","    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO","    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE","    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY","    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO","    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO","    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY","    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT","    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE","    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND","    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER","    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC","    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL","    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG","    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC","    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER","    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP","    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER","    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER","    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET","    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T","    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A","    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE","    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE","    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT","    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR","    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP","    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA","    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE","    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY","    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL","    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL","    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS","    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG","    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON","    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF","    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP","    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER","    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT","    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL","    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG","    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE","    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE","    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE","    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT","    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT","    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO","    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO","    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO","    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE","    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE","    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT","    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE","    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX","    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET","    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL","    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL","    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL","    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL","    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL","    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL","    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL","    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL","    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL","    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL","    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL","    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL","    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL","    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL","    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX","    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP","    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT","    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM","    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT","    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT","    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT","    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER","    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK","    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT","    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY","    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR","    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING","    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS","    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID","    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID","    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL","    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG","    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES","    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL","    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE","    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL","    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM","    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG","    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL","    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER","    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL","    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG","    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC","    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG","    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK","    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS","    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT","    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT","    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN","    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP","    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL","    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL","    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL","    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL","    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO","    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX","    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE","    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS","    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE","    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR","    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL","    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS","    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK","    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY","    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE","    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP","    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT","    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD","    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET","    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE","    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN","    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK","    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS","    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR","    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG","    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN","    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER","    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER","    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN","    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION","    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP","    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER","    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP","    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY","    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON","    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP","    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX","    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK","    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS","    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR","    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR","    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT","    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D","    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D","    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE","    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP","    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT","    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT","    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM","    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT","    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK","    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA","    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL","    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET","    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES","    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI","    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK","    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE","    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES","    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK","    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE","    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP","    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX","    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR","    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER","    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA","    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH","    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE","    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER","    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS","    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL","    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS","    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO","    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE","    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP","    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA","    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME","    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE","    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS","    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW","    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI","    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY","    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX","    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD","    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW","    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD","    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM","    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU","    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM","    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER","    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO","    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT","    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART","    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON","    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF","    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU","    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE","    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP","    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER","    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE","    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER","    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING","    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX","    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX","    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY","    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO","    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2","    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS","    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS","    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254","    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255","};","","// NOTE: A pointer to current icons array should be defined","static unsigned int *guiIconsPtr = guiIcons;","","#endif      // !RAYGUI_NO_ICONS \u0026\u0026 !RAYGUI_CUSTOM_ICONS","","#ifndef RAYGUI_ICON_SIZE","    #define RAYGUI_ICON_SIZE             0","#endif","","// WARNING: Those values define the total size of the style data array,","// if changed, previous saved styles could become incompatible","#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls","#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties","#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties","","//----------------------------------------------------------------------------------","// Types and Structures Definition","//----------------------------------------------------------------------------------","// Gui control property style color element","typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;","","//----------------------------------------------------------------------------------","// Global Variables Definition","//----------------------------------------------------------------------------------","static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state","","static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)","static bool guiLocked = false;                  // Gui lock state (no inputs processed)","static float guiAlpha = 1.0f;                   // Gui controls transparency","","static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)","","static bool guiTooltip = false;                 // Tooltip enabled/disabled","static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)","","static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)","static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier","","static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()","//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking","static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down","static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement","","//----------------------------------------------------------------------------------","// Style data array for all gui style properties (allocated on data segment by default)","//","// NOTE 1: First set of BASE properties are generic to all controls but could be individually","// overwritten per control, first set of EXTENDED properties are generic to all controls and","// can not be overwritten individually but custom EXTENDED properties can be used by control","//","// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),","// but default gui style could always be recovered with GuiLoadStyleDefault()","//","// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB","//----------------------------------------------------------------------------------","static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };","","static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization","","//----------------------------------------------------------------------------------","// Standalone Mode Functions Declaration","//","// NOTE: raygui depend on some raylib input and drawing functions","// To use raygui as standalone library, below functions must be defined by the user","//----------------------------------------------------------------------------------","#if defined(RAYGUI_STANDALONE)","","#define KEY_RIGHT           262","#define KEY_LEFT            263","#define KEY_DOWN            264","#define KEY_UP              265","#define KEY_BACKSPACE       259","#define KEY_ENTER           257","","#define MOUSE_LEFT_BUTTON     0","","// Input required functions","//-------------------------------------------------------------------------------","static Vector2 GetMousePosition(void);","static float GetMouseWheelMove(void);","static bool IsMouseButtonDown(int button);","static bool IsMouseButtonPressed(int button);","static bool IsMouseButtonReleased(int button);","","static bool IsKeyDown(int key);","static bool IsKeyPressed(int key);","static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()","//-------------------------------------------------------------------------------","","// Drawing required functions","//-------------------------------------------------------------------------------","static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()","static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()","//-------------------------------------------------------------------------------","","// Text required functions","//-------------------------------------------------------------------------------","static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()","static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font","","static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image","static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)","","static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data","static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data","","static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs","","static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list","static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list","","static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()","//-------------------------------------------------------------------------------","","// raylib functions already implemented in raygui","//-------------------------------------------------------------------------------","static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value","static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color","static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle","static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'","static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings","static int TextToInteger(const char *text);         // Get integer value from text","static float TextToFloat(const char *text);         // Get float value from text","","static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text","static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)","","static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient","//-------------------------------------------------------------------------------","","#endif      // RAYGUI_STANDALONE","","//----------------------------------------------------------------------------------","// Module specific Functions Declaration","//----------------------------------------------------------------------------------","static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)","","static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style","static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds","static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor","","static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font","static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style","","static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings","static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB","static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV","","static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()","static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position","","static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor","","//----------------------------------------------------------------------------------","// Gui Setup Functions Definition","//----------------------------------------------------------------------------------","// Enable gui global state","// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups","void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }","","// Disable gui global state","// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups","void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }","","// Lock gui global state","void GuiLock(void) { guiLocked = true; }","","// Unlock gui global state","void GuiUnlock(void) { guiLocked = false; }","","// Check if gui is locked (global state)","bool GuiIsLocked(void) { return guiLocked; }","","// Set gui controls alpha global state","void GuiSetAlpha(float alpha)","{","    if (alpha \u003c 0.0f) alpha = 0.0f;","    else if (alpha \u003e 1.0f) alpha = 1.0f;","","    guiAlpha = alpha;","}","","// Set gui state (global state)","void GuiSetState(int state) { guiState = (GuiState)state; }","","// Get gui state (global state)","int GuiGetState(void) { return guiState; }","","// Set custom gui font","// NOTE: Font loading/unloading is external to raygui","void GuiSetFont(Font font)","{","    if (font.texture.id \u003e 0)","    {","        // NOTE: If we try to setup a font but default style has not been","        // lazily loaded before, it will be overwritten, so we need to force","        // default style loading first","        if (!guiStyleLoaded) GuiLoadStyleDefault();","","        guiFont = font;","    }","}","","// Get custom gui font","Font GuiGetFont(void)","{","    return guiFont;","}","","// Set control style property value","void GuiSetStyle(int control, int property, int value)","{","    if (!guiStyleLoaded) GuiLoadStyleDefault();","    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;","","    // Default properties are propagated to all controls","    if ((control == 0) \u0026\u0026 (property \u003c RAYGUI_MAX_PROPS_BASE))","    {","        for (int i = 1; i \u003c RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;","    }","}","","// Get control style property value","int GuiGetStyle(int control, int property)","{","    if (!guiStyleLoaded) GuiLoadStyleDefault();","    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];","}","","//----------------------------------------------------------------------------------","// Gui Controls Functions Definition","//----------------------------------------------------------------------------------","","// Window Box control","int GuiWindowBox(Rectangle bounds, const char *title)","{","    // Window title bar height (including borders)","    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()","    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)","        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24","    #endif","","    int result = 0;","    //GuiState state = guiState;","","    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;","","    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };","    if (bounds.height \u003c statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;","","    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };","    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,","                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };","","    // Update control","    //--------------------------------------------------------------------","    // NOTE: Logic is directly managed by button","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiStatusBar(statusBar, title); // Draw window header as status bar","    GuiPanel(windowPanel, NULL);    // Draw window base","","    // Draw window close button","    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","#if defined(RAYGUI_NO_ICONS)","    result = GuiButton(closeButtonRec, \"x\");","#else","    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));","#endif","    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);","    //--------------------------------------------------------------------","","    return result;      // Window close button clicked: result = 1","}","","// Group Box control with text name","int GuiGroupBox(Rectangle bounds, const char *text)","{","    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)","        #define RAYGUI_GROUPBOX_LINE_THICK     1","    #endif","","    int result = 0;","    GuiState state = guiState;","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));","","    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);","    //--------------------------------------------------------------------","","    return result;","}","","// Line control","int GuiLine(Rectangle bounds, const char *text)","{","    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)","        #define RAYGUI_LINE_MARGIN_TEXT  12","    #endif","    #if !defined(RAYGUI_LINE_TEXT_PADDING)","        #define RAYGUI_LINE_TEXT_PADDING  4","    #endif","","    int result = 0;","    GuiState state = guiState;","","    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));","","    // Draw control","    //--------------------------------------------------------------------","    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);","    else","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = bounds.height;","        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;","        textBounds.y = bounds.y;","","        // Draw line with embedded text label: \"--- text --------------\"","        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);","        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);","        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Panel control","int GuiPanel(Rectangle bounds, const char *text)","{","    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)","        #define RAYGUI_PANEL_BORDER_WIDTH   1","    #endif","","    int result = 0;","    GuiState state = guiState;","","    // Text will be drawn as a header bar (if provided)","    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };","    if ((text != NULL) \u0026\u0026 (bounds.height \u003c RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;","","    if (text != NULL)","    {","        // Move panel bounds after the header bar","        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;","        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;","    }","","    // Draw control","    //--------------------------------------------------------------------","    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar","","    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),","                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));","    //--------------------------------------------------------------------","","    return result;","}","","// Tab Bar control","// NOTE: Using GuiToggle() for the TABS","int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)","{","    #define RAYGUI_TABBAR_ITEM_WIDTH    160","","    int result = -1;","    //GuiState state = guiState;","","    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };","","    if (*active \u003c 0) *active = 0;","    else if (*active \u003e count - 1) *active = count - 1;","","    int offsetX = 0;    // Required in case tabs go out of screen","    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();","    if (offsetX \u003c 0) offsetX = 0;","","    bool toggle = false;    // Required for individual toggles","","    // Draw control","    //--------------------------------------------------------------------","    for (int i = 0; i \u003c count; i++)","    {","        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;","","        if (tabBounds.x \u003c GetScreenWidth())","        {","            // Draw tabs as toggle controls","            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);","            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);","            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);","","            if (i == (*active))","            {","                toggle = true;","                GuiToggle(tabBounds, GuiIconText(12, text[i]), \u0026toggle);","            }","            else","            {","                toggle = false;","                GuiToggle(tabBounds, GuiIconText(12, text[i]), \u0026toggle);","                if (toggle) *active = i;","            }","","            // Close tab with middle mouse button pressed","            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;","","            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);","            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);","","            // Draw tab close button","            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))","            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);","            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","#if defined(RAYGUI_NO_ICONS)","            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, \"x\")) result = i;","#else","            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;","#endif","            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);","        }","    }","","    // Draw tab-bar bottom line","    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));","    //--------------------------------------------------------------------","","    return result;     // Return as result the current TAB closing requested","}","","// Scroll Panel control","int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)","{","    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40","    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40","    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20","","    int result = 0;","    GuiState state = guiState;","","    Rectangle temp = { 0 };","    if (view == NULL) view = \u0026temp;","","    Vector2 scrollPos = { 0.0f, 0.0f };","    if (scroll != NULL) scrollPos = *scroll;","","    // Text will be drawn as a header bar (if provided)","    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };","    if (bounds.height \u003c RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;","","    if (text != NULL)","    {","        // Move panel bounds after the header bar","        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;","        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;","    }","","    bool hasHorizontalScrollBar = (content.width \u003e bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;","    bool hasVerticalScrollBar = (content.height \u003e bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;","","    // Recheck to account for the other scrollbar being visible","    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar \u0026\u0026 (content.width \u003e (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;","    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar \u0026\u0026 (content.height \u003e (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;","","    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;","    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;","    Rectangle horizontalScrollBar = {","        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)horizontalScrollBarWidth","    };","    Rectangle verticalScrollBar = {","        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),","        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),","        (float)verticalScrollBarWidth,","        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)","    };","","    // Make sure scroll bars have a minimum width/height","    if (horizontalScrollBar.width \u003c RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;","    if (verticalScrollBar.height \u003c RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;","","    // Calculate view area (area without the scrollbars)","    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?","                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :","                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };","","    // Clip view area to the actual content size","    if (view-\u003ewidth \u003e content.width) view-\u003ewidth = content.width;","    if (view-\u003eheight \u003e content.height) view-\u003eheight = content.height;","","    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);","    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);","    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;","    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)","            if (hasHorizontalScrollBar)","            {","                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","            }","","            if (hasVerticalScrollBar)","            {","                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","            }","#endif","            float wheelMove = GetMouseWheelMove();","","            // Set scrolling speed with mouse wheel based on ratio between bounds and content","            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };","            if (mouseWheelSpeed.x \u003c RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;","            if (mouseWheelSpeed.y \u003c RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;","","            // Horizontal and vertical scrolling with mouse wheel","            if (hasHorizontalScrollBar \u0026\u0026 (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;","            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll","        }","    }","","    // Normalize scroll values","    if (scrollPos.x \u003e -horizontalMin) scrollPos.x = -horizontalMin;","    if (scrollPos.x \u003c -horizontalMax) scrollPos.x = -horizontalMax;","    if (scrollPos.y \u003e -verticalMin) scrollPos.y = -verticalMin;","    if (scrollPos.y \u003c -verticalMax) scrollPos.y = -verticalMax;","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar","","    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background","","    // Save size of the scrollbar slider","    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);","","    // Draw horizontal scrollbar if visible","    if (hasHorizontalScrollBar)","    {","        // Change scrollbar slider size to show the diff in size between the content width and the widget width","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));","        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);","    }","    else scrollPos.x = 0.0f;","","    // Draw vertical scrollbar if visible","    if (hasVerticalScrollBar)","    {","        // Change scrollbar slider size to show the diff in size between the content height and the widget height","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));","        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);","    }","    else scrollPos.y = 0.0f;","","    // Draw detail corner rectangle if both scroll bars are visible","    if (hasHorizontalScrollBar \u0026\u0026 hasVerticalScrollBar)","    {","        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };","        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));","    }","","    // Draw scrollbar lines depending on current state","    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);","","    // Set scrollbar slider size back to the way it was before","    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);","    //--------------------------------------------------------------------","","    if (scroll != NULL) *scroll = scrollPos;","","    return result;","}","","// Label control","int GuiLabel(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Update control","    //--------------------------------------------------------------------","    //...","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Button control, returns true when clicked","int GuiButton(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));","    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));","","    if (state == STATE_FOCUSED) GuiTooltip(bounds);","    //------------------------------------------------------------------","","    return result;      // Button pressed: result = 1","}","","// Label button control","int GuiLabelButton(Rectangle bounds, const char *text)","{","    GuiState state = guiState;","    bool pressed = false;","","    // NOTE: We force bounds.width to be all text","    float textWidth = (float)GetTextWidth(text);","    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) \u003c textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check checkbox state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return pressed;","}","","// Toggle Button control","int GuiToggle(Rectangle bounds, const char *text, bool *active)","{","    int result = 0;","    GuiState state = guiState;","","    bool temp = false;","    if (active == NULL) active = \u0026temp;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check toggle button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","            {","                state = STATE_NORMAL;","                *active = !(*active);","            }","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_NORMAL)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));","        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));","    }","    else","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));","        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));","    }","","    if (state == STATE_FOCUSED) GuiTooltip(bounds);","    //--------------------------------------------------------------------","","    return result;","}","","// Toggle Group control","int GuiToggleGroup(Rectangle bounds, const char *text, int *active)","{","    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)","        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32","    #endif","","    int result = 0;","    float initBoundsX = bounds.x;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    bool toggle = false;    // Required for individual toggles","","    // Get substrings items from text (items pointers)","    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };","    int itemCount = 0;","    const char **items = GuiTextSplit(text, ';', \u0026itemCount, rows);","","    int prevRow = rows[0];","","    for (int i = 0; i \u003c itemCount; i++)","    {","        if (prevRow != rows[i])","        {","            bounds.x = initBoundsX;","            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));","            prevRow = rows[i];","        }","","        if (i == (*active))","        {","            toggle = true;","            GuiToggle(bounds, items[i], \u0026toggle);","        }","        else","        {","            toggle = false;","            GuiToggle(bounds, items[i], \u0026toggle);","            if (toggle) *active = i;","        }","","        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));","    }","","    return result;","}","","// Toggle Slider control extended","int GuiToggleSlider(Rectangle bounds, const char *text, int *active)","{","    int result = 0;","    GuiState state = guiState;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    //bool toggle = false;    // Required for individual toggles","","    // Get substrings items from text (items pointers)","    int itemCount = 0;","    const char **items = NULL;","","    if (text != NULL) items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    Rectangle slider = {","        0,      // Calculated later depending on the active toggle","        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),","        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,","        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                (*active)++;","                result = 1;","            }","            else state = STATE_FOCUSED;","        }","","        if ((*active) \u0026\u0026 (state != STATE_FOCUSED)) state = STATE_PRESSED;","    }","","    if (*active \u003e= itemCount) *active = 0;","    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),","        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));","","    // Draw internal slider","    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));","    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));","    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));","","    // Draw text in slider","    if (text != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(text);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Check Box control, returns 1 when state changed","int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)","{","    int result = 0;","    GuiState state = guiState;","","    bool temp = false;","    if (checked == NULL) checked = \u0026temp;","","    Rectangle textBounds = { 0 };","","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        Rectangle totalBounds = {","            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,","            bounds.y,","            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),","            bounds.height,","        };","","        // Check checkbox state","        if (CheckCollisionPointRec(mousePoint, totalBounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","","            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","            {","                *checked = !(*checked);","                result = 1;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);","","    if (*checked)","    {","        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),","                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),","                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),","                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };","        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));","    }","","    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Combo Box control","int GuiComboBox(Rectangle bounds, const char *text, int *active)","{","    int result = 0;","    GuiState state = guiState;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));","","    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),","                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };","","    // Get substrings items from text (items pointers, lengths and count)","    int itemCount = 0;","    const char **items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    if (*active \u003c 0) *active = 0;","    else if (*active \u003e (itemCount - 1)) *active = itemCount - 1;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 (itemCount \u003e 1) \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (CheckCollisionPointRec(mousePoint, bounds) ||","            CheckCollisionPointRec(mousePoint, selector))","        {","            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","            {","                *active += 1;","                if (*active \u003e= itemCount) *active = 0;      // Cyclic combobox","            }","","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    // Draw combo box main","    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));","    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));","","    // Draw selector using a custom button","    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values","    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    GuiButton(selector, TextFormat(\"%i/%i\", *active + 1, itemCount));","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);","    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","    //--------------------------------------------------------------------","","    return result;","}","","// Dropdown Box control","// NOTE: Returns mouse click","int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)","{","    int result = 0;","    GuiState state = guiState;","","    int temp = 0;","    if (active == NULL) active = \u0026temp;","","    int itemSelected = *active;","    int itemFocused = -1;","","    int direction = 0; // Dropdown box open direction: down (default)","    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up","","    // Get substrings items from text (items pointers, lengths and count)","    int itemCount = 0;","    const char **items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    Rectangle boundsOpen = bounds;","    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);","","    Rectangle itemBounds = bounds;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 (editMode || !guiLocked) \u0026\u0026 (itemCount \u003e 1) \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (editMode)","        {","            state = STATE_PRESSED;","","            // Check if mouse has been pressed or released outside limits","            if (!CheckCollisionPointRec(mousePoint, boundsOpen))","            {","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;","            }","","            // Check if already selected item has been pressed again","            if (CheckCollisionPointRec(mousePoint, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;","","            // Check focused and selected item","            for (int i = 0; i \u003c itemCount; i++)","            {","                // Update item rectangle y position for next item","                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","","                if (CheckCollisionPointRec(mousePoint, itemBounds))","                {","                    itemFocused = i;","                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))","                    {","                        itemSelected = i;","                        result = 1;         // Item selected","                    }","                    break;","                }","            }","","            itemBounds = bounds;","        }","        else","        {","            if (CheckCollisionPointRec(mousePoint, bounds))","            {","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                {","                    result = 1;","                    state = STATE_PRESSED;","                }","                else state = STATE_FOCUSED;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (editMode) GuiPanel(boundsOpen, NULL);","","    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));","    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));","","    if (editMode)","    {","        // Draw visible items","        for (int i = 0; i \u003c itemCount; i++)","        {","            // Update item rectangle y position for next item","            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));","","            if (i == itemSelected)","            {","                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));","                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));","            }","            else if (i == itemFocused)","            {","                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));","                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));","            }","            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));","        }","    }","","    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))","    {","        // Draw arrows (using icon if available)","#if defined(RAYGUI_NO_ICONS)","        GuiDrawText(\"v\", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));","#else","        GuiDrawText(direction? \"#121#\" : \"#120#\", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL","#endif","    }","    //--------------------------------------------------------------------","","    *active = itemSelected;","","    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...","    return result;   // Mouse click: result = 1","}","","// Text Box control","// NOTE: Returns true on ENTER pressed (useful for data validation)","int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)","{","    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)","        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement","    #endif","    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)","        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement","    #endif","","    int result = 0;","    GuiState state = guiState;","","    bool multiline = false;     // TODO: Consider multiline text input","    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);","","    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);","    int textLength = (int)strlen(text);     // Get current text length","    int thisCursorIndex = textBoxCursorIndex;","    if (thisCursorIndex \u003e textLength) thisCursorIndex = textLength;","    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);","    int textIndexOffset = 0;    // Text index offset to start drawing in the box","","    // Cursor rectangle","    // NOTE: Position X value should be updated","    Rectangle cursor = {","        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),","        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),","        2,","        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2","    };","","    if (cursor.height \u003e= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;","    if (cursor.y \u003c (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);","","    // Mouse cursor rectangle","    // NOTE: Initialized outside of screen","    Rectangle mouseCursor = cursor;","    mouseCursor.x = -1;","    mouseCursor.width = 1;","","    // Auto-cursor movement logic","    // NOTE: Cursor moves automatically when key down after some time","    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;","    else","    {","        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter","        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter","    }","","    // Blink-cursor frame counter","    //if (!autoCursorMode) blinkCursorFrameCounter++;","    //else blinkCursorFrameCounter = 0;","","    // Update control","    //--------------------------------------------------------------------","    // WARNING: Text editing is only supported under certain conditions:","    if ((state != STATE_DISABLED) \u0026\u0026                // Control not disabled","        !GuiGetStyle(TEXTBOX, TEXT_READONLY) \u0026\u0026     // TextBox not on read-only mode","        !guiLocked \u0026\u0026                               // Gui not locked","        !guiControlExclusiveMode \u0026\u0026                       // No gui slider on dragging","        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode","    {","        Vector2 mousePosition = GetMousePosition();","","        if (editMode)","        {","            state = STATE_PRESSED;","","            if (textBoxCursorIndex \u003e textLength) textBoxCursorIndex = textLength;","","            // If text does not fit in the textbox and current cursor position is out of bounds,","            // we add an index offset to text for drawing only what requires depending on cursor","            while (textWidth \u003e= textBounds.width)","            {","                int nextCodepointSize = 0;","                GetCodepointNext(text + textIndexOffset, \u0026nextCodepointSize);","","                textIndexOffset += nextCodepointSize;","","                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);","            }","","            int codepoint = GetCharPressed();       // Get Unicode codepoint","            if (multiline \u0026\u0026 IsKeyPressed(KEY_ENTER)) codepoint = (int)'\\n';","","            // Encode codepoint as UTF-8","            int codepointSize = 0;","            const char *charEncoded = CodepointToUTF8(codepoint, \u0026codepointSize);","","            // Add codepoint to text, at current cursor position","            // NOTE: Make sure we do not overflow buffer size","            if (((multiline \u0026\u0026 (codepoint == (int)'\\n')) || (codepoint \u003e= 32)) \u0026\u0026 ((textLength + codepointSize) \u003c textSize))","            {","                // Move forward data from cursor position","                for (int i = (textLength + codepointSize); i \u003e textBoxCursorIndex; i--) text[i] = text[i - codepointSize];","","                // Add new codepoint in current cursor position","                for (int i = 0; i \u003c codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];","","                textBoxCursorIndex += codepointSize;","                textLength += codepointSize;","","                // Make sure text last character is EOL","                text[textLength] = '\\0';","            }","","            // Move cursor to start","            if ((textLength \u003e 0) \u0026\u0026 IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;","","            // Move cursor to end","            if ((textLength \u003e textBoxCursorIndex) \u0026\u0026 IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;","","            // Delete codepoint from text, after current cursor position","            if ((textLength \u003e textBoxCursorIndex) \u0026\u0026 (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) \u0026\u0026 (autoCursorCooldownCounter \u003e= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int nextCodepointSize = 0;","                    GetCodepointNext(text + textBoxCursorIndex, \u0026nextCodepointSize);","","                    // Move backward text from cursor position","                    for (int i = textBoxCursorIndex; i \u003c textLength; i++) text[i] = text[i + nextCodepointSize];","","                    textLength -= codepointSize;","                    if (textBoxCursorIndex \u003e textLength) textBoxCursorIndex = textLength;","","                    // Make sure text last character is EOL","                    text[textLength] = '\\0';","                }","            }","","            // Delete related codepoints from text, before current cursor position","            if ((textLength \u003e 0) \u0026\u0026 IsKeyPressed(KEY_BACKSPACE) \u0026\u0026 (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))","            {","                int i = textBoxCursorIndex - 1;","                int accCodepointSize = 0;","","                // Move cursor to the end of word if on space already","                while ((i \u003e 0) \u0026\u0026 isspace(text[i]))","                {","                    int prevCodepointSize = 0;","                    GetCodepointPrevious(text + i, \u0026prevCodepointSize);","                    i -= prevCodepointSize;","                    accCodepointSize += prevCodepointSize;","                }","","                // Move cursor to the start of the word","                while ((i \u003e 0) \u0026\u0026 !isspace(text[i]))","                {","                    int prevCodepointSize = 0;","                    GetCodepointPrevious(text + i, \u0026prevCodepointSize);","                    i -= prevCodepointSize;","                    accCodepointSize += prevCodepointSize;","                }","","                // Move forward text from cursor position","                for (int j = (textBoxCursorIndex - accCodepointSize); j \u003c textLength; j++) text[j] = text[j + accCodepointSize];","","                // Prevent cursor index from decrementing past 0","                if (textBoxCursorIndex \u003e 0)","                {","                    textBoxCursorIndex -= accCodepointSize;","                    textLength -= accCodepointSize;","                }","","                // Make sure text last character is EOL","                text[textLength] = '\\0';","            }","            else if ((textLength \u003e 0) \u0026\u0026 (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) \u0026\u0026 (autoCursorCooldownCounter \u003e= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int prevCodepointSize = 0;","","                    // Prevent cursor index from decrementing past 0","                    if (textBoxCursorIndex \u003e 0)","                    {","                        GetCodepointPrevious(text + textBoxCursorIndex, \u0026prevCodepointSize);","","                        // Move backward text from cursor position","                        for (int i = (textBoxCursorIndex - prevCodepointSize); i \u003c textLength; i++) text[i] = text[i + prevCodepointSize];","","                        textBoxCursorIndex -= codepointSize;","                        textLength -= codepointSize;","                    }","","                    // Make sure text last character is EOL","                    text[textLength] = '\\0';","                }","            }","","            // Move cursor position with keys","            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) \u0026\u0026 (autoCursorCooldownCounter \u003e RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int prevCodepointSize = 0;","                    if (textBoxCursorIndex \u003e 0) GetCodepointPrevious(text + textBoxCursorIndex, \u0026prevCodepointSize);","","                    if (textBoxCursorIndex \u003e= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;","                }","            }","            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) \u0026\u0026 (autoCursorCooldownCounter \u003e RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))","            {","                autoCursorDelayCounter++;","","                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames","                {","                    int nextCodepointSize = 0;","                    GetCodepointNext(text + textBoxCursorIndex, \u0026nextCodepointSize);","","                    if ((textBoxCursorIndex + nextCodepointSize) \u003c= textLength) textBoxCursorIndex += nextCodepointSize;","                }","            }","","            // Move cursor position with mouse","            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text","            {","                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;","                int codepointIndex = 0;","                float glyphWidth = 0.0f;","                float widthToMouseX = 0;","                int mouseCursorIndex = 0;","","                for (int i = textIndexOffset; i \u003c textLength; i++)","                {","                    codepoint = GetCodepointNext(\u0026text[i], \u0026codepointSize);","                    codepointIndex = GetGlyphIndex(guiFont, codepoint);","","                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);","                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);","","                    if (mousePosition.x \u003c= (textBounds.x + (widthToMouseX + glyphWidth/2)))","                    {","                        mouseCursor.x = textBounds.x + widthToMouseX;","                        mouseCursorIndex = i;","                        break;","                    }","","                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","                }","","                // Check if mouse cursor is at the last position","                int textEndWidth = GetTextWidth(text + textIndexOffset);","                if (GetMousePosition().x \u003e= (textBounds.x + textEndWidth - glyphWidth/2))","                {","                    mouseCursor.x = textBounds.x + textEndWidth;","                    mouseCursorIndex = textLength;","                }","","                // Place cursor at required index on mouse click","                if ((mouseCursor.x \u003e= 0) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                {","                    cursor.x = mouseCursor.x;","                    textBoxCursorIndex = mouseCursorIndex;","                }","            }","            else mouseCursor.x = -1;","","            // Recalculate cursor position.y depending on textBoxCursorIndex","            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);","            //if (multiline) cursor.y = GetTextLines()","","            // Finish text editing on ENTER or mouse click outside bounds","            if ((!multiline \u0026\u0026 IsKeyPressed(KEY_ENTER)) ||","                (!CheckCollisionPointRec(mousePosition, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))","            {","                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index","                result = 1;","            }","        }","        else","        {","            if (CheckCollisionPointRec(mousePosition, bounds))","            {","                state = STATE_FOCUSED;","","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                {","                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text","                    result = 1;","                }","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_PRESSED)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));","    }","    else if (state == STATE_DISABLED)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));","    }","    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);","","    // Draw text considering index offset if required","    // NOTE: Text index offset depends on cursor position","    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));","","    // Draw cursor","    if (editMode \u0026\u0026 !GuiGetStyle(TEXTBOX, TEXT_READONLY))","    {","        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))","        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));","","        // Draw mouse position cursor (if required)","        if (mouseCursor.x \u003e= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));","    }","    else if (state == STATE_FOCUSED) GuiTooltip(bounds);","    //--------------------------------------------------------------------","","    return result;      // Mouse button pressed: result = 1","}","","/*","// Text Box control with multiple lines and word-wrap","// NOTE: This text-box is readonly, no editing supported by default","bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)","{","    bool pressed = false;","","    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);","    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);","","    // TODO: Implement methods to calculate cursor position properly","    pressed = GuiTextBox(bounds, text, textSize, editMode);","","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);","    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);","    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);","","    return pressed;","}","*/","","// Spinner control, returns selected value","int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)","{","    int result = 1;","    GuiState state = guiState;","","    int tempValue = *value;","","    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,","                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };","    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };","    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };","","    Rectangle textBounds = { 0 };","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check spinner state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","        }","    }","","#if defined(RAYGUI_NO_ICONS)","    if (GuiButton(leftButtonBound, \"\u003c\")) tempValue--;","    if (GuiButton(rightButtonBound, \"\u003e\")) tempValue++;","#else","    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;","    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;","#endif","","    if (!editMode)","    {","        if (tempValue \u003c minValue) tempValue = minValue;","        if (tempValue \u003e maxValue) tempValue = maxValue;","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    result = GuiValueBox(spinner, NULL, \u0026tempValue, minValue, maxValue, editMode);","","    // Draw value selector custom buttons","    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values","    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);","    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);","    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);","","    // Draw text label if provided","    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    *value = tempValue;","    return result;","}","","// Value Box control, updates input text with numbers","// NOTE: Requires static variables: frameCounter","int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)","{","    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)","        #define RAYGUI_VALUEBOX_MAX_CHARS  32","    #endif","","    int result = 0;","    GuiState state = guiState;","","    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = \"\\0\";","    sprintf(textValue, \"%i\", *value);","","    Rectangle textBounds = { 0 };","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        bool valueHasChanged = false;","","        if (editMode)","        {","            state = STATE_PRESSED;","","            int keyCount = (int)strlen(textValue);","","            // Only allow keys in range [48..57]","            if (keyCount \u003c RAYGUI_VALUEBOX_MAX_CHARS)","            {","                if (GetTextWidth(textValue) \u003c bounds.width)","                {","                    int key = GetCharPressed();","                    if ((key \u003e= 48) \u0026\u0026 (key \u003c= 57))","                    {","                        textValue[keyCount] = (char)key;","                        keyCount++;","                        valueHasChanged = true;","                    }","                }","            }","","            // Delete text","            if (keyCount \u003e 0)","            {","                if (IsKeyPressed(KEY_BACKSPACE))","                {","                    keyCount--;","                    textValue[keyCount] = '\\0';","                    valueHasChanged = true;","                }","            }","","            if (valueHasChanged) *value = TextToInteger(textValue);","","            // NOTE: We are not clamp values until user input finishes","            //if (*value \u003e maxValue) *value = maxValue;","            //else if (*value \u003c minValue) *value = minValue;","","            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))","            {","                if (*value \u003e maxValue) *value = maxValue;","                else if (*value \u003c minValue) *value = minValue;","","                result = 1;","            }","        }","        else","        {","            if (*value \u003e maxValue) *value = maxValue;","            else if (*value \u003c minValue) *value = minValue;","","            if (CheckCollisionPointRec(mousePoint, bounds))","            {","                state = STATE_FOCUSED;","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    Color baseColor = BLANK;","    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));","    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));","","    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);","    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));","","    // Draw cursor","    if (editMode)","    {","        // NOTE: ValueBox internal text is always centered","        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };","        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));","    }","","    // Draw text label if provided","    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Floating point Value Box control, updates input val_str with numbers","// NOTE: Requires static variables: frameCounter","int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)","{","    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)","        #define RAYGUI_VALUEBOX_MAX_CHARS  32","    #endif","","    int result = 0;","    GuiState state = guiState;","","    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = \"\\0\";","    //sprintf(textValue, \"%2.2f\", *value);","","    Rectangle textBounds = {0};","    if (text != NULL)","    {","        textBounds.width = (float)GetTextWidth(text) + 2;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        bool valueHasChanged = false;","","        if (editMode)","        {","            state = STATE_PRESSED;","","            int keyCount = (int)strlen(textValue);","","            // Only allow keys in range [48..57]","            if (keyCount \u003c RAYGUI_VALUEBOX_MAX_CHARS)","            {","                if (GetTextWidth(textValue) \u003c bounds.width)","                {","                    int key = GetCharPressed();","                    if (((key \u003e= 48) \u0026\u0026 (key \u003c= 57)) ||","                        (key == '.') ||","                        ((keyCount == 0) \u0026\u0026 (key == '+')) ||  // NOTE: Sign can only be in first position","                        ((keyCount == 0) \u0026\u0026 (key == '-')))","                    {","                        textValue[keyCount] = (char)key;","                        keyCount++;","","                        valueHasChanged = true;","                    }","                }","            }","","            // Pressed backspace","            if (IsKeyPressed(KEY_BACKSPACE))","            {","                if (keyCount \u003e 0)","                {","                    keyCount--;","                    textValue[keyCount] = '\\0';","                    valueHasChanged = true;","                }","            }","","            if (valueHasChanged) *value = TextToFloat(textValue);","","            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) \u0026\u0026 IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;","        }","        else","        {","            if (CheckCollisionPointRec(mousePoint, bounds))","            {","                state = STATE_FOCUSED;","                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;","            }","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    Color baseColor = BLANK;","    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));","    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));","","    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);","    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));","","    // Draw cursor","    if (editMode)","    {","        // NOTE: ValueBox internal text is always centered","        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,","                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,","                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};","        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));","    }","","    // Draw text label if provided","    GuiDrawText(text, textBounds,","                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,","                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Slider control with pro parameters","// NOTE: Other GuiSlider*() controls use this one","int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)","{","    int result = 0;","    GuiState state = guiState;","","    float temp = (maxValue - minValue)/2.0f;","    if (value == NULL) value = \u0026temp;","    float oldValue = *value;","","    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),","                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","                    // Get equivalent value and slider position from mousePosition.x","                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                if (!CheckCollisionPointRec(mousePoint, slider))","                {","                    // Get equivalent value and slider position from mousePosition.x","                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;","                }","            }","            else state = STATE_FOCUSED;","        }","","        if (*value \u003e maxValue) *value = maxValue;","        else if (*value \u003c minValue) *value = minValue;","    }","","    // Control value change check","    if (oldValue == *value) result = 0;","    else result = 1;","","    // Slider bar limits check","    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));","    if (sliderWidth \u003e 0)        // Slider","    {","        slider.x += sliderValue;","        slider.width = (float)sliderWidth;","        if (slider.x \u003c= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);","        else if ((slider.x + slider.width) \u003e= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);","    }","    else if (sliderWidth == 0)  // SliderBar","    {","        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);","        slider.width = sliderValue;","        if (slider.width \u003e bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));","","    // Draw slider internal bar (depends on state)","    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));","    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));","    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));","","    // Draw left/right text if provided","    if (textLeft != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textLeft);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));","    }","","    if (textRight != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textRight);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Slider control extended, returns selected value and has text","int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)","{","    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));","}","","// Slider Bar control extended, returns selected value","int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)","{","    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);","}","","// Progress Bar control extended, shows current progress value","int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)","{","    int result = 0;","    GuiState state = guiState;","","    float temp = (maxValue - minValue)/2.0f;","    if (value == NULL) value = \u0026temp;","","    // Progress bar","    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),","                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,","                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };","","    // Update control","    //--------------------------------------------------------------------","    if (*value \u003e maxValue) *value = maxValue;","","    // WARNING: Working with floats could lead to rounding issues","    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value \u003e= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_DISABLED)","    {","        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);","    }","    else","    {","        if (*value \u003e minValue)","        {","            // Draw progress bar with colored border, more visual","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","        }","        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","","        if (*value \u003e= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));","        else","        {","            // Draw borders not yet reached by value","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));","        }","","        // Draw slider internal progress bar (depends on state)","        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));","    }","","    // Draw left/right text if provided","    if (textLeft != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textLeft);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));","    }","","    if (textRight != NULL)","    {","        Rectangle textBounds = { 0 };","        textBounds.width = (float)GetTextWidth(textRight);","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);","        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","","        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));","    }","    //--------------------------------------------------------------------","","    return result;","}","","// Status Bar control","int GuiStatusBar(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));","    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));","    //--------------------------------------------------------------------","","    return result;","}","","// Dummy rectangle control, intended for placeholding","int GuiDummyRec(Rectangle bounds, const char *text)","{","    int result = 0;","    GuiState state = guiState;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check button state","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));","    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));","    //------------------------------------------------------------------","","    return result;","}","","// List View control","int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)","{","    int result = 0;","    int itemCount = 0;","    const char **items = NULL;","","    if (text != NULL) items = GuiTextSplit(text, ';', \u0026itemCount, NULL);","","    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);","","    return result;","}","","// List View control with extended parameters","int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)","{","    int result = 0;","    GuiState state = guiState;","","    int itemFocused = (focus == NULL)? -1 : *focus;","    int itemSelected = (active == NULL)? -1 : *active;","","    // Check if we need a scroll bar","    bool useScrollBar = false;","    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count \u003e bounds.height) useScrollBar = true;","","    // Define base item rectangle [0]","    Rectangle itemBounds = { 0 };","    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);","    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);","    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);","    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);","    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);","","    // Get items on the list","    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));","    if (visibleItems \u003e count) visibleItems = count;","","    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;","    if ((startIndex \u003c 0) || (startIndex \u003e (count - visibleItems))) startIndex = 0;","    int endIndex = startIndex + visibleItems;","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 mousePoint = GetMousePosition();","","        // Check mouse inside list view","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            state = STATE_FOCUSED;","","            // Check focused and selected item","            for (int i = 0; i \u003c visibleItems; i++)","            {","                if (CheckCollisionPointRec(mousePoint, itemBounds))","                {","                    itemFocused = startIndex + i;","                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","                    {","                        if (itemSelected == (startIndex + i)) itemSelected = -1;","                        else itemSelected = startIndex + i;","                    }","                    break;","                }","","                // Update item rectangle y position for next item","                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));","            }","","            if (useScrollBar)","            {","                int wheelMove = (int)GetMouseWheelMove();","                startIndex -= wheelMove;","","                if (startIndex \u003c 0) startIndex = 0;","                else if (startIndex \u003e (count - visibleItems)) startIndex = count - visibleItems;","","                endIndex = startIndex + visibleItems;","                if (endIndex \u003e count) endIndex = count;","            }","        }","        else itemFocused = -1;","","        // Reset item rectangle y to [0]","        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background","","    // Draw visible items","    for (int i = 0; ((i \u003c visibleItems) \u0026\u0026 (text != NULL)); i++)","    {","        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);","","        if (state == STATE_DISABLED)","        {","            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));","","            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));","        }","        else","        {","            if (((startIndex + i) == itemSelected) \u0026\u0026 (active != NULL))","            {","                // Draw item selected","                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));","                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));","            }","            else if (((startIndex + i) == itemFocused)) // \u0026\u0026 (focus != NULL))  // NOTE: We want items focused, despite not returned!","            {","                // Draw item focused","                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));","                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));","            }","            else","            {","                // Draw item normal","                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));","            }","        }","","        // Update item rectangle y position for next item","        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));","    }","","    if (useScrollBar)","    {","        Rectangle scrollBarBounds = {","            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),","            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),","            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)","        };","","        // Calculate percentage of visible items and apply same percentage to scrollbar","        float percentVisible = (float)(endIndex - startIndex)/count;","        float sliderSize = bounds.height*percentVisible;","","        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size","        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size","        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed","","        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);","","        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default","        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default","    }","    //--------------------------------------------------------------------","","    if (active != NULL) *active = itemSelected;","    if (focus != NULL) *focus = itemFocused;","    if (scrollIndex != NULL) *scrollIndex = startIndex;","","    return result;","}","","// Color Panel control - Color (RGBA) variant.","int GuiColorPanel(Rectangle bounds, const char *text, Color *color)","{","    int result = 0;","","    Vector3 vcolor = { (float)color-\u003er/255.0f, (float)color-\u003eg/255.0f, (float)color-\u003eb/255.0f };","    Vector3 hsv = ConvertRGBtoHSV(vcolor);","    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.","","    GuiColorPanelHSV(bounds, text, \u0026hsv);","","    // Check if the hsv was changed, only then change the color.","    // This is required, because the Color-\u003eHSV-\u003eColor conversion has precision errors.","    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.","    // Otherwise GuiColorPanel would often modify it's color without user input.","    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.","    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)","    {","        Vector3 rgb = ConvertHSVtoRGB(hsv);","","        // NOTE: Vector3ToColor() only available on raylib 1.8.1","        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),","                            (unsigned char)(255.0f*rgb.y),","                            (unsigned char)(255.0f*rgb.z),","                            color-\u003ea };","    }","    return result;","}","","// Color Bar Alpha control","// NOTE: Returns alpha value normalized [0..1]","int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)","{","    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)","        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10","    #endif","","    int result = 0;","    GuiState state = guiState;","    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","","                    *alpha = (mousePoint.x - bounds.x)/bounds.width;","                    if (*alpha \u003c= 0.0f) *alpha = 0.0f;","                    if (*alpha \u003e= 1.0f) *alpha = 1.0f;","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                *alpha = (mousePoint.x - bounds.x)/bounds.width;","                if (*alpha \u003c= 0.0f) *alpha = 0.0f;","                if (*alpha \u003e= 1.0f) *alpha = 1.0f;","                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;","            }","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","","    // Draw alpha bar: checked background","    if (state != STATE_DISABLED)","    {","        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;","        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;","","        for (int x = 0; x \u003c checksX; x++)","        {","            for (int y = 0; y \u003c checksY; y++)","            {","                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };","                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));","            }","        }","","        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));","    }","    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));","","    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);","","    // Draw alpha bar: selector","    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));","    //--------------------------------------------------------------------","","    return result;","}","","// Color Bar Hue control","// Returns hue value normalized [0..1]","// NOTE: Other similar bars (for reference):","//      Color GuiColorBarSat() [WHITE-\u003ecolor]","//      Color GuiColorBarValue() [BLACK-\u003ecolor], HSV/HSL","//      float GuiColorBarLuminance() [BLACK-\u003eWHITE]","int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)","{","    int result = 0;","    GuiState state = guiState;","    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","","                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;","                    if (*hue \u003c= 0.0f) *hue = 0.0f;","                    if (*hue \u003e= 359.0f) *hue = 359.0f;","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                *hue = (mousePoint.y - bounds.y)*360/bounds.height;","                if (*hue \u003c= 0.0f) *hue = 0.0f;","                if (*hue \u003e= 359.0f) *hue = 359.0f;","","            }","            else state = STATE_FOCUSED;","","            /*if (IsKeyDown(KEY_UP))","            {","                hue -= 2.0f;","                if (hue \u003c= 0.0f) hue = 0.0f;","            }","            else if (IsKeyDown(KEY_DOWN))","            {","                hue += 2.0f;","                if (hue \u003e= 360.0f) hue = 360.0f;","            }*/","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state != STATE_DISABLED)","    {","        // Draw hue bar:color bars","        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));","        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));","    }","    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));","","    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);","","    // Draw hue bar: selector","    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));","    //--------------------------------------------------------------------","","    return result;","}","","// Color Picker control","// NOTE: It's divided in multiple controls:","//      Color GuiColorPanel(Rectangle bounds, Color color)","//      float GuiColorBarAlpha(Rectangle bounds, float alpha)","//      float GuiColorBarHue(Rectangle bounds, float value)","// NOTE: bounds define GuiColorPanel() size","// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead","int GuiColorPicker(Rectangle bounds, const char *text, Color *color)","{","    int result = 0;","","    Color temp = { 200, 0, 0, 255 };","    if (color == NULL) color = \u0026temp;","","    GuiColorPanel(bounds, NULL, color);","","    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };","    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };","","    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.","    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });","","    GuiColorBarHue(boundsHue, NULL, \u0026hsv.x);","","    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);","    Vector3 rgb = ConvertHSVtoRGB(hsv);","","    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };","","    return result;","}","","// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.","// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.","// NOTE: It's divided in multiple controls:","//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)","//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)","//      float GuiColorBarHue(Rectangle bounds, float value)","// NOTE: bounds define GuiColorPanelHSV() size","int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)","{","    int result = 0;","","    Vector3 tempHsv = { 0 };","","    if (colorHsv == NULL)","    {","        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };","        tempHsv = ConvertRGBtoHSV(tempColor);","        colorHsv = \u0026tempHsv;","    }","","    GuiColorPanelHSV(bounds, NULL, colorHsv);","","    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };","","    GuiColorBarHue(boundsHue, NULL, \u0026colorHsv-\u003ex);","","    return result;","}","","// Color Panel control - HSV variant","int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)","{","    int result = 0;","    GuiState state = guiState;","    Vector2 pickerSelector = { 0 };","","    const Color colWhite = { 255, 255, 255, 255 };","    const Color colBlack = { 0, 0, 0, 255 };","","    pickerSelector.x = bounds.x + (float)colorHsv-\u003ey*bounds.width;            // HSV: Saturation","    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv-\u003ez)*bounds.height;  // HSV: Value","","    Vector3 maxHue = { colorHsv-\u003ex, 1.0f, 1.0f };","    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);","    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),","                      (unsigned char)(255.0f*rgbHue.y),","                      (unsigned char)(255.0f*rgbHue.z), 255 };","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    pickerSelector = mousePoint;","","                    if (pickerSelector.x \u003c bounds.x) pickerSelector.x = bounds.x;","                    if (pickerSelector.x \u003e bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;","                    if (pickerSelector.y \u003c bounds.y) pickerSelector.y = bounds.y;","                    if (pickerSelector.y \u003e bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;","","                    // Calculate color from picker","                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };","","                    colorPick.x /= (float)bounds.width;     // Get normalized value on x","                    colorPick.y /= (float)bounds.height;    // Get normalized value on y","","                    colorHsv-\u003ey = colorPick.x;","                    colorHsv-\u003ez = 1.0f - colorPick.y;","","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds))","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))","            {","                state = STATE_PRESSED;","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds;","                pickerSelector = mousePoint;","","                // Calculate color from picker","                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };","","                colorPick.x /= (float)bounds.width;     // Get normalized value on x","                colorPick.y /= (float)bounds.height;    // Get normalized value on y","","                colorHsv-\u003ey = colorPick.x;","                colorHsv-\u003ez = 1.0f - colorPick.y;","            }","            else state = STATE_FOCUSED;","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state != STATE_DISABLED)","    {","        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));","        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));","","        // Draw color picker: selector","        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };","        GuiDrawRectangle(selector, 0, BLANK, colWhite);","    }","    else","    {","        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));","    }","","    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);","    //--------------------------------------------------------------------","","    return result;","}","","// Message Box control","int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)","{","    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)","        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24","    #endif","    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)","        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12","    #endif","","    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button","","    int buttonCount = 0;","    const char **buttonsText = GuiTextSplit(buttons, ';', \u0026buttonCount, NULL);","    Rectangle buttonBounds = { 0 };","    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;","    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;","","    //int textWidth = GetTextWidth(message) + 2;","","    Rectangle textBounds = { 0 };","    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;","    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;","    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;","","    // Draw control","    //--------------------------------------------------------------------","    if (GuiWindowBox(bounds, title)) result = 0;","","    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);","    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","    GuiLabel(textBounds, message);","    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);","","    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    for (int i = 0; i \u003c buttonCount; i++)","    {","        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;","        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);","    }","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);","    //--------------------------------------------------------------------","","    return result;","}","","// Text Input Box control, ask for text","int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)","{","    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)","        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24","    #endif","    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)","        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12","    #endif","    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)","        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26","    #endif","","    // Used to enable text edit mode","    // WARNING: No more than one GuiTextInputBox() should be open at the same time","    static bool textEditMode = false;","","    int result = -1;","","    int buttonCount = 0;","    const char **buttonsText = GuiTextSplit(buttons, ';', \u0026buttonCount, NULL);","    Rectangle buttonBounds = { 0 };","    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;","    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;","","    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","","    Rectangle textBounds = { 0 };","    if (message != NULL)","    {","        int textSize = GetTextWidth(message) + 2;","","        textBounds.x = bounds.x + bounds.width/2 - textSize/2;","        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;","        textBounds.width = (float)textSize;","        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","    }","","    Rectangle textBoxBounds = { 0 };","    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;","    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;","    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);","    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;","    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;","","    // Draw control","    //--------------------------------------------------------------------","    if (GuiWindowBox(bounds, title)) result = 0;","","    // Draw message if available","    if (message != NULL)","    {","        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","        GuiLabel(textBounds, message);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);","    }","","    if (secretViewActive != NULL)","    {","        static char stars[] = \"****************\";","        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },","            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;","","        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? \"#44#\" : \"#45#\", secretViewActive);","    }","    else","    {","        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;","    }","","    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    for (int i = 0; i \u003c buttonCount; i++)","    {","        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;","        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);","    }","","    if (result \u003e= 0) textEditMode = false;","","    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);","    //--------------------------------------------------------------------","","    return result;      // Result is the pressed button index","}","","// Grid control","// NOTE: Returns grid mouse-hover selected cell","// About drawing lines at subpixel spacing, simple put, not easy solution:","// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster","int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)","{","    // Grid lines alpha amount","    #if !defined(RAYGUI_GRID_ALPHA)","        #define RAYGUI_GRID_ALPHA    0.15f","    #endif","","    int result = 0;","    GuiState state = guiState;","","    Vector2 mousePoint = GetMousePosition();","    Vector2 currentMouseCell = { -1, -1 };","","    float spaceWidth = spacing/(float)subdivs;","    int linesV = (int)(bounds.width/spaceWidth) + 1;","    int linesH = (int)(bounds.height/spaceWidth) + 1;","","    int color = GuiGetStyle(DEFAULT, LINE_COLOR);","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked \u0026\u0026 !guiControlExclusiveMode)","    {","        if (CheckCollisionPointRec(mousePoint, bounds))","        {","            // NOTE: Cell values must be the upper left of the cell the mouse is in","            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);","            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);","        }","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);","","    if (subdivs \u003e 0)","    {","        // Draw vertical grid lines","        for (int i = 0; i \u003c linesV; i++)","        {","            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };","            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));","        }","","        // Draw horizontal grid lines","        for (int i = 0; i \u003c linesH; i++)","        {","            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };","            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));","        }","    }","","    if (mouseCell != NULL) *mouseCell = currentMouseCell;","    return result;","}","","//----------------------------------------------------------------------------------","// Tooltip management functions","// NOTE: Tooltips requires some global variables: tooltipPtr","//----------------------------------------------------------------------------------","// Enable gui tooltips (global state)","void GuiEnableTooltip(void) { guiTooltip = true; }","","// Disable gui tooltips (global state)","void GuiDisableTooltip(void) { guiTooltip = false; }","","// Set tooltip string","void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }","","//----------------------------------------------------------------------------------","// Styles loading functions","//----------------------------------------------------------------------------------","","// Load raygui style file (.rgs)","// NOTE: By default a binary file is expected, that file could contain a custom font,","// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)","void GuiLoadStyle(const char *fileName)","{","    #define MAX_LINE_BUFFER_SIZE    256","","    bool tryBinary = false;","    if (!guiStyleLoaded) GuiLoadStyleDefault();","","    // Try reading the files as text file first","    FILE *rgsFile = fopen(fileName, \"rt\");","","    if (rgsFile != NULL)","    {","        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };","        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);","","        if (buffer[0] == '#')","        {","            int controlId = 0;","            int propertyId = 0;","            unsigned int propertyValue = 0;","","            while (!feof(rgsFile))","            {","                switch (buffer[0])","                {","                    case 'p':","                    {","                        // Style property: p \u003ccontrol_id\u003e \u003cproperty_id\u003e \u003cproperty_value\u003e \u003cproperty_name\u003e","","                        sscanf(buffer, \"p %d %d 0x%x\", \u0026controlId, \u0026propertyId, \u0026propertyValue);","                        GuiSetStyle(controlId, propertyId, (int)propertyValue);","","                    } break;","                    case 'f':","                    {","                        // Style font: f \u003cgen_font_size\u003e \u003ccharmap_file\u003e \u003cfont_file\u003e","","                        int fontSize = 0;","                        char charmapFileName[256] = { 0 };","                        char fontFileName[256] = { 0 };","                        sscanf(buffer, \"f %d %s %[^\\r\\n]s\", \u0026fontSize, charmapFileName, fontFileName);","","                        Font font = { 0 };","                        int *codepoints = NULL;","                        int codepointCount = 0;","","                        if (charmapFileName[0] != '0')","                        {","                            // Load text data from file","                            // NOTE: Expected an UTF-8 array of codepoints, no separation","                            char *textData = LoadFileText(TextFormat(\"%s/%s\", GetDirectoryPath(fileName), charmapFileName));","                            codepoints = LoadCodepoints(textData, \u0026codepointCount);","                            UnloadFileText(textData);","                        }","","                        if (fontFileName[0] != '\\0')","                        {","                            // In case a font is already loaded and it is not default internal font, unload it","                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);","","                            if (codepointCount \u003e 0) font = LoadFontEx(TextFormat(\"%s/%s\", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);","                            else font = LoadFontEx(TextFormat(\"%s/%s\", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints","                        }","","                        // If font texture not properly loaded, revert to default font and size/spacing","                        if (font.texture.id == 0)","                        {","                            font = GetFontDefault();","                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);","                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);","                        }","","                        UnloadCodepoints(codepoints);","","                        if ((font.texture.id \u003e 0) \u0026\u0026 (font.glyphCount \u003e 0)) GuiSetFont(font);","","                    } break;","                    default: break;","                }","","                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);","            }","        }","        else tryBinary = true;","","        fclose(rgsFile);","    }","","    if (tryBinary)","    {","        rgsFile = fopen(fileName, \"rb\");","","        if (rgsFile != NULL)","        {","            fseek(rgsFile, 0, SEEK_END);","            int fileDataSize = ftell(rgsFile);","            fseek(rgsFile, 0, SEEK_SET);","","            if (fileDataSize \u003e 0)","            {","                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));","                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);","","                GuiLoadStyleFromMemory(fileData, fileDataSize);","","                RAYGUI_FREE(fileData);","            }","","            fclose(rgsFile);","        }","    }","}","","// Load style default over global style","void GuiLoadStyleDefault(void)","{","    // We set this variable first to avoid cyclic function calls","    // when calling GuiSetStyle() and GuiGetStyle()","    guiStyleLoaded = true;","","    // Initialize default LIGHT style property values","    // WARNING: Default value are applied to all controls on set but","    // they can be overwritten later on for every custom control","    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);","    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);","    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);","    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);","    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);","    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);","    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);","    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","","    // Initialize default extended property values","    // NOTE: By default, extended property values are initialized to 0","    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls","    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls","    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property","    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property","    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines","    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds","","    // Initialize control-specific property values","    // NOTE: Those properties are in default list but require specific values by control type","    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);","    GuiSetStyle(SLIDER, TEXT_PADDING, 4);","    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);","    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);","    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);","    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);","    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);","    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);","    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(SPINNER, TEXT_PADDING, 0);","    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);","    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);","","    // Initialize extended property values","    // NOTE: By default, extended property values are initialized to 0","    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);","    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);","    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);","    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);","    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);","    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);","    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);","    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);","    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);","    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);","    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);","    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);","    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);","    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);","    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);","    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);","    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);","    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);","    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);","    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);","    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);","    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);","    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);","    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);","    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);","    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);","    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);","","    if (guiFont.texture.id != GetFontDefault().texture.id)","    {","        // Unload previous font texture","        UnloadTexture(guiFont.texture);","        RL_FREE(guiFont.recs);","        RL_FREE(guiFont.glyphs);","        guiFont.recs = NULL;","        guiFont.glyphs = NULL;","","        // Setup default raylib font","        guiFont = GetFontDefault();","","        // NOTE: Default raylib font character 95 is a white square","        Rectangle whiteChar = guiFont.recs[95];","","        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering","        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });","    }","}","","// Get text with icon id prepended","// NOTE: Useful to add icons by name id (enum) instead of","// a number that can change between ricon versions","const char *GuiIconText(int iconId, const char *text)","{","#if defined(RAYGUI_NO_ICONS)","    return NULL;","#else","    static char buffer[1024] = { 0 };","    static char iconBuffer[16] = { 0 };","","    if (text != NULL)","    {","        memset(buffer, 0, 1024);","        sprintf(buffer, \"#%03i#\", iconId);","","        for (int i = 5; i \u003c 1024; i++)","        {","            buffer[i] = text[i - 5];","            if (text[i - 5] == '\\0') break;","        }","","        return buffer;","    }","    else","    {","        sprintf(iconBuffer, \"#%03i#\", iconId);","","        return iconBuffer;","    }","#endif","}","","#if !defined(RAYGUI_NO_ICONS)","// Get full icons data pointer","unsigned int *GuiGetIcons(void) { return guiIconsPtr; }","","// Load raygui icons file (.rgi)","// NOTE: In case nameIds are required, they can be requested with loadIconsName,","// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],","// WARNING: guiIconsName[]][] memory should be manually freed!","char **GuiLoadIcons(const char *fileName, bool loadIconsName)","{","    // Style File Structure (.rgi)","    // ------------------------------------------------------","    // Offset  | Size    | Type       | Description","    // ------------------------------------------------------","    // 0       | 4       | char       | Signature: \"rGI \"","    // 4       | 2       | short      | Version: 100","    // 6       | 2       | short      | reserved","","    // 8       | 2       | short      | Num icons (N)","    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)","","    // Icons name id (32 bytes per name id)","    // foreach (icon)","    // {","    //   12+32*i  | 32   | char       | Icon NameId","    // }","","    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)","    // S*S pixels/32bit per unsigned int = K unsigned int per icon","    // foreach (icon)","    // {","    //   ...   | K       | unsigned int | Icon Data","    // }","","    FILE *rgiFile = fopen(fileName, \"rb\");","","    char **guiIconsName = NULL;","","    if (rgiFile != NULL)","    {","        char signature[5] = { 0 };","        short version = 0;","        short reserved = 0;","        short iconCount = 0;","        short iconSize = 0;","","        fread(signature, 1, 4, rgiFile);","        fread(\u0026version, sizeof(short), 1, rgiFile);","        fread(\u0026reserved, sizeof(short), 1, rgiFile);","        fread(\u0026iconCount, sizeof(short), 1, rgiFile);","        fread(\u0026iconSize, sizeof(short), 1, rgiFile);","","        if ((signature[0] == 'r') \u0026\u0026","            (signature[1] == 'G') \u0026\u0026","            (signature[2] == 'I') \u0026\u0026","            (signature[3] == ' '))","        {","            if (loadIconsName)","            {","                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));","                for (int i = 0; i \u003c iconCount; i++)","                {","                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);","                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);","                }","            }","            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);","","            // Read icons data directly over internal icons array","            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);","        }","","        fclose(rgiFile);","    }","","    return guiIconsName;","}","","// Draw selected icon using rectangles pixel-by-pixel","void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)","{","    #define BIT_CHECK(a,b) ((a) \u0026 (1u\u003c\u003c(b)))","","    for (int i = 0, y = 0; i \u003c RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)","    {","        for (int k = 0; k \u003c 32; k++)","        {","            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))","            {","            #if !defined(RAYGUI_STANDALONE)","                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);","            #endif","            }","","            if ((k == 15) || (k == 31)) y++;","        }","    }","}","","// Set icon drawing size","void GuiSetIconScale(int scale)","{","    if (scale \u003e= 1) guiIconScale = scale;","}","","#endif      // !RAYGUI_NO_ICONS","","//----------------------------------------------------------------------------------","// Module specific Functions Definition","//----------------------------------------------------------------------------------","","// Load style from memory","// WARNING: Binary files only","static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)","{","    unsigned char *fileDataPtr = (unsigned char *)fileData;","","    char signature[5] = { 0 };","    short version = 0;","    short reserved = 0;","    int propertyCount = 0;","","    memcpy(signature, fileDataPtr, 4);","    memcpy(\u0026version, fileDataPtr + 4, sizeof(short));","    memcpy(\u0026reserved, fileDataPtr + 4 + 2, sizeof(short));","    memcpy(\u0026propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));","    fileDataPtr += 12;","","    if ((signature[0] == 'r') \u0026\u0026","        (signature[1] == 'G') \u0026\u0026","        (signature[2] == 'S') \u0026\u0026","        (signature[3] == ' '))","    {","        short controlId = 0;","        short propertyId = 0;","        unsigned int propertyValue = 0;","","        for (int i = 0; i \u003c propertyCount; i++)","        {","            memcpy(\u0026controlId, fileDataPtr, sizeof(short));","            memcpy(\u0026propertyId, fileDataPtr + 2, sizeof(short));","            memcpy(\u0026propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));","            fileDataPtr += 8;","","            if (controlId == 0) // DEFAULT control","            {","                // If a DEFAULT property is loaded, it is propagated to all controls","                // NOTE: All DEFAULT properties should be defined first in the file","                GuiSetStyle(0, (int)propertyId, propertyValue);","","                if (propertyId \u003c RAYGUI_MAX_PROPS_BASE) for (int j = 1; j \u003c RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);","            }","            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);","        }","","        // Font loading is highly dependant on raylib API to load font data and image","","#if !defined(RAYGUI_STANDALONE)","        // Load custom font if available","        int fontDataSize = 0;","        memcpy(\u0026fontDataSize, fileDataPtr, sizeof(int));","        fileDataPtr += 4;","","        if (fontDataSize \u003e 0)","        {","            Font font = { 0 };","            int fontType = 0;   // 0-Normal, 1-SDF","","            memcpy(\u0026font.baseSize, fileDataPtr, sizeof(int));","            memcpy(\u0026font.glyphCount, fileDataPtr + 4, sizeof(int));","            memcpy(\u0026fontType, fileDataPtr + 4 + 4, sizeof(int));","            fileDataPtr += 12;","","            // Load font white rectangle","            Rectangle fontWhiteRec = { 0 };","            memcpy(\u0026fontWhiteRec, fileDataPtr, sizeof(Rectangle));","            fileDataPtr += 16;","","            // Load font image parameters","            int fontImageUncompSize = 0;","            int fontImageCompSize = 0;","            memcpy(\u0026fontImageUncompSize, fileDataPtr, sizeof(int));","            memcpy(\u0026fontImageCompSize, fileDataPtr + 4, sizeof(int));","            fileDataPtr += 8;","","            Image imFont = { 0 };","            imFont.mipmaps = 1;","            memcpy(\u0026imFont.width, fileDataPtr, sizeof(int));","            memcpy(\u0026imFont.height, fileDataPtr + 4, sizeof(int));","            memcpy(\u0026imFont.format, fileDataPtr + 4 + 4, sizeof(int));","            fileDataPtr += 12;","","            if ((fontImageCompSize \u003e 0) \u0026\u0026 (fontImageCompSize != fontImageUncompSize))","            {","                // Compressed font atlas image data (DEFLATE), it requires DecompressData()","                int dataUncompSize = 0;","                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);","                memcpy(compData, fileDataPtr, fontImageCompSize);","                fileDataPtr += fontImageCompSize;","","                imFont.data = DecompressData(compData, fontImageCompSize, \u0026dataUncompSize);","","                // Security check, dataUncompSize must match the provided fontImageUncompSize","                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG(\"WARNING: Uncompressed font atlas image data could be corrupted\");","","                RAYGUI_FREE(compData);","            }","            else","            {","                // Font atlas image data is not compressed","                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);","                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);","                fileDataPtr += fontImageUncompSize;","            }","","            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);","            font.texture = LoadTextureFromImage(imFont);","","            RAYGUI_FREE(imFont.data);","","            // Validate font atlas texture was loaded correctly","            if (font.texture.id != 0)","            {","                // Load font recs data","                int recsDataSize = font.glyphCount*sizeof(Rectangle);","                int recsDataCompressedSize = 0;","","                // WARNING: Version 400 adds the compression size parameter","                if (version \u003e= 400)","                {","                    // RGS files version 400 support compressed recs data","                    memcpy(\u0026recsDataCompressedSize, fileDataPtr, sizeof(int));","                    fileDataPtr += sizeof(int);","                }","","                if ((recsDataCompressedSize \u003e 0) \u0026\u0026 (recsDataCompressedSize != recsDataSize))","                {","                    // Recs data is compressed, uncompress it","                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);","","                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);","                    fileDataPtr += recsDataCompressedSize;","","                    int recsDataUncompSize = 0;","                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, \u0026recsDataUncompSize);","","                    // Security check, data uncompressed size must match the expected original data size","                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG(\"WARNING: Uncompressed font recs data could be corrupted\");","","                    RAYGUI_FREE(recsDataCompressed);","                }","                else","                {","                    // Recs data is uncompressed","                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));","                    for (int i = 0; i \u003c font.glyphCount; i++)","                    {","                        memcpy(\u0026font.recs[i], fileDataPtr, sizeof(Rectangle));","                        fileDataPtr += sizeof(Rectangle);","                    }","                }","","                // Load font glyphs info data","                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph","                int glyphsDataCompressedSize = 0;","","                // WARNING: Version 400 adds the compression size parameter","                if (version \u003e= 400)","                {","                    // RGS files version 400 support compressed glyphs data","                    memcpy(\u0026glyphsDataCompressedSize, fileDataPtr, sizeof(int));","                    fileDataPtr += sizeof(int);","                }","","                // Allocate required glyphs space to fill with data","                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));","","                if ((glyphsDataCompressedSize \u003e 0) \u0026\u0026 (glyphsDataCompressedSize != glyphsDataSize))","                {","                    // Glyphs data is compressed, uncompress it","                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);","","                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);","                    fileDataPtr += glyphsDataCompressedSize;","","                    int glyphsDataUncompSize = 0;","                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, \u0026glyphsDataUncompSize);","","                    // Security check, data uncompressed size must match the expected original data size","                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG(\"WARNING: Uncompressed font glyphs data could be corrupted\");","","                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;","","                    for (int i = 0; i \u003c font.glyphCount; i++)","                    {","                        memcpy(\u0026font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));","                        memcpy(\u0026font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));","                        glyphsDataUncompPtr += 16;","                    }","","                    RAYGUI_FREE(glypsDataCompressed);","                    RAYGUI_FREE(glyphsDataUncomp);","                }","                else","                {","                    // Glyphs data is uncompressed","                    for (int i = 0; i \u003c font.glyphCount; i++)","                    {","                        memcpy(\u0026font.glyphs[i].value, fileDataPtr, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));","                        memcpy(\u0026font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));","                        memcpy(\u0026font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));","                        fileDataPtr += 16;","                    }","                }","            }","            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture","","            GuiSetFont(font);","","            // Set font texture source rectangle to be used as white texture to draw shapes","            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call","            if ((fontWhiteRec.x \u003e 0) \u0026\u0026","                (fontWhiteRec.y \u003e 0) \u0026\u0026","                (fontWhiteRec.width \u003e 0) \u0026\u0026","                (fontWhiteRec.height \u003e 0)) SetShapesTexture(font.texture, fontWhiteRec);","        }","#endif","    }","}","","// Gui get text width considering icon","static int GetTextWidth(const char *text)","{","    #if !defined(ICON_TEXT_PADDING)","        #define ICON_TEXT_PADDING   4","    #endif","","    Vector2 textSize = { 0 };","    int textIconOffset = 0;","","    if ((text != NULL) \u0026\u0026 (text[0] != '\\0'))","    {","        if (text[0] == '#')","        {","            for (int i = 1; (i \u003c 5) \u0026\u0026 (text[i] != '\\0'); i++)","            {","                if (text[i] == '#')","                {","                    textIconOffset = i;","                    break;","                }","            }","        }","","        text += textIconOffset;","","        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly","        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);","","        // Custom MeasureText() implementation","        if ((guiFont.texture.id \u003e 0) \u0026\u0026 (text != NULL))","        {","            // Get size in bytes of text, considering end of line and line break","            int size = 0;","            for (int i = 0; i \u003c MAX_LINE_BUFFER_SIZE; i++)","            {","                if ((text[i] != '\\0') \u0026\u0026 (text[i] != '\\n')) size++;","                else break;","            }","","            float scaleFactor = fontSize/(float)guiFont.baseSize;","            textSize.y = (float)guiFont.baseSize*scaleFactor;","            float glyphWidth = 0.0f;","","            for (int i = 0, codepointSize = 0; i \u003c size; i += codepointSize)","            {","                int codepoint = GetCodepointNext(\u0026text[i], \u0026codepointSize);","                int codepointIndex = GetGlyphIndex(guiFont, codepoint);","","                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);","                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);","","                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","            }","        }","","        if (textIconOffset \u003e 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);","    }","","    return (int)textSize.x;","}","","// Get text bounds considering control bounds","static Rectangle GetTextBounds(int control, Rectangle bounds)","{","    Rectangle textBounds = bounds;","","    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);","    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);","    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);","    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!","","    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds","    switch (control)","    {","        case COMBOBOX:","        case DROPDOWNBOX:","        case LISTVIEW:","            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW","        case SLIDER:","        case CHECKBOX:","        case VALUEBOX:","        case SPINNER:","            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER","        default:","        {","            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()","            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);","            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);","        }","        break;","    }","","    return textBounds;","}","","// Get text icon if provided and move text cursor","// NOTE: We support up to 999 values for iconId","static const char *GetTextIcon(const char *text, int *iconId)","{","#if !defined(RAYGUI_NO_ICONS)","    *iconId = -1;","    if (text[0] == '#')     // Maybe we have an icon!","    {","        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\\0'","","        int pos = 1;","        while ((pos \u003c 4) \u0026\u0026 (text[pos] \u003e= '0') \u0026\u0026 (text[pos] \u003c= '9'))","        {","            iconValue[pos - 1] = text[pos];","            pos++;","        }","","        if (text[pos] == '#')","        {","            *iconId = TextToInteger(iconValue);","","            // Move text pointer after icon","            // WARNING: If only icon provided, it could point to EOL character: '\\0'","            if (*iconId \u003e= 0) text += (pos + 1);","        }","    }","#endif","","    return text;","}","","// Get text divided into lines (by line-breaks '\\n')","const char **GetTextLines(const char *text, int *count)","{","    #define RAYGUI_MAX_TEXT_LINES   128","","    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };","    for (int i = 0; i \u003c RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings","","    int textSize = (int)strlen(text);","","    lines[0] = text;","    int len = 0;","    *count = 1;","    //int lineSize = 0;   // Stores current line size, not returned","","    for (int i = 0, k = 0; (i \u003c textSize) \u0026\u0026 (*count \u003c RAYGUI_MAX_TEXT_LINES); i++)","    {","        if (text[i] == '\\n')","        {","            //lineSize = len;","            k++;","            lines[k] = \u0026text[i + 1];     // WARNING: next value is valid?","            len = 0;","            *count += 1;","        }","        else len++;","    }","","    //lines[*count - 1].size = len;","","    return lines;","}","","// Get text width to next space for provided string","static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)","{","    float width = 0;","    int codepointByteCount = 0;","    int codepoint = 0;","    int index = 0;","    float glyphWidth = 0;","    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;","","    for (int i = 0; text[i] != '\\0'; i++)","    {","        if (text[i] != ' ')","        {","            codepoint = GetCodepoint(\u0026text[i], \u0026codepointByteCount);","            index = GetGlyphIndex(guiFont, codepoint);","            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;","            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","        }","        else","        {","            *nextSpaceIndex = i;","            break;","        }","    }","","    return width;","}","","// Gui draw text using default font","static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)","{","    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect","","    #if !defined(ICON_TEXT_PADDING)","        #define ICON_TEXT_PADDING   4","    #endif","","    if ((text == NULL) || (text[0] == '\\0')) return;    // Security check","","    // PROCEDURE:","    //   - Text is processed line per line","    //   - For every line, horizontal alignment is defined","    //   - For all text, vertical alignment is defined (multiline text only)","    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)","","    // Get text lines (using '\\n' as delimiter) to be processed individually","    // WARNING: We can't use GuiTextSplit() function because it can be already used","    // before the GuiDrawText() call and its buffer is static, it would be overriden :(","    int lineCount = 0;","    const char **lines = GetTextLines(text, \u0026lineCount);","","    // Text style variables","    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);","    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);","    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing","","    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap","    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);","    float posOffsetY = 0.0f;","","    for (int i = 0; i \u003c lineCount; i++)","    {","        int iconId = 0;","        lines[i] = GetTextIcon(lines[i], \u0026iconId);      // Check text for icon and move cursor","","        // Get text position depending on alignment and iconId","        //---------------------------------------------------------------------------------","        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };","        float textBoundsWidthOffset = 0.0f;","","        // NOTE: We get text size after icon has been processed","        // WARNING: GetTextWidth() also processes text icon to get width! -\u003e Really needed?","        int textSizeX = GetTextWidth(lines[i]);","","        // If text requires an icon, add size to measure","        if (iconId \u003e= 0)","        {","            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;","","            // WARNING: If only icon provided, text could be pointing to EOF character: '\\0'","#if !defined(RAYGUI_NO_ICONS)","            if ((lines[i] != NULL) \u0026\u0026 (lines[i][0] != '\\0')) textSizeX += ICON_TEXT_PADDING;","#endif","        }","","        // Check guiTextAlign global variables","        switch (alignment)","        {","            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;","            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;","            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;","            default: break;","        }","","        if (textSizeX \u003e textBounds.width \u0026\u0026 (lines[i] != NULL) \u0026\u0026 (lines[i][0] != '\\0')) textBoundsPosition.x = textBounds.x;","","        switch (alignmentVertical)","        {","            // Only valid in case of wordWrap = 0;","            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;","            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;","            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;","            default: break;","        }","","        // NOTE: Make sure we get pixel-perfect coordinates,","        // In case of decimals we got weird text positioning","        textBoundsPosition.x = (float)((int)textBoundsPosition.x);","        textBoundsPosition.y = (float)((int)textBoundsPosition.y);","        //---------------------------------------------------------------------------------","","        // Draw text (with icon if available)","        //---------------------------------------------------------------------------------","#if !defined(RAYGUI_NO_ICONS)","        if (iconId \u003e= 0)","        {","            // NOTE: We consider icon height, probably different than text size","            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);","            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);","            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);","        }","#endif","        // Get size in bytes of text,","        // considering end of line and line break","        int lineSize = 0;","        for (int c = 0; (lines[i][c] != '\\0') \u0026\u0026 (lines[i][c] != '\\n') \u0026\u0026 (lines[i][c] != '\\r'); c++, lineSize++){ }","        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;","","        int lastSpaceIndex = 0;","        bool tempWrapCharMode = false;","","        int textOffsetY = 0;","        float textOffsetX = 0.0f;","        float glyphWidth = 0;","","        int ellipsisWidth = GetTextWidth(\"...\");","        bool textOverflow = false;","        for (int c = 0, codepointSize = 0; c \u003c lineSize; c += codepointSize)","        {","            int codepoint = GetCodepointNext(\u0026lines[i][c], \u0026codepointSize);","            int index = GetGlyphIndex(guiFont, codepoint);","","            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)","            // but we need to draw all of the bad bytes using the '?' symbol moving one byte","            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size","","            // Get glyph width to check if it goes out of bounds","            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);","            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;","","            // Wrap mode text measuring, to validate if","            // it can be drawn or a new line is required","            if (wrapMode == TEXT_WRAP_CHAR)","            {","                // Jump to next line if current character reach end of the box limits","                if ((textOffsetX + glyphWidth) \u003e textBounds.width - textBoundsWidthOffset)","                {","                    textOffsetX = 0.0f;","                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);","","                    if (tempWrapCharMode)   // Wrap at char level when too long words","                    {","                        wrapMode = TEXT_WRAP_WORD;","                        tempWrapCharMode = false;","                    }","                }","            }","            else if (wrapMode == TEXT_WRAP_WORD)","            {","                if (codepoint == 32) lastSpaceIndex = c;","","                // Get width to next space in line","                int nextSpaceIndex = 0;","                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, \u0026nextSpaceIndex);","","                int nextSpaceIndex2 = 0;","                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, \u0026nextSpaceIndex2);","","                if (nextWordSize \u003e textBounds.width - textBoundsWidthOffset)","                {","                    // Considering the case the next word is longer than bounds","                    tempWrapCharMode = true;","                    wrapMode = TEXT_WRAP_CHAR;","                }","                else if ((textOffsetX + nextSpaceWidth) \u003e textBounds.width - textBoundsWidthOffset)","                {","                    textOffsetX = 0.0f;","                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);","                }","            }","","            if (codepoint == '\\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint","            else","            {","                // TODO: There are multiple types of spaces in Unicode,","                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html","                if ((codepoint != ' ') \u0026\u0026 (codepoint != '\\t'))      // Do not draw codepoints with no glyph","                {","                    if (wrapMode == TEXT_WRAP_NONE)","                    {","                        // Draw only required text glyphs fitting the textBounds.width","                        if (textSizeX \u003e textBounds.width)","                        {","                            if (textOffsetX \u003c= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))","                            {","                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                            }","                            else if (!textOverflow)","                            {","                                textOverflow = true;","","                                for (int j = 0; j \u003c ellipsisWidth; j += ellipsisWidth/3)","                                {","                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                                }","                            }","                        }","                        else","                        {","                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                        }","                    }","                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))","                    {","                        // Draw only glyphs inside the bounds","                        if ((textBoundsPosition.y + textOffsetY) \u003c= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))","                        {","                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));","                        }","                    }","                }","","                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","            }","        }","","        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);","        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));","        //---------------------------------------------------------------------------------","    }","","#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)","    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));","#endif","}","","// Gui draw rectangle using default raygui plain style with borders","static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)","{","    if (color.a \u003e 0)","    {","        // Draw rectangle filled with color","        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));","    }","","    if (borderWidth \u003e 0)","    {","        // Draw rectangle border lines with color","        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));","        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));","        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));","        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));","    }","","#if defined(RAYGUI_DEBUG_RECS_BOUNDS)","    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));","#endif","}","","// Draw tooltip using control bounds","static void GuiTooltip(Rectangle controlRec)","{","    if (!guiLocked \u0026\u0026 guiTooltip \u0026\u0026 (guiTooltipPtr != NULL) \u0026\u0026 !guiControlExclusiveMode)","    {","        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));","","        if ((controlRec.x + textSize.x + 16) \u003e GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);","","        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);","","        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);","        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);","        GuiSetStyle(LABEL, TEXT_PADDING, 0);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);","        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);","        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);","        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);","    }","}","","// Split controls text into multiple strings","// Also check for multiple columns (required by GuiToggleGroup())","static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)","{","    // NOTE: Current implementation returns a copy of the provided string with '\\0' (string end delimiter)","    // inserted between strings defined by \"delimiter\" parameter. No memory is dynamically allocated,","    // all used memory is static... it has some limitations:","    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS","    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE","    // NOTE: Those definitions could be externally provided if required","","    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user","    // textRow is an externally provided array of integers that stores row number for every splitted string","","    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)","        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128","    #endif","    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)","        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024","    #endif","","    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)","    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\\0' added)","    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);","","    result[0] = buffer;","    int counter = 1;","","    if (textRow != NULL) textRow[0] = 0;","","    // Count how many substrings we have on text and point to every one","    for (int i = 0; i \u003c RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)","    {","        buffer[i] = text[i];","        if (buffer[i] == '\\0') break;","        else if ((buffer[i] == delimiter) || (buffer[i] == '\\n'))","        {","            result[counter] = buffer + i + 1;","","            if (textRow != NULL)","            {","                if (buffer[i] == '\\n') textRow[counter] = textRow[counter - 1] + 1;","                else textRow[counter] = textRow[counter - 1];","            }","","            buffer[i] = '\\0';   // Set an end of string at this point","","            counter++;","            if (counter \u003e RAYGUI_TEXTSPLIT_MAX_ITEMS) break;","        }","    }","","    *count = counter;","","    return result;","}","","// Convert color data from RGB to HSV","// NOTE: Color data should be passed normalized","static Vector3 ConvertRGBtoHSV(Vector3 rgb)","{","    Vector3 hsv = { 0 };","    float min = 0.0f;","    float max = 0.0f;","    float delta = 0.0f;","","    min = (rgb.x \u003c rgb.y)? rgb.x : rgb.y;","    min = (min \u003c rgb.z)? min  : rgb.z;","","    max = (rgb.x \u003e rgb.y)? rgb.x : rgb.y;","    max = (max \u003e rgb.z)? max  : rgb.z;","","    hsv.z = max;            // Value","    delta = max - min;","","    if (delta \u003c 0.00001f)","    {","        hsv.y = 0.0f;","        hsv.x = 0.0f;           // Undefined, maybe NAN?","        return hsv;","    }","","    if (max \u003e 0.0f)","    {","        // NOTE: If max is 0, this divide would cause a crash","        hsv.y = (delta/max);    // Saturation","    }","    else","    {","        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined","        hsv.y = 0.0f;","        hsv.x = 0.0f;           // Undefined, maybe NAN?","        return hsv;","    }","","    // NOTE: Comparing float values could not work properly","    if (rgb.x \u003e= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow \u0026 magenta","    else","    {","        if (rgb.y \u003e= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan \u0026 yellow","        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta \u0026 cyan","    }","","    hsv.x *= 60.0f;     // Convert to degrees","","    if (hsv.x \u003c 0.0f) hsv.x += 360.0f;","","    return hsv;","}","","// Convert color data from HSV to RGB","// NOTE: Color data should be passed normalized","static Vector3 ConvertHSVtoRGB(Vector3 hsv)","{","    Vector3 rgb = { 0 };","    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;","    long i = 0;","","    // NOTE: Comparing float values could not work properly","    if (hsv.y \u003c= 0.0f)","    {","        rgb.x = hsv.z;","        rgb.y = hsv.z;","        rgb.z = hsv.z;","        return rgb;","    }","","    hh = hsv.x;","    if (hh \u003e= 360.0f) hh = 0.0f;","    hh /= 60.0f;","","    i = (long)hh;","    ff = hh - i;","    p = hsv.z*(1.0f - hsv.y);","    q = hsv.z*(1.0f - (hsv.y*ff));","    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));","","    switch (i)","    {","        case 0:","        {","            rgb.x = hsv.z;","            rgb.y = t;","            rgb.z = p;","        } break;","        case 1:","        {","            rgb.x = q;","            rgb.y = hsv.z;","            rgb.z = p;","        } break;","        case 2:","        {","            rgb.x = p;","            rgb.y = hsv.z;","            rgb.z = t;","        } break;","        case 3:","        {","            rgb.x = p;","            rgb.y = q;","            rgb.z = hsv.z;","        } break;","        case 4:","        {","            rgb.x = t;","            rgb.y = p;","            rgb.z = hsv.z;","        } break;","        case 5:","        default:","        {","            rgb.x = hsv.z;","            rgb.y = p;","            rgb.z = q;","        } break;","    }","","    return rgb;","}","","// Scroll bar control (used by GuiScrollPanel())","static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)","{","    GuiState state = guiState;","","    // Is the scrollbar horizontal or vertical?","    bool isVertical = (bounds.width \u003e bounds.height)? false : true;","","    // The size (width or height depending on scrollbar type) of the spinner buttons","    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?","        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :","        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;","","    // Arrow buttons [\u003c] [\u003e] [∧] [∨]","    Rectangle arrowUpLeft = { 0 };","    Rectangle arrowDownRight = { 0 };","","    // Actual area of the scrollbar excluding the arrow buttons","    Rectangle scrollbar = { 0 };","","    // Slider bar that moves     --[///]-----","    Rectangle slider = { 0 };","","    // Normalize value","    if (value \u003e maxValue) value = maxValue;","    if (value \u003c minValue) value = minValue;","","    int valueRange = maxValue - minValue;","    if (valueRange \u003c= 0) valueRange = 1;","","    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);","    if (sliderSize \u003c 1) sliderSize = 1;  // TODO: Consider a minimum slider size","","    // Calculate rectangles for all of the components","    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){","        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),","        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),","        (float)spinnerSize, (float)spinnerSize };","","    if (isVertical)","    {","        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };","        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };","","        // Make sure the slider won't get outside of the scrollbar","        sliderSize = (sliderSize \u003e= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;","        slider = RAYGUI_CLITERAL(Rectangle){","            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),","            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),","            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),","            (float)sliderSize };","    }","    else    // horizontal","    {","        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };","        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };","","        // Make sure the slider won't get outside of the scrollbar","        sliderSize = (sliderSize \u003e= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;","        slider = RAYGUI_CLITERAL(Rectangle){","            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),","            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),","            (float)sliderSize,","            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };","    }","","    // Update control","    //--------------------------------------------------------------------","    if ((state != STATE_DISABLED) \u0026\u0026 !guiLocked)","    {","        Vector2 mousePoint = GetMousePosition();","","        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds","        {","            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) \u0026\u0026","                !CheckCollisionPointRec(mousePoint, arrowUpLeft) \u0026\u0026","                !CheckCollisionPointRec(mousePoint, arrowDownRight))","            {","                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))","                {","                    state = STATE_PRESSED;","","                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);","                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);","                }","            }","            else","            {","                guiControlExclusiveMode = false;","                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };","            }","        }","        else if (CheckCollisionPointRec(mousePoint, bounds))","        {","            state = STATE_FOCUSED;","","            // Handle mouse wheel","            int wheel = (int)GetMouseWheelMove();","            if (wheel != 0) value += wheel;","","            // Handle mouse button down","            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))","            {","                guiControlExclusiveMode = true;","                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts","","                // Check arrows click","                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);","                else if (!CheckCollisionPointRec(mousePoint, slider))","                {","                    // If click on scrollbar position but not on slider, place slider directly on that position","                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);","                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);","                }","","                state = STATE_PRESSED;","            }","","            // Keyboard control on mouse hover scrollbar","            /*","            if (isVertical)","            {","                if (IsKeyDown(KEY_DOWN)) value += 5;","                else if (IsKeyDown(KEY_UP)) value -= 5;","            }","            else","            {","                if (IsKeyDown(KEY_RIGHT)) value += 5;","                else if (IsKeyDown(KEY_LEFT)) value -= 5;","            }","            */","        }","","        // Normalize value","        if (value \u003e maxValue) value = maxValue;","        if (value \u003c minValue) value = minValue;","    }","    //--------------------------------------------------------------------","","    // Draw control","    //--------------------------------------------------------------------","    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background","","    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background","    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar","","    // Draw arrows (using icon if available)","    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))","    {","#if defined(RAYGUI_NO_ICONS)","        GuiDrawText(isVertical? \"^\" : \"\u003c\",","            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));","        GuiDrawText(isVertical? \"v\" : \"\u003e\",","            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));","#else","        GuiDrawText(isVertical? \"#121#\" : \"#118#\",","            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL","        GuiDrawText(isVertical? \"#120#\" : \"#119#\",","            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },","            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL","#endif","    }","    //--------------------------------------------------------------------","","    return value;","}","","// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f","// WARNING: It multiplies current alpha by alpha scale factor","static Color GuiFade(Color color, float alpha)","{","    if (alpha \u003c 0.0f) alpha = 0.0f;","    else if (alpha \u003e 1.0f) alpha = 1.0f;","","    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };","","    return result;","}","","#if defined(RAYGUI_STANDALONE)","// Returns a Color struct from hexadecimal value","static Color GetColor(int hexValue)","{","    Color color;","","    color.r = (unsigned char)(hexValue \u003e\u003e 24) \u0026 0xFF;","    color.g = (unsigned char)(hexValue \u003e\u003e 16) \u0026 0xFF;","    color.b = (unsigned char)(hexValue \u003e\u003e 8) \u0026 0xFF;","    color.a = (unsigned char)hexValue \u0026 0xFF;","","    return color;","}","","// Returns hexadecimal value for a Color","static int ColorToInt(Color color)","{","    return (((int)color.r \u003c\u003c 24) | ((int)color.g \u003c\u003c 16) | ((int)color.b \u003c\u003c 8) | (int)color.a);","}","","// Check if point is inside rectangle","static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)","{","    bool collision = false;","","    if ((point.x \u003e= rec.x) \u0026\u0026 (point.x \u003c= (rec.x + rec.width)) \u0026\u0026","        (point.y \u003e= rec.y) \u0026\u0026 (point.y \u003c= (rec.y + rec.height))) collision = true;","","    return collision;","}","","// Formatting of text with variables to 'embed'","static const char *TextFormat(const char *text, ...)","{","    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)","        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256","    #endif","","    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];","","    va_list args;","    va_start(args, text);","    vsprintf(buffer, text, args);","    va_end(args);","","    return buffer;","}","","// Draw rectangle with vertical gradient fill color","// NOTE: This function is only used by GuiColorPicker()","static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)","{","    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };","    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);","}","","// Split string into multiple strings","const char **TextSplit(const char *text, char delimiter, int *count)","{","    // NOTE: Current implementation returns a copy of the provided string with '\\0' (string end delimiter)","    // inserted between strings defined by \"delimiter\" parameter. No memory is dynamically allocated,","    // all used memory is static... it has some limitations:","    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS","    //      2. 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+/*******************************************************************************************
+*
+*   raygui v4.5-dev - A simple and easy-to-use immediate-mode gui library
+*
+*   DESCRIPTION:
+*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also
+*       available as a standalone library, as long as input and drawing functions are provided.
+*
+*   FEATURES:
+*       - Immediate-mode gui, minimal retained data
+*       - +25 controls provided (basic and advanced)
+*       - Styling system for colors, font and metrics
+*       - Icons supported, embedded as a 1-bit icons pack
+*       - Standalone mode option (custom input/graphics backend)
+*       - Multiple support tools provided for raygui development
+*
+*   POSSIBLE IMPROVEMENTS:
+*       - Better standalone mode API for easy plug of custom backends
+*       - Externalize required inputs, allow user easier customization
+*
+*   LIMITATIONS:
+*       - No editable multi-line word-wraped text box supported
+*       - No auto-layout mechanism, up to the user to define controls position and size
+*       - Standalone mode requires library modification and some user work to plug another backend
+*
+*   NOTES:
+*       - WARNING: GuiLoadStyle() and GuiLoadStyle{Custom}() functions, allocate memory for
+*         font atlas recs and glyphs, freeing that memory is (usually) up to the user,
+*         no unload function is explicitly provided... but note that GuiLoadStyleDefault() unloads
+*         by default any previously loaded font (texture, recs, glyphs).
+*       - Global UI alpha (guiAlpha) is applied inside GuiDrawRectangle() and GuiDrawText() functions
+*
+*   CONTROLS PROVIDED:
+*     # Container/separators Controls
+*       - WindowBox     --> StatusBar, Panel
+*       - GroupBox      --> Line
+*       - Line
+*       - Panel         --> StatusBar
+*       - ScrollPanel   --> StatusBar
+*       - TabBar        --> Button
+*
+*     # Basic Controls
+*       - Label
+*       - LabelButton   --> Label
+*       - Button
+*       - Toggle
+*       - ToggleGroup   --> Toggle
+*       - ToggleSlider
+*       - CheckBox
+*       - ComboBox
+*       - DropdownBox
+*       - TextBox
+*       - ValueBox      --> TextBox
+*       - Spinner       --> Button, ValueBox
+*       - Slider
+*       - SliderBar     --> Slider
+*       - ProgressBar
+*       - StatusBar
+*       - DummyRec
+*       - Grid
+*
+*     # Advance Controls
+*       - ListView
+*       - ColorPicker   --> ColorPanel, ColorBarHue
+*       - MessageBox    --> Window, Label, Button
+*       - TextInputBox  --> Window, Label, TextBox, Button
+*
+*     It also provides a set of functions for styling the controls based on its properties (size, color).
+*
+*
+*   RAYGUI STYLE (guiStyle):
+*       raygui uses a global data array for all gui style properties (allocated on data segment by default),
+*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be
+*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one
+*
+*       The global style array size is fixed and depends on the number of controls and properties:
+*
+*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];
+*
+*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
+*
+*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style
+*       used for all controls, when any of those base values is set, it is automatically populated to all
+*       controls, so, specific control values overwriting generic style should be set after base values.
+*
+*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those
+*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)
+*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR
+*
+*       Custom control properties can be defined using the EXTENDED properties for each independent control.
+*
+*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler
+*
+*
+*   RAYGUI ICONS (guiIcons):
+*       raygui could use a global array containing icons data (allocated on data segment by default),
+*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set
+*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded
+*
+*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon
+*       requires 8 integers (16*16/32) to be stored in memory.
+*
+*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.
+*
+*       The global icons array size is fixed and depends on the number of icons and size:
+*
+*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];
+*
+*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
+*
+*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons
+*
+*   RAYGUI LAYOUT:
+*       raygui currently does not provide an auto-layout mechanism like other libraries,
+*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.
+*
+*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout
+*
+*   CONFIGURATION:
+*       #define RAYGUI_IMPLEMENTATION
+*           Generates the implementation of the library into the included file.
+*           If not defined, the library is in header only mode and can be included in other headers
+*           or source files without problems. But only ONE file should hold the implementation.
+*
+*       #define RAYGUI_STANDALONE
+*           Avoid raylib.h header inclusion in this file. Data types defined on raylib are defined
+*           internally in the library and input management and drawing functions must be provided by
+*           the user (check library implementation for further details).
+*
+*       #define RAYGUI_NO_ICONS
+*           Avoid including embedded ricons data (256 icons, 16x16 pixels, 1-bit per pixel, 2KB)
+*
+*       #define RAYGUI_CUSTOM_ICONS
+*           Includes custom ricons.h header defining a set of custom icons,
+*           this file can be generated using rGuiIcons tool
+*
+*       #define RAYGUI_DEBUG_RECS_BOUNDS
+*           Draw control bounds rectangles for debug
+*
+*       #define RAYGUI_DEBUG_TEXT_BOUNDS
+*           Draw text bounds rectangles for debug
+*
+*   VERSIONS HISTORY:
+*       4.5-dev (Sep-2024)    Current dev version...
+*                         ADDED: guiControlExclusiveMode and guiControlExclusiveRec for exclusive modes
+*                         ADDED: GuiValueBoxFloat()
+*                         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP
+*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH
+*                         ADDED: Multiple new icons
+*                         REVIEWED: GuiTabBar(), close tab with mouse middle button
+*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content
+*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow
+*                         REVIEWED: GuiTextBox(), cursor position initialization
+*                         REVIEWED: GuiSliderPro(), control value change check
+*                         REVIEWED: GuiGrid(), simplified implementation
+*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding
+*                         REVIEWED: GuiDrawText(), improved wrap mode drawing
+*                         REVIEWED: GuiScrollBar(), minor tweaks
+*                         REVIEWED: Functions descriptions, removed wrong return value reference
+*                         REDESIGNED: GuiColorPanel(), improved HSV <-> RGBA convertion
+*
+*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()
+*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()
+*                         ADDED: Multiple new icons, mostly compiler related
+*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE
+*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode
+*                         ADDED: Support loading styles with custom font charset from external file
+*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning
+*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)
+*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color
+*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()
+*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value
+*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value
+*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value
+*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value
+*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value
+*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value
+*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value
+*                         REDESIGNED: GuiListView(), get parameters by reference and return result value
+*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value
+*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value
+*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value
+*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value
+*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value
+*                         REDESIGNED: GuiGrid(), added extra parameter
+*                         REDESIGNED: GuiListViewEx(), change parameters order
+*                         REDESIGNED: All controls return result as int value
+*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars
+*                         REVIEWED: All examples and specially controls_test_suite
+*                         RENAMED: gui_file_dialog module to gui_window_file_dialog
+*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)
+*
+*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER
+*                         ADDED: GuiLoadStyleFromMemory() (binary only)
+*                         REVIEWED: GuiScrollBar() horizontal movement key
+*                         REVIEWED: GuiTextBox() crash on cursor movement
+*                         REVIEWED: GuiTextBox(), additional inputs support
+*                         REVIEWED: GuiLabelButton(), avoid text cut
+*                         REVIEWED: GuiTextInputBox(), password input
+*                         REVIEWED: Local GetCodepointNext(), aligned with raylib
+*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds
+*
+*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()
+*                         ADDED: Helper functions to split text in separate lines
+*                         ADDED: Multiple new icons, useful for code editing tools
+*                         REMOVED: Unneeded icon editing functions
+*                         REMOVED: GuiTextBoxMulti(), very limited and broken
+*                         REMOVED: MeasureTextEx() dependency, logic directly implemented
+*                         REMOVED: DrawTextEx() dependency, logic directly implemented
+*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour
+*                         REVIEWED: Library header info, more info, better organized
+*                         REDESIGNED: GuiTextBox() to support cursor movement
+*                         REDESIGNED: GuiDrawText() to divide drawing by lines
+*
+*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes
+*                         REMOVED: GuiScrollBar(), only internal
+*                         REDESIGNED: GuiPanel() to support text parameter
+*                         REDESIGNED: GuiScrollPanel() to support text parameter
+*                         REDESIGNED: GuiColorPicker() to support text parameter
+*                         REDESIGNED: GuiColorPanel() to support text parameter
+*                         REDESIGNED: GuiColorBarAlpha() to support text parameter
+*                         REDESIGNED: GuiColorBarHue() to support text parameter
+*                         REDESIGNED: GuiTextInputBox() to support password
+*
+*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)
+*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures
+*                         REVIEWED: External icons usage logic
+*                         REVIEWED: GuiLine() for centered alignment when including text
+*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_
+*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency
+*                         Projects updated and multiple tweaks
+*
+*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file
+*                         REDESIGNED: GuiTextBoxMulti()
+*                         REMOVED: GuiImageButton*()
+*                         Multiple minor tweaks and bugs corrected
+*
+*       2.9 (17-Mar-2021) REMOVED: Tooltip API
+*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()
+*       2.7 (20-Feb-2020) ADDED: Possible tooltips API
+*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()
+*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()
+*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()
+*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties
+*                         ADDED: 8 new custom styles ready to use
+*                         Multiple minor tweaks and bugs corrected
+*
+*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()
+*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed
+*                         Refactor all controls drawing mechanism to use control state
+*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls
+*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() > Use combined text string
+*                         REDESIGNED: Style system (breaking change)
+*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts
+*                         REVIEWED: GuiComboBox(), GuiListView()...
+*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...
+*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout
+*       1.5 (21-Jun-2017) Working in an improved styles system
+*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)
+*       1.3 (12-Jun-2017) Complete redesign of style system
+*       1.1 (01-Jun-2017) Complete review of the library
+*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.
+*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.
+*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.
+*
+*   DEPENDENCIES:
+*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing
+*
+*   STANDALONE MODE:
+*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled
+*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.
+*
+*       The following functions should be redefined for a custom backend:
+*
+*           - Vector2 GetMousePosition(void);
+*           - float GetMouseWheelMove(void);
+*           - bool IsMouseButtonDown(int button);
+*           - bool IsMouseButtonPressed(int button);
+*           - bool IsMouseButtonReleased(int button);
+*           - bool IsKeyDown(int key);
+*           - bool IsKeyPressed(int key);
+*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
+*
+*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()
+*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
+*
+*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
+*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()
+*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
+*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
+*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
+*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
+*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
+*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
+*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
+*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
+*
+*   CONTRIBUTORS:
+*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance
+*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)
+*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)
+*       Adria Arranz:       Testing and implementation of additional controls (2018)
+*       Jordi Jorba:        Testing and implementation of additional controls (2018)
+*       Albert Martos:      Review and testing of the library (2015)
+*       Ian Eito:           Review and testing of the library (2015)
+*       Kevin Gato:         Initial implementation of basic components (2014)
+*       Daniel Nicolas:     Initial implementation of basic components (2014)
+*
+*
+*   LICENSE: zlib/libpng
+*
+*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)
+*
+*   This software is provided "as-is", without any express or implied warranty. In no event
+*   will the authors be held liable for any damages arising from the use of this software.
+*
+*   Permission is granted to anyone to use this software for any purpose, including commercial
+*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
+*
+*     1. The origin of this software must not be misrepresented; you must not claim that you
+*     wrote the original software. If you use this software in a product, an acknowledgment
+*     in the product documentation would be appreciated but is not required.
+*
+*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
+*     as being the original software.
+*
+*     3. This notice may not be removed or altered from any source distribution.
+*
+**********************************************************************************************/
+
+#ifndef RAYGUI_H
+#define RAYGUI_H
+
+#define RAYGUI_VERSION_MAJOR 4
+#define RAYGUI_VERSION_MINOR 5
+#define RAYGUI_VERSION_PATCH 0
+#define RAYGUI_VERSION  "4.5-dev"
+
+#if !defined(RAYGUI_STANDALONE)
+    #include "raylib.h"
+#endif
+
+// Function specifiers in case library is build/used as a shared library (Windows)
+// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
+#if defined(_WIN32)
+    #if defined(BUILD_LIBTYPE_SHARED)
+        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
+    #elif defined(USE_LIBTYPE_SHARED)
+        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
+    #endif
+#endif
+
+// Function specifiers definition
+#ifndef RAYGUIAPI
+    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)
+#endif
+
+//----------------------------------------------------------------------------------
+// Defines and Macros
+//----------------------------------------------------------------------------------
+// Allow custom memory allocators
+#ifndef RAYGUI_MALLOC
+    #define RAYGUI_MALLOC(sz)       malloc(sz)
+#endif
+#ifndef RAYGUI_CALLOC
+    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)
+#endif
+#ifndef RAYGUI_FREE
+    #define RAYGUI_FREE(p)          free(p)
+#endif
+
+// Simple log system to avoid printf() calls if required
+// NOTE: Avoiding those calls, also avoids const strings memory usage
+#define RAYGUI_SUPPORT_LOG_INFO
+#if defined(RAYGUI_SUPPORT_LOG_INFO)
+  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)
+#else
+  #define RAYGUI_LOG(...)
+#endif
+
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+// NOTE: Some types are required for RAYGUI_STANDALONE usage
+//----------------------------------------------------------------------------------
+#if defined(RAYGUI_STANDALONE)
+    #ifndef __cplusplus
+    // Boolean type
+        #ifndef true
+            typedef enum { false, true } bool;
+        #endif
+    #endif
+
+    // Vector2 type
+    typedef struct Vector2 {
+        float x;
+        float y;
+    } Vector2;
+
+    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()
+    typedef struct Vector3 {
+        float x;
+        float y;
+        float z;
+    } Vector3;
+
+    // Color type, RGBA (32bit)
+    typedef struct Color {
+        unsigned char r;
+        unsigned char g;
+        unsigned char b;
+        unsigned char a;
+    } Color;
+
+    // Rectangle type
+    typedef struct Rectangle {
+        float x;
+        float y;
+        float width;
+        float height;
+    } Rectangle;
+
+    // TODO: Texture2D type is very coupled to raylib, required by Font type
+    // It should be redesigned to be provided by user
+    typedef struct Texture2D {
+        unsigned int id;        // OpenGL texture id
+        int width;              // Texture base width
+        int height;             // Texture base height
+        int mipmaps;            // Mipmap levels, 1 by default
+        int format;             // Data format (PixelFormat type)
+    } Texture2D;
+
+    // Image, pixel data stored in CPU memory (RAM)
+    typedef struct Image {
+        void *data;             // Image raw data
+        int width;              // Image base width
+        int height;             // Image base height
+        int mipmaps;            // Mipmap levels, 1 by default
+        int format;             // Data format (PixelFormat type)
+    } Image;
+
+    // GlyphInfo, font characters glyphs info
+    typedef struct GlyphInfo {
+        int value;              // Character value (Unicode)
+        int offsetX;            // Character offset X when drawing
+        int offsetY;            // Character offset Y when drawing
+        int advanceX;           // Character advance position X
+        Image image;            // Character image data
+    } GlyphInfo;
+
+    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()
+    // It should be redesigned to be provided by user
+    typedef struct Font {
+        int baseSize;           // Base size (default chars height)
+        int glyphCount;         // Number of glyph characters
+        int glyphPadding;       // Padding around the glyph characters
+        Texture2D texture;      // Texture atlas containing the glyphs
+        Rectangle *recs;        // Rectangles in texture for the glyphs
+        GlyphInfo *glyphs;      // Glyphs info data
+    } Font;
+#endif
+
+// Style property
+// NOTE: Used when exporting style as code for convenience
+typedef struct GuiStyleProp {
+    unsigned short controlId;   // Control identifier
+    unsigned short propertyId;  // Property identifier
+    int propertyValue;          // Property value
+} GuiStyleProp;
+
+/*
+// Controls text style -NOT USED-
+// NOTE: Text style is defined by control
+typedef struct GuiTextStyle {
+    unsigned int size;
+    int charSpacing;
+    int lineSpacing;
+    int alignmentH;
+    int alignmentV;
+    int padding;
+} GuiTextStyle;
+*/
+
+// Gui control state
+typedef enum {
+    STATE_NORMAL = 0,
+    STATE_FOCUSED,
+    STATE_PRESSED,
+    STATE_DISABLED
+} GuiState;
+
+// Gui control text alignment
+typedef enum {
+    TEXT_ALIGN_LEFT = 0,
+    TEXT_ALIGN_CENTER,
+    TEXT_ALIGN_RIGHT
+} GuiTextAlignment;
+
+// Gui control text alignment vertical
+// NOTE: Text vertical position inside the text bounds
+typedef enum {
+    TEXT_ALIGN_TOP = 0,
+    TEXT_ALIGN_MIDDLE,
+    TEXT_ALIGN_BOTTOM
+} GuiTextAlignmentVertical;
+
+// Gui control text wrap mode
+// NOTE: Useful for multiline text
+typedef enum {
+    TEXT_WRAP_NONE = 0,
+    TEXT_WRAP_CHAR,
+    TEXT_WRAP_WORD
+} GuiTextWrapMode;
+
+// Gui controls
+typedef enum {
+    // Default -> populates to all controls when set
+    DEFAULT = 0,
+
+    // Basic controls
+    LABEL,          // Used also for: LABELBUTTON
+    BUTTON,
+    TOGGLE,         // Used also for: TOGGLEGROUP
+    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER
+    PROGRESSBAR,
+    CHECKBOX,
+    COMBOBOX,
+    DROPDOWNBOX,
+    TEXTBOX,        // Used also for: TEXTBOXMULTI
+    VALUEBOX,
+    SPINNER,        // Uses: BUTTON, VALUEBOX
+    LISTVIEW,
+    COLORPICKER,
+    SCROLLBAR,
+    STATUSBAR
+} GuiControl;
+
+// Gui base properties for every control
+// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)
+typedef enum {
+    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL
+    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL
+    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL
+    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED
+    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED
+    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED
+    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED
+    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED
+    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED
+    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED
+    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED
+    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED
+    BORDER_WIDTH,               // Control border size, 0 for no border
+    //TEXT_SIZE,                  // Control text size (glyphs max height) -> GLOBAL for all controls
+    //TEXT_SPACING,               // Control text spacing between glyphs -> GLOBAL for all controls
+    //TEXT_LINE_SPACING           // Control text spacing between lines -> GLOBAL for all controls
+    TEXT_PADDING,               // Control text padding, not considering border
+    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)
+    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -> GLOBAL for all controls
+} GuiControlProperty;
+
+// TODO: Which text styling properties should be global or per-control?
+// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while
+// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and
+// should be configured by user as needed while defining the UI layout
+
+// Gui extended properties depend on control
+// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)
+//----------------------------------------------------------------------------------
+// DEFAULT extended properties
+// NOTE: Those properties are common to all controls or global
+// WARNING: We only have 8 slots for those properties by default!!! -> New global control: TEXT?
+typedef enum {
+    TEXT_SIZE = 16,             // Text size (glyphs max height)
+    TEXT_SPACING,               // Text spacing between glyphs
+    LINE_COLOR,                 // Line control color
+    BACKGROUND_COLOR,           // Background color
+    TEXT_LINE_SPACING,          // Text spacing between lines
+    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)
+    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds
+    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline
+    //TEXT_DECORATION_THICK       // Text decoration line thickness
+} GuiDefaultProperty;
+
+// Other possible text properties:
+// TEXT_WEIGHT                  // Normal, Italic, Bold -> Requires specific font change
+// TEXT_INDENT                  // Text indentation -> Now using TEXT_PADDING...
+
+// Label
+//typedef enum { } GuiLabelProperty;
+
+// Button/Spinner
+//typedef enum { } GuiButtonProperty;
+
+// Toggle/ToggleGroup
+typedef enum {
+    GROUP_PADDING = 16,         // ToggleGroup separation between toggles
+} GuiToggleProperty;
+
+// Slider/SliderBar
+typedef enum {
+    SLIDER_WIDTH = 16,          // Slider size of internal bar
+    SLIDER_PADDING              // Slider/SliderBar internal bar padding
+} GuiSliderProperty;
+
+// ProgressBar
+typedef enum {
+    PROGRESS_PADDING = 16,      // ProgressBar internal padding
+} GuiProgressBarProperty;
+
+// ScrollBar
+typedef enum {
+    ARROWS_SIZE = 16,           // ScrollBar arrows size
+    ARROWS_VISIBLE,             // ScrollBar arrows visible
+    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding
+    SCROLL_SLIDER_SIZE,         // ScrollBar slider size
+    SCROLL_PADDING,             // ScrollBar scroll padding from arrows
+    SCROLL_SPEED,               // ScrollBar scrolling speed
+} GuiScrollBarProperty;
+
+// CheckBox
+typedef enum {
+    CHECK_PADDING = 16          // CheckBox internal check padding
+} GuiCheckBoxProperty;
+
+// ComboBox
+typedef enum {
+    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width
+    COMBO_BUTTON_SPACING        // ComboBox button separation
+} GuiComboBoxProperty;
+
+// DropdownBox
+typedef enum {
+    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items
+    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation
+    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden
+    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)
+} GuiDropdownBoxProperty;
+
+// TextBox/TextBoxMulti/ValueBox/Spinner
+typedef enum {
+    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable
+} GuiTextBoxProperty;
+
+// Spinner
+typedef enum {
+    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width
+    SPIN_BUTTON_SPACING,        // Spinner buttons separation
+} GuiSpinnerProperty;
+
+// ListView
+typedef enum {
+    LIST_ITEMS_HEIGHT = 16,     // ListView items height
+    LIST_ITEMS_SPACING,         // ListView items separation
+    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)
+    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)
+    LIST_ITEMS_BORDER_WIDTH     // ListView items border width
+} GuiListViewProperty;
+
+// ColorPicker
+typedef enum {
+    COLOR_SELECTOR_SIZE = 16,
+    HUEBAR_WIDTH,               // ColorPicker right hue bar width
+    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel
+    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height
+    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow
+} GuiColorPickerProperty;
+
+#define SCROLLBAR_LEFT_SIDE     0
+#define SCROLLBAR_RIGHT_SIDE    1
+
+//----------------------------------------------------------------------------------
+// Global Variables Definition
+//----------------------------------------------------------------------------------
+// ...
+
+//----------------------------------------------------------------------------------
+// Module Functions Declaration
+//----------------------------------------------------------------------------------
+
+#if defined(__cplusplus)
+extern "C" {            // Prevents name mangling of functions
+#endif
+
+// Global gui state control functions
+RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)
+RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)
+RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)
+RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)
+RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)
+RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f
+RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)
+RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)
+
+// Font set/get functions
+RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)
+RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)
+
+// Style set/get functions
+RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property
+RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property
+
+// Styles loading functions
+RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)
+RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style
+
+// Tooltips management functions
+RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)
+RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)
+RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string
+
+// Icons functionality
+RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)
+#if !defined(RAYGUI_NO_ICONS)
+RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size
+RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer
+RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data
+RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position
+#endif
+
+// Controls
+//----------------------------------------------------------------------------------------------------------
+// Container/separator controls, useful for controls organization
+RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed
+RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name
+RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text
+RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls
+RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1
+RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control
+
+// Basic controls set
+RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control
+RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked
+RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked
+RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control
+RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control
+RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control
+RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active
+RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control
+
+RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control
+RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control
+RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers
+RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values
+RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text
+
+RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control
+RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control
+RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control
+RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text
+RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders
+RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control
+
+// Advance controls set
+RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control
+RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters
+RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message
+RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret
+RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)
+RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control
+RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control
+RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control
+RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)
+RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()
+//----------------------------------------------------------------------------------------------------------
+
+#if !defined(RAYGUI_NO_ICONS)
+
+#if !defined(RAYGUI_CUSTOM_ICONS)
+//----------------------------------------------------------------------------------
+// Icons enumeration
+//----------------------------------------------------------------------------------
+typedef enum {
+    ICON_NONE                     = 0,
+    ICON_FOLDER_FILE_OPEN         = 1,
+    ICON_FILE_SAVE_CLASSIC        = 2,
+    ICON_FOLDER_OPEN              = 3,
+    ICON_FOLDER_SAVE              = 4,
+    ICON_FILE_OPEN                = 5,
+    ICON_FILE_SAVE                = 6,
+    ICON_FILE_EXPORT              = 7,
+    ICON_FILE_ADD                 = 8,
+    ICON_FILE_DELETE              = 9,
+    ICON_FILETYPE_TEXT            = 10,
+    ICON_FILETYPE_AUDIO           = 11,
+    ICON_FILETYPE_IMAGE           = 12,
+    ICON_FILETYPE_PLAY            = 13,
+    ICON_FILETYPE_VIDEO           = 14,
+    ICON_FILETYPE_INFO            = 15,
+    ICON_FILE_COPY                = 16,
+    ICON_FILE_CUT                 = 17,
+    ICON_FILE_PASTE               = 18,
+    ICON_CURSOR_HAND              = 19,
+    ICON_CURSOR_POINTER           = 20,
+    ICON_CURSOR_CLASSIC           = 21,
+    ICON_PENCIL                   = 22,
+    ICON_PENCIL_BIG               = 23,
+    ICON_BRUSH_CLASSIC            = 24,
+    ICON_BRUSH_PAINTER            = 25,
+    ICON_WATER_DROP               = 26,
+    ICON_COLOR_PICKER             = 27,
+    ICON_RUBBER                   = 28,
+    ICON_COLOR_BUCKET             = 29,
+    ICON_TEXT_T                   = 30,
+    ICON_TEXT_A                   = 31,
+    ICON_SCALE                    = 32,
+    ICON_RESIZE                   = 33,
+    ICON_FILTER_POINT             = 34,
+    ICON_FILTER_BILINEAR          = 35,
+    ICON_CROP                     = 36,
+    ICON_CROP_ALPHA               = 37,
+    ICON_SQUARE_TOGGLE            = 38,
+    ICON_SYMMETRY                 = 39,
+    ICON_SYMMETRY_HORIZONTAL      = 40,
+    ICON_SYMMETRY_VERTICAL        = 41,
+    ICON_LENS                     = 42,
+    ICON_LENS_BIG                 = 43,
+    ICON_EYE_ON                   = 44,
+    ICON_EYE_OFF                  = 45,
+    ICON_FILTER_TOP               = 46,
+    ICON_FILTER                   = 47,
+    ICON_TARGET_POINT             = 48,
+    ICON_TARGET_SMALL             = 49,
+    ICON_TARGET_BIG               = 50,
+    ICON_TARGET_MOVE              = 51,
+    ICON_CURSOR_MOVE              = 52,
+    ICON_CURSOR_SCALE             = 53,
+    ICON_CURSOR_SCALE_RIGHT       = 54,
+    ICON_CURSOR_SCALE_LEFT        = 55,
+    ICON_UNDO                     = 56,
+    ICON_REDO                     = 57,
+    ICON_REREDO                   = 58,
+    ICON_MUTATE                   = 59,
+    ICON_ROTATE                   = 60,
+    ICON_REPEAT                   = 61,
+    ICON_SHUFFLE                  = 62,
+    ICON_EMPTYBOX                 = 63,
+    ICON_TARGET                   = 64,
+    ICON_TARGET_SMALL_FILL        = 65,
+    ICON_TARGET_BIG_FILL          = 66,
+    ICON_TARGET_MOVE_FILL         = 67,
+    ICON_CURSOR_MOVE_FILL         = 68,
+    ICON_CURSOR_SCALE_FILL        = 69,
+    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,
+    ICON_CURSOR_SCALE_LEFT_FILL   = 71,
+    ICON_UNDO_FILL                = 72,
+    ICON_REDO_FILL                = 73,
+    ICON_REREDO_FILL              = 74,
+    ICON_MUTATE_FILL              = 75,
+    ICON_ROTATE_FILL              = 76,
+    ICON_REPEAT_FILL              = 77,
+    ICON_SHUFFLE_FILL             = 78,
+    ICON_EMPTYBOX_SMALL           = 79,
+    ICON_BOX                      = 80,
+    ICON_BOX_TOP                  = 81,
+    ICON_BOX_TOP_RIGHT            = 82,
+    ICON_BOX_RIGHT                = 83,
+    ICON_BOX_BOTTOM_RIGHT         = 84,
+    ICON_BOX_BOTTOM               = 85,
+    ICON_BOX_BOTTOM_LEFT          = 86,
+    ICON_BOX_LEFT                 = 87,
+    ICON_BOX_TOP_LEFT             = 88,
+    ICON_BOX_CENTER               = 89,
+    ICON_BOX_CIRCLE_MASK          = 90,
+    ICON_POT                      = 91,
+    ICON_ALPHA_MULTIPLY           = 92,
+    ICON_ALPHA_CLEAR              = 93,
+    ICON_DITHERING                = 94,
+    ICON_MIPMAPS                  = 95,
+    ICON_BOX_GRID                 = 96,
+    ICON_GRID                     = 97,
+    ICON_BOX_CORNERS_SMALL        = 98,
+    ICON_BOX_CORNERS_BIG          = 99,
+    ICON_FOUR_BOXES               = 100,
+    ICON_GRID_FILL                = 101,
+    ICON_BOX_MULTISIZE            = 102,
+    ICON_ZOOM_SMALL               = 103,
+    ICON_ZOOM_MEDIUM              = 104,
+    ICON_ZOOM_BIG                 = 105,
+    ICON_ZOOM_ALL                 = 106,
+    ICON_ZOOM_CENTER              = 107,
+    ICON_BOX_DOTS_SMALL           = 108,
+    ICON_BOX_DOTS_BIG             = 109,
+    ICON_BOX_CONCENTRIC           = 110,
+    ICON_BOX_GRID_BIG             = 111,
+    ICON_OK_TICK                  = 112,
+    ICON_CROSS                    = 113,
+    ICON_ARROW_LEFT               = 114,
+    ICON_ARROW_RIGHT              = 115,
+    ICON_ARROW_DOWN               = 116,
+    ICON_ARROW_UP                 = 117,
+    ICON_ARROW_LEFT_FILL          = 118,
+    ICON_ARROW_RIGHT_FILL         = 119,
+    ICON_ARROW_DOWN_FILL          = 120,
+    ICON_ARROW_UP_FILL            = 121,
+    ICON_AUDIO                    = 122,
+    ICON_FX                       = 123,
+    ICON_WAVE                     = 124,
+    ICON_WAVE_SINUS               = 125,
+    ICON_WAVE_SQUARE              = 126,
+    ICON_WAVE_TRIANGULAR          = 127,
+    ICON_CROSS_SMALL              = 128,
+    ICON_PLAYER_PREVIOUS          = 129,
+    ICON_PLAYER_PLAY_BACK         = 130,
+    ICON_PLAYER_PLAY              = 131,
+    ICON_PLAYER_PAUSE             = 132,
+    ICON_PLAYER_STOP              = 133,
+    ICON_PLAYER_NEXT              = 134,
+    ICON_PLAYER_RECORD            = 135,
+    ICON_MAGNET                   = 136,
+    ICON_LOCK_CLOSE               = 137,
+    ICON_LOCK_OPEN                = 138,
+    ICON_CLOCK                    = 139,
+    ICON_TOOLS                    = 140,
+    ICON_GEAR                     = 141,
+    ICON_GEAR_BIG                 = 142,
+    ICON_BIN                      = 143,
+    ICON_HAND_POINTER             = 144,
+    ICON_LASER                    = 145,
+    ICON_COIN                     = 146,
+    ICON_EXPLOSION                = 147,
+    ICON_1UP                      = 148,
+    ICON_PLAYER                   = 149,
+    ICON_PLAYER_JUMP              = 150,
+    ICON_KEY                      = 151,
+    ICON_DEMON                    = 152,
+    ICON_TEXT_POPUP               = 153,
+    ICON_GEAR_EX                  = 154,
+    ICON_CRACK                    = 155,
+    ICON_CRACK_POINTS             = 156,
+    ICON_STAR                     = 157,
+    ICON_DOOR                     = 158,
+    ICON_EXIT                     = 159,
+    ICON_MODE_2D                  = 160,
+    ICON_MODE_3D                  = 161,
+    ICON_CUBE                     = 162,
+    ICON_CUBE_FACE_TOP            = 163,
+    ICON_CUBE_FACE_LEFT           = 164,
+    ICON_CUBE_FACE_FRONT          = 165,
+    ICON_CUBE_FACE_BOTTOM         = 166,
+    ICON_CUBE_FACE_RIGHT          = 167,
+    ICON_CUBE_FACE_BACK           = 168,
+    ICON_CAMERA                   = 169,
+    ICON_SPECIAL                  = 170,
+    ICON_LINK_NET                 = 171,
+    ICON_LINK_BOXES               = 172,
+    ICON_LINK_MULTI               = 173,
+    ICON_LINK                     = 174,
+    ICON_LINK_BROKE               = 175,
+    ICON_TEXT_NOTES               = 176,
+    ICON_NOTEBOOK                 = 177,
+    ICON_SUITCASE                 = 178,
+    ICON_SUITCASE_ZIP             = 179,
+    ICON_MAILBOX                  = 180,
+    ICON_MONITOR                  = 181,
+    ICON_PRINTER                  = 182,
+    ICON_PHOTO_CAMERA             = 183,
+    ICON_PHOTO_CAMERA_FLASH       = 184,
+    ICON_HOUSE                    = 185,
+    ICON_HEART                    = 186,
+    ICON_CORNER                   = 187,
+    ICON_VERTICAL_BARS            = 188,
+    ICON_VERTICAL_BARS_FILL       = 189,
+    ICON_LIFE_BARS                = 190,
+    ICON_INFO                     = 191,
+    ICON_CROSSLINE                = 192,
+    ICON_HELP                     = 193,
+    ICON_FILETYPE_ALPHA           = 194,
+    ICON_FILETYPE_HOME            = 195,
+    ICON_LAYERS_VISIBLE           = 196,
+    ICON_LAYERS                   = 197,
+    ICON_WINDOW                   = 198,
+    ICON_HIDPI                    = 199,
+    ICON_FILETYPE_BINARY          = 200,
+    ICON_HEX                      = 201,
+    ICON_SHIELD                   = 202,
+    ICON_FILE_NEW                 = 203,
+    ICON_FOLDER_ADD               = 204,
+    ICON_ALARM                    = 205,
+    ICON_CPU                      = 206,
+    ICON_ROM                      = 207,
+    ICON_STEP_OVER                = 208,
+    ICON_STEP_INTO                = 209,
+    ICON_STEP_OUT                 = 210,
+    ICON_RESTART                  = 211,
+    ICON_BREAKPOINT_ON            = 212,
+    ICON_BREAKPOINT_OFF           = 213,
+    ICON_BURGER_MENU              = 214,
+    ICON_CASE_SENSITIVE           = 215,
+    ICON_REG_EXP                  = 216,
+    ICON_FOLDER                   = 217,
+    ICON_FILE                     = 218,
+    ICON_SAND_TIMER               = 219,
+    ICON_WARNING                  = 220,
+    ICON_HELP_BOX                 = 221,
+    ICON_INFO_BOX                 = 222,
+    ICON_PRIORITY                 = 223,
+    ICON_LAYERS_ISO               = 224,
+    ICON_LAYERS2                  = 225,
+    ICON_MLAYERS                  = 226,
+    ICON_MAPS                     = 227,
+    ICON_HOT                      = 228,
+    ICON_229                      = 229,
+    ICON_230                      = 230,
+    ICON_231                      = 231,
+    ICON_232                      = 232,
+    ICON_233                      = 233,
+    ICON_234                      = 234,
+    ICON_235                      = 235,
+    ICON_236                      = 236,
+    ICON_237                      = 237,
+    ICON_238                      = 238,
+    ICON_239                      = 239,
+    ICON_240                      = 240,
+    ICON_241                      = 241,
+    ICON_242                      = 242,
+    ICON_243                      = 243,
+    ICON_244                      = 244,
+    ICON_245                      = 245,
+    ICON_246                      = 246,
+    ICON_247                      = 247,
+    ICON_248                      = 248,
+    ICON_249                      = 249,
+    ICON_250                      = 250,
+    ICON_251                      = 251,
+    ICON_252                      = 252,
+    ICON_253                      = 253,
+    ICON_254                      = 254,
+    ICON_255                      = 255,
+} GuiIconName;
+#endif
+
+#endif
+
+#if defined(__cplusplus)
+}            // Prevents name mangling of functions
+#endif
+
+#endif // RAYGUI_H
+
+/***********************************************************************************
+*
+*   RAYGUI IMPLEMENTATION
+*
+************************************************************************************/
+
+#if defined(RAYGUI_IMPLEMENTATION)
+
+#include <ctype.h>              // required for: isspace() [GuiTextBox()]
+#include <stdio.h>              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]
+#include <stdlib.h>             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]
+#include <string.h>             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()
+#include <stdarg.h>             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]
+#include <math.h>               // Required for: roundf() [GuiColorPicker()]
+
+#ifdef __cplusplus
+    #define RAYGUI_CLITERAL(name) name
+#else
+    #define RAYGUI_CLITERAL(name) (name)
+#endif
+
+// Check if two rectangles are equal, used to validate a slider bounds as an id
+#ifndef CHECK_BOUNDS_ID
+    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) && (src.y == dst.y) && (src.width == dst.width) && (src.height == dst.height))
+#endif
+
+#if !defined(RAYGUI_NO_ICONS) && !defined(RAYGUI_CUSTOM_ICONS)
+
+// Embedded icons, no external file provided
+#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)
+#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons
+#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id
+
+// Icons data is defined by bit array (every bit represents one pixel)
+// Those arrays are stored as unsigned int data arrays, so,
+// every array element defines 32 pixels (bits) of information
+// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)
+// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)
+#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)
+
+//----------------------------------------------------------------------------------
+// Icons data for all gui possible icons (allocated on data segment by default)
+//
+// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,
+// every 16x16 icon requires 8 integers (16*16/32) to be stored
+//
+// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),
+// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS
+//
+// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
+//----------------------------------------------------------------------------------
+static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE
+    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN
+    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC
+    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN
+    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE
+    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN
+    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE
+    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT
+    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD
+    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE
+    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT
+    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO
+    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE
+    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY
+    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO
+    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO
+    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY
+    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT
+    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE
+    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND
+    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER
+    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC
+    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL
+    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG
+    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC
+    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER
+    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP
+    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER
+    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER
+    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET
+    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T
+    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A
+    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE
+    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE
+    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT
+    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR
+    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP
+    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA
+    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE
+    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY
+    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL
+    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL
+    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS
+    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG
+    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON
+    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF
+    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP
+    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER
+    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT
+    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL
+    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG
+    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE
+    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE
+    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE
+    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT
+    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT
+    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO
+    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO
+    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO
+    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE
+    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE
+    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT
+    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE
+    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX
+    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET
+    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL
+    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL
+    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL
+    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL
+    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL
+    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL
+    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL
+    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL
+    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL
+    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL
+    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL
+    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL
+    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL
+    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL
+    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL
+    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX
+    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP
+    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT
+    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT
+    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT
+    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM
+    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT
+    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT
+    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT
+    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER
+    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK
+    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT
+    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY
+    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR
+    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING
+    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS
+    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID
+    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID
+    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL
+    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG
+    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES
+    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL
+    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE
+    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL
+    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM
+    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG
+    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL
+    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER
+    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL
+    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG
+    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC
+    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG
+    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK
+    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS
+    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT
+    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT
+    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN
+    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP
+    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL
+    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL
+    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL
+    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL
+    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO
+    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX
+    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE
+    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS
+    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE
+    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR
+    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL
+    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS
+    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK
+    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY
+    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE
+    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP
+    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT
+    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD
+    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET
+    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE
+    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN
+    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK
+    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS
+    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR
+    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG
+    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN
+    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER
+    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER
+    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN
+    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION
+    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP
+    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER
+    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP
+    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY
+    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON
+    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP
+    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX
+    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK
+    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS
+    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR
+    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR
+    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT
+    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D
+    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D
+    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE
+    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP
+    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT
+    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT
+    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM
+    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT
+    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK
+    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA
+    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL
+    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET
+    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES
+    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI
+    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK
+    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE
+    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES
+    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK
+    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE
+    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP
+    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX
+    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR
+    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER
+    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA
+    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH
+    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE
+    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER
+    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS
+    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL
+    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS
+    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO
+    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE
+    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP
+    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA
+    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME
+    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE
+    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS
+    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW
+    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI
+    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY
+    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX
+    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD
+    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW
+    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD
+    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM
+    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU
+    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM
+    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER
+    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO
+    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT
+    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART
+    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON
+    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF
+    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU
+    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE
+    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP
+    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER
+    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE
+    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER
+    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING
+    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX
+    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX
+    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY
+    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO
+    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2
+    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS
+    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS
+    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254
+    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255
+};
+
+// NOTE: A pointer to current icons array should be defined
+static unsigned int *guiIconsPtr = guiIcons;
+
+#endif      // !RAYGUI_NO_ICONS && !RAYGUI_CUSTOM_ICONS
+
+#ifndef RAYGUI_ICON_SIZE
+    #define RAYGUI_ICON_SIZE             0
+#endif
+
+// WARNING: Those values define the total size of the style data array,
+// if changed, previous saved styles could become incompatible
+#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls
+#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties
+#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties
+
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+//----------------------------------------------------------------------------------
+// Gui control property style color element
+typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;
+
+//----------------------------------------------------------------------------------
+// Global Variables Definition
+//----------------------------------------------------------------------------------
+static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state
+
+static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)
+static bool guiLocked = false;                  // Gui lock state (no inputs processed)
+static float guiAlpha = 1.0f;                   // Gui controls transparency
+
+static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)
+
+static bool guiTooltip = false;                 // Tooltip enabled/disabled
+static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)
+
+static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)
+static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier
+
+static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()
+//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking
+static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down
+static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement
+
+//----------------------------------------------------------------------------------
+// Style data array for all gui style properties (allocated on data segment by default)
+//
+// NOTE 1: First set of BASE properties are generic to all controls but could be individually
+// overwritten per control, first set of EXTENDED properties are generic to all controls and
+// can not be overwritten individually but custom EXTENDED properties can be used by control
+//
+// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),
+// but default gui style could always be recovered with GuiLoadStyleDefault()
+//
+// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
+//----------------------------------------------------------------------------------
+static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };
+
+static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization
+
+//----------------------------------------------------------------------------------
+// Standalone Mode Functions Declaration
+//
+// NOTE: raygui depend on some raylib input and drawing functions
+// To use raygui as standalone library, below functions must be defined by the user
+//----------------------------------------------------------------------------------
+#if defined(RAYGUI_STANDALONE)
+
+#define KEY_RIGHT           262
+#define KEY_LEFT            263
+#define KEY_DOWN            264
+#define KEY_UP              265
+#define KEY_BACKSPACE       259
+#define KEY_ENTER           257
+
+#define MOUSE_LEFT_BUTTON     0
+
+// Input required functions
+//-------------------------------------------------------------------------------
+static Vector2 GetMousePosition(void);
+static float GetMouseWheelMove(void);
+static bool IsMouseButtonDown(int button);
+static bool IsMouseButtonPressed(int button);
+static bool IsMouseButtonReleased(int button);
+
+static bool IsKeyDown(int key);
+static bool IsKeyPressed(int key);
+static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
+//-------------------------------------------------------------------------------
+
+// Drawing required functions
+//-------------------------------------------------------------------------------
+static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()
+static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
+//-------------------------------------------------------------------------------
+
+// Text required functions
+//-------------------------------------------------------------------------------
+static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
+static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font
+
+static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
+static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
+
+static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
+static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
+
+static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
+
+static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
+static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
+
+static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
+//-------------------------------------------------------------------------------
+
+// raylib functions already implemented in raygui
+//-------------------------------------------------------------------------------
+static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value
+static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color
+static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle
+static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'
+static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings
+static int TextToInteger(const char *text);         // Get integer value from text
+static float TextToFloat(const char *text);         // Get float value from text
+
+static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text
+static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)
+
+static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient
+//-------------------------------------------------------------------------------
+
+#endif      // RAYGUI_STANDALONE
+
+//----------------------------------------------------------------------------------
+// Module specific Functions Declaration
+//----------------------------------------------------------------------------------
+static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)
+
+static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style
+static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds
+static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor
+
+static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font
+static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style
+
+static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings
+static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB
+static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV
+
+static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()
+static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position
+
+static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor
+
+//----------------------------------------------------------------------------------
+// Gui Setup Functions Definition
+//----------------------------------------------------------------------------------
+// Enable gui global state
+// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups
+void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }
+
+// Disable gui global state
+// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups
+void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }
+
+// Lock gui global state
+void GuiLock(void) { guiLocked = true; }
+
+// Unlock gui global state
+void GuiUnlock(void) { guiLocked = false; }
+
+// Check if gui is locked (global state)
+bool GuiIsLocked(void) { return guiLocked; }
+
+// Set gui controls alpha global state
+void GuiSetAlpha(float alpha)
+{
+    if (alpha < 0.0f) alpha = 0.0f;
+    else if (alpha > 1.0f) alpha = 1.0f;
+
+    guiAlpha = alpha;
+}
+
+// Set gui state (global state)
+void GuiSetState(int state) { guiState = (GuiState)state; }
+
+// Get gui state (global state)
+int GuiGetState(void) { return guiState; }
+
+// Set custom gui font
+// NOTE: Font loading/unloading is external to raygui
+void GuiSetFont(Font font)
+{
+    if (font.texture.id > 0)
+    {
+        // NOTE: If we try to setup a font but default style has not been
+        // lazily loaded before, it will be overwritten, so we need to force
+        // default style loading first
+        if (!guiStyleLoaded) GuiLoadStyleDefault();
+
+        guiFont = font;
+    }
+}
+
+// Get custom gui font
+Font GuiGetFont(void)
+{
+    return guiFont;
+}
+
+// Set control style property value
+void GuiSetStyle(int control, int property, int value)
+{
+    if (!guiStyleLoaded) GuiLoadStyleDefault();
+    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
+
+    // Default properties are propagated to all controls
+    if ((control == 0) && (property < RAYGUI_MAX_PROPS_BASE))
+    {
+        for (int i = 1; i < RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
+    }
+}
+
+// Get control style property value
+int GuiGetStyle(int control, int property)
+{
+    if (!guiStyleLoaded) GuiLoadStyleDefault();
+    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];
+}
+
+//----------------------------------------------------------------------------------
+// Gui Controls Functions Definition
+//----------------------------------------------------------------------------------
+
+// Window Box control
+int GuiWindowBox(Rectangle bounds, const char *title)
+{
+    // Window title bar height (including borders)
+    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()
+    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)
+        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24
+    #endif
+
+    int result = 0;
+    //GuiState state = guiState;
+
+    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;
+
+    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };
+    if (bounds.height < statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;
+
+    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };
+    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,
+                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };
+
+    // Update control
+    //--------------------------------------------------------------------
+    // NOTE: Logic is directly managed by button
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiStatusBar(statusBar, title); // Draw window header as status bar
+    GuiPanel(windowPanel, NULL);    // Draw window base
+
+    // Draw window close button
+    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
+    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
+    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+#if defined(RAYGUI_NO_ICONS)
+    result = GuiButton(closeButtonRec, "x");
+#else
+    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));
+#endif
+    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
+    //--------------------------------------------------------------------
+
+    return result;      // Window close button clicked: result = 1
+}
+
+// Group Box control with text name
+int GuiGroupBox(Rectangle bounds, const char *text)
+{
+    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)
+        #define RAYGUI_GROUPBOX_LINE_THICK     1
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
+    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
+    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
+
+    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Line control
+int GuiLine(Rectangle bounds, const char *text)
+{
+    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)
+        #define RAYGUI_LINE_MARGIN_TEXT  12
+    #endif
+    #if !defined(RAYGUI_LINE_TEXT_PADDING)
+        #define RAYGUI_LINE_TEXT_PADDING  4
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);
+    else
+    {
+        Rectangle textBounds = { 0 };
+        textBounds.width = (float)GetTextWidth(text) + 2;
+        textBounds.height = bounds.height;
+        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;
+        textBounds.y = bounds.y;
+
+        // Draw line with embedded text label: "--- text --------------"
+        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
+        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);
+        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
+    }
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Panel control
+int GuiPanel(Rectangle bounds, const char *text)
+{
+    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)
+        #define RAYGUI_PANEL_BORDER_WIDTH   1
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    // Text will be drawn as a header bar (if provided)
+    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
+    if ((text != NULL) && (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
+
+    if (text != NULL)
+    {
+        // Move panel bounds after the header bar
+        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
+        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
+    }
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
+
+    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),
+                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Tab Bar control
+// NOTE: Using GuiToggle() for the TABS
+int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)
+{
+    #define RAYGUI_TABBAR_ITEM_WIDTH    160
+
+    int result = -1;
+    //GuiState state = guiState;
+
+    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };
+
+    if (*active < 0) *active = 0;
+    else if (*active > count - 1) *active = count - 1;
+
+    int offsetX = 0;    // Required in case tabs go out of screen
+    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();
+    if (offsetX < 0) offsetX = 0;
+
+    bool toggle = false;    // Required for individual toggles
+
+    // Draw control
+    //--------------------------------------------------------------------
+    for (int i = 0; i < count; i++)
+    {
+        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;
+
+        if (tabBounds.x < GetScreenWidth())
+        {
+            // Draw tabs as toggle controls
+            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);
+            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);
+            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
+            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);
+
+            if (i == (*active))
+            {
+                toggle = true;
+                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
+            }
+            else
+            {
+                toggle = false;
+                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
+                if (toggle) *active = i;
+            }
+
+            // Close tab with middle mouse button pressed
+            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) && IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;
+
+            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);
+            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);
+
+            // Draw tab close button
+            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))
+            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
+            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
+            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
+            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+#if defined(RAYGUI_NO_ICONS)
+            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, "x")) result = i;
+#else
+            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;
+#endif
+            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
+            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
+        }
+    }
+
+    // Draw tab-bar bottom line
+    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));
+    //--------------------------------------------------------------------
+
+    return result;     // Return as result the current TAB closing requested
+}
+
+// Scroll Panel control
+int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)
+{
+    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40
+    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40
+    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20
+
+    int result = 0;
+    GuiState state = guiState;
+
+    Rectangle temp = { 0 };
+    if (view == NULL) view = &temp;
+
+    Vector2 scrollPos = { 0.0f, 0.0f };
+    if (scroll != NULL) scrollPos = *scroll;
+
+    // Text will be drawn as a header bar (if provided)
+    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
+    if (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
+
+    if (text != NULL)
+    {
+        // Move panel bounds after the header bar
+        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
+        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;
+    }
+
+    bool hasHorizontalScrollBar = (content.width > bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
+    bool hasVerticalScrollBar = (content.height > bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
+
+    // Recheck to account for the other scrollbar being visible
+    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar && (content.width > (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
+    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar && (content.height > (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
+
+    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
+    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
+    Rectangle horizontalScrollBar = {
+        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),
+        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),
+        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),
+        (float)horizontalScrollBarWidth
+    };
+    Rectangle verticalScrollBar = {
+        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),
+        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),
+        (float)verticalScrollBarWidth,
+        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
+    };
+
+    // Make sure scroll bars have a minimum width/height
+    if (horizontalScrollBar.width < RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;
+    if (verticalScrollBar.height < RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;
+
+    // Calculate view area (area without the scrollbars)
+    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?
+                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :
+                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };
+
+    // Clip view area to the actual content size
+    if (view->width > content.width) view->width = content.width;
+    if (view->height > content.height) view->height = content.height;
+
+    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);
+    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
+    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;
+    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check button state
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+
+#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)
+            if (hasHorizontalScrollBar)
+            {
+                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
+                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
+            }
+
+            if (hasVerticalScrollBar)
+            {
+                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
+                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
+            }
+#endif
+            float wheelMove = GetMouseWheelMove();
+
+            // Set scrolling speed with mouse wheel based on ratio between bounds and content
+            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };
+            if (mouseWheelSpeed.x < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
+            if (mouseWheelSpeed.y < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
+
+            // Horizontal and vertical scrolling with mouse wheel
+            if (hasHorizontalScrollBar && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;
+            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll
+        }
+    }
+
+    // Normalize scroll values
+    if (scrollPos.x > -horizontalMin) scrollPos.x = -horizontalMin;
+    if (scrollPos.x < -horizontalMax) scrollPos.x = -horizontalMax;
+    if (scrollPos.y > -verticalMin) scrollPos.y = -verticalMin;
+    if (scrollPos.y < -verticalMax) scrollPos.y = -verticalMax;
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
+
+    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background
+
+    // Save size of the scrollbar slider
+    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
+
+    // Draw horizontal scrollbar if visible
+    if (hasHorizontalScrollBar)
+    {
+        // Change scrollbar slider size to show the diff in size between the content width and the widget width
+        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));
+        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);
+    }
+    else scrollPos.x = 0.0f;
+
+    // Draw vertical scrollbar if visible
+    if (hasVerticalScrollBar)
+    {
+        // Change scrollbar slider size to show the diff in size between the content height and the widget height
+        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));
+        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);
+    }
+    else scrollPos.y = 0.0f;
+
+    // Draw detail corner rectangle if both scroll bars are visible
+    if (hasHorizontalScrollBar && hasVerticalScrollBar)
+    {
+        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };
+        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));
+    }
+
+    // Draw scrollbar lines depending on current state
+    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);
+
+    // Set scrollbar slider size back to the way it was before
+    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);
+    //--------------------------------------------------------------------
+
+    if (scroll != NULL) *scroll = scrollPos;
+
+    return result;
+}
+
+// Label control
+int GuiLabel(Rectangle bounds, const char *text)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    // Update control
+    //--------------------------------------------------------------------
+    //...
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Button control, returns true when clicked
+int GuiButton(Rectangle bounds, const char *text)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check button state
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+
+            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));
+    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));
+
+    if (state == STATE_FOCUSED) GuiTooltip(bounds);
+    //------------------------------------------------------------------
+
+    return result;      // Button pressed: result = 1
+}
+
+// Label button control
+int GuiLabelButton(Rectangle bounds, const char *text)
+{
+    GuiState state = guiState;
+    bool pressed = false;
+
+    // NOTE: We force bounds.width to be all text
+    float textWidth = (float)GetTextWidth(text);
+    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) < textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check checkbox state
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+
+            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    return pressed;
+}
+
+// Toggle Button control
+int GuiToggle(Rectangle bounds, const char *text, bool *active)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    bool temp = false;
+    if (active == NULL) active = &temp;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check toggle button state
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
+            {
+                state = STATE_NORMAL;
+                *active = !(*active);
+            }
+            else state = STATE_FOCUSED;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (state == STATE_NORMAL)
+    {
+        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));
+        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));
+    }
+    else
+    {
+        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));
+        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));
+    }
+
+    if (state == STATE_FOCUSED) GuiTooltip(bounds);
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Toggle Group control
+int GuiToggleGroup(Rectangle bounds, const char *text, int *active)
+{
+    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)
+        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32
+    #endif
+
+    int result = 0;
+    float initBoundsX = bounds.x;
+
+    int temp = 0;
+    if (active == NULL) active = &temp;
+
+    bool toggle = false;    // Required for individual toggles
+
+    // Get substrings items from text (items pointers)
+    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };
+    int itemCount = 0;
+    const char **items = GuiTextSplit(text, ';', &itemCount, rows);
+
+    int prevRow = rows[0];
+
+    for (int i = 0; i < itemCount; i++)
+    {
+        if (prevRow != rows[i])
+        {
+            bounds.x = initBoundsX;
+            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));
+            prevRow = rows[i];
+        }
+
+        if (i == (*active))
+        {
+            toggle = true;
+            GuiToggle(bounds, items[i], &toggle);
+        }
+        else
+        {
+            toggle = false;
+            GuiToggle(bounds, items[i], &toggle);
+            if (toggle) *active = i;
+        }
+
+        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));
+    }
+
+    return result;
+}
+
+// Toggle Slider control extended
+int GuiToggleSlider(Rectangle bounds, const char *text, int *active)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    int temp = 0;
+    if (active == NULL) active = &temp;
+
+    //bool toggle = false;    // Required for individual toggles
+
+    // Get substrings items from text (items pointers)
+    int itemCount = 0;
+    const char **items = NULL;
+
+    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
+
+    Rectangle slider = {
+        0,      // Calculated later depending on the active toggle
+        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
+        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,
+        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
+            {
+                state = STATE_PRESSED;
+                (*active)++;
+                result = 1;
+            }
+            else state = STATE_FOCUSED;
+        }
+
+        if ((*active) && (state != STATE_FOCUSED)) state = STATE_PRESSED;
+    }
+
+    if (*active >= itemCount) *active = 0;
+    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),
+        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));
+
+    // Draw internal slider
+    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
+    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));
+    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
+
+    // Draw text in slider
+    if (text != NULL)
+    {
+        Rectangle textBounds = { 0 };
+        textBounds.width = (float)GetTextWidth(text);
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+
+        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));
+    }
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Check Box control, returns 1 when state changed
+int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    bool temp = false;
+    if (checked == NULL) checked = &temp;
+
+    Rectangle textBounds = { 0 };
+
+    if (text != NULL)
+    {
+        textBounds.width = (float)GetTextWidth(text) + 2;
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);
+    }
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        Rectangle totalBounds = {
+            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,
+            bounds.y,
+            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),
+            bounds.height,
+        };
+
+        // Check checkbox state
+        if (CheckCollisionPointRec(mousePoint, totalBounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+
+            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
+            {
+                *checked = !(*checked);
+                result = 1;
+            }
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);
+
+    if (*checked)
+    {
+        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
+                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
+                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),
+                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };
+        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));
+    }
+
+    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Combo Box control
+int GuiComboBox(Rectangle bounds, const char *text, int *active)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    int temp = 0;
+    if (active == NULL) active = &temp;
+
+    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));
+
+    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),
+                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };
+
+    // Get substrings items from text (items pointers, lengths and count)
+    int itemCount = 0;
+    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
+
+    if (*active < 0) *active = 0;
+    else if (*active > (itemCount - 1)) *active = itemCount - 1;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && (itemCount > 1) && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (CheckCollisionPointRec(mousePoint, bounds) ||
+            CheckCollisionPointRec(mousePoint, selector))
+        {
+            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
+            {
+                *active += 1;
+                if (*active >= itemCount) *active = 0;      // Cyclic combobox
+            }
+
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    // Draw combo box main
+    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));
+    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));
+
+    // Draw selector using a custom button
+    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
+    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
+    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
+    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+
+    GuiButton(selector, TextFormat("%i/%i", *active + 1, itemCount));
+
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
+    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Dropdown Box control
+// NOTE: Returns mouse click
+int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    int temp = 0;
+    if (active == NULL) active = &temp;
+
+    int itemSelected = *active;
+    int itemFocused = -1;
+
+    int direction = 0; // Dropdown box open direction: down (default)
+    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up
+
+    // Get substrings items from text (items pointers, lengths and count)
+    int itemCount = 0;
+    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
+
+    Rectangle boundsOpen = bounds;
+    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
+    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);
+
+    Rectangle itemBounds = bounds;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && (editMode || !guiLocked) && (itemCount > 1) && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (editMode)
+        {
+            state = STATE_PRESSED;
+
+            // Check if mouse has been pressed or released outside limits
+            if (!CheckCollisionPointRec(mousePoint, boundsOpen))
+            {
+                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
+            }
+
+            // Check if already selected item has been pressed again
+            if (CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
+
+            // Check focused and selected item
+            for (int i = 0; i < itemCount; i++)
+            {
+                // Update item rectangle y position for next item
+                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
+                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
+
+                if (CheckCollisionPointRec(mousePoint, itemBounds))
+                {
+                    itemFocused = i;
+                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
+                    {
+                        itemSelected = i;
+                        result = 1;         // Item selected
+                    }
+                    break;
+                }
+            }
+
+            itemBounds = bounds;
+        }
+        else
+        {
+            if (CheckCollisionPointRec(mousePoint, bounds))
+            {
+                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
+                {
+                    result = 1;
+                    state = STATE_PRESSED;
+                }
+                else state = STATE_FOCUSED;
+            }
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (editMode) GuiPanel(boundsOpen, NULL);
+
+    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));
+    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));
+
+    if (editMode)
+    {
+        // Draw visible items
+        for (int i = 0; i < itemCount; i++)
+        {
+            // Update item rectangle y position for next item
+            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
+            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
+
+            if (i == itemSelected)
+            {
+                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));
+                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));
+            }
+            else if (i == itemFocused)
+            {
+                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));
+                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));
+            }
+            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));
+        }
+    }
+
+    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))
+    {
+        // Draw arrows (using icon if available)
+#if defined(RAYGUI_NO_ICONS)
+        GuiDrawText("v", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },
+            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
+#else
+        GuiDrawText(direction? "#121#" : "#120#", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },
+            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL
+#endif
+    }
+    //--------------------------------------------------------------------
+
+    *active = itemSelected;
+
+    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...
+    return result;   // Mouse click: result = 1
+}
+
+// Text Box control
+// NOTE: Returns true on ENTER pressed (useful for data validation)
+int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)
+{
+    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)
+        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement
+    #endif
+    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)
+        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    bool multiline = false;     // TODO: Consider multiline text input
+    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);
+
+    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);
+    int textLength = (int)strlen(text);     // Get current text length
+    int thisCursorIndex = textBoxCursorIndex;
+    if (thisCursorIndex > textLength) thisCursorIndex = textLength;
+    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);
+    int textIndexOffset = 0;    // Text index offset to start drawing in the box
+
+    // Cursor rectangle
+    // NOTE: Position X value should be updated
+    Rectangle cursor = {
+        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),
+        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),
+        2,
+        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2
+    };
+
+    if (cursor.height >= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;
+    if (cursor.y < (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);
+
+    // Mouse cursor rectangle
+    // NOTE: Initialized outside of screen
+    Rectangle mouseCursor = cursor;
+    mouseCursor.x = -1;
+    mouseCursor.width = 1;
+
+    // Auto-cursor movement logic
+    // NOTE: Cursor moves automatically when key down after some time
+    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;
+    else
+    {
+        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter
+        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter
+    }
+
+    // Blink-cursor frame counter
+    //if (!autoCursorMode) blinkCursorFrameCounter++;
+    //else blinkCursorFrameCounter = 0;
+
+    // Update control
+    //--------------------------------------------------------------------
+    // WARNING: Text editing is only supported under certain conditions:
+    if ((state != STATE_DISABLED) &&                // Control not disabled
+        !GuiGetStyle(TEXTBOX, TEXT_READONLY) &&     // TextBox not on read-only mode
+        !guiLocked &&                               // Gui not locked
+        !guiControlExclusiveMode &&                       // No gui slider on dragging
+        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode
+    {
+        Vector2 mousePosition = GetMousePosition();
+
+        if (editMode)
+        {
+            state = STATE_PRESSED;
+
+            if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
+
+            // If text does not fit in the textbox and current cursor position is out of bounds,
+            // we add an index offset to text for drawing only what requires depending on cursor
+            while (textWidth >= textBounds.width)
+            {
+                int nextCodepointSize = 0;
+                GetCodepointNext(text + textIndexOffset, &nextCodepointSize);
+
+                textIndexOffset += nextCodepointSize;
+
+                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);
+            }
+
+            int codepoint = GetCharPressed();       // Get Unicode codepoint
+            if (multiline && IsKeyPressed(KEY_ENTER)) codepoint = (int)'\n';
+
+            // Encode codepoint as UTF-8
+            int codepointSize = 0;
+            const char *charEncoded = CodepointToUTF8(codepoint, &codepointSize);
+
+            // Add codepoint to text, at current cursor position
+            // NOTE: Make sure we do not overflow buffer size
+            if (((multiline && (codepoint == (int)'\n')) || (codepoint >= 32)) && ((textLength + codepointSize) < textSize))
+            {
+                // Move forward data from cursor position
+                for (int i = (textLength + codepointSize); i > textBoxCursorIndex; i--) text[i] = text[i - codepointSize];
+
+                // Add new codepoint in current cursor position
+                for (int i = 0; i < codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];
+
+                textBoxCursorIndex += codepointSize;
+                textLength += codepointSize;
+
+                // Make sure text last character is EOL
+                text[textLength] = '\0';
+            }
+
+            // Move cursor to start
+            if ((textLength > 0) && IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;
+
+            // Move cursor to end
+            if ((textLength > textBoxCursorIndex) && IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;
+
+            // Delete codepoint from text, after current cursor position
+            if ((textLength > textBoxCursorIndex) && (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
+            {
+                autoCursorDelayCounter++;
+
+                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
+                {
+                    int nextCodepointSize = 0;
+                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
+
+                    // Move backward text from cursor position
+                    for (int i = textBoxCursorIndex; i < textLength; i++) text[i] = text[i + nextCodepointSize];
+
+                    textLength -= codepointSize;
+                    if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
+
+                    // Make sure text last character is EOL
+                    text[textLength] = '\0';
+                }
+            }
+
+            // Delete related codepoints from text, before current cursor position
+            if ((textLength > 0) && IsKeyPressed(KEY_BACKSPACE) && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))
+            {
+                int i = textBoxCursorIndex - 1;
+                int accCodepointSize = 0;
+
+                // Move cursor to the end of word if on space already
+                while ((i > 0) && isspace(text[i]))
+                {
+                    int prevCodepointSize = 0;
+                    GetCodepointPrevious(text + i, &prevCodepointSize);
+                    i -= prevCodepointSize;
+                    accCodepointSize += prevCodepointSize;
+                }
+
+                // Move cursor to the start of the word
+                while ((i > 0) && !isspace(text[i]))
+                {
+                    int prevCodepointSize = 0;
+                    GetCodepointPrevious(text + i, &prevCodepointSize);
+                    i -= prevCodepointSize;
+                    accCodepointSize += prevCodepointSize;
+                }
+
+                // Move forward text from cursor position
+                for (int j = (textBoxCursorIndex - accCodepointSize); j < textLength; j++) text[j] = text[j + accCodepointSize];
+
+                // Prevent cursor index from decrementing past 0
+                if (textBoxCursorIndex > 0)
+                {
+                    textBoxCursorIndex -= accCodepointSize;
+                    textLength -= accCodepointSize;
+                }
+
+                // Make sure text last character is EOL
+                text[textLength] = '\0';
+            }
+            else if ((textLength > 0) && (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
+            {
+                autoCursorDelayCounter++;
+
+                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
+                {
+                    int prevCodepointSize = 0;
+
+                    // Prevent cursor index from decrementing past 0
+                    if (textBoxCursorIndex > 0)
+                    {
+                        GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
+
+                        // Move backward text from cursor position
+                        for (int i = (textBoxCursorIndex - prevCodepointSize); i < textLength; i++) text[i] = text[i + prevCodepointSize];
+
+                        textBoxCursorIndex -= codepointSize;
+                        textLength -= codepointSize;
+                    }
+
+                    // Make sure text last character is EOL
+                    text[textLength] = '\0';
+                }
+            }
+
+            // Move cursor position with keys
+            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
+            {
+                autoCursorDelayCounter++;
+
+                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
+                {
+                    int prevCodepointSize = 0;
+                    if (textBoxCursorIndex > 0) GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
+
+                    if (textBoxCursorIndex >= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;
+                }
+            }
+            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
+            {
+                autoCursorDelayCounter++;
+
+                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
+                {
+                    int nextCodepointSize = 0;
+                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
+
+                    if ((textBoxCursorIndex + nextCodepointSize) <= textLength) textBoxCursorIndex += nextCodepointSize;
+                }
+            }
+
+            // Move cursor position with mouse
+            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text
+            {
+                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;
+                int codepointIndex = 0;
+                float glyphWidth = 0.0f;
+                float widthToMouseX = 0;
+                int mouseCursorIndex = 0;
+
+                for (int i = textIndexOffset; i < textLength; i++)
+                {
+                    codepoint = GetCodepointNext(&text[i], &codepointSize);
+                    codepointIndex = GetGlyphIndex(guiFont, codepoint);
+
+                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
+                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
+
+                    if (mousePosition.x <= (textBounds.x + (widthToMouseX + glyphWidth/2)))
+                    {
+                        mouseCursor.x = textBounds.x + widthToMouseX;
+                        mouseCursorIndex = i;
+                        break;
+                    }
+
+                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
+                }
+
+                // Check if mouse cursor is at the last position
+                int textEndWidth = GetTextWidth(text + textIndexOffset);
+                if (GetMousePosition().x >= (textBounds.x + textEndWidth - glyphWidth/2))
+                {
+                    mouseCursor.x = textBounds.x + textEndWidth;
+                    mouseCursorIndex = textLength;
+                }
+
+                // Place cursor at required index on mouse click
+                if ((mouseCursor.x >= 0) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
+                {
+                    cursor.x = mouseCursor.x;
+                    textBoxCursorIndex = mouseCursorIndex;
+                }
+            }
+            else mouseCursor.x = -1;
+
+            // Recalculate cursor position.y depending on textBoxCursorIndex
+            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);
+            //if (multiline) cursor.y = GetTextLines()
+
+            // Finish text editing on ENTER or mouse click outside bounds
+            if ((!multiline && IsKeyPressed(KEY_ENTER)) ||
+                (!CheckCollisionPointRec(mousePosition, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
+            {
+                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index
+                result = 1;
+            }
+        }
+        else
+        {
+            if (CheckCollisionPointRec(mousePosition, bounds))
+            {
+                state = STATE_FOCUSED;
+
+                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
+                {
+                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text
+                    result = 1;
+                }
+            }
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (state == STATE_PRESSED)
+    {
+        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));
+    }
+    else if (state == STATE_DISABLED)
+    {
+        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));
+    }
+    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);
+
+    // Draw text considering index offset if required
+    // NOTE: Text index offset depends on cursor position
+    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));
+
+    // Draw cursor
+    if (editMode && !GuiGetStyle(TEXTBOX, TEXT_READONLY))
+    {
+        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))
+        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
+
+        // Draw mouse position cursor (if required)
+        if (mouseCursor.x >= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
+    }
+    else if (state == STATE_FOCUSED) GuiTooltip(bounds);
+    //--------------------------------------------------------------------
+
+    return result;      // Mouse button pressed: result = 1
+}
+
+/*
+// Text Box control with multiple lines and word-wrap
+// NOTE: This text-box is readonly, no editing supported by default
+bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)
+{
+    bool pressed = false;
+
+    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);
+    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported
+    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);
+
+    // TODO: Implement methods to calculate cursor position properly
+    pressed = GuiTextBox(bounds, text, textSize, editMode);
+
+    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);
+    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);
+    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);
+
+    return pressed;
+}
+*/
+
+// Spinner control, returns selected value
+int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
+{
+    int result = 1;
+    GuiState state = guiState;
+
+    int tempValue = *value;
+
+    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,
+                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };
+    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
+    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
+
+    Rectangle textBounds = { 0 };
+    if (text != NULL)
+    {
+        textBounds.width = (float)GetTextWidth(text) + 2;
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);
+    }
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check spinner state
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+        }
+    }
+
+#if defined(RAYGUI_NO_ICONS)
+    if (GuiButton(leftButtonBound, "<")) tempValue--;
+    if (GuiButton(rightButtonBound, ">")) tempValue++;
+#else
+    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;
+    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;
+#endif
+
+    if (!editMode)
+    {
+        if (tempValue < minValue) tempValue = minValue;
+        if (tempValue > maxValue) tempValue = maxValue;
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    result = GuiValueBox(spinner, NULL, &tempValue, minValue, maxValue, editMode);
+
+    // Draw value selector custom buttons
+    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
+    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
+    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
+    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
+    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
+
+    // Draw text label if provided
+    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    *value = tempValue;
+    return result;
+}
+
+// Value Box control, updates input text with numbers
+// NOTE: Requires static variables: frameCounter
+int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
+{
+    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
+        #define RAYGUI_VALUEBOX_MAX_CHARS  32
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
+    sprintf(textValue, "%i", *value);
+
+    Rectangle textBounds = { 0 };
+    if (text != NULL)
+    {
+        textBounds.width = (float)GetTextWidth(text) + 2;
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
+    }
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        bool valueHasChanged = false;
+
+        if (editMode)
+        {
+            state = STATE_PRESSED;
+
+            int keyCount = (int)strlen(textValue);
+
+            // Only allow keys in range [48..57]
+            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
+            {
+                if (GetTextWidth(textValue) < bounds.width)
+                {
+                    int key = GetCharPressed();
+                    if ((key >= 48) && (key <= 57))
+                    {
+                        textValue[keyCount] = (char)key;
+                        keyCount++;
+                        valueHasChanged = true;
+                    }
+                }
+            }
+
+            // Delete text
+            if (keyCount > 0)
+            {
+                if (IsKeyPressed(KEY_BACKSPACE))
+                {
+                    keyCount--;
+                    textValue[keyCount] = '\0';
+                    valueHasChanged = true;
+                }
+            }
+
+            if (valueHasChanged) *value = TextToInteger(textValue);
+
+            // NOTE: We are not clamp values until user input finishes
+            //if (*value > maxValue) *value = maxValue;
+            //else if (*value < minValue) *value = minValue;
+
+            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
+            {
+                if (*value > maxValue) *value = maxValue;
+                else if (*value < minValue) *value = minValue;
+
+                result = 1;
+            }
+        }
+        else
+        {
+            if (*value > maxValue) *value = maxValue;
+            else if (*value < minValue) *value = minValue;
+
+            if (CheckCollisionPointRec(mousePoint, bounds))
+            {
+                state = STATE_FOCUSED;
+                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
+            }
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    Color baseColor = BLANK;
+    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
+    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
+
+    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
+    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
+
+    // Draw cursor
+    if (editMode)
+    {
+        // NOTE: ValueBox internal text is always centered
+        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };
+        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
+    }
+
+    // Draw text label if provided
+    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Floating point Value Box control, updates input val_str with numbers
+// NOTE: Requires static variables: frameCounter
+int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)
+{
+    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
+        #define RAYGUI_VALUEBOX_MAX_CHARS  32
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
+    //sprintf(textValue, "%2.2f", *value);
+
+    Rectangle textBounds = {0};
+    if (text != NULL)
+    {
+        textBounds.width = (float)GetTextWidth(text) + 2;
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
+    }
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        bool valueHasChanged = false;
+
+        if (editMode)
+        {
+            state = STATE_PRESSED;
+
+            int keyCount = (int)strlen(textValue);
+
+            // Only allow keys in range [48..57]
+            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
+            {
+                if (GetTextWidth(textValue) < bounds.width)
+                {
+                    int key = GetCharPressed();
+                    if (((key >= 48) && (key <= 57)) ||
+                        (key == '.') ||
+                        ((keyCount == 0) && (key == '+')) ||  // NOTE: Sign can only be in first position
+                        ((keyCount == 0) && (key == '-')))
+                    {
+                        textValue[keyCount] = (char)key;
+                        keyCount++;
+
+                        valueHasChanged = true;
+                    }
+                }
+            }
+
+            // Pressed backspace
+            if (IsKeyPressed(KEY_BACKSPACE))
+            {
+                if (keyCount > 0)
+                {
+                    keyCount--;
+                    textValue[keyCount] = '\0';
+                    valueHasChanged = true;
+                }
+            }
+
+            if (valueHasChanged) *value = TextToFloat(textValue);
+
+            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;
+        }
+        else
+        {
+            if (CheckCollisionPointRec(mousePoint, bounds))
+            {
+                state = STATE_FOCUSED;
+                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
+            }
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    Color baseColor = BLANK;
+    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
+    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
+
+    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
+    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
+
+    // Draw cursor
+    if (editMode)
+    {
+        // NOTE: ValueBox internal text is always centered
+        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,
+                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,
+                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};
+        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
+    }
+
+    // Draw text label if provided
+    GuiDrawText(text, textBounds,
+                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,
+                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Slider control with pro parameters
+// NOTE: Other GuiSlider*() controls use this one
+int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    float temp = (maxValue - minValue)/2.0f;
+    if (value == NULL) value = &temp;
+    float oldValue = *value;
+
+    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
+                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
+                {
+                    state = STATE_PRESSED;
+                    // Get equivalent value and slider position from mousePosition.x
+                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
+                }
+            }
+            else
+            {
+                guiControlExclusiveMode = false;
+                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
+            }
+        }
+        else if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                state = STATE_PRESSED;
+                guiControlExclusiveMode = true;
+                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
+
+                if (!CheckCollisionPointRec(mousePoint, slider))
+                {
+                    // Get equivalent value and slider position from mousePosition.x
+                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
+                }
+            }
+            else state = STATE_FOCUSED;
+        }
+
+        if (*value > maxValue) *value = maxValue;
+        else if (*value < minValue) *value = minValue;
+    }
+
+    // Control value change check
+    if (oldValue == *value) result = 0;
+    else result = 1;
+
+    // Slider bar limits check
+    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));
+    if (sliderWidth > 0)        // Slider
+    {
+        slider.x += sliderValue;
+        slider.width = (float)sliderWidth;
+        if (slider.x <= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);
+        else if ((slider.x + slider.width) >= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);
+    }
+    else if (sliderWidth == 0)  // SliderBar
+    {
+        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);
+        slider.width = sliderValue;
+        if (slider.width > bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
+
+    // Draw slider internal bar (depends on state)
+    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
+    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));
+    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));
+
+    // Draw left/right text if provided
+    if (textLeft != NULL)
+    {
+        Rectangle textBounds = { 0 };
+        textBounds.width = (float)GetTextWidth(textLeft);
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+
+        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
+    }
+
+    if (textRight != NULL)
+    {
+        Rectangle textBounds = { 0 };
+        textBounds.width = (float)GetTextWidth(textRight);
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+
+        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
+    }
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Slider control extended, returns selected value and has text
+int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
+{
+    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));
+}
+
+// Slider Bar control extended, returns selected value
+int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
+{
+    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);
+}
+
+// Progress Bar control extended, shows current progress value
+int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    float temp = (maxValue - minValue)/2.0f;
+    if (value == NULL) value = &temp;
+
+    // Progress bar
+    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),
+                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,
+                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };
+
+    // Update control
+    //--------------------------------------------------------------------
+    if (*value > maxValue) *value = maxValue;
+
+    // WARNING: Working with floats could lead to rounding issues
+    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value >= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (state == STATE_DISABLED)
+    {
+        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);
+    }
+    else
+    {
+        if (*value > minValue)
+        {
+            // Draw progress bar with colored border, more visual
+            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
+            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
+            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
+        }
+        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
+
+        if (*value >= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
+        else
+        {
+            // Draw borders not yet reached by value
+            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
+            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
+            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
+        }
+
+        // Draw slider internal progress bar (depends on state)
+        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));
+    }
+
+    // Draw left/right text if provided
+    if (textLeft != NULL)
+    {
+        Rectangle textBounds = { 0 };
+        textBounds.width = (float)GetTextWidth(textLeft);
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+
+        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
+    }
+
+    if (textRight != NULL)
+    {
+        Rectangle textBounds = { 0 };
+        textBounds.width = (float)GetTextWidth(textRight);
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
+        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+
+        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
+    }
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Status Bar control
+int GuiStatusBar(Rectangle bounds, const char *text)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));
+    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Dummy rectangle control, intended for placeholding
+int GuiDummyRec(Rectangle bounds, const char *text)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check button state
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
+            else state = STATE_FOCUSED;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
+    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));
+    //------------------------------------------------------------------
+
+    return result;
+}
+
+// List View control
+int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)
+{
+    int result = 0;
+    int itemCount = 0;
+    const char **items = NULL;
+
+    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
+
+    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);
+
+    return result;
+}
+
+// List View control with extended parameters
+int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)
+{
+    int result = 0;
+    GuiState state = guiState;
+
+    int itemFocused = (focus == NULL)? -1 : *focus;
+    int itemSelected = (active == NULL)? -1 : *active;
+
+    // Check if we need a scroll bar
+    bool useScrollBar = false;
+    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count > bounds.height) useScrollBar = true;
+
+    // Define base item rectangle [0]
+    Rectangle itemBounds = { 0 };
+    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);
+    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
+    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);
+    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);
+    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);
+
+    // Get items on the list
+    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
+    if (visibleItems > count) visibleItems = count;
+
+    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;
+    if ((startIndex < 0) || (startIndex > (count - visibleItems))) startIndex = 0;
+    int endIndex = startIndex + visibleItems;
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        // Check mouse inside list view
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            state = STATE_FOCUSED;
+
+            // Check focused and selected item
+            for (int i = 0; i < visibleItems; i++)
+            {
+                if (CheckCollisionPointRec(mousePoint, itemBounds))
+                {
+                    itemFocused = startIndex + i;
+                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
+                    {
+                        if (itemSelected == (startIndex + i)) itemSelected = -1;
+                        else itemSelected = startIndex + i;
+                    }
+                    break;
+                }
+
+                // Update item rectangle y position for next item
+                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
+            }
+
+            if (useScrollBar)
+            {
+                int wheelMove = (int)GetMouseWheelMove();
+                startIndex -= wheelMove;
+
+                if (startIndex < 0) startIndex = 0;
+                else if (startIndex > (count - visibleItems)) startIndex = count - visibleItems;
+
+                endIndex = startIndex + visibleItems;
+                if (endIndex > count) endIndex = count;
+            }
+        }
+        else itemFocused = -1;
+
+        // Reset item rectangle y to [0]
+        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background
+
+    // Draw visible items
+    for (int i = 0; ((i < visibleItems) && (text != NULL)); i++)
+    {
+        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);
+
+        if (state == STATE_DISABLED)
+        {
+            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));
+
+            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));
+        }
+        else
+        {
+            if (((startIndex + i) == itemSelected) && (active != NULL))
+            {
+                // Draw item selected
+                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));
+                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));
+            }
+            else if (((startIndex + i) == itemFocused)) // && (focus != NULL))  // NOTE: We want items focused, despite not returned!
+            {
+                // Draw item focused
+                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));
+                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));
+            }
+            else
+            {
+                // Draw item normal
+                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));
+            }
+        }
+
+        // Update item rectangle y position for next item
+        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
+    }
+
+    if (useScrollBar)
+    {
+        Rectangle scrollBarBounds = {
+            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
+            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
+            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
+        };
+
+        // Calculate percentage of visible items and apply same percentage to scrollbar
+        float percentVisible = (float)(endIndex - startIndex)/count;
+        float sliderSize = bounds.height*percentVisible;
+
+        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size
+        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed
+        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size
+        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed
+
+        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);
+
+        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default
+        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default
+    }
+    //--------------------------------------------------------------------
+
+    if (active != NULL) *active = itemSelected;
+    if (focus != NULL) *focus = itemFocused;
+    if (scrollIndex != NULL) *scrollIndex = startIndex;
+
+    return result;
+}
+
+// Color Panel control - Color (RGBA) variant.
+int GuiColorPanel(Rectangle bounds, const char *text, Color *color)
+{
+    int result = 0;
+
+    Vector3 vcolor = { (float)color->r/255.0f, (float)color->g/255.0f, (float)color->b/255.0f };
+    Vector3 hsv = ConvertRGBtoHSV(vcolor);
+    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.
+
+    GuiColorPanelHSV(bounds, text, &hsv);
+
+    // Check if the hsv was changed, only then change the color.
+    // This is required, because the Color->HSV->Color conversion has precision errors.
+    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.
+    // Otherwise GuiColorPanel would often modify it's color without user input.
+    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.
+    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)
+    {
+        Vector3 rgb = ConvertHSVtoRGB(hsv);
+
+        // NOTE: Vector3ToColor() only available on raylib 1.8.1
+        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),
+                            (unsigned char)(255.0f*rgb.y),
+                            (unsigned char)(255.0f*rgb.z),
+                            color->a };
+    }
+    return result;
+}
+
+// Color Bar Alpha control
+// NOTE: Returns alpha value normalized [0..1]
+int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
+{
+    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)
+        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
+                {
+                    state = STATE_PRESSED;
+
+                    *alpha = (mousePoint.x - bounds.x)/bounds.width;
+                    if (*alpha <= 0.0f) *alpha = 0.0f;
+                    if (*alpha >= 1.0f) *alpha = 1.0f;
+                }
+            }
+            else
+            {
+                guiControlExclusiveMode = false;
+                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
+            }
+        }
+        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                state = STATE_PRESSED;
+                guiControlExclusiveMode = true;
+                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
+
+                *alpha = (mousePoint.x - bounds.x)/bounds.width;
+                if (*alpha <= 0.0f) *alpha = 0.0f;
+                if (*alpha >= 1.0f) *alpha = 1.0f;
+                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;
+            }
+            else state = STATE_FOCUSED;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+
+    // Draw alpha bar: checked background
+    if (state != STATE_DISABLED)
+    {
+        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
+        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
+
+        for (int x = 0; x < checksX; x++)
+        {
+            for (int y = 0; y < checksY; y++)
+            {
+                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };
+                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));
+            }
+        }
+
+        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));
+    }
+    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
+
+    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
+
+    // Draw alpha bar: selector
+    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Color Bar Hue control
+// Returns hue value normalized [0..1]
+// NOTE: Other similar bars (for reference):
+//      Color GuiColorBarSat() [WHITE->color]
+//      Color GuiColorBarValue() [BLACK->color], HSV/HSL
+//      float GuiColorBarLuminance() [BLACK->WHITE]
+int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)
+{
+    int result = 0;
+    GuiState state = guiState;
+    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
+                {
+                    state = STATE_PRESSED;
+
+                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;
+                    if (*hue <= 0.0f) *hue = 0.0f;
+                    if (*hue >= 359.0f) *hue = 359.0f;
+                }
+            }
+            else
+            {
+                guiControlExclusiveMode = false;
+                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
+            }
+        }
+        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                state = STATE_PRESSED;
+                guiControlExclusiveMode = true;
+                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
+
+                *hue = (mousePoint.y - bounds.y)*360/bounds.height;
+                if (*hue <= 0.0f) *hue = 0.0f;
+                if (*hue >= 359.0f) *hue = 359.0f;
+
+            }
+            else state = STATE_FOCUSED;
+
+            /*if (IsKeyDown(KEY_UP))
+            {
+                hue -= 2.0f;
+                if (hue <= 0.0f) hue = 0.0f;
+            }
+            else if (IsKeyDown(KEY_DOWN))
+            {
+                hue += 2.0f;
+                if (hue >= 360.0f) hue = 360.0f;
+            }*/
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (state != STATE_DISABLED)
+    {
+        // Draw hue bar:color bars
+        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
+        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));
+        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));
+        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));
+        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));
+        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));
+        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));
+    }
+    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
+
+    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
+
+    // Draw hue bar: selector
+    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Color Picker control
+// NOTE: It's divided in multiple controls:
+//      Color GuiColorPanel(Rectangle bounds, Color color)
+//      float GuiColorBarAlpha(Rectangle bounds, float alpha)
+//      float GuiColorBarHue(Rectangle bounds, float value)
+// NOTE: bounds define GuiColorPanel() size
+// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead
+int GuiColorPicker(Rectangle bounds, const char *text, Color *color)
+{
+    int result = 0;
+
+    Color temp = { 200, 0, 0, 255 };
+    if (color == NULL) color = &temp;
+
+    GuiColorPanel(bounds, NULL, color);
+
+    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
+    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };
+
+    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.
+    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });
+
+    GuiColorBarHue(boundsHue, NULL, &hsv.x);
+
+    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);
+    Vector3 rgb = ConvertHSVtoRGB(hsv);
+
+    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };
+
+    return result;
+}
+
+// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.
+// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.
+// NOTE: It's divided in multiple controls:
+//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
+//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
+//      float GuiColorBarHue(Rectangle bounds, float value)
+// NOTE: bounds define GuiColorPanelHSV() size
+int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
+{
+    int result = 0;
+
+    Vector3 tempHsv = { 0 };
+
+    if (colorHsv == NULL)
+    {
+        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };
+        tempHsv = ConvertRGBtoHSV(tempColor);
+        colorHsv = &tempHsv;
+    }
+
+    GuiColorPanelHSV(bounds, NULL, colorHsv);
+
+    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
+
+    GuiColorBarHue(boundsHue, NULL, &colorHsv->x);
+
+    return result;
+}
+
+// Color Panel control - HSV variant
+int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
+{
+    int result = 0;
+    GuiState state = guiState;
+    Vector2 pickerSelector = { 0 };
+
+    const Color colWhite = { 255, 255, 255, 255 };
+    const Color colBlack = { 0, 0, 0, 255 };
+
+    pickerSelector.x = bounds.x + (float)colorHsv->y*bounds.width;            // HSV: Saturation
+    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv->z)*bounds.height;  // HSV: Value
+
+    Vector3 maxHue = { colorHsv->x, 1.0f, 1.0f };
+    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);
+    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),
+                      (unsigned char)(255.0f*rgbHue.y),
+                      (unsigned char)(255.0f*rgbHue.z), 255 };
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
+                {
+                    pickerSelector = mousePoint;
+
+                    if (pickerSelector.x < bounds.x) pickerSelector.x = bounds.x;
+                    if (pickerSelector.x > bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;
+                    if (pickerSelector.y < bounds.y) pickerSelector.y = bounds.y;
+                    if (pickerSelector.y > bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;
+
+                    // Calculate color from picker
+                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
+
+                    colorPick.x /= (float)bounds.width;     // Get normalized value on x
+                    colorPick.y /= (float)bounds.height;    // Get normalized value on y
+
+                    colorHsv->y = colorPick.x;
+                    colorHsv->z = 1.0f - colorPick.y;
+
+                }
+            }
+            else
+            {
+                guiControlExclusiveMode = false;
+                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
+            }
+        }
+        else if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
+            {
+                state = STATE_PRESSED;
+                guiControlExclusiveMode = true;
+                guiControlExclusiveRec = bounds;
+                pickerSelector = mousePoint;
+
+                // Calculate color from picker
+                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
+
+                colorPick.x /= (float)bounds.width;     // Get normalized value on x
+                colorPick.y /= (float)bounds.height;    // Get normalized value on y
+
+                colorHsv->y = colorPick.x;
+                colorHsv->z = 1.0f - colorPick.y;
+            }
+            else state = STATE_FOCUSED;
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (state != STATE_DISABLED)
+    {
+        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));
+        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));
+
+        // Draw color picker: selector
+        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };
+        GuiDrawRectangle(selector, 0, BLANK, colWhite);
+    }
+    else
+    {
+        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));
+    }
+
+    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Message Box control
+int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)
+{
+    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)
+        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24
+    #endif
+    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)
+        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12
+    #endif
+
+    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button
+
+    int buttonCount = 0;
+    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
+    Rectangle buttonBounds = { 0 };
+    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
+    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;
+    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
+    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
+
+    //int textWidth = GetTextWidth(message) + 2;
+
+    Rectangle textBounds = { 0 };
+    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
+    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
+    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;
+    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (GuiWindowBox(bounds, title)) result = 0;
+
+    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
+    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+    GuiLabel(textBounds, message);
+    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
+
+    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+
+    for (int i = 0; i < buttonCount; i++)
+    {
+        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
+        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
+    }
+
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);
+    //--------------------------------------------------------------------
+
+    return result;
+}
+
+// Text Input Box control, ask for text
+int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)
+{
+    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)
+        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24
+    #endif
+    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)
+        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12
+    #endif
+    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)
+        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26
+    #endif
+
+    // Used to enable text edit mode
+    // WARNING: No more than one GuiTextInputBox() should be open at the same time
+    static bool textEditMode = false;
+
+    int result = -1;
+
+    int buttonCount = 0;
+    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
+    Rectangle buttonBounds = { 0 };
+    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
+    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
+    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
+    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;
+
+    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
+
+    Rectangle textBounds = { 0 };
+    if (message != NULL)
+    {
+        int textSize = GetTextWidth(message) + 2;
+
+        textBounds.x = bounds.x + bounds.width/2 - textSize/2;
+        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
+        textBounds.width = (float)textSize;
+        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+    }
+
+    Rectangle textBoxBounds = { 0 };
+    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
+    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;
+    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
+    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);
+    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;
+    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (GuiWindowBox(bounds, title)) result = 0;
+
+    // Draw message if available
+    if (message != NULL)
+    {
+        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
+        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+        GuiLabel(textBounds, message);
+        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
+    }
+
+    if (secretViewActive != NULL)
+    {
+        static char stars[] = "****************";
+        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },
+            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;
+
+        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? "#44#" : "#45#", secretViewActive);
+    }
+    else
+    {
+        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;
+    }
+
+    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+
+    for (int i = 0; i < buttonCount; i++)
+    {
+        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
+        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
+    }
+
+    if (result >= 0) textEditMode = false;
+
+    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);
+    //--------------------------------------------------------------------
+
+    return result;      // Result is the pressed button index
+}
+
+// Grid control
+// NOTE: Returns grid mouse-hover selected cell
+// About drawing lines at subpixel spacing, simple put, not easy solution:
+// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster
+int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)
+{
+    // Grid lines alpha amount
+    #if !defined(RAYGUI_GRID_ALPHA)
+        #define RAYGUI_GRID_ALPHA    0.15f
+    #endif
+
+    int result = 0;
+    GuiState state = guiState;
+
+    Vector2 mousePoint = GetMousePosition();
+    Vector2 currentMouseCell = { -1, -1 };
+
+    float spaceWidth = spacing/(float)subdivs;
+    int linesV = (int)(bounds.width/spaceWidth) + 1;
+    int linesH = (int)(bounds.height/spaceWidth) + 1;
+
+    int color = GuiGetStyle(DEFAULT, LINE_COLOR);
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
+    {
+        if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            // NOTE: Cell values must be the upper left of the cell the mouse is in
+            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);
+            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);
+        }
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);
+
+    if (subdivs > 0)
+    {
+        // Draw vertical grid lines
+        for (int i = 0; i < linesV; i++)
+        {
+            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };
+            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
+        }
+
+        // Draw horizontal grid lines
+        for (int i = 0; i < linesH; i++)
+        {
+            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };
+            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
+        }
+    }
+
+    if (mouseCell != NULL) *mouseCell = currentMouseCell;
+    return result;
+}
+
+//----------------------------------------------------------------------------------
+// Tooltip management functions
+// NOTE: Tooltips requires some global variables: tooltipPtr
+//----------------------------------------------------------------------------------
+// Enable gui tooltips (global state)
+void GuiEnableTooltip(void) { guiTooltip = true; }
+
+// Disable gui tooltips (global state)
+void GuiDisableTooltip(void) { guiTooltip = false; }
+
+// Set tooltip string
+void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }
+
+//----------------------------------------------------------------------------------
+// Styles loading functions
+//----------------------------------------------------------------------------------
+
+// Load raygui style file (.rgs)
+// NOTE: By default a binary file is expected, that file could contain a custom font,
+// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)
+void GuiLoadStyle(const char *fileName)
+{
+    #define MAX_LINE_BUFFER_SIZE    256
+
+    bool tryBinary = false;
+    if (!guiStyleLoaded) GuiLoadStyleDefault();
+
+    // Try reading the files as text file first
+    FILE *rgsFile = fopen(fileName, "rt");
+
+    if (rgsFile != NULL)
+    {
+        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };
+        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
+
+        if (buffer[0] == '#')
+        {
+            int controlId = 0;
+            int propertyId = 0;
+            unsigned int propertyValue = 0;
+
+            while (!feof(rgsFile))
+            {
+                switch (buffer[0])
+                {
+                    case 'p':
+                    {
+                        // Style property: p <control_id> <property_id> <property_value> <property_name>
+
+                        sscanf(buffer, "p %d %d 0x%x", &controlId, &propertyId, &propertyValue);
+                        GuiSetStyle(controlId, propertyId, (int)propertyValue);
+
+                    } break;
+                    case 'f':
+                    {
+                        // Style font: f <gen_font_size> <charmap_file> <font_file>
+
+                        int fontSize = 0;
+                        char charmapFileName[256] = { 0 };
+                        char fontFileName[256] = { 0 };
+                        sscanf(buffer, "f %d %s %[^\r\n]s", &fontSize, charmapFileName, fontFileName);
+
+                        Font font = { 0 };
+                        int *codepoints = NULL;
+                        int codepointCount = 0;
+
+                        if (charmapFileName[0] != '0')
+                        {
+                            // Load text data from file
+                            // NOTE: Expected an UTF-8 array of codepoints, no separation
+                            char *textData = LoadFileText(TextFormat("%s/%s", GetDirectoryPath(fileName), charmapFileName));
+                            codepoints = LoadCodepoints(textData, &codepointCount);
+                            UnloadFileText(textData);
+                        }
+
+                        if (fontFileName[0] != '\0')
+                        {
+                            // In case a font is already loaded and it is not default internal font, unload it
+                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
+
+                            if (codepointCount > 0) font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);
+                            else font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints
+                        }
+
+                        // If font texture not properly loaded, revert to default font and size/spacing
+                        if (font.texture.id == 0)
+                        {
+                            font = GetFontDefault();
+                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);
+                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);
+                        }
+
+                        UnloadCodepoints(codepoints);
+
+                        if ((font.texture.id > 0) && (font.glyphCount > 0)) GuiSetFont(font);
+
+                    } break;
+                    default: break;
+                }
+
+                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
+            }
+        }
+        else tryBinary = true;
+
+        fclose(rgsFile);
+    }
+
+    if (tryBinary)
+    {
+        rgsFile = fopen(fileName, "rb");
+
+        if (rgsFile != NULL)
+        {
+            fseek(rgsFile, 0, SEEK_END);
+            int fileDataSize = ftell(rgsFile);
+            fseek(rgsFile, 0, SEEK_SET);
+
+            if (fileDataSize > 0)
+            {
+                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));
+                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);
+
+                GuiLoadStyleFromMemory(fileData, fileDataSize);
+
+                RAYGUI_FREE(fileData);
+            }
+
+            fclose(rgsFile);
+        }
+    }
+}
+
+// Load style default over global style
+void GuiLoadStyleDefault(void)
+{
+    // We set this variable first to avoid cyclic function calls
+    // when calling GuiSetStyle() and GuiGetStyle()
+    guiStyleLoaded = true;
+
+    // Initialize default LIGHT style property values
+    // WARNING: Default value are applied to all controls on set but
+    // they can be overwritten later on for every custom control
+    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);
+    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);
+    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);
+    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);
+    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);
+    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);
+    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);
+    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);
+    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);
+    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);
+    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);
+    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);
+    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);
+    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);
+    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+
+    // Initialize default extended property values
+    // NOTE: By default, extended property values are initialized to 0
+    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls
+    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls
+    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property
+    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property
+    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines
+    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds
+
+    // Initialize control-specific property values
+    // NOTE: Those properties are in default list but require specific values by control type
+    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
+    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);
+    GuiSetStyle(SLIDER, TEXT_PADDING, 4);
+    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);
+    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);
+    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);
+    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);
+    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);
+    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
+    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);
+    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
+    GuiSetStyle(SPINNER, TEXT_PADDING, 0);
+    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
+    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);
+    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
+
+    // Initialize extended property values
+    // NOTE: By default, extended property values are initialized to 0
+    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);
+    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);
+    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);
+    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);
+    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);
+    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);
+    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);
+    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);
+    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);
+    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);
+    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);
+    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);
+    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);
+    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);
+    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);
+    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);
+    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);
+    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);
+    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);
+    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);
+    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);
+    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);
+    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);
+    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);
+    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);
+    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);
+    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);
+
+    if (guiFont.texture.id != GetFontDefault().texture.id)
+    {
+        // Unload previous font texture
+        UnloadTexture(guiFont.texture);
+        RL_FREE(guiFont.recs);
+        RL_FREE(guiFont.glyphs);
+        guiFont.recs = NULL;
+        guiFont.glyphs = NULL;
+
+        // Setup default raylib font
+        guiFont = GetFontDefault();
+
+        // NOTE: Default raylib font character 95 is a white square
+        Rectangle whiteChar = guiFont.recs[95];
+
+        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering
+        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });
+    }
+}
+
+// Get text with icon id prepended
+// NOTE: Useful to add icons by name id (enum) instead of
+// a number that can change between ricon versions
+const char *GuiIconText(int iconId, const char *text)
+{
+#if defined(RAYGUI_NO_ICONS)
+    return NULL;
+#else
+    static char buffer[1024] = { 0 };
+    static char iconBuffer[16] = { 0 };
+
+    if (text != NULL)
+    {
+        memset(buffer, 0, 1024);
+        sprintf(buffer, "#%03i#", iconId);
+
+        for (int i = 5; i < 1024; i++)
+        {
+            buffer[i] = text[i - 5];
+            if (text[i - 5] == '\0') break;
+        }
+
+        return buffer;
+    }
+    else
+    {
+        sprintf(iconBuffer, "#%03i#", iconId);
+
+        return iconBuffer;
+    }
+#endif
+}
+
+#if !defined(RAYGUI_NO_ICONS)
+// Get full icons data pointer
+unsigned int *GuiGetIcons(void) { return guiIconsPtr; }
+
+// Load raygui icons file (.rgi)
+// NOTE: In case nameIds are required, they can be requested with loadIconsName,
+// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],
+// WARNING: guiIconsName[]][] memory should be manually freed!
+char **GuiLoadIcons(const char *fileName, bool loadIconsName)
+{
+    // Style File Structure (.rgi)
+    // ------------------------------------------------------
+    // Offset  | Size    | Type       | Description
+    // ------------------------------------------------------
+    // 0       | 4       | char       | Signature: "rGI "
+    // 4       | 2       | short      | Version: 100
+    // 6       | 2       | short      | reserved
+
+    // 8       | 2       | short      | Num icons (N)
+    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)
+
+    // Icons name id (32 bytes per name id)
+    // foreach (icon)
+    // {
+    //   12+32*i  | 32   | char       | Icon NameId
+    // }
+
+    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)
+    // S*S pixels/32bit per unsigned int = K unsigned int per icon
+    // foreach (icon)
+    // {
+    //   ...   | K       | unsigned int | Icon Data
+    // }
+
+    FILE *rgiFile = fopen(fileName, "rb");
+
+    char **guiIconsName = NULL;
+
+    if (rgiFile != NULL)
+    {
+        char signature[5] = { 0 };
+        short version = 0;
+        short reserved = 0;
+        short iconCount = 0;
+        short iconSize = 0;
+
+        fread(signature, 1, 4, rgiFile);
+        fread(&version, sizeof(short), 1, rgiFile);
+        fread(&reserved, sizeof(short), 1, rgiFile);
+        fread(&iconCount, sizeof(short), 1, rgiFile);
+        fread(&iconSize, sizeof(short), 1, rgiFile);
+
+        if ((signature[0] == 'r') &&
+            (signature[1] == 'G') &&
+            (signature[2] == 'I') &&
+            (signature[3] == ' '))
+        {
+            if (loadIconsName)
+            {
+                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));
+                for (int i = 0; i < iconCount; i++)
+                {
+                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);
+                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);
+                }
+            }
+            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);
+
+            // Read icons data directly over internal icons array
+            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);
+        }
+
+        fclose(rgiFile);
+    }
+
+    return guiIconsName;
+}
+
+// Draw selected icon using rectangles pixel-by-pixel
+void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)
+{
+    #define BIT_CHECK(a,b) ((a) & (1u<<(b)))
+
+    for (int i = 0, y = 0; i < RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)
+    {
+        for (int k = 0; k < 32; k++)
+        {
+            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))
+            {
+            #if !defined(RAYGUI_STANDALONE)
+                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);
+            #endif
+            }
+
+            if ((k == 15) || (k == 31)) y++;
+        }
+    }
+}
+
+// Set icon drawing size
+void GuiSetIconScale(int scale)
+{
+    if (scale >= 1) guiIconScale = scale;
+}
+
+#endif      // !RAYGUI_NO_ICONS
+
+//----------------------------------------------------------------------------------
+// Module specific Functions Definition
+//----------------------------------------------------------------------------------
+
+// Load style from memory
+// WARNING: Binary files only
+static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)
+{
+    unsigned char *fileDataPtr = (unsigned char *)fileData;
+
+    char signature[5] = { 0 };
+    short version = 0;
+    short reserved = 0;
+    int propertyCount = 0;
+
+    memcpy(signature, fileDataPtr, 4);
+    memcpy(&version, fileDataPtr + 4, sizeof(short));
+    memcpy(&reserved, fileDataPtr + 4 + 2, sizeof(short));
+    memcpy(&propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));
+    fileDataPtr += 12;
+
+    if ((signature[0] == 'r') &&
+        (signature[1] == 'G') &&
+        (signature[2] == 'S') &&
+        (signature[3] == ' '))
+    {
+        short controlId = 0;
+        short propertyId = 0;
+        unsigned int propertyValue = 0;
+
+        for (int i = 0; i < propertyCount; i++)
+        {
+            memcpy(&controlId, fileDataPtr, sizeof(short));
+            memcpy(&propertyId, fileDataPtr + 2, sizeof(short));
+            memcpy(&propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));
+            fileDataPtr += 8;
+
+            if (controlId == 0) // DEFAULT control
+            {
+                // If a DEFAULT property is loaded, it is propagated to all controls
+                // NOTE: All DEFAULT properties should be defined first in the file
+                GuiSetStyle(0, (int)propertyId, propertyValue);
+
+                if (propertyId < RAYGUI_MAX_PROPS_BASE) for (int j = 1; j < RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);
+            }
+            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);
+        }
+
+        // Font loading is highly dependant on raylib API to load font data and image
+
+#if !defined(RAYGUI_STANDALONE)
+        // Load custom font if available
+        int fontDataSize = 0;
+        memcpy(&fontDataSize, fileDataPtr, sizeof(int));
+        fileDataPtr += 4;
+
+        if (fontDataSize > 0)
+        {
+            Font font = { 0 };
+            int fontType = 0;   // 0-Normal, 1-SDF
+
+            memcpy(&font.baseSize, fileDataPtr, sizeof(int));
+            memcpy(&font.glyphCount, fileDataPtr + 4, sizeof(int));
+            memcpy(&fontType, fileDataPtr + 4 + 4, sizeof(int));
+            fileDataPtr += 12;
+
+            // Load font white rectangle
+            Rectangle fontWhiteRec = { 0 };
+            memcpy(&fontWhiteRec, fileDataPtr, sizeof(Rectangle));
+            fileDataPtr += 16;
+
+            // Load font image parameters
+            int fontImageUncompSize = 0;
+            int fontImageCompSize = 0;
+            memcpy(&fontImageUncompSize, fileDataPtr, sizeof(int));
+            memcpy(&fontImageCompSize, fileDataPtr + 4, sizeof(int));
+            fileDataPtr += 8;
+
+            Image imFont = { 0 };
+            imFont.mipmaps = 1;
+            memcpy(&imFont.width, fileDataPtr, sizeof(int));
+            memcpy(&imFont.height, fileDataPtr + 4, sizeof(int));
+            memcpy(&imFont.format, fileDataPtr + 4 + 4, sizeof(int));
+            fileDataPtr += 12;
+
+            if ((fontImageCompSize > 0) && (fontImageCompSize != fontImageUncompSize))
+            {
+                // Compressed font atlas image data (DEFLATE), it requires DecompressData()
+                int dataUncompSize = 0;
+                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);
+                memcpy(compData, fileDataPtr, fontImageCompSize);
+                fileDataPtr += fontImageCompSize;
+
+                imFont.data = DecompressData(compData, fontImageCompSize, &dataUncompSize);
+
+                // Security check, dataUncompSize must match the provided fontImageUncompSize
+                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG("WARNING: Uncompressed font atlas image data could be corrupted");
+
+                RAYGUI_FREE(compData);
+            }
+            else
+            {
+                // Font atlas image data is not compressed
+                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);
+                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);
+                fileDataPtr += fontImageUncompSize;
+            }
+
+            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
+            font.texture = LoadTextureFromImage(imFont);
+
+            RAYGUI_FREE(imFont.data);
+
+            // Validate font atlas texture was loaded correctly
+            if (font.texture.id != 0)
+            {
+                // Load font recs data
+                int recsDataSize = font.glyphCount*sizeof(Rectangle);
+                int recsDataCompressedSize = 0;
+
+                // WARNING: Version 400 adds the compression size parameter
+                if (version >= 400)
+                {
+                    // RGS files version 400 support compressed recs data
+                    memcpy(&recsDataCompressedSize, fileDataPtr, sizeof(int));
+                    fileDataPtr += sizeof(int);
+                }
+
+                if ((recsDataCompressedSize > 0) && (recsDataCompressedSize != recsDataSize))
+                {
+                    // Recs data is compressed, uncompress it
+                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);
+
+                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);
+                    fileDataPtr += recsDataCompressedSize;
+
+                    int recsDataUncompSize = 0;
+                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, &recsDataUncompSize);
+
+                    // Security check, data uncompressed size must match the expected original data size
+                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG("WARNING: Uncompressed font recs data could be corrupted");
+
+                    RAYGUI_FREE(recsDataCompressed);
+                }
+                else
+                {
+                    // Recs data is uncompressed
+                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));
+                    for (int i = 0; i < font.glyphCount; i++)
+                    {
+                        memcpy(&font.recs[i], fileDataPtr, sizeof(Rectangle));
+                        fileDataPtr += sizeof(Rectangle);
+                    }
+                }
+
+                // Load font glyphs info data
+                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph
+                int glyphsDataCompressedSize = 0;
+
+                // WARNING: Version 400 adds the compression size parameter
+                if (version >= 400)
+                {
+                    // RGS files version 400 support compressed glyphs data
+                    memcpy(&glyphsDataCompressedSize, fileDataPtr, sizeof(int));
+                    fileDataPtr += sizeof(int);
+                }
+
+                // Allocate required glyphs space to fill with data
+                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));
+
+                if ((glyphsDataCompressedSize > 0) && (glyphsDataCompressedSize != glyphsDataSize))
+                {
+                    // Glyphs data is compressed, uncompress it
+                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);
+
+                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);
+                    fileDataPtr += glyphsDataCompressedSize;
+
+                    int glyphsDataUncompSize = 0;
+                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, &glyphsDataUncompSize);
+
+                    // Security check, data uncompressed size must match the expected original data size
+                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG("WARNING: Uncompressed font glyphs data could be corrupted");
+
+                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;
+
+                    for (int i = 0; i < font.glyphCount; i++)
+                    {
+                        memcpy(&font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));
+                        memcpy(&font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));
+                        memcpy(&font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));
+                        memcpy(&font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));
+                        glyphsDataUncompPtr += 16;
+                    }
+
+                    RAYGUI_FREE(glypsDataCompressed);
+                    RAYGUI_FREE(glyphsDataUncomp);
+                }
+                else
+                {
+                    // Glyphs data is uncompressed
+                    for (int i = 0; i < font.glyphCount; i++)
+                    {
+                        memcpy(&font.glyphs[i].value, fileDataPtr, sizeof(int));
+                        memcpy(&font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));
+                        memcpy(&font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));
+                        memcpy(&font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));
+                        fileDataPtr += 16;
+                    }
+                }
+            }
+            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture
+
+            GuiSetFont(font);
+
+            // Set font texture source rectangle to be used as white texture to draw shapes
+            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call
+            if ((fontWhiteRec.x > 0) &&
+                (fontWhiteRec.y > 0) &&
+                (fontWhiteRec.width > 0) &&
+                (fontWhiteRec.height > 0)) SetShapesTexture(font.texture, fontWhiteRec);
+        }
+#endif
+    }
+}
+
+// Gui get text width considering icon
+static int GetTextWidth(const char *text)
+{
+    #if !defined(ICON_TEXT_PADDING)
+        #define ICON_TEXT_PADDING   4
+    #endif
+
+    Vector2 textSize = { 0 };
+    int textIconOffset = 0;
+
+    if ((text != NULL) && (text[0] != '\0'))
+    {
+        if (text[0] == '#')
+        {
+            for (int i = 1; (i < 5) && (text[i] != '\0'); i++)
+            {
+                if (text[i] == '#')
+                {
+                    textIconOffset = i;
+                    break;
+                }
+            }
+        }
+
+        text += textIconOffset;
+
+        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly
+        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
+
+        // Custom MeasureText() implementation
+        if ((guiFont.texture.id > 0) && (text != NULL))
+        {
+            // Get size in bytes of text, considering end of line and line break
+            int size = 0;
+            for (int i = 0; i < MAX_LINE_BUFFER_SIZE; i++)
+            {
+                if ((text[i] != '\0') && (text[i] != '\n')) size++;
+                else break;
+            }
+
+            float scaleFactor = fontSize/(float)guiFont.baseSize;
+            textSize.y = (float)guiFont.baseSize*scaleFactor;
+            float glyphWidth = 0.0f;
+
+            for (int i = 0, codepointSize = 0; i < size; i += codepointSize)
+            {
+                int codepoint = GetCodepointNext(&text[i], &codepointSize);
+                int codepointIndex = GetGlyphIndex(guiFont, codepoint);
+
+                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
+                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
+
+                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
+            }
+        }
+
+        if (textIconOffset > 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);
+    }
+
+    return (int)textSize.x;
+}
+
+// Get text bounds considering control bounds
+static Rectangle GetTextBounds(int control, Rectangle bounds)
+{
+    Rectangle textBounds = bounds;
+
+    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);
+    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);
+    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);
+    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!
+
+    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds
+    switch (control)
+    {
+        case COMBOBOX:
+        case DROPDOWNBOX:
+        case LISTVIEW:
+            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW
+        case SLIDER:
+        case CHECKBOX:
+        case VALUEBOX:
+        case SPINNER:
+            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER
+        default:
+        {
+            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()
+            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);
+            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);
+        }
+        break;
+    }
+
+    return textBounds;
+}
+
+// Get text icon if provided and move text cursor
+// NOTE: We support up to 999 values for iconId
+static const char *GetTextIcon(const char *text, int *iconId)
+{
+#if !defined(RAYGUI_NO_ICONS)
+    *iconId = -1;
+    if (text[0] == '#')     // Maybe we have an icon!
+    {
+        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\0'
+
+        int pos = 1;
+        while ((pos < 4) && (text[pos] >= '0') && (text[pos] <= '9'))
+        {
+            iconValue[pos - 1] = text[pos];
+            pos++;
+        }
+
+        if (text[pos] == '#')
+        {
+            *iconId = TextToInteger(iconValue);
+
+            // Move text pointer after icon
+            // WARNING: If only icon provided, it could point to EOL character: '\0'
+            if (*iconId >= 0) text += (pos + 1);
+        }
+    }
+#endif
+
+    return text;
+}
+
+// Get text divided into lines (by line-breaks '\n')
+const char **GetTextLines(const char *text, int *count)
+{
+    #define RAYGUI_MAX_TEXT_LINES   128
+
+    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };
+    for (int i = 0; i < RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings
+
+    int textSize = (int)strlen(text);
+
+    lines[0] = text;
+    int len = 0;
+    *count = 1;
+    //int lineSize = 0;   // Stores current line size, not returned
+
+    for (int i = 0, k = 0; (i < textSize) && (*count < RAYGUI_MAX_TEXT_LINES); i++)
+    {
+        if (text[i] == '\n')
+        {
+            //lineSize = len;
+            k++;
+            lines[k] = &text[i + 1];     // WARNING: next value is valid?
+            len = 0;
+            *count += 1;
+        }
+        else len++;
+    }
+
+    //lines[*count - 1].size = len;
+
+    return lines;
+}
+
+// Get text width to next space for provided string
+static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)
+{
+    float width = 0;
+    int codepointByteCount = 0;
+    int codepoint = 0;
+    int index = 0;
+    float glyphWidth = 0;
+    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
+
+    for (int i = 0; text[i] != '\0'; i++)
+    {
+        if (text[i] != ' ')
+        {
+            codepoint = GetCodepoint(&text[i], &codepointByteCount);
+            index = GetGlyphIndex(guiFont, codepoint);
+            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;
+            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
+        }
+        else
+        {
+            *nextSpaceIndex = i;
+            break;
+        }
+    }
+
+    return width;
+}
+
+// Gui draw text using default font
+static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)
+{
+    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect
+
+    #if !defined(ICON_TEXT_PADDING)
+        #define ICON_TEXT_PADDING   4
+    #endif
+
+    if ((text == NULL) || (text[0] == '\0')) return;    // Security check
+
+    // PROCEDURE:
+    //   - Text is processed line per line
+    //   - For every line, horizontal alignment is defined
+    //   - For all text, vertical alignment is defined (multiline text only)
+    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)
+
+    // Get text lines (using '\n' as delimiter) to be processed individually
+    // WARNING: We can't use GuiTextSplit() function because it can be already used
+    // before the GuiDrawText() call and its buffer is static, it would be overriden :(
+    int lineCount = 0;
+    const char **lines = GetTextLines(text, &lineCount);
+
+    // Text style variables
+    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);
+    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);
+    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing
+
+    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap
+    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);
+    float posOffsetY = 0.0f;
+
+    for (int i = 0; i < lineCount; i++)
+    {
+        int iconId = 0;
+        lines[i] = GetTextIcon(lines[i], &iconId);      // Check text for icon and move cursor
+
+        // Get text position depending on alignment and iconId
+        //---------------------------------------------------------------------------------
+        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };
+        float textBoundsWidthOffset = 0.0f;
+
+        // NOTE: We get text size after icon has been processed
+        // WARNING: GetTextWidth() also processes text icon to get width! -> Really needed?
+        int textSizeX = GetTextWidth(lines[i]);
+
+        // If text requires an icon, add size to measure
+        if (iconId >= 0)
+        {
+            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;
+
+            // WARNING: If only icon provided, text could be pointing to EOF character: '\0'
+#if !defined(RAYGUI_NO_ICONS)
+            if ((lines[i] != NULL) && (lines[i][0] != '\0')) textSizeX += ICON_TEXT_PADDING;
+#endif
+        }
+
+        // Check guiTextAlign global variables
+        switch (alignment)
+        {
+            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;
+            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;
+            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;
+            default: break;
+        }
+
+        if (textSizeX > textBounds.width && (lines[i] != NULL) && (lines[i][0] != '\0')) textBoundsPosition.x = textBounds.x;
+
+        switch (alignmentVertical)
+        {
+            // Only valid in case of wordWrap = 0;
+            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;
+            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
+            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
+            default: break;
+        }
+
+        // NOTE: Make sure we get pixel-perfect coordinates,
+        // In case of decimals we got weird text positioning
+        textBoundsPosition.x = (float)((int)textBoundsPosition.x);
+        textBoundsPosition.y = (float)((int)textBoundsPosition.y);
+        //---------------------------------------------------------------------------------
+
+        // Draw text (with icon if available)
+        //---------------------------------------------------------------------------------
+#if !defined(RAYGUI_NO_ICONS)
+        if (iconId >= 0)
+        {
+            // NOTE: We consider icon height, probably different than text size
+            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);
+            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
+            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
+        }
+#endif
+        // Get size in bytes of text,
+        // considering end of line and line break
+        int lineSize = 0;
+        for (int c = 0; (lines[i][c] != '\0') && (lines[i][c] != '\n') && (lines[i][c] != '\r'); c++, lineSize++){ }
+        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
+
+        int lastSpaceIndex = 0;
+        bool tempWrapCharMode = false;
+
+        int textOffsetY = 0;
+        float textOffsetX = 0.0f;
+        float glyphWidth = 0;
+
+        int ellipsisWidth = GetTextWidth("...");
+        bool textOverflow = false;
+        for (int c = 0, codepointSize = 0; c < lineSize; c += codepointSize)
+        {
+            int codepoint = GetCodepointNext(&lines[i][c], &codepointSize);
+            int index = GetGlyphIndex(guiFont, codepoint);
+
+            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)
+            // but we need to draw all of the bad bytes using the '?' symbol moving one byte
+            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size
+
+            // Get glyph width to check if it goes out of bounds
+            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);
+            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;
+
+            // Wrap mode text measuring, to validate if
+            // it can be drawn or a new line is required
+            if (wrapMode == TEXT_WRAP_CHAR)
+            {
+                // Jump to next line if current character reach end of the box limits
+                if ((textOffsetX + glyphWidth) > textBounds.width - textBoundsWidthOffset)
+                {
+                    textOffsetX = 0.0f;
+                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
+
+                    if (tempWrapCharMode)   // Wrap at char level when too long words
+                    {
+                        wrapMode = TEXT_WRAP_WORD;
+                        tempWrapCharMode = false;
+                    }
+                }
+            }
+            else if (wrapMode == TEXT_WRAP_WORD)
+            {
+                if (codepoint == 32) lastSpaceIndex = c;
+
+                // Get width to next space in line
+                int nextSpaceIndex = 0;
+                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, &nextSpaceIndex);
+
+                int nextSpaceIndex2 = 0;
+                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, &nextSpaceIndex2);
+
+                if (nextWordSize > textBounds.width - textBoundsWidthOffset)
+                {
+                    // Considering the case the next word is longer than bounds
+                    tempWrapCharMode = true;
+                    wrapMode = TEXT_WRAP_CHAR;
+                }
+                else if ((textOffsetX + nextSpaceWidth) > textBounds.width - textBoundsWidthOffset)
+                {
+                    textOffsetX = 0.0f;
+                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
+                }
+            }
+
+            if (codepoint == '\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint
+            else
+            {
+                // TODO: There are multiple types of spaces in Unicode,
+                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html
+                if ((codepoint != ' ') && (codepoint != '\t'))      // Do not draw codepoints with no glyph
+                {
+                    if (wrapMode == TEXT_WRAP_NONE)
+                    {
+                        // Draw only required text glyphs fitting the textBounds.width
+                        if (textSizeX > textBounds.width)
+                        {
+                            if (textOffsetX <= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))
+                            {
+                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
+                            }
+                            else if (!textOverflow)
+                            {
+                                textOverflow = true;
+
+                                for (int j = 0; j < ellipsisWidth; j += ellipsisWidth/3)
+                                {
+                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
+                                }
+                            }
+                        }
+                        else
+                        {
+                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
+                        }
+                    }
+                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))
+                    {
+                        // Draw only glyphs inside the bounds
+                        if ((textBoundsPosition.y + textOffsetY) <= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))
+                        {
+                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
+                        }
+                    }
+                }
+
+                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
+                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
+            }
+        }
+
+        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
+        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));
+        //---------------------------------------------------------------------------------
+    }
+
+#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)
+    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));
+#endif
+}
+
+// Gui draw rectangle using default raygui plain style with borders
+static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)
+{
+    if (color.a > 0)
+    {
+        // Draw rectangle filled with color
+        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));
+    }
+
+    if (borderWidth > 0)
+    {
+        // Draw rectangle border lines with color
+        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
+        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
+        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
+        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
+    }
+
+#if defined(RAYGUI_DEBUG_RECS_BOUNDS)
+    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));
+#endif
+}
+
+// Draw tooltip using control bounds
+static void GuiTooltip(Rectangle controlRec)
+{
+    if (!guiLocked && guiTooltip && (guiTooltipPtr != NULL) && !guiControlExclusiveMode)
+    {
+        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
+
+        if ((controlRec.x + textSize.x + 16) > GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);
+
+        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);
+
+        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);
+        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
+        GuiSetStyle(LABEL, TEXT_PADDING, 0);
+        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
+        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);
+        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);
+        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);
+    }
+}
+
+// Split controls text into multiple strings
+// Also check for multiple columns (required by GuiToggleGroup())
+static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)
+{
+    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
+    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
+    // all used memory is static... it has some limitations:
+    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
+    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
+    // NOTE: Those definitions could be externally provided if required
+
+    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user
+    // textRow is an externally provided array of integers that stores row number for every splitted string
+
+    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
+        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
+    #endif
+    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
+        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024
+    #endif
+
+    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)
+    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\0' added)
+    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
+
+    result[0] = buffer;
+    int counter = 1;
+
+    if (textRow != NULL) textRow[0] = 0;
+
+    // Count how many substrings we have on text and point to every one
+    for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
+    {
+        buffer[i] = text[i];
+        if (buffer[i] == '\0') break;
+        else if ((buffer[i] == delimiter) || (buffer[i] == '\n'))
+        {
+            result[counter] = buffer + i + 1;
+
+            if (textRow != NULL)
+            {
+                if (buffer[i] == '\n') textRow[counter] = textRow[counter - 1] + 1;
+                else textRow[counter] = textRow[counter - 1];
+            }
+
+            buffer[i] = '\0';   // Set an end of string at this point
+
+            counter++;
+            if (counter > RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
+        }
+    }
+
+    *count = counter;
+
+    return result;
+}
+
+// Convert color data from RGB to HSV
+// NOTE: Color data should be passed normalized
+static Vector3 ConvertRGBtoHSV(Vector3 rgb)
+{
+    Vector3 hsv = { 0 };
+    float min = 0.0f;
+    float max = 0.0f;
+    float delta = 0.0f;
+
+    min = (rgb.x < rgb.y)? rgb.x : rgb.y;
+    min = (min < rgb.z)? min  : rgb.z;
+
+    max = (rgb.x > rgb.y)? rgb.x : rgb.y;
+    max = (max > rgb.z)? max  : rgb.z;
+
+    hsv.z = max;            // Value
+    delta = max - min;
+
+    if (delta < 0.00001f)
+    {
+        hsv.y = 0.0f;
+        hsv.x = 0.0f;           // Undefined, maybe NAN?
+        return hsv;
+    }
+
+    if (max > 0.0f)
+    {
+        // NOTE: If max is 0, this divide would cause a crash
+        hsv.y = (delta/max);    // Saturation
+    }
+    else
+    {
+        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined
+        hsv.y = 0.0f;
+        hsv.x = 0.0f;           // Undefined, maybe NAN?
+        return hsv;
+    }
+
+    // NOTE: Comparing float values could not work properly
+    if (rgb.x >= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow & magenta
+    else
+    {
+        if (rgb.y >= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan & yellow
+        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta & cyan
+    }
+
+    hsv.x *= 60.0f;     // Convert to degrees
+
+    if (hsv.x < 0.0f) hsv.x += 360.0f;
+
+    return hsv;
+}
+
+// Convert color data from HSV to RGB
+// NOTE: Color data should be passed normalized
+static Vector3 ConvertHSVtoRGB(Vector3 hsv)
+{
+    Vector3 rgb = { 0 };
+    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;
+    long i = 0;
+
+    // NOTE: Comparing float values could not work properly
+    if (hsv.y <= 0.0f)
+    {
+        rgb.x = hsv.z;
+        rgb.y = hsv.z;
+        rgb.z = hsv.z;
+        return rgb;
+    }
+
+    hh = hsv.x;
+    if (hh >= 360.0f) hh = 0.0f;
+    hh /= 60.0f;
+
+    i = (long)hh;
+    ff = hh - i;
+    p = hsv.z*(1.0f - hsv.y);
+    q = hsv.z*(1.0f - (hsv.y*ff));
+    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));
+
+    switch (i)
+    {
+        case 0:
+        {
+            rgb.x = hsv.z;
+            rgb.y = t;
+            rgb.z = p;
+        } break;
+        case 1:
+        {
+            rgb.x = q;
+            rgb.y = hsv.z;
+            rgb.z = p;
+        } break;
+        case 2:
+        {
+            rgb.x = p;
+            rgb.y = hsv.z;
+            rgb.z = t;
+        } break;
+        case 3:
+        {
+            rgb.x = p;
+            rgb.y = q;
+            rgb.z = hsv.z;
+        } break;
+        case 4:
+        {
+            rgb.x = t;
+            rgb.y = p;
+            rgb.z = hsv.z;
+        } break;
+        case 5:
+        default:
+        {
+            rgb.x = hsv.z;
+            rgb.y = p;
+            rgb.z = q;
+        } break;
+    }
+
+    return rgb;
+}
+
+// Scroll bar control (used by GuiScrollPanel())
+static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)
+{
+    GuiState state = guiState;
+
+    // Is the scrollbar horizontal or vertical?
+    bool isVertical = (bounds.width > bounds.height)? false : true;
+
+    // The size (width or height depending on scrollbar type) of the spinner buttons
+    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?
+        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :
+        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;
+
+    // Arrow buttons [<] [>] [∧] [∨]
+    Rectangle arrowUpLeft = { 0 };
+    Rectangle arrowDownRight = { 0 };
+
+    // Actual area of the scrollbar excluding the arrow buttons
+    Rectangle scrollbar = { 0 };
+
+    // Slider bar that moves     --[///]-----
+    Rectangle slider = { 0 };
+
+    // Normalize value
+    if (value > maxValue) value = maxValue;
+    if (value < minValue) value = minValue;
+
+    int valueRange = maxValue - minValue;
+    if (valueRange <= 0) valueRange = 1;
+
+    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
+    if (sliderSize < 1) sliderSize = 1;  // TODO: Consider a minimum slider size
+
+    // Calculate rectangles for all of the components
+    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){
+        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
+        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
+        (float)spinnerSize, (float)spinnerSize };
+
+    if (isVertical)
+    {
+        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
+        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };
+
+        // Make sure the slider won't get outside of the scrollbar
+        sliderSize = (sliderSize >= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;
+        slider = RAYGUI_CLITERAL(Rectangle){
+            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
+            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),
+            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),
+            (float)sliderSize };
+    }
+    else    // horizontal
+    {
+        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
+        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };
+
+        // Make sure the slider won't get outside of the scrollbar
+        sliderSize = (sliderSize >= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;
+        slider = RAYGUI_CLITERAL(Rectangle){
+            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),
+            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
+            (float)sliderSize,
+            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };
+    }
+
+    // Update control
+    //--------------------------------------------------------------------
+    if ((state != STATE_DISABLED) && !guiLocked)
+    {
+        Vector2 mousePoint = GetMousePosition();
+
+        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
+        {
+            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) &&
+                !CheckCollisionPointRec(mousePoint, arrowUpLeft) &&
+                !CheckCollisionPointRec(mousePoint, arrowDownRight))
+            {
+                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
+                {
+                    state = STATE_PRESSED;
+
+                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
+                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
+                }
+            }
+            else
+            {
+                guiControlExclusiveMode = false;
+                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
+            }
+        }
+        else if (CheckCollisionPointRec(mousePoint, bounds))
+        {
+            state = STATE_FOCUSED;
+
+            // Handle mouse wheel
+            int wheel = (int)GetMouseWheelMove();
+            if (wheel != 0) value += wheel;
+
+            // Handle mouse button down
+            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
+            {
+                guiControlExclusiveMode = true;
+                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
+
+                // Check arrows click
+                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
+                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
+                else if (!CheckCollisionPointRec(mousePoint, slider))
+                {
+                    // If click on scrollbar position but not on slider, place slider directly on that position
+                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
+                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
+                }
+
+                state = STATE_PRESSED;
+            }
+
+            // Keyboard control on mouse hover scrollbar
+            /*
+            if (isVertical)
+            {
+                if (IsKeyDown(KEY_DOWN)) value += 5;
+                else if (IsKeyDown(KEY_UP)) value -= 5;
+            }
+            else
+            {
+                if (IsKeyDown(KEY_RIGHT)) value += 5;
+                else if (IsKeyDown(KEY_LEFT)) value -= 5;
+            }
+            */
+        }
+
+        // Normalize value
+        if (value > maxValue) value = maxValue;
+        if (value < minValue) value = minValue;
+    }
+    //--------------------------------------------------------------------
+
+    // Draw control
+    //--------------------------------------------------------------------
+    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background
+
+    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background
+    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar
+
+    // Draw arrows (using icon if available)
+    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))
+    {
+#if defined(RAYGUI_NO_ICONS)
+        GuiDrawText(isVertical? "^" : "<",
+            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
+            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
+        GuiDrawText(isVertical? "v" : ">",
+            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
+            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
+#else
+        GuiDrawText(isVertical? "#121#" : "#118#",
+            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
+            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL
+        GuiDrawText(isVertical? "#120#" : "#119#",
+            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
+            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL
+#endif
+    }
+    //--------------------------------------------------------------------
+
+    return value;
+}
+
+// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f
+// WARNING: It multiplies current alpha by alpha scale factor
+static Color GuiFade(Color color, float alpha)
+{
+    if (alpha < 0.0f) alpha = 0.0f;
+    else if (alpha > 1.0f) alpha = 1.0f;
+
+    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };
+
+    return result;
+}
+
+#if defined(RAYGUI_STANDALONE)
+// Returns a Color struct from hexadecimal value
+static Color GetColor(int hexValue)
+{
+    Color color;
+
+    color.r = (unsigned char)(hexValue >> 24) & 0xFF;
+    color.g = (unsigned char)(hexValue >> 16) & 0xFF;
+    color.b = (unsigned char)(hexValue >> 8) & 0xFF;
+    color.a = (unsigned char)hexValue & 0xFF;
+
+    return color;
+}
+
+// Returns hexadecimal value for a Color
+static int ColorToInt(Color color)
+{
+    return (((int)color.r << 24) | ((int)color.g << 16) | ((int)color.b << 8) | (int)color.a);
+}
+
+// Check if point is inside rectangle
+static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)
+{
+    bool collision = false;
+
+    if ((point.x >= rec.x) && (point.x <= (rec.x + rec.width)) &&
+        (point.y >= rec.y) && (point.y <= (rec.y + rec.height))) collision = true;
+
+    return collision;
+}
+
+// Formatting of text with variables to 'embed'
+static const char *TextFormat(const char *text, ...)
+{
+    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)
+        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256
+    #endif
+
+    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];
+
+    va_list args;
+    va_start(args, text);
+    vsprintf(buffer, text, args);
+    va_end(args);
+
+    return buffer;
+}
+
+// Draw rectangle with vertical gradient fill color
+// NOTE: This function is only used by GuiColorPicker()
+static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)
+{
+    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };
+    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
+}
+
+// Split string into multiple strings
+const char **TextSplit(const char *text, char delimiter, int *count)
+{
+    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
+    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
+    // all used memory is static... it has some limitations:
+    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
+    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
+
+    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
+        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
+    #endif
+    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
+        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE      1024
+    #endif
+
+    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };
+    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };
+    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
+
+    result[0] = buffer;
+    int counter = 0;
+
+    if (text != NULL)
+    {
+        counter = 1;
+
+        // Count how many substrings we have on text and point to every one
+        for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
+        {
+            buffer[i] = text[i];
+            if (buffer[i] == '\0') break;
+            else if (buffer[i] == delimiter)
+            {
+                buffer[i] = '\0';   // Set an end of string at this point
+                result[counter] = buffer + i + 1;
+                counter++;
+
+                if (counter == RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
+            }
+        }
+    }
+
+    *count = counter;
+    return result;
+}
+
+// Get integer value from text
+// NOTE: This function replaces atoi() [stdlib.h]
+static int TextToInteger(const char *text)
+{
+    int value = 0;
+    int sign = 1;
+
+    if ((text[0] == '+') || (text[0] == '-'))
+    {
+        if (text[0] == '-') sign = -1;
+        text++;
+    }
+
+    for (int i = 0; ((text[i] >= '0') && (text[i] <= '9')); ++i) value = value*10 + (int)(text[i] - '0');
+
+    return value*sign;
+}
+
+// Get float value from text
+// NOTE: This function replaces atof() [stdlib.h]
+// WARNING: Only '.' character is understood as decimal point
+static float TextToFloat(const char *text)
+{
+    float value = 0.0f;
+    float sign = 1.0f;
+
+    if ((text[0] == '+') || (text[0] == '-'))
+    {
+        if (text[0] == '-') sign = -1.0f;
+        text++;
+    }
+
+    int i = 0;
+    for (; ((text[i] >= '0') && (text[i] <= '9')); i++) value = value*10.0f + (float)(text[i] - '0');
+
+    if (text[i++] != '.') value *= sign;
+    else
+    {
+        float divisor = 10.0f;
+        for (; ((text[i] >= '0') && (text[i] <= '9')); i++)
+        {
+            value += ((float)(text[i] - '0'))/divisor;
+            divisor = divisor*10.0f;
+        }
+    }
+
+    return value;
+}
+
+// Encode codepoint into UTF-8 text (char array size returned as parameter)
+static const char *CodepointToUTF8(int codepoint, int *byteSize)
+{
+    static char utf8[6] = { 0 };
+    int size = 0;
+
+    if (codepoint <= 0x7f)
+    {
+        utf8[0] = (char)codepoint;
+        size = 1;
+    }
+    else if (codepoint <= 0x7ff)
+    {
+        utf8[0] = (char)(((codepoint >> 6) & 0x1f) | 0xc0);
+        utf8[1] = (char)((codepoint & 0x3f) | 0x80);
+        size = 2;
+    }
+    else if (codepoint <= 0xffff)
+    {
+        utf8[0] = (char)(((codepoint >> 12) & 0x0f) | 0xe0);
+        utf8[1] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
+        utf8[2] = (char)((codepoint & 0x3f) | 0x80);
+        size = 3;
+    }
+    else if (codepoint <= 0x10ffff)
+    {
+        utf8[0] = (char)(((codepoint >> 18) & 0x07) | 0xf0);
+        utf8[1] = (char)(((codepoint >> 12) & 0x3f) | 0x80);
+        utf8[2] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
+        utf8[3] = (char)((codepoint & 0x3f) | 0x80);
+        size = 4;
+    }
+
+    *byteSize = size;
+
+    return utf8;
+}
+
+// Get next codepoint in a UTF-8 encoded text, scanning until '\0' is found
+// When a invalid UTF-8 byte is encountered we exit as soon as possible and a '?'(0x3f) codepoint is returned
+// Total number of bytes processed are returned as a parameter
+// NOTE: the standard says U+FFFD should be returned in case of errors
+// but that character is not supported by the default font in raylib
+static int GetCodepointNext(const char *text, int *codepointSize)
+{
+    const char *ptr = text;
+    int codepoint = 0x3f;       // Codepoint (defaults to '?')
+    *codepointSize = 1;
+
+    // Get current codepoint and bytes processed
+    if (0xf0 == (0xf8 & ptr[0]))
+    {
+        // 4 byte UTF-8 codepoint
+        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80) || ((ptr[3] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
+        codepoint = ((0x07 & ptr[0]) << 18) | ((0x3f & ptr[1]) << 12) | ((0x3f & ptr[2]) << 6) | (0x3f & ptr[3]);
+        *codepointSize = 4;
+    }
+    else if (0xe0 == (0xf0 & ptr[0]))
+    {
+        // 3 byte UTF-8 codepoint */
+        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
+        codepoint = ((0x0f & ptr[0]) << 12) | ((0x3f & ptr[1]) << 6) | (0x3f & ptr[2]);
+        *codepointSize = 3;
+    }
+    else if (0xc0 == (0xe0 & ptr[0]))
+    {
+        // 2 byte UTF-8 codepoint
+        if ((ptr[1] & 0xC0) ^ 0x80) { return codepoint; } //10xxxxxx checks
+        codepoint = ((0x1f & ptr[0]) << 6) | (0x3f & ptr[1]);
+        *codepointSize = 2;
+    }
+    else if (0x00 == (0x80 & ptr[0]))
+    {
+        // 1 byte UTF-8 codepoint
+        codepoint = ptr[0];
+        *codepointSize = 1;
+    }
+
+    return codepoint;
+}
+#endif      // RAYGUI_STANDALONE
+
+#endif      // RAYGUI_IMPLEMENTATION
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
index 343c71fc11..de26735732 100755
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -41,5 +41,6 @@ make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM
 sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR
 
 # this commit needs to be in line with raylib
+set -x
 RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
-wget -O $INSTALL_H_DIR/raygui.h https://github.com/raysan5/raygui/blob/$RAYGUI_COMMIT/src/raygui.h
+wget -O $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h

From db2032c398ca855a793228ab4b67b3cd2c2ad689 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 13 Jan 2025 00:54:10 -0800
Subject: [PATCH 1217/1243] Move uds.py (#34374)

* rm uds pt. 1

* rm uds pt. 2

* imports
---
 opendbc_repo                                       | 2 +-
 panda                                              | 2 +-
 selfdrive/debug/clear_dtc.py                       | 2 +-
 selfdrive/debug/debug_fw_fingerprinting_offline.py | 2 +-
 selfdrive/debug/hyundai_enable_radar_points.py     | 2 +-
 selfdrive/debug/read_dtc_status.py                 | 3 +--
 selfdrive/debug/vw_mqb_config.py                   | 4 ++--
 7 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index c1a8eaec70..2ecc45c4ed 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c1a8eaec70f459b6f5be9b6d3433ba148b96cfa4
+Subproject commit 2ecc45c4eda285aa0135624a890fd3a17146cae5
diff --git a/panda b/panda
index 6ee9c8d85a..045fc443ab 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 6ee9c8d85a0e27ef72df685195d59d951a8b9c45
+Subproject commit 045fc443ab86018764295e0da81d4c4343fe825e
diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py
index a931c423a9..55e2bb47de 100755
--- a/selfdrive/debug/clear_dtc.py
+++ b/selfdrive/debug/clear_dtc.py
@@ -2,8 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 
 parser = argparse.ArgumentParser(description="clear DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py
index 3df2924738..2c6a946b6f 100755
--- a/selfdrive/debug/debug_fw_fingerprinting_offline.py
+++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import argparse
 
+from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
-from panda.python import uds
 
 
 def main(route: str | None, addrs: list[int]):
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index 5e7080ef64..298a719e86 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -16,8 +16,8 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
 
+from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 from panda.python import Panda
-from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 
 class ConfigValues(NamedTuple):
   default_config: bytes
diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py
index 2d27dd2bb2..80f7ef0cd0 100755
--- a/selfdrive/debug/read_dtc_status.py
+++ b/selfdrive/debug/read_dtc_status.py
@@ -2,9 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
 from panda import Panda
-from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE
-from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names
 
 parser = argparse.ArgumentParser(description="read DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0))
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 6df1e57ce3..0cd9534d0e 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -3,9 +3,9 @@
 import argparse
 import struct
 from enum import IntEnum
-from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
+from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from panda import Panda
 from datetime import date
 
 # TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks

From 71951566c53e27638139236a03de31feeb75b764 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Mon, 13 Jan 2025 03:22:04 -0600
Subject: [PATCH 1218/1243] Keyboard: add missing control btns to uppercase
 (#34344)

* add-slash-to uppercase

* Trigger UI preview workflow
---
 selfdrive/ui/qt/widgets/keyboard.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc
index 629ea94f20..0583870245 100644
--- a/selfdrive/ui/qt/widgets/keyboard.cc
+++ b/selfdrive/ui/qt/widgets/keyboard.cc
@@ -116,7 +116,7 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
     {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"},
     {"A", "S", "D", "F", "G", "H", "J", "K", "L"},
     {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY},
-    {"123", "  ", ".", ENTER_KEY},
+    {"123", "/", "-", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, uppercase));
 

From 7b09d0876492bf5e973848df511f04ed47ffe2e7 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Mon, 13 Jan 2025 11:05:22 -0600
Subject: [PATCH 1219/1243] CI: Add missing uppercase_keyboard UI view (#34347)

* add-uppercase-preview

* testing-UI-on-fork

* change back

* add-my-branch

* needs to see sha from fork for test

* fix missing sha

* change back

* get correct named artifact

* try this

* experimenting coordinates

* try these coordinates

* try these coordinates

* draws circles to see touches - changes coordinates

* try these changes

* better coordinates

* click is more centered

* try again

* revert back

* revert these too

* last revert...
---
 .github/workflows/ui_preview.yaml | 2 +-
 selfdrive/ui/tests/test_ui/run.py | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f9d7feba87..7936192ca8 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
           A=($scenes)
 
           DIFF=""
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 2c4d8d7037..c71627ad93 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -125,6 +125,10 @@ def setup_keyboard(click, pm: PubMaster):
   click(250, 965)
   click(1930, 228)
 
+def setup_keyboard_uppercase(click, pm: PubMaster):
+  setup_keyboard(click, pm)
+  click(200, 800)
+
 def setup_driver_camera(click, pm: PubMaster):
   setup_settings_device(click, pm)
   click(1950, 435)
@@ -197,7 +201,8 @@ CASES = {
   "body": setup_body,
   "offroad_alert": setup_offroad_alert,
   "update_available": setup_update_available,
-  "keyboard": setup_keyboard
+  "keyboard": setup_keyboard,
+  "keyboard_uppercase": setup_keyboard_uppercase
 }
 
 TEST_DIR = pathlib.Path(__file__).parent

From 4d714113d11d1fd609cd180090a0a033034214f8 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 13 Jan 2025 09:38:17 -0800
Subject: [PATCH 1220/1243] [bot] Update Python packages (#34376)

* Update Python packages

* time -> time_helpers

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 common/{time.py => time_helpers.py} |  0
 system/qcomgpsd/qcomgpsd.py         |  2 +-
 system/timed.py                     |  2 +-
 system/ubloxd/pigeond.py            |  2 +-
 system/updated/updated.py           |  2 +-
 uv.lock                             | 88 ++++++++++++++---------------
 6 files changed, 48 insertions(+), 48 deletions(-)
 rename common/{time.py => time_helpers.py} (100%)

diff --git a/common/time.py b/common/time_helpers.py
similarity index 100%
rename from common/time.py
rename to common/time_helpers.py
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index e768ec32e9..dc7854671d 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -17,7 +17,7 @@ from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.retry import retry
-from openpilot.common.time import system_time_valid
+from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
diff --git a/system/timed.py b/system/timed.py
index de9b0ffb59..b7131b04c0 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -5,7 +5,7 @@ import time
 from typing import NoReturn
 
 import cereal.messaging as messaging
-from openpilot.common.time import min_date, system_time_valid
+from openpilot.common.time_helpers import min_date, system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.gps import get_gps_location_service
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 2b34ec2ea8..2194a4b9d2 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -9,7 +9,7 @@ import urllib.parse
 from datetime import datetime, UTC
 
 from cereal import messaging
-from openpilot.common.time import system_time_valid
+from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import TICI
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 6f9fe173d8..a1a74c322c 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -14,7 +14,7 @@ from pathlib import Path
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.time import system_time_valid
+from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
diff --git a/uv.lock b/uv.lock
index e25fd79c42..cf85eb14b4 100644
--- a/uv.lock
+++ b/uv.lock
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+sdist = { url = "https://files.pythonhosted.org/packages/67/3e/e89f736f01aa9517a97e2e7e0ce8d34a4d8207087b3cfdec95133fee13b5/ruff-0.9.1.tar.gz", hash = "sha256:fd2b25ecaf907d6458fa842675382c8597b3c746a2dde6717fe3415425df0c17", size = 3498844 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/dc/05/c3a2e0feb3d5d394cdfd552de01df9d3ec8a3a3771bbff247fab7e668653/ruff-0.9.1-py3-none-linux_armv6l.whl", hash = "sha256:84330dda7abcc270e6055551aca93fdde1b0685fc4fd358f26410f9349cf1743", size = 10645241 },
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+    { url = "https://files.pythonhosted.org/packages/e4/3b/7235bbeff00c95dc2d073cfdbf2b871b5bbf476754c5d277815d286b4328/ruff-0.9.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:728d791b769cc28c05f12c280f99e8896932e9833fef1dd8756a6af2261fd1ab", size = 10882610 },
+    { url = "https://files.pythonhosted.org/packages/2a/66/5599d23257c61cf038137f82999ca8f9d0080d9d5134440a461bef85b461/ruff-0.9.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:2f312c86fb40c5c02b44a29a750ee3b21002bd813b5233facdaf63a51d9a85e1", size = 10489273 },
+    { url = "https://files.pythonhosted.org/packages/78/85/de4aa057e2532db0f9761e2c2c13834991e087787b93e4aeb5f1cb10d2df/ruff-0.9.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:ae017c3a29bee341ba584f3823f805abbe5fe9cd97f87ed07ecbf533c4c88366", size = 11003314 },
+    { url = "https://files.pythonhosted.org/packages/00/42/afedcaa089116d81447347f76041ff46025849fedb0ed2b187d24cf70fca/ruff-0.9.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:5dc40a378a0e21b4cfe2b8a0f1812a6572fc7b230ef12cd9fac9161aa91d807f", size = 11342982 },
+    { url = "https://files.pythonhosted.org/packages/39/c6/fe45f3eb27e3948b41a305d8b768e949bf6a39310e9df73f6c576d7f1d9f/ruff-0.9.1-py3-none-win32.whl", hash = "sha256:46ebf5cc106cf7e7378ca3c28ce4293b61b449cd121b98699be727d40b79ba72", size = 8819750 },
+    { url = "https://files.pythonhosted.org/packages/38/8d/580db77c3b9d5c3d9479e55b0b832d279c30c8f00ab0190d4cd8fc67831c/ruff-0.9.1-py3-none-win_amd64.whl", hash = "sha256:342a824b46ddbcdddd3abfbb332fa7fcaac5488bf18073e841236aadf4ad5c19", size = 9701331 },
+    { url = "https://files.pythonhosted.org/packages/b2/94/0498cdb7316ed67a1928300dd87d659c933479f44dec51b4f62bfd1f8028/ruff-0.9.1-py3-none-win_arm64.whl", hash = "sha256:1cd76c7f9c679e6e8f2af8f778367dca82b95009bc7b1a85a47f1521ae524fa7", size = 9145708 },
 ]
 
 [[package]]
@@ -4875,11 +4875,11 @@ wheels = [
 
 [[package]]
 name = "setuptools"
-version = "75.7.0"
+version = "75.8.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ac/57/e6f0bde5a2c333a32fbcce201f906c1fd0b3a7144138712a5e9d9598c5ec/setuptools-75.7.0.tar.gz", hash = "sha256:886ff7b16cd342f1d1defc16fc98c9ce3fde69e087a4e1983d7ab634e5f41f4f", size = 1338616 }
+sdist = { url = "https://files.pythonhosted.org/packages/92/ec/089608b791d210aec4e7f97488e67ab0d33add3efccb83a056cbafe3a2a6/setuptools-75.8.0.tar.gz", hash = "sha256:c5afc8f407c626b8313a86e10311dd3f661c6cd9c09d4bf8c15c0e11f9f2b0e6", size = 1343222 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/4e/6e/abdfaaf5c294c553e7a81cf5d801fbb4f53f5c5b6646de651f92a2667547/setuptools-75.7.0-py3-none-any.whl", hash = "sha256:84fb203f278ebcf5cd08f97d3fb96d3fbed4b629d500b29ad60d11e00769b183", size = 1224467 },
+    { url = "https://files.pythonhosted.org/packages/69/8a/b9dc7678803429e4a3bc9ba462fa3dd9066824d3c607490235c6a796be5a/setuptools-75.8.0-py3-none-any.whl", hash = "sha256:e3982f444617239225d675215d51f6ba05f845d4eec313da4418fdbb56fb27e3", size = 1228782 },
 ]
 
 [[package]]

From 1ab98e38e5012db424b7f5dd268270c738e2a332 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 14 Jan 2025 06:52:03 +0800
Subject: [PATCH 1221/1243] raylib: refactor to implement new App class
 (#34375)

refactor to implement new App class
---
 system/ui/raylib/spinner.cc |  8 ++---
 system/ui/raylib/util.cc    | 69 +++++++++++++++++++++----------------
 system/ui/raylib/util.h     | 16 +++++++--
 3 files changed, 57 insertions(+), 36 deletions(-)

diff --git a/system/ui/raylib/spinner.cc b/system/ui/raylib/spinner.cc
index 891d34b2d5..7190953631 100644
--- a/system/ui/raylib/spinner.cc
+++ b/system/ui/raylib/spinner.cc
@@ -12,7 +12,7 @@ constexpr int kTextureSize = 360;
 constexpr int kFontSize = 80;
 
 int main(int argc, char *argv[]) {
-  initApp("spinner", 30);
+  App app("spinner", 30);
 
   // Turn off input buffering for std::cin
   std::cin.sync_with_stdio(false);
@@ -55,14 +55,12 @@ int main(int argc, char *argv[]) {
         bar.width *= progress / 100.0f;
         DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_RAYWHITE);
       } else {
-        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
-        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
+        Vector2 textSize = MeasureTextEx(app.getFont(), userInput.c_str(), kFontSize, 1.0);
+        DrawTextEx(app.getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
       }
     }
 
     EndDrawing();
   }
-
-  CloseWindow();
   return 0;
 }
diff --git a/system/ui/raylib/util.cc b/system/ui/raylib/util.cc
index 46f8a4fd3f..be7137220c 100644
--- a/system/ui/raylib/util.cc
+++ b/system/ui/raylib/util.cc
@@ -1,6 +1,7 @@
 #include "system/ui/raylib/util.h"
 
 #include <array>
+#include <filesystem>
 
 #undef GREEN
 #undef RED
@@ -9,35 +10,16 @@
 #include "system/hardware/hw.h"
 
 constexpr std::array<const char *, static_cast<int>(FontWeight::Count)> FONT_FILE_PATHS = {
-    "../../assets/fonts/Inter-Black.ttf",
-    "../../assets/fonts/Inter-Bold.ttf",
-    "../../assets/fonts/Inter-ExtraBold.ttf",
-    "../../assets/fonts/Inter-ExtraLight.ttf",
-    "../../assets/fonts/Inter-Medium.ttf",
-    "../../assets/fonts/Inter-Regular.ttf",
-    "../../assets/fonts/Inter-SemiBold.ttf",
-    "../../assets/fonts/Inter-Thin.ttf",
+    "../../selfdrive/assets/fonts/Inter-Black.ttf",
+    "../../selfdrive/assets/fonts/Inter-Bold.ttf",
+    "../../selfdrive/assets/fonts/Inter-ExtraBold.ttf",
+    "../../selfdrive/assets/fonts/Inter-ExtraLight.ttf",
+    "../../selfdrive/assets/fonts/Inter-Medium.ttf",
+    "../../selfdrive/assets/fonts/Inter-Regular.ttf",
+    "../../selfdrive/assets/fonts/Inter-SemiBold.ttf",
+    "../../selfdrive/assets/fonts/Inter-Thin.ttf",
 };
 
-struct FontManager {
-  FontManager() {
-    for (int i = 0; i < fonts.size(); ++i) {
-      fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
-    }
-  }
-
-  ~FontManager() {
-    for (auto &f : fonts) UnloadFont(f);
-  }
-
-  std::array<Font, static_cast<int>(FontWeight::Count)> fonts;
-};
-
-const Font& getFont(FontWeight weight) {
-  static FontManager font_manager;
-  return font_manager.fonts[(int)weight];
-}
-
 Texture2D LoadTextureResized(const char *fileName, int size) {
   Image img = LoadImage(fileName);
   ImageResize(&img, size, size);
@@ -45,10 +27,39 @@ Texture2D LoadTextureResized(const char *fileName, int size) {
   return texture;
 }
 
-void initApp(const char *title, int fps) {
+App *pApp = nullptr;
+
+App::App(const char *title, int fps) {
+  // Ensure the current dir matches the exectuable's directory
+  auto self_path = util::readlink("/proc/self/exe");
+  auto exe_dir = std::filesystem::path(self_path).parent_path();
+  chdir(exe_dir.c_str());
+
   Hardware::set_display_power(true);
   Hardware::set_brightness(65);
+
   // SetTraceLogLevel(LOG_NONE);
-  InitWindow(2160, 1080, title);
+  InitWindow(0, 0, title);
   SetTargetFPS(fps);
+
+  // Load fonts
+  fonts_.reserve(FONT_FILE_PATHS.size());
+  for (int i = 0; i < FONT_FILE_PATHS.size(); ++i) {
+    fonts_.push_back(LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250));
+  }
+
+  pApp = this;
+}
+
+App::~App() {
+  for (auto &font : fonts_) {
+    UnloadFont(font);
+  }
+
+  CloseWindow();
+  pApp = nullptr;
+}
+
+const Font &App::getFont(FontWeight weight) const {
+  return fonts_[static_cast<int>(weight)];
 }
diff --git a/system/ui/raylib/util.h b/system/ui/raylib/util.h
index 1e2662fb90..5bc05ddc25 100644
--- a/system/ui/raylib/util.h
+++ b/system/ui/raylib/util.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <string>
+#include <vector>
 
 #include "system/ui/raylib/raylib.h"
 
@@ -16,6 +17,17 @@ enum class FontWeight {
   Count // To represent the total number of fonts
 };
 
-void initApp(const char *title, int fps);
-const Font& getFont(FontWeight weight = FontWeight::Normal);
 Texture2D LoadTextureResized(const char *fileName, int size);
+
+class App {
+public:
+  App(const char *title, int fps);
+  ~App();
+  const Font &getFont(FontWeight weight = FontWeight::Normal) const;
+
+protected:
+  std::vector<Font> fonts_;
+};
+
+// Global pointer to the App instance
+extern App *pApp;

From 57abd8b0c2a03e11d63f69ee0d6cf799dd875802 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 13 Jan 2025 19:31:21 -0800
Subject: [PATCH 1222/1243] Remove release files (conceptually) (#34379)

* Remove release files (conceptually)

* fix
---
 .github/workflows/selfdrive_tests.yaml |  10 +--
 release/release_files.py               | 104 +------------------------
 2 files changed, 3 insertions(+), 111 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 09fb52b9c2..67cbc5f097 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -64,15 +64,7 @@ jobs:
       timeout-minutes: 1
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
-    - name: Static analysis
-      timeout-minutes: 1
-      run: |
-        cd $GITHUB_WORKSPACE
-        cp pyproject.toml $STRIPPED_DIR
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
+        ${{ env.RUN }} "release/check-dirty.sh"
 
   build:
     runs-on:
diff --git a/release/release_files.py b/release/release_files.py
index 0e1ed852a2..6aabdf0a4c 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -6,39 +6,10 @@ from pathlib import Path
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = HERE + "/.."
 
-# blacklisting is for two purposes:
-# - minimizing release download size
-# - keeping the diff readable
 blacklist = [
-  "panda/drivers/",
-  "panda/examples/",
-  "panda/tests/safety/",
-
-  "opendbc_repo/dbc/.*.dbc$",
-  "opendbc_repo/dbc/generator/",
-
-  "cereal/.*test.*",
-  "^common/tests/",
-
-  # particularly large text files
-  "uv.lock",
-  "third_party/catch2",
-  "selfdrive/car/tests/test_models.*",
-
-  "^tools/",
-  "^tinygrad_repo/",
-
-  "matlab.*.md",
-
   ".git/",
-  ".github/",
-  "Darwin/",
-  ".vscode",
 
-  # common things
-  "LICENSE",
-  "Dockerfile",
-  ".pre-commit",
+  "matlab.*.md",
 
   # no LFS or submodules in release
   ".lfsconfig",
@@ -48,80 +19,9 @@ blacklist = [
 ]
 
 # gets you through the blacklist
-whitelist = [
-  "tools/lib/",
-  "tools/bodyteleop/",
-  "tools/joystick/",
-  "tools/longitudinal_maneuvers/",
-
-  "tinygrad_repo/examples/openpilot/compile3.py",
-  "tinygrad_repo/extra/onnx.py",
-  "tinygrad_repo/extra/onnx_ops.py",
-  "tinygrad_repo/extra/thneed.py",
-  "tinygrad_repo/extra/utils.py",
-  "tinygrad_repo/tinygrad/codegen/kernel.py",
-  "tinygrad_repo/tinygrad/codegen/linearizer.py",
-  "tinygrad_repo/tinygrad/features/image.py",
-  "tinygrad_repo/tinygrad/features/search.py",
-  "tinygrad_repo/tinygrad/nn/*",
-  "tinygrad_repo/tinygrad/renderer/cstyle.py",
-  "tinygrad_repo/tinygrad/renderer/opencl.py",
-  "tinygrad_repo/tinygrad/runtime/lib.py",
-  "tinygrad_repo/tinygrad/runtime/ops_cpu.py",
-  "tinygrad_repo/tinygrad/runtime/ops_disk.py",
-  "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
-  "tinygrad_repo/tinygrad/shape/*",
-  "tinygrad_repo/tinygrad/.*.py",
-
-  # TODO: do this automatically
-  "opendbc_repo/dbc/comma_body.dbc",
-  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
-  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
-  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
-  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
-  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
-  "opendbc_repo/dbc/gm_global_a_object.dbc",
-  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
-  "opendbc_repo/dbc/FORD_CADS.dbc",
-  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
-  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
-  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
-  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
-  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
-  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
-  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
-  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
-  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
-  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
-  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
-  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
-  "opendbc_repo/dbc/hyundai_canfd.dbc",
-  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
-  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
-  "opendbc_repo/dbc/mazda_2017.dbc",
-  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
-  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
-  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
-  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
-  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
-  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
-  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
-  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_adas.dbc",
-  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
-  "opendbc_repo/dbc/vw_golf_mk4.dbc",
-  "opendbc_repo/dbc/vw_mqb_2010.dbc",
+whitelist: list[str] = [
 ]
 
-
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):
     if not (f.is_file() or f.is_symlink()):

From 0e7c697bad11ae314125fb75a38fc5a0c1d53a04 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 14 Jan 2025 11:45:13 +0800
Subject: [PATCH 1223/1243] raylib: revert auto fit screen size (#34380)

revert auto fit screen size
---
 system/ui/raylib/util.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/ui/raylib/util.cc b/system/ui/raylib/util.cc
index be7137220c..32904bd724 100644
--- a/system/ui/raylib/util.cc
+++ b/system/ui/raylib/util.cc
@@ -39,7 +39,7 @@ App::App(const char *title, int fps) {
   Hardware::set_brightness(65);
 
   // SetTraceLogLevel(LOG_NONE);
-  InitWindow(0, 0, title);
+  InitWindow(2160, 1080, title);
   SetTargetFPS(fps);
 
   // Load fonts

From f771ddac88fa424c0263086f091b341bd8795e90 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 14 Jan 2025 14:12:05 -0500
Subject: [PATCH 1224/1243] PlotJuggler: Layout for debugging
 locationdTemporaryError (#34381)

* PlotJuggler: layout for debugging locationd

* not needed, and codespell doesn't like it
---
 tools/plotjuggler/layouts/locationd_debug.xml | 100 ++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 tools/plotjuggler/layouts/locationd_debug.xml

diff --git a/tools/plotjuggler/layouts/locationd_debug.xml b/tools/plotjuggler/layouts/locationd_debug.xml
new file mode 100644
index 0000000000..5377e1535c
--- /dev/null
+++ b/tools/plotjuggler/layouts/locationd_debug.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter sizes="0.166588;0.167062;0.166113;0.166588;0.167062;0.166588" orientation="-" count="6">
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="1.025000" bottom="-0.025000"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/livePose/inputsOK"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="14.542814" bottom="-5.586039"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/accelerometer/acceleration/v/0"/>
+       <curve color="#9467bd" name="/accelerometer/acceleration/v/1"/>
+       <curve color="#17becf" name="/accelerometer/acceleration/v/2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="0.988911" bottom="-0.745939"/>
+       <limitY/>
+       <curve color="#d62728" name="/gyroscope/gyroUncalibrated/v/0"/>
+       <curve color="#1ac938" name="/gyroscope/gyroUncalibrated/v/1"/>
+       <curve color="#ff7f0e" name="/gyroscope/gyroUncalibrated/v/2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="1.025000" bottom="-0.025000"/>
+       <limitY/>
+       <curve color="#17becf" name="/accelerometer/__valid"/>
+       <curve color="#bcbd22" name="/gyroscope/__valid"/>
+       <curve color="#f14cc1" name="/carState/__valid"/>
+       <curve color="#1ac938" name="/liveCalibration/__valid"/>
+       <curve color="#9467bd" name="/cameraOdometry/__valid"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="1000000000.292252" bottom="999999999.735447"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/gyroscope/__logMonoTime">
+        <transform alias="/gyroscope/__logMonoTime[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/accelerometer/__logMonoTime">
+        <transform alias="/accelerometer/__logMonoTime[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="20790107743.932232" bottom="-529653831.495853"/>
+       <limitY/>
+       <curve color="#bcbd22" name="/accelerometer/timestamp">
+        <transform alias="/accelerometer/timestamp[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/gyroscope/timestamp">
+        <transform alias="/gyroscope/timestamp[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default delimiter="0" time_axis=""/>
+  </plugin>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

From c54cd4569a2a804994be3bec9e560267316e21d7 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Tue, 14 Jan 2025 13:32:09 -0800
Subject: [PATCH 1225/1243] Toyota: remove longitudinal derivative (#34378)

* Update Python packages

* update refs

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                             | 2 +-
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 10d10d4cfc..331fae54f1 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 2ecc45c4ed..43168b3dc2 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2ecc45c4eda285aa0135624a890fd3a17146cae5
+Subproject commit 43168b3dc2cfcf0cbfa4a025328ae337d02a73c0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3120a4de3a..990d8e1083 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-1f37082d56a60f20ba9e36b702a23cbdde3caca7
+95660c3f59ea12ccf42154e9bd24ef9791c58d0e
\ No newline at end of file

From 8eebce75ac737f6aa14e51496daec7b8979eb38a Mon Sep 17 00:00:00 2001
From: Sammohana <sammohana@proton.me>
Date: Wed, 15 Jan 2025 04:22:56 +0530
Subject: [PATCH 1226/1243] Getting rid of openpilot.common.numpy_fast (#34368)

* Got rid openpilot.common.numpy_fast

* fixed some data type erros

* importing numpy instead of importing specific functions

* fixing some numpy importing mistakes

* Update selfdrive/car/cruise.py

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 common/pid.py                                 | 15 +++++-------
 common/tests/test_numpy_fast.py               | 21 ----------------
 selfdrive/car/cruise.py                       |  6 ++---
 selfdrive/controls/controlsd.py               | 11 +++++----
 selfdrive/controls/lib/drive_helpers.py       |  8 +++----
 selfdrive/controls/lib/latcontrol.py          |  4 ++--
 selfdrive/controls/lib/latcontrol_angle.py    |  2 +-
 selfdrive/controls/lib/latcontrol_pid.py      | 10 ++++----
 selfdrive/controls/lib/latcontrol_torque.py   | 24 +++++++++----------
 selfdrive/controls/lib/longcontrol.py         |  4 ++--
 .../lib/longitudinal_mpc_lib/long_mpc.py      |  7 +++---
 .../controls/lib/longitudinal_planner.py      | 21 ++++++++--------
 selfdrive/controls/radard.py                  |  4 ++--
 selfdrive/debug/live_cpu_and_temp.py          |  6 ++---
 selfdrive/locationd/paramsd.py                | 15 ++++++------
 selfdrive/monitoring/helpers.py               |  6 ++---
 .../test/longitudinal_maneuvers/plant.py      |  2 +-
 system/hardware/fan_controller.py             |  4 ++--
 tools/joystick/joystick_control.py            |  6 ++---
 tools/joystick/joystickd.py                   |  6 ++---
 tools/sim/bridge/common.py                    |  6 ++---
 21 files changed, 81 insertions(+), 107 deletions(-)
 delete mode 100644 common/tests/test_numpy_fast.py

diff --git a/common/pid.py b/common/pid.py
index 36cbf9c4e9..f2ab935f45 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number
 
-from openpilot.common.numpy_fast import clip, interp
-
-
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
@@ -28,15 +25,15 @@ class PIDController:
 
   @property
   def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
   @property
   def error_integral(self):
@@ -64,10 +61,10 @@ class PIDController:
 
         # Clip i to prevent exceeding control limits
         control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control
diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py
deleted file mode 100644
index aa53851db0..0000000000
--- a/common/tests/test_numpy_fast.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import numpy as np
-
-from openpilot.common.numpy_fast import interp
-
-
-class TestInterp:
-  def test_correctness_controls(self):
-    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
-    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
-    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
-                 39.999999, 40, 41]
-
-    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-
-    np.testing.assert_equal(actual, expected)
-
-    for v_ego in v_ego_arr:
-      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-      np.testing.assert_equal(actual, expected)
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index b92d0c7465..697d0273a5 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -1,8 +1,8 @@
 import math
+import numpy as np
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -106,7 +106,7 @@ class VCruiseHelper:
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
@@ -130,6 +130,6 @@ class VCruiseHelper:
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
-      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 64be434081..c215a42a6d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -106,15 +106,16 @@ class Controls:
 
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
     self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = self.desired_curvature
-    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+    actuators.curvature = float(self.desired_curvature)
+    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                             self.steer_limited, self.desired_curvature,
                                                                             self.calibrated_pose) # TODO what if not available
-
+    actuators.steer = float(steer)
+    actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -179,7 +180,7 @@ class Controls:
 
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = self.desired_curvature
+    cs.desiredCurvature = float(self.desired_curvature)
     cs.longControlState = self.LoC.long_control_state
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 66b92319ca..dcb0093a18 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import log
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_SPEED = 1.0
@@ -13,10 +13,10 @@ MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(new_curvature,
+  safe_desired_curvature = np.clip(new_curvature,
                                 prev_curvature - max_curvature_rate * DT_CTRL,
                                 prev_curvature + max_curvature_rate * DT_CTRL)
 
@@ -26,6 +26,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):
-    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 0e4a27da61..f84f70be4f 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,6 +1,6 @@
+import numpy as np
 from abc import abstractmethod, ABC
 
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
@@ -28,5 +28,5 @@ class LatControl(ABC):
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
-    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
     return self.sat_count > (self.sat_limit - 1e-3)
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index d3da656daa..4162bd62dc 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
+    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index d7edd39f8a..dedc97a964 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -39,10 +39,10 @@ class LatControlPID(LatControl):
       output_steer = self.pid.update(error, override=CS.steeringPressed,
                                      feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.f = self.pid.f
-      pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
 
     return output_steer, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 55a37c1f4b..d66e5be28d 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -1,8 +1,8 @@
 import math
+import numpy as np
 
 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
-from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,7 +51,7 @@ class LatControlTorque(LatControl):
       else:
         assert calibrated_pose is not None
         actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
         curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
@@ -60,7 +60,7 @@ class LatControlTorque(LatControl):
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
@@ -68,7 +68,7 @@ class LatControlTorque(LatControl):
                                                             setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
       torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                                measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = torque_from_setpoint - torque_from_measurement
+      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
       ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
@@ -80,14 +80,14 @@ class LatControlTorque(LatControl):
                                       freeze_integrator=freeze_integrator)
 
       pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.d = self.pid.d
-      pid_log.f = self.pid.f
-      pid_log.output = -output_torque
-      pid_log.actualLateralAccel = actual_lateral_accel
-      pid_log.desiredLateralAccel = desired_lateral_accel
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(actual_lateral_accel)
+      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index e18ee0c279..6d4f922461 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -84,5 +84,5 @@ class LongControl:
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
 
-    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
+    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 65e1421d77..579ee85fd4 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -4,7 +4,6 @@ import time
 import numpy as np
 from cereal import log
 from opendbc.car.interfaces import ACCEL_MIN
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -320,9 +319,9 @@ class LongitudinalMpc:
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
     min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
-    x_lead = clip(x_lead, min_x_lead, 1e8)
-    v_lead = clip(v_lead, 0.0, 1e8)
-    a_lead = clip(a_lead, -10., 5.)
+    x_lead = np.clip(x_lead, min_x_lead, 1e8)
+    v_lead = np.clip(v_lead, 0.0, 1e8)
+    a_lead = np.clip(a_lead, -10., 5.)
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index eba8019117..5560dfbb09 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.numpy_fast import clip, interp
 
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
@@ -30,7 +29,7 @@ _A_TOTAL_MAX_BP = [20., 40.]
 
 
 def get_max_accel(v_ego):
-  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
@@ -43,7 +42,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
-  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
   a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
   a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
 
@@ -55,9 +54,9 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
     v_now = speeds[0]
     a_now = accels[0]
 
-    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
+    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
   else:
     v_target = 0.0
     v_target_1sec = 0.0
@@ -139,7 +138,7 @@ class LongitudinalPlanner:
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -151,7 +150,7 @@ class LongitudinalPlanner:
 
     if not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
-      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
       accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
@@ -176,7 +175,7 @@ class LongitudinalPlanner:
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
+    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
@@ -200,9 +199,9 @@ class LongitudinalPlanner:
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
                                                 action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = a_target
-    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.aTarget = float(a_target)
+    longitudinalPlan.shouldStop = bool(should_stop)
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = self.allow_throttle
+    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index fb69fb736f..ea05c00d35 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import math
+import numpy as np
 from collections import deque
 from typing import Any
 
 import capnp
 from cereal import messaging, log, car
-from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -44,7 +44,7 @@ class KalmanParams:
           0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
           0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
           0.26393339, 0.26278425]
-    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
+    self.K = [[np.interp(dt, dts, K0)], [np.interp(dt, dts, K1)]]
 
 
 class Track:
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py
index 8549b92665..ee0524ec9d 100755
--- a/selfdrive/debug/live_cpu_and_temp.py
+++ b/selfdrive/debug/live_cpu_and_temp.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
+import numpy as np
 import capnp
 from collections import defaultdict
 
 from cereal.messaging import SubMaster
-from openpilot.common.numpy_fast import mean
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -49,7 +49,7 @@ if __name__ == "__main__":
 
     if sm.updated['deviceState']:
       t = sm['deviceState']
-      last_temp = mean(t.cpuTempC)
+      last_temp = np.mean(t.cpuTempC)
       last_mem = t.memoryUsagePercent
 
     if sm.updated['procLog']:
@@ -72,7 +72,7 @@ if __name__ == "__main__":
       total_times = total_times_new[:]
       busy_times = busy_times_new[:]
 
-      print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
+      print(f"CPU {100.0 * np.mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
       if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
         procs: dict[str, float] = defaultdict(float)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 19ded3b4f7..da2f3f20bb 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -8,7 +8,6 @@ import cereal.messaging as messaging
 from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -66,7 +65,7 @@ class ParamsLearner:
         # This is done to bound the road roll estimate when localizer values are invalid
         roll = 0.0
         roll_std = np.radians(10.0)
-      self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
+      self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
       yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
@@ -203,11 +202,11 @@ def main():
         learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
         x = learner.kf.x
 
-      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()),
+      angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()),
                                   angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
+      angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
                           angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
-      roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
+      roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
       roll_std = float(P[States.ROAD_ROLL].item())
       if learner.active and learner.speed > LOW_ACTIVE_SPEED:
         # Account for the opposite signs of the yaw rates
@@ -226,9 +225,9 @@ def main():
       liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-      liveParameters.roll = roll
-      liveParameters.angleOffsetAverageDeg = angle_offset_average
-      liveParameters.angleOffsetDeg = angle_offset
+      liveParameters.roll = float(roll)
+      liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
+      liveParameters.angleOffsetDeg = float(angle_offset)
       liveParameters.valid = all((
         avg_offset_valid,
         total_offset_valid,
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 88665778a2..337be3a2ae 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -1,9 +1,9 @@
 from math import atan2
+import numpy as np
 
 from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
@@ -205,10 +205,10 @@ class DriverMonitoring:
     bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
                                            [self.settings._POSE_PITCH_THRESHOLD_SLACK,
                                             self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
                                            [self.settings._POSE_YAW_THRESHOLD_SLACK,
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index c08ac6d369..026c8ce22a 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -121,7 +121,7 @@ class Plant:
     ss.selfdriveState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
-    car_state.carState.standstill = self.speed < 0.01
+    car_state.carState.standstill = bool(self.speed < 0.01)
     car_state.carState.vCruise = float(v_cruise * 3.6)
     car_control.carControl.orientationNED = [0., float(pitch), 0.]
 
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index f72e183cde..be93d5922a 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
+import numpy as np
 from abc import ABC, abstractmethod
 
 from openpilot.common.realtime import DT_HW
-from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.pid import PIDController
 
@@ -30,7 +30,7 @@ class TiciFanController(BaseFanController):
     error = 70 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
-                      feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
+                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
                     ))
 
     self.last_ignition = ignition
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index d31546e058..60131ba370 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -2,10 +2,10 @@
 import os
 import argparse
 import threading
+import numpy as np
 from inputs import UnpluggedError, get_gamepad
 
 from cereal import messaging
-from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.system.hardware import HARDWARE
@@ -34,7 +34,7 @@ class Keyboard:
     elif key in self.axes_map:
       axis = self.axes_map[key]
       incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
-      self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1)
+      self.axes_values[axis] = np.clip(self.axes_values[axis] + incr, -1, 1)
     else:
       return False
     return True
@@ -83,7 +83,7 @@ class Joystick:
       self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
-      norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = -np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
       self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 3e3aed34a9..21d10b36d4 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 
 import math
+import numpy as np
 
 from cereal import messaging, car
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -45,13 +45,13 @@ def joystickd_thread():
       joystick_axes = [0.0, 0.0]
 
     if CC.longActive:
-      actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
+      actuators.accel = 4.0 * np.clip(joystick_axes[0], -1, 1)
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
       max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
 
-      actuators.steer = clip(joystick_axes[1], -1, 1)
+      actuators.steer = np.clip(joystick_axes[1], -1, 1)
       actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
 
     pm.send('carControl', cc_msg)
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index bbbfd9a981..bf3be5193d 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -1,6 +1,7 @@
 import signal
 import threading
 import functools
+import numpy as np
 
 from collections import namedtuple
 from enum import Enum
@@ -9,7 +10,6 @@ from abc import ABC, abstractmethod
 
 from opendbc.car.honda.values import CruiseButtons
 from openpilot.common.params import Params
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import Ratekeeper
 from openpilot.selfdrive.test.helpers import set_params_enabled
 from openpilot.tools.sim.lib.common import SimulatorState, World
@@ -173,8 +173,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       self.simulator_state.is_engaged = self.simulated_car.sm['selfdriveState'].active
 
       if self.simulator_state.is_engaged:
-        throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
-        brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+        throttle_op = np.clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
+        brake_op = np.clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
         steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
 
         self.past_startup_engaged = True

From ea4a127ab87a139d384d00dda0c1bbda46fd9647 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 15 Jan 2025 00:12:48 +0000
Subject: [PATCH 1227/1243] process_replay: ignore unknown members in the
 migration code (#34382)

* Fix the migration for the events

* clean up

clean up

clean up

* no continue

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/test/process_replay/migration.py | 31 +++++++++++++++-------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index d531b3b7ed..f09820fdff 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,7 +1,8 @@
 from collections import defaultdict
 from collections.abc import Callable
-import functools
 import capnp
+import functools
+import traceback
 
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
@@ -424,13 +425,19 @@ def migrate_sensorEvents(msgs):
 def migrate_onroadEvents(msgs):
   ops = []
   for index, msg in msgs:
+    onroadEvents = []
+    for event in msg.onroadEventsDEPRECATED:
+      try:
+        if not str(event.name).endswith('DEPRECATED'):
+          # dict converts name enum into string representation
+          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
+      except RuntimeError:  # Member was null
+        traceback.print_exc()
+
     new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-
-    # dict converts name enum into string representation
-    new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED if
-                            not str(event.name).endswith('DEPRECATED')]
+    new_msg.onroadEvents = onroadEvents
     ops.append((index, new_msg.as_reader()))
 
   return ops, [], []
@@ -441,10 +448,16 @@ def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
     msg = msg.as_builder()
-    # dict converts name enum into string representation
-    msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in
-                                        msg.driverMonitoringState.eventsDEPRECATED if
-                                        not str(event.name).endswith('DEPRECATED')]
+    events = []
+    for event in msg.driverMonitoringState.eventsDEPRECATED:
+      try:
+        if not str(event.name).endswith('DEPRECATED'):
+          # dict converts name enum into string representation
+          events.append(log.OnroadEvent(**event.to_dict()))
+      except RuntimeError:  # Member was null
+        traceback.print_exc()
+
+    msg.driverMonitoringState.events = events
     ops.append((index, msg.as_reader()))
 
   return ops, [], []

From 2054495e797d04349f86eca18e6279c6f8e357f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 15 Jan 2025 01:37:28 +0000
Subject: [PATCH 1228/1243] process_replay: add cast in
 migrate_longitudinalPlan (#34383)

* Cast

* Something

* Remove newline
---
 selfdrive/test/process_replay/migration.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index f09820fdff..10a5cdf6ec 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -108,7 +108,8 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []
 

From a1d81e63e18afcc86309457cdca4dea811f6da09 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Jan 2025 18:52:40 -0800
Subject: [PATCH 1229/1243] Fix missing visual car dash alerts (#34385)

* fix missing visual dash alerts

* update refs
---
 selfdrive/selfdrived/selfdrived.py       | 1 +
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index d24939884d..8ed7eee675 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -440,6 +440,7 @@ class SelfdriveD:
     ss.alertStatus = self.AM.current_alert.alert_status
     ss.alertType = self.AM.current_alert.alert_type
     ss.alertSound = self.AM.current_alert.audible_alert
+    ss.alertHudVisual = self.AM.current_alert.visual_alert
 
     self.pm.send('selfdriveState', ss_msg)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 990d8e1083..9c19395fed 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-95660c3f59ea12ccf42154e9bd24ef9791c58d0e
\ No newline at end of file
+f74fe264ab57d6698a4eb550a5769c46f3d03021
\ No newline at end of file

From 3d38b139bca0b286038c3bb275ecf278fbb57337 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Jan 2025 19:37:44 -0800
Subject: [PATCH 1230/1243] card: vcruise all in one place (#34387)

* no reason to not be here

* oh this was off by a frame!

* ref
---
 selfdrive/car/card.py                    | 8 ++++----
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 92d9b7eb11..0b0631bc2b 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -180,8 +180,11 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    # TODO: mirror the carState.cruiseState struct?
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+
+    # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
@@ -238,9 +241,6 @@ class Car:
   def step(self):
     CS, RD = self.state_update()
 
-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
-
     self.state_publish(CS, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 9c19395fed..59b36850a5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f74fe264ab57d6698a4eb550a5769c46f3d03021
\ No newline at end of file
+9758f1868c1c07d5a8d294f19bf6bf7b8b1beeda
\ No newline at end of file

From b3fc4075388a739e0d4d8fcab954b83cad4a85f8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Jan 2025 19:54:28 -0800
Subject: [PATCH 1231/1243] VW: switch to common pcmCruise check (#34389)

Update car_specific.py
---
 selfdrive/car/car_specific.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 9477b36bbb..0545430967 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -122,7 +122,7 @@ class CarSpecificEvents:
 
     elif self.CP.carName == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         pcm_enable=self.CP.pcmCruise,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic

From 38fad751cb5f52a82b24b067c112baf4ab01e160 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Jan 2025 19:58:22 -0800
Subject: [PATCH 1232/1243] card: fix cruise speed initialization w/ buttons
 (#34386)

* fix initialize w/ buttons

* what

* comment
---
 selfdrive/car/card.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 0b0631bc2b..3ed835a1f5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -72,6 +72,7 @@ class Car:
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -182,7 +183,8 @@ class Car:
 
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+      # Use CarState w/ buttons from the step selfdrived enables on
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -249,6 +251,7 @@ class Car:
       self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
+    self.CS_prev = CS
 
   def params_thread(self, evt):
     while not evt.is_set():

From 2258ea310ddcd7caeb8f63ede3ae4656d0bffe3f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Jan 2025 21:37:55 -0800
Subject: [PATCH 1233/1243] Hyundai: match cancel button panda safety logic
 (#34390)

* rising edge

* should work

* TODO

* fix
---
 selfdrive/car/car_specific.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 0545430967..144f9f073b 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -149,7 +149,7 @@ class CarSpecificEvents:
       # Main button also can trigger an engagement on these cars
       self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
       events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -165,7 +165,7 @@ class CarSpecificEvents:
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if CS.doorOpen:
@@ -216,7 +216,8 @@ class CarSpecificEvents:
       if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
         events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
+      # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
+      if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
         events.add(EventName.buttonCancel)
 
     # Handle permanent and temporary steering faults

From 3f629e97eb56468a93980249acd541a1d96a1940 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jan 2025 13:54:58 -0800
Subject: [PATCH 1234/1243] release this month

---
 RELEASES.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 1ec9c9ffcd..f533848252 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,4 @@
-Version 0.9.8 (2025-02-27)
+Version 0.9.8 (2025-01-30)
 ========================
 * New driving monitoring model
   * Reduced false positives related to passengers
@@ -12,6 +12,8 @@ Version 0.9.8 (2025-02-27)
   * Rivian support
   * F-150 & Mach-E support
   * Tesla Model 3 support
+  * New driving model with gas gating
+  * Training data upload mode
 
 Version 0.9.7 (2024-06-13)
 ========================

From db61cfb2c15f7190b68aa3035bf02c40f25bd599 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jan 2025 14:20:54 -0800
Subject: [PATCH 1235/1243] Update RELEASES.md

---
 RELEASES.md | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index f533848252..d326af1d0a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,10 @@
+Version 0.9.9 (2025-03-30)
+========================
+* Coming soon
+  * Rivian support
+  * F-150 & Mach-E support
+  * Tesla Model 3 support
+
 Version 0.9.8 (2025-01-30)
 ========================
 * New driving monitoring model
@@ -9,9 +16,6 @@ Version 0.9.8 (2025-01-30)
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
 * Coming soon
-  * Rivian support
-  * F-150 & Mach-E support
-  * Tesla Model 3 support
   * New driving model with gas gating
   * Training data upload mode
 

From 707a845218205a724df1c3d88c06a24cfb40ea11 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 15 Jan 2025 14:23:58 -0800
Subject: [PATCH 1236/1243] fix uv (#34393)

uv fix
---
 uv.lock | 1438 ++++++++++++++++++++++++++-----------------------------
 1 file changed, 668 insertions(+), 770 deletions(-)

diff --git a/uv.lock b/uv.lock
index cf85eb14b4..34ad0f580f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -304,11 +304,11 @@ wheels = [
 
 [[package]]
 name = "cloudpickle"
-version = "3.1.0"
+version = "3.1.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/97/c7/f746cadd08c4c08129215cf1b984b632f9e579fc781301e63da9e85c76c1/cloudpickle-3.1.0.tar.gz", hash = "sha256:81a929b6e3c7335c863c771d673d105f02efdb89dfaba0c90495d1c64796601b", size = 66155 }
+sdist = { url = "https://files.pythonhosted.org/packages/52/39/069100b84d7418bc358d81669d5748efb14b9cceacd2f9c75f550424132f/cloudpickle-3.1.1.tar.gz", hash = "sha256:b216fa8ae4019d5482a8ac3c95d8f6346115d8835911fd4aefd1a445e4242c64", size = 22113 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/48/41/e1d85ca3cab0b674e277c8c4f678cf66a91cd2cecf93df94353a606fe0db/cloudpickle-3.1.0-py3-none-any.whl", hash = "sha256:fe11acda67f61aaaec473e3afe030feb131d78a43461b718185363384f1ba12e", size = 22021 },
+    { url = "https://files.pythonhosted.org/packages/7e/e8/64c37fadfc2816a7701fa8a6ed8d87327c7d54eacfbfb6edab14a2f2be75/cloudpickle-3.1.1-py3-none-any.whl", hash = "sha256:c8c5a44295039331ee9dad40ba100a9c7297b6f988e50e87ccdf3765a668350e", size = 20992 },
 ]
 
 [[package]]
@@ -1748,8 +1748,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/39/1b/d0b013bf7d1af7cf0a6a4fce13f5fe5813ab225313755367b36e714a63f8/pycryptodome-3.21.0-cp36-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:18caa8cfbc676eaaf28613637a89980ad2fd96e00c564135bf90bc3f0b34dd93", size = 2254397 },
     { url = "https://files.pythonhosted.org/packages/14/71/4cbd3870d3e926c34706f705d6793159ac49d9a213e3ababcdade5864663/pycryptodome-3.21.0-cp36-abi3-win32.whl", hash = "sha256:280b67d20e33bb63171d55b1067f61fbd932e0b1ad976b3a184303a3dad22764", size = 1775641 },
     { url = "https://files.pythonhosted.org/packages/43/1d/81d59d228381576b92ecede5cd7239762c14001a828bdba30d64896e9778/pycryptodome-3.21.0-cp36-abi3-win_amd64.whl", hash = "sha256:b7aa25fc0baa5b1d95b7633af4f5f1838467f1815442b22487426f94e0d66c53", size = 1812863 },
-    { url = "https://files.pythonhosted.org/packages/25/b3/09ff7072e6d96c9939c24cf51d3c389d7c345bf675420355c22402f71b68/pycryptodome-3.21.0-pp27-pypy_73-manylinux2010_x86_64.whl", hash = "sha256:2cb635b67011bc147c257e61ce864879ffe6d03342dc74b6045059dfbdedafca", size = 1691593 },
-    { url = "https://files.pythonhosted.org/packages/a8/91/38e43628148f68ba9b68dedbc323cf409e537fd11264031961fd7c744034/pycryptodome-3.21.0-pp27-pypy_73-win32.whl", hash = "sha256:4c26a2f0dc15f81ea3afa3b0c87b87e501f235d332b7f27e2225ecb80c0b1cdd", size = 1765997 },
 ]
 
 [[package]]
@@ -1837,7 +1835,7 @@ sdist = { url = "https://files.pythonhosted.org/packages/7d/ff/4c6f31a4f08979f12
 
 [[package]]
 name = "pyobjc"
-version = "10.3.2"
+version = "11.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "pyobjc-core" },
@@ -1862,6 +1860,7 @@ dependencies = [
     { name = "pyobjc-framework-businesschat", marker = "platform_release >= '18.0'" },
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@@ -1889,6 +1888,7 @@ dependencies = [
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@@ -1929,6 +1929,7 @@ dependencies = [
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-version = "10.3.2"
+version = "11.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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+    { url = "https://files.pythonhosted.org/packages/47/63/6f04faa75c4c39c54007b256a8e13838c1de213d487f561937d342ec2eac/pyobjc_framework_WebKit-11.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:163abaa5a665b59626ef20cdc3dcc5e2e3fcd9830d5fc328507e13f663acd0ed", size = 44940 },
+    { url = "https://files.pythonhosted.org/packages/3e/61/934f03510e7f49454fbf6eeff8ad2eca5d8bfbe71aa4b8a034f8132af2fa/pyobjc_framework_WebKit-11.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:2e4911519e94822011d99fdb9addf4a176f45a79808dab18dc303293f4590f7c", size = 44901 },
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 [[package]]
@@ -4830,15 +4729,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.19.2"
+version = "2.20.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/36/4a/eccdcb8c2649d53440ae1902447b86e2e2ad1bc84207c80af9696fa07614/sentry_sdk-2.19.2.tar.gz", hash = "sha256:467df6e126ba242d39952375dd816fbee0f217d119bf454a8ce74cf1e7909e8d", size = 299047 }
+sdist = { url = "https://files.pythonhosted.org/packages/68/e8/6a366c0cd5e129dda6ecb20ff097f70b18182c248d4c27e813c21f98992a/sentry_sdk-2.20.0.tar.gz", hash = "sha256:afa82713a92facf847df3c6f63cec71eb488d826a50965def3d7722aa6f0fdab", size = 300125 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/e6/0f/6f7e6cd0f4a141752caef3f79300148422fdf2b8b68b531f30b2b0c0cbda/sentry_sdk-2.20.0-py2.py3-none-any.whl", hash = "sha256:c359a1edf950eb5e80cffd7d9111f3dbeef57994cb4415df37d39fda2cf22364", size = 322576 },
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 [[package]]

From 69d33ac11defdc0a2e19a4cfd5fd859ac42fff50 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 15 Jan 2025 15:03:22 -0800
Subject: [PATCH 1237/1243] Toyota: allow brake hold (#34394)

toyota okay
---
 selfdrive/car/car_specific.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 144f9f073b..cd2d66228c 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -191,7 +191,7 @@ class CarSpecificEvents:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
       events.add(EventName.brakeHold)
     if CS.parkingBrake:
       events.add(EventName.parkBrake)

From a2ced8c8eb4043c3cb8bea2b7cfec0aa8ca9dd78 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 15 Jan 2025 16:53:39 -0800
Subject: [PATCH 1238/1243] Log satellite count in GpsLocationData (#34395)

* Log satellite count in GpsLocationData

* update refs

* forgot to build
---
 cereal/log.capnp                         | 1 +
 selfdrive/test/process_replay/ref_commit | 2 +-
 system/ubloxd/ublox_msg.cc               | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 68ea3099b8..83e64b5a85 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -409,6 +409,7 @@ struct GpsLocationData {
   speedAccuracy @12 :Float32;
 
   hasFix @13 :Bool;
+  satelliteCount @14 :Int8;
 
   enum SensorSource {
     android @0;
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 59b36850a5..56cbcae4bd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-9758f1868c1c07d5a8d294f19bf6bf7b8b1beeda
\ No newline at end of file
+87f79658023435884cee78abd9c00f61e9ad5cd9
\ No newline at end of file
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index 16b8766cf0..22c99501f3 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -134,6 +134,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
   gpsLoc.setSpeed(msg->g_speed() * 1e-03);
   gpsLoc.setBearingDeg(msg->head_mot() * 1e-5);
   gpsLoc.setHorizontalAccuracy(msg->h_acc() * 1e-03);
+  gpsLoc.setSatelliteCount(msg->num_sv());
   std::tm timeinfo = std::tm();
   timeinfo.tm_year = msg->year() - 1900;
   timeinfo.tm_mon = msg->month() - 1;

From 0539df7685b97c9490bfd61769d76bc96139b59b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 15 Jan 2025 18:50:44 -0800
Subject: [PATCH 1239/1243] bring back ui.py (#34396)

* bring back uipy

* fix it

* fix
---
 tools/replay/lib/ui_helpers.py | 226 +++++++++++++++++++++++++++++++
 tools/replay/ui.py             | 238 +++++++++++++++++++++++++++++++++
 2 files changed, 464 insertions(+)
 create mode 100644 tools/replay/lib/ui_helpers.py
 create mode 100755 tools/replay/ui.py

diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
new file mode 100644
index 0000000000..39431eca10
--- /dev/null
+++ b/tools/replay/lib/ui_helpers.py
@@ -0,0 +1,226 @@
+import itertools
+from typing import Any
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pygame
+
+from matplotlib.backends.backend_agg import FigureCanvasAgg
+
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+
+
+RED = (255, 0, 0)
+GREEN = (0, 255, 0)
+BLUE = (0, 0, 255)
+YELLOW = (255, 255, 0)
+BLACK = (0, 0, 0)
+WHITE = (255, 255, 255)
+
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = 110
+UP = UIParams
+
+METER_WIDTH = 20
+
+class Calibration:
+  def __init__(self, num_px, rpy, intrinsic, calib_scale):
+    self.intrinsic = intrinsic
+    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
+    self.zoom = calib_scale
+
+  def car_space_to_ff(self, x, y, z):
+    car_space_projective = np.column_stack((x, y, z)).T
+
+    ep = self.extrinsics_matrix.dot(car_space_projective)
+    kep = self.intrinsic.dot(ep)
+    return (kep[:-1, :] / kep[-1, :]).T
+
+  def car_space_to_bb(self, x, y, z):
+    pts = self.car_space_to_ff(x, y, z)
+    return pts / self.zoom
+
+
+_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
+def find_color(lidar_surface, color):
+  if color in _COLOR_CACHE:
+    return _COLOR_CACHE[color]
+  tcolor = 0
+  ret = 255
+  for x in lidar_surface.get_palette():
+    if x[0:3] == color:
+      ret = tcolor
+      break
+    tcolor += 1
+  _COLOR_CACHE[color] = ret
+  return ret
+
+
+def to_topdown_pt(y, x):
+  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
+  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
+    return int(px), int(py)
+  return -1, -1
+
+
+def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
+  x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
+  pts = calibration.car_space_to_bb(x, y, z)
+  pts = np.round(pts).astype(int)
+
+  # draw lidar path point on lidar
+  # find color in 8 bit
+  if lid_color is not None and top_down is not None:
+    tcolor = find_color(top_down[0], lid_color)
+    for i in range(len(x)):
+      px, py = to_topdown_pt(x[i], y[i])
+      if px != -1:
+        top_down[1][px, py] = tcolor
+
+  height, width = img.shape[:2]
+  for x, y in pts:
+    if 1 < x < width - 1 and 1 < y < height - 1:
+      for a, b in itertools.permutations([-1, 0, -1], 2):
+        img[y + a, x + b] = color
+
+
+def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
+  color_palette = { "r": (1, 0, 0),
+                    "g": (0, 1, 0),
+                    "b": (0, 0, 1),
+                    "k": (0, 0, 0),
+                    "y": (1, 1, 0),
+                    "p": (0, 1, 1),
+                    "m": (1, 0, 1)}
+
+  dpi = 90
+  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
+  canvas = FigureCanvasAgg(fig)
+
+  fig.set_facecolor((0.2, 0.2, 0.2))
+
+  axs = []
+  for pn in range(len(plot_ylims)):
+    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
+    ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
+    ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
+    ax.patch.set_facecolor((0.4, 0.4, 0.4))
+    axs.append(ax)
+
+  plots, idxs, plot_select = [], [], []
+  for i, pl_list in enumerate(plot_names):
+    for j, item in enumerate(pl_list):
+      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
+                          label=item,
+                          color=color_palette[plot_colors[i][j]],
+                          linestyle=plot_styles[i][j])
+      plots.append(plot)
+      idxs.append(name_to_arr_idx[item])
+      plot_select.append(i)
+    axs[i].set_title(", ".join(f"{nm} ({cl})"
+                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    axs[i].tick_params(axis="x", colors="white")
+    axs[i].tick_params(axis="y", colors="white")
+    axs[i].title.set_color("white")
+
+    if i < len(plot_ylims) - 1:
+      axs[i].set_xticks([])
+
+  canvas.draw()
+
+  def draw_plots(arr):
+    for ax in axs:
+      ax.draw_artist(ax.patch)
+    for i in range(len(plots)):
+      plots[i].set_ydata(arr[:, idxs[i]])
+      axs[plot_select[i]].draw_artist(plots[i])
+
+    raw_data = canvas.buffer_rgba()
+    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
+    return plot_surface
+
+  return draw_plots
+
+
+def pygame_modules_have_loaded():
+  return pygame.display.get_init() and pygame.font.get_init()
+
+
+def plot_model(m, img, calibration, top_down):
+  if calibration is None or top_down is None:
+    return
+
+  for lead in m.leadsV3:
+    if lead.prob < 0.5:
+      continue
+
+    x, y = lead.x[0], lead.y[0]
+    x_std = lead.xStd[0]
+    x -= RADAR_TO_CAMERA
+
+    _, py_top = to_topdown_pt(x + x_std, y)
+    px, py_bottom = to_topdown_pt(x - x_std, y)
+    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
+
+  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
+    color = (0, int(255 * prob), 0)
+    draw_path(path, color, img, calibration, top_down, YELLOW)
+
+  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
+    prob = max(1 - std, 0)
+    color = (int(255 * prob), 0, 0)
+    draw_path(edge, color, img, calibration, top_down, RED)
+
+  color = (255, 0, 0)
+  draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
+
+
+def plot_lead(rs, top_down):
+  for lead in [rs.leadOne, rs.leadTwo]:
+    if not lead.status:
+      continue
+
+    x = lead.dRel
+    px_left, py = to_topdown_pt(x, -10)
+    px_right, _ = to_topdown_pt(x, 10)
+    top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
+
+
+def maybe_update_radar_points(lt, lid_overlay):
+  ar_pts = []
+  if lt is not None:
+    ar_pts = {}
+    for track in lt:
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel]
+  for ids, pt in ar_pts.items():
+    # negative here since radar is left positive
+    px, py = to_topdown_pt(pt[0], -pt[1])
+    if px != -1:
+      color = 255
+      if int(ids) == 1:
+        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
+      else:
+        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+
+def get_blank_lid_overlay(UP):
+  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
+  # Draw the car.
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
+                                                      UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
+                                                      UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  return lid_overlay
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
new file mode 100755
index 0000000000..03f3a0c37c
--- /dev/null
+++ b/tools/replay/ui.py
@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+
+import cv2
+import numpy as np
+import pygame
+
+import cereal.messaging as messaging
+from openpilot.common.numpy_fast import clip
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.tools.replay.lib.ui_helpers import (UP,
+                                         BLACK, GREEN,
+                                         YELLOW, Calibration,
+                                         get_blank_lid_overlay, init_plots,
+                                         maybe_update_radar_points, plot_lead,
+                                         plot_model,
+                                         pygame_modules_have_loaded)
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+ANGLE_SCALE = 5.0
+
+def ui_thread(addr):
+  cv2.setNumThreads(1)
+  pygame.init()
+  pygame.font.init()
+  assert pygame_modules_have_loaded()
+
+  disp_info = pygame.display.Info()
+  max_height = disp_info.current_h
+
+  hor_mode = os.getenv("HORIZONTAL") is not None
+  hor_mode = True if max_height < 960+300 else hor_mode
+
+  if hor_mode:
+    size = (640+384+640, 960)
+    write_x = 5
+    write_y = 680
+  else:
+    size = (640+384, 960+300)
+    write_x = 645
+    write_y = 970
+
+  pygame.display.set_caption("openpilot debug UI")
+  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
+
+  alert1_font = pygame.font.SysFont("arial", 30)
+  alert2_font = pygame.font.SysFont("arial", 20)
+  info_font = pygame.font.SysFont("arial", 15)
+
+  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
+  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
+
+  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
+                            'selfdriveState', 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
+
+  img = np.zeros((480, 640, 3), dtype='uint8')
+  imgff = None
+  num_px = 0
+  calibration = None
+
+  lid_overlay_blank = get_blank_lid_overlay(UP)
+
+  # plots
+  name_to_arr_idx = { "gas": 0,
+                      "computer_gas": 1,
+                      "user_brake": 2,
+                      "computer_brake": 3,
+                      "v_ego": 4,
+                      "v_pid": 5,
+                      "angle_steers_des": 6,
+                      "angle_steers": 7,
+                      "angle_steers_k": 8,
+                      "steer_torque": 9,
+                      "v_override": 10,
+                      "v_cruise": 11,
+                      "a_ego": 12,
+                      "a_target": 13}
+
+  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
+
+  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
+  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
+                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
+                ["v_ego", "v_override", "v_pid", "v_cruise"],
+                ["a_ego", "a_target"]]
+  plot_colors = [["b", "b", "g", "r", "y"],
+                 ["b", "g", "y", "r"],
+                 ["b", "g", "r", "y"],
+                 ["b", "r"]]
+  plot_styles = [["-", "-", "-", "-", "-"],
+                 ["-", "-", "-", "-"],
+                 ["-", "-", "-", "-"],
+                 ["-", "-"]]
+
+  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
+
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while True:
+    for event in pygame.event.get():
+      if event.type == pygame.QUIT:
+        pygame.quit()
+        sys.exit()
+
+    screen.fill((64, 64, 64))
+    lid_overlay = lid_overlay_blank.copy()
+    top_down = top_down_surface, lid_overlay
+
+    # ***** frame *****
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+
+    yuv_img_raw = vipc_client.recv()
+    if yuv_img_raw is None or not yuv_img_raw.data.any():
+      continue
+
+    sm.update(0)
+
+    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
+
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
+    num_px = vipc_client.width * vipc_client.height
+    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
+
+    qcam = "QCAM" in os.environ
+    bb_scale = (528 if qcam else camera.fcam.width) / 640.
+    calib_scale = camera.fcam.width / 640.
+    zoom_matrix = np.asarray([
+        [bb_scale, 0., 0.],
+        [0., bb_scale, 0.],
+        [0., 0., 1.]])
+    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+    intrinsic_matrix = camera.fcam.intrinsics
+
+    w = sm['controlsState'].lateralControlState.which()
+    if w == 'lqrStateDEPRECATED':
+      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
+    elif w == 'indiState':
+      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
+    else:
+      angle_steers_k = np.inf
+
+    plot_arr[:-1] = plot_arr[1:]
+    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
+    # TODO gas is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
+    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
+    # TODO brake is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
+    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
+    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
+
+    if len(sm['longitudinalPlan'].accels):
+      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], img, calibration, top_down)
+
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], top_down)
+
+    # draw all radar points
+    maybe_update_radar_points(sm['liveTracks'].points, top_down[1])
+
+    if sm.updated['liveCalibration'] and num_px:
+      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
+      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
+
+    # *** blits ***
+    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
+    screen.blit(camera_surface, (0, 0))
+
+    # display alerts
+    alert_line1 = alert1_font.render(sm['selfdriveState'].alertText1, True, (255, 0, 0))
+    alert_line2 = alert2_font.render(sm['selfdriveState'].alertText2, True, (255, 0, 0))
+    screen.blit(alert_line1, (180, 150))
+    screen.blit(alert_line2, (180, 190))
+
+    if hor_mode:
+      screen.blit(draw_plots(plot_arr), (640+384, 0))
+    else:
+      screen.blit(draw_plots(plot_arr), (0, 600))
+
+    pygame.surfarray.blit_array(*top_down)
+    screen.blit(top_down[0], (640, 0))
+
+    SPACING = 25
+
+    lines = [
+      info_font.render("ENABLED", True, GREEN if sm['selfdriveState'].enabled else BLACK),
+      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
+      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
+      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
+      None,
+      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
+      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
+      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
+      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
+    ]
+
+    for i, line in enumerate(lines):
+      if line is not None:
+        screen.blit(line, (write_x, write_y + i * SPACING))
+
+    # this takes time...vsync or something
+    pygame.display.flip()
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.reset_context()
+
+  ui_thread(args.ip_address)

From 37b4e61b005a80187023c49429b2bcc1efd667aa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jan 2025 14:22:02 -0800
Subject: [PATCH 1240/1243] Allow brake hold (#34384)

* allow brake hold

* rev
---
 selfdrive/car/car_specific.py  | 2 +-
 selfdrive/selfdrived/events.py | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index cd2d66228c..144f9f073b 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -191,7 +191,7 @@ class CarSpecificEvents:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
       events.add(EventName.brakeHold)
     if CS.parkingBrake:
       events.add(EventName.parkBrake)
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index cdc23e53c9..41f08007d6 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -634,8 +634,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.brakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+    ET.WARNING: Alert(
+      "Press Resume to Exit Brake Hold",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.parkBrake: {

From 1d919221e4ee4cbb2cbfc63481538d9a52fa1e87 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jan 2025 14:52:26 -0800
Subject: [PATCH 1241/1243] Update build.py

---
 system/manager/build.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/manager/build.py b/system/manager/build.py
index 956336a604..d4961850ca 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2820
+TOTAL_SCONS_NODES = 3130
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:

From 733206fdd9dcd23bfa726a066b88674abcb87ad0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jan 2025 16:06:11 -0800
Subject: [PATCH 1242/1243] fix joystick

---
 tools/joystick/joystick_control.py | 4 ++--
 tools/joystick/joystickd.py        | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 60131ba370..74d034d505 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -34,7 +34,7 @@ class Keyboard:
     elif key in self.axes_map:
       axis = self.axes_map[key]
       incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
-      self.axes_values[axis] = np.clip(self.axes_values[axis] + incr, -1, 1)
+      self.axes_values[axis] = float(np.clip(self.axes_values[axis] + incr, -1, 1))
     else:
       return False
     return True
@@ -83,7 +83,7 @@ class Joystick:
       self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
-      norm = -np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
       self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 21d10b36d4..8348ad82b5 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -45,13 +45,13 @@ def joystickd_thread():
       joystick_axes = [0.0, 0.0]
 
     if CC.longActive:
-      actuators.accel = 4.0 * np.clip(joystick_axes[0], -1, 1)
+      actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
       max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
 
-      actuators.steer = np.clip(joystick_axes[1], -1, 1)
+      actuators.steer = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
 
     pm.send('carControl', cc_msg)

From c5150215762099526e8d518f8ce53923d59ed812 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jan 2025 16:07:56 -0800
Subject: [PATCH 1243/1243] joystick: fix long control state

---
 tools/joystick/joystickd.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 8348ad82b5..d52e80af86 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -9,6 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
+LongCtrlState = car.CarControl.Actuators.LongControlState
 MAX_LAT_ACCEL = 2.5
 
 
@@ -46,6 +47,7 @@ def joystickd_thread():
 
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
+      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)